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公开(公告)号：US11765992B2
公开(公告)日：2023-09-26
申请号：US16923178
申请日：2020-07-08
Applicant: Scythe Robotics, Inc.
Inventor： Davis Thorp Foster , Robert Johnstone McCutcheon, IV , John Gordon Morrison , Isaac Heath Roberts
CPC classification number: A01D34/008 , A01D34/74 , G05D1/027 , G05D1/0257 , G05D2201/0208
Abstract: Systems and techniques for detecting a difference in orientation between a lawn mower and a surface on which the mower is mowing, or between portions of such surface, based on one or more of sensor data or map data are discussed. The difference in orientation may then be used to control the lawn mower by, for example, raising a deck height or idling a blade speed, though other actuations are contemplated. In some examples, an amount the deck height is raised may be based on the difference in orientation. Based on a subsequent difference detected being at or below a threshold difference, the mower may return to previous operating conditions including, but not limited to, returning a blade speed to a previous blade speed and/or returning the deck height to a previous deck height, among other controls.
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公开(公告)号：US20220091613A1
公开(公告)日：2022-03-24
申请号：US17025583
申请日：2020-09-18
Applicant: Scythe Robotics, Inc.
Inventor： Marc Christopher Alban , Zachary Austin Goins , Kristopher Charles Kozak , John Gordon Morrison
Abstract: Systems and techniques for generating a set of connected segments for a device or system to traverse in order to reach every point of the region (a coverage plan). Nodes defining the region to be traversed define a polygon. The polygon is decomposed into a mesh and a graph of the mesh is generated. The graph may be used to determine a longest funneled path which, in turn, may be used to either optimize for a longest path or to divide the polygon for eroding sides. The longest path and/or erosions are used to define a set of segments. The segments are connected, which in some examples is done via an optimization to minimize an amount of time or energy to traverse all segments and connections. The resultant coverage plan is sent to a system configured to receive the plan and traverse the region.
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公开(公告)号：US20220007571A1
公开(公告)日：2022-01-13
申请号：US16923178
申请日：2020-07-08
Applicant: Scythe Robotics, Inc.
Inventor： Davis Thorp Foster , Robert Johnstone McCutcheon, IV , John Gordon Morrison , Isaac Heath Roberts
Abstract: Systems and techniques for detecting a difference in orientation between a lawn mower and a surface on which the mower is mowing, or between portions of such surface, based on one or more of sensor data or map data are discussed. The difference in orientation may then be used to control the lawn mower by, for example, raising a deck height or idling a blade speed, though other actuations are contemplated. In some examples, an amount the deck height is raised may be based on the difference in orientation. Based on a subsequent difference detected being at or below a threshold difference, the mower may return to previous operating conditions including, but not limited to, returning a blade speed to a previous blade speed and/or returning the deck height to a previous deck height, among other controls. Such techniques may prevent undercutting turf due to such differences.
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公开(公告)号：US11856883B2
公开(公告)日：2024-01-02
申请号：US17498303
申请日：2021-10-11
Applicant: Scythe Robotics, Inc.
Inventor： John Gordon Morrison , Davis Thorp Foster , Isaac Heath Roberts
IPC: A01C21/00 , G06T7/70 , G06T7/00 , G06T17/05 , G05D1/02 , A01B69/00 , A01C23/00 , A01C7/06 , A01C7/10 , A01M7/00 , G06N20/00
CPC classification number: A01C21/007 , A01B69/004 , A01C7/06 , A01C7/102 , A01C23/007 , A01M7/0089 , G05D1/0246 , G05D1/0257 , G06N20/00 , G06T7/0012 , G06T7/70 , G06T17/05 , G05D2201/0201 , G06T2207/10004 , G06T2207/10028 , G06T2207/10044 , G06T2207/20081 , G06T2207/30188
Abstract: A vegetative health mapping system which creates two- or three-dimensional maps and associates moisture content, soil density, ambient light, surface temperature, and/or additional indications of vegetative health with the map. Moisture content is inferred using radar return signals of near-field and/or far-field radar. By tuning various parameters of the one or more radar (e.g. frequency, focus, power), additional data may be associated with the map from subterranean features (such as rocks, soil density, sprinklers, etc.). Additional sensors (camera(s), lidar, IMU, GPS, etc.) may be fused with radar returns to generate maps having associated moisture content, surface temperature, ambient light levels, additional indications of vegetative health (as may be determined by machine learned algorithms), etc. Such vegetative health maps may be provided to a user who, in turn, may indicate additional areas for the vegetative health device to scan or otherwise used to recommend and/or perform treatments.
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公开(公告)号：US20220369545A1
公开(公告)日：2022-11-24
申请号：US17326867
申请日：2021-05-21
Applicant: Scythe Robotics, Inc.
Inventor： Evan Thomas KAUFMAN , Zachary Austin GOINS , John Gordon MORRISON
Abstract: Systems and techniques for compensating for the forces exerted on the autonomous lawn mower exerted by operating on a sloped region to be mowed are provided herein. In some examples, such systems and techniques may include receiving a coverage plan of an area to be mowed that includes a sloped region, determining, based on data for the one or more sensors, an orientation of the autonomous lawn mower and determining a slope force to compensate for the slope on which the autonomous lawn mower is operating. The slope force is then converted into signals to generate torques at one or more wheels to compensate for the slope.
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Patent Agency Ranking
公开(公告)号：US20220174865A1
公开(公告)日：2022-06-09
申请号：US17342200
申请日：2021-06-08
Applicant: Scythe Robotics, Inc.
Inventor： Robert Johnstone McCutcheon, IV , John Gordon Morrison , Isaac Heath Roberts , Kevin Peter McGlade , Davis Thorp Foster , Matthew Alexander Kaplan , Zachary Austin Goins , Matthew G. Quick
Abstract: An autonomous lawn mower is described. The autonomous lawn mower comprises a chassis supporting a podium that is raked forward with respect to a horizontal plane. In some examples, the podium comprises a top portion that may support one or more sensors, antennas and/or cameras that may be used to provide environmental information regarding the surroundings of the autonomous lawn mower. In additional or alternative examples, the podium may facilitate communication services to and/or from the autonomous lawn mower. Such a podium may improve the operation of the mower by a user when manually (or semi-autonomously controlled) while optimizing a field of view of such sensors with respect to the mowable area.
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公开(公告)号：US20240206381A1
公开(公告)日：2024-06-27
申请号：US18435532
申请日：2024-02-07
Applicant: Scythe Robotics, Inc.
Inventor： Michael Timothy BARBER , Davis Thorp FOSTER , Zachary Austin GOINS , Nicole Beth JACOBSON , Matthew Alexander KAPLAN , Robert Johnstone McCUTCHEON, IV , John Gordon MORRISON , Matthew G. QUICK , Isaac Heath ROBERTS
CPC classification number: A01D34/008 , A01D34/824 , B60K31/00 , B62D51/008 , A01D2101/00 , B60Y2200/22 , B60Y2400/306 , B60Y2400/308 , G01C21/005
Abstract: A control device for an autonomous lawn mower is described which receives input signals from a first and/or second hand control and determines a control signal for controlling the autonomous lawn mower. The hand controls may provide for intuitive control of the mower by a user. The control signals may be used to operate the autonomous lawn mower to perform a task such that, when later detached or otherwise decoupled, the autonomous lawn mower may perform the same or similar tasks substantially autonomously based on data (e.g., sensor signals, control signals, etc.), generated during manual operation. In some examples, the control signals may be determined to aid a user in maintaining a straight mow, proximity to a desired pattern for mowing, and/or be otherwise altered based on the presence of a user.
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公开(公告)号：US20230380340A1
公开(公告)日：2023-11-30
申请号：US18231827
申请日：2023-08-09
Applicant: Scythe Robotics. Inc.
Inventor： Davis Thorp Foster , Robert Johnstone McCutcheon, IV , John Gordon Morrison , Isaac Heath Roberts
CPC classification number: A01D34/008 , A01D34/74 , G05D1/027 , G05D1/0257 , G05D2201/0208
Abstract: Systems and techniques for detecting a difference in orientation between a lawn mower and a surface on which the mower is mowing, or between portions of such surface, based on one or more of sensor data or map data are discussed. The difference in orientation may then be used to control the lawn mower by, for example, raising a deck height or idling a blade speed, though other actuations are contemplated. In some examples, an amount the deck height is raised may be based on the difference in orientation. Based on a subsequent difference detected being at or below a threshold difference, the mower may return to previous operating conditions including, but not limited to, returning a blade speed to a previous blade speed and/or returning the deck height to a previous deck height, among other controls. Such techniques may prevent undercutting turf due to such differences.
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公开(公告)号：US20230152815A1
公开(公告)日：2023-05-18
申请号：US18092548
申请日：2023-01-03
Applicant: Scythe Robotics, Inc.
Inventor： Marc Christopher Alban , Zachary Austin Goins , Kristopher Charles Kozak , John Gordon Morrison
CPC classification number: G05D1/0219 , A01D34/008 , G05D1/0217 , G05D2201/0201
Abstract: Systems and techniques for generating a set of connected segments for a device or system to traverse in order to reach every point of the region (a coverage plan). Nodes defining the region to be traversed define a polygon. The polygon is decomposed into a mesh and a graph of the mesh is generated. The graph may be used to determine a longest funneled path which, in turn, may be used to either optimize for a longest path or to divide the polygon for eroding sides. The longest path and/or erosions are used to define a set of segments. The segments are connected, which in some examples is done via an optimization to minimize an amount of time or energy to traverse all segments and connections. The resultant coverage plan is sent to a system configured to receive the plan and traverse the region.
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公开(公告)号：USD985624S1
公开(公告)日：2023-05-09
申请号：US29851704
申请日：2022-08-31
Applicant: Scythe Robotics, Inc.
Designer： Robert Johnstone McCutcheon, IV , John Gordon Morrison , Isaac Heath Roberts , Kevin Peter McGlade , Davis Thorp Foster , Matthew Alexander Kaplan , Zachary Austin Goins , Matthew G. Quick
Abstract: FIG. 1 is a perspective view of an autonomous lawn mower, embodying our new design, according to a first embodiment;
FIG. 2 is a front view of the design shown in FIG. 1;
FIG. 3 is a rear view of the design shown in FIG. 1;
FIG. 4 is a left side view of the design shown in FIG. 1;
FIG. 5 is a right side view of the design shown in FIG. 1;
FIG. 6 is a top view of the design shown in FIGS. 1; and,
FIG. 7 is a bottom view of the design shown in FIG. 1.
Portions of the autonomous lawn mower shown in broken lines in given embodiment(s) form no part of the claimed design.
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