Granted Patent B2

US 12,302,807 · App. 17/384,568 · Granted May 20, 2025

Inventors: Jonathan Binney (Lockhart, TX); Winnie Ding (Lockhart, TX); Peter Cheng (Lockhart, TX); Martha Patricia Romero Luna (Lockhart, TX); Jamie Young (Lockhart, TX); Sarah Osentoski (Lockhart, TX)

Assignee: Inevitable Technology Inc.

A01G5/00B25J9/1679G01N33/0098G05B19/416G06T7/0012G06T7/0016G05B2219/39369G05B2219/40233G06T2207/10024G06T2207/30188Y10S901/01Y10S901/47

Abstract

Claims (145)

1. A method for monitoring growth of plants within an agricultural facility comprising:

accessing a series of ambient conditions captured by a fixed sensor unit, arranged proximal a grow area within the agricultural facility, during a first time period;

writing the series of ambient conditions to a corpus of plant records associated with plants occupying a group of modules within the grow area based on known locations of modules within the grow area, the corpus of plant records comprising a first set of plant records associated with a first set of plants occupying a first module, in the group of modules, during the first time period;

dispatching a mover to autonomously deliver the first module from the grow area to a transfer station within the agricultural facility during a second time period succeeding the first time period;

for each plant in the first set of plants:

interpreting a final outcome of the plant based on plant-level data captured by the transfer station while transferring the plant out of the first module during the second time period; and

writing the final outcome of the plant to a plant record, in the first set of plant records, associated with the plant; and

deriving a set of relationships between ambient conditions and final outcomes of plants grown within the agricultural facility based on the corpus of plant records associated with plants grown in the agricultural facility.

2. The method of claim 1 :

further comprising:

dispatching the mover to autonomously deliver the first module from the grow area to an imaging station within the agricultural facility during the first time period;

accessing a set of module-level data captured by the imaging station when occupied by the first module during the first period of time;

interpreting intermediate outcomes of a first set of plants occupying the first module during the first time period based on the set of module-level data; and

writing intermediate outcomes of the first set of plants to the first set of plant records associated with the first set of plants; and

wherein deriving the set of relationships between ambient conditions and final outcomes of plants grown within the agricultural facility comprises deriving the set of relationships between ambient conditions, intermediate outcomes, and final outcomes of plants grown within the agricultural facility based on the corpus of plant records associated with plants grown within the agricultural facility.

3. The method of claim 1 :

further comprising:

accessing a set of water quality data captured by the mover via a probe inserted into the first module by the mover during the first time period; and

writing the set of water quality data to the first set of plant records; and

wherein deriving the set of relationships between ambient conditions and final outcomes of plants grown within the agricultural facility comprises deriving the set of relationships between ambient conditions, water quality, and final outcomes of plants grown within the agricultural facility based on the corpus of plant records.

4. The method of claim 1 :

wherein accessing the series of ambient conditions comprises accessing a series of ambient humidity data captured by the fixed sensor unit during the first time period;

wherein deriving the set of relationships between ambient conditions and final outcomes of plants grown within the agricultural facility based on the corpus of plant records comprises deriving a relationship between ambient humidity and final outcomes of plants grown within the agricultural facility; and

further comprising setting a target humidity range in the grow area based on the relationship between ambient humidity and final outcomes of plants grown within the agricultural facility.

5. A method for monitoring growth of plants within an agricultural facility comprising:

accessing a series of ambient conditions captured by a fixed sensor unit, arranged proximal a grow area within the agricultural facility, during a first time period;

writing the series of ambient conditions to a corpus of plant records associated with plants occupying a group of modules within the grow area based on known locations of modules within the grow area, the corpus of plant records comprising a first set of plant records associated with a first set of plants occupying a first module, in the group of modules, during the first time period;

dispatching a mover to autonomously deliver the first module from the grow area to an imaging station within the agricultural facility during the first time period;

accessing a set of module-level data captured by the imaging station when occupied by the first module during a first period of time;

interpreting intermediate outcomes of a first set of plants occupying the first module during the first time period based on the set of module-level data;

writing intermediate outcomes of the first set of plants to the first set of plant records associated with the first set of plants; and

deriving a first set of relationships between ambient conditions and intermediate outcomes of plants grown within the agricultural facility based on the corpus of plant records associated with plants grown within the agricultural facility.

6. The method of claim 5 , further comprising:

dispatching the mover to autonomously deliver the first module from the grow area to a transfer station within the agricultural facility during the first time period;

for each plant in the first set of plants:

interpreting a final outcome of the plant based on plant-level data captured by the transfer station while transferring the plant out of the first module during a second time period succeeding the first time period; and

writing the final outcome of the plant to a plant record, in the first set of plant records, associated with the plant; and

deriving a second set of relationships between ambient conditions, intermediate outcomes, and final outcomes of plants grown within the agricultural facility based on the corpus of plant records associated with plants grown within the agricultural facility.

7. The method of claim 6 :

wherein accessing the set of module-level data comprises accessing a module-level image captured by the imaging station when occupied by the first module during the first period of time;

wherein interpreting intermediate outcomes of the first set of plants comprises:

identifying a first region of the module-level image depicting foliage;

extracting a first set of foliage characteristics from the first region of the module-level image; and

interpreting intermediate outcomes of the first set of plants during the first time period based on the first set of foliage characteristics; and

wherein interpreting the final outcome of a plant for each plant in the first set of plants comprises, for each plant in the first set of plants:

accessing a plant-level image of the plant captured by the transfer station while transferring the plant out of the first module during the second time period;

extracting a second set of visual features from the plant-level image of the plant; and

interpreting a final outcome of the plant based on the second set of features.

8. The method of claim 7 :

wherein extracting the first set of foliage characteristics from the first region of the module-level image comprises extracting a foliage color characteristic and a foliage density characteristic from the first region of the module-level image;

wherein interpreting intermediate outcomes of the first set of plants comprises interpreting intermediate outcomes of the first set of plants based on the first set of foliage color characteristic and the foliage density characteristic;

wherein extracting the second set of visual features from a plant-level image for each plant in the first set of plants comprises, for each plant in the first set of plants extracting a second set of visual features comprising a final color, a final size, and a final geometry of the plant from a plant-level image of the plant; and

wherein interpreting a final outcome of a plant for each plant in the first set of plants comprises, for each plant in the first set of plants, interpreting a final outcome of the plant based on a final color, a final size, and a final geometry of the plant.

9. The method of claim 5 :

further comprising:

by the mover, in response to receiving a command to deliver the first module from the grow area to the imaging station:

autonomously navigating to a first module at the grow area within the agricultural facility;

coupling to the first module;

autonomously navigating to the imaging station;

autonomously navigating the first module through the imaging station; and

autonomously returning the first module to the grow area;

by the imaging station, capturing the set of module-level data comprising a first image of the first module as the first module progresses through the imaging station; and

for each plant in the first set of plants:

detecting the plant in a region of the first image; and

deriving visual characteristics of the plant based on visual features detected in the region of the first image; and

wherein interpreting intermediate outcomes of the first set of plants comprises interpreting intermediate outcomes of the first set of plants based on visual characteristics of the first set of plants derived from the first image.

10. The method of claim 9 , wherein capturing the set of module-level data comprises:

by the imaging station, capturing a sequence of photographic images of the first module as the first module progresses through the imaging station; and

fusing the sequence of photographic images into the first image comprising a three-dimensional representation of the first set of plants occupying the first module.

11. The method of claim 5 :

further comprising:

by the mover, in response to receiving a command to deliver the first module from the grow area to the imaging station:

autonomously navigating to a first module at the grow area within the agricultural facility;

coupling to the first module;

autonomously navigating to the imaging station;

autonomously navigating the first module through the imaging station; and

autonomously returning the first module to the grow area; and

by the imaging station, capturing the set of module-level data comprising a first image of the first module as the first module progresses through the imaging station; and

wherein interpreting intermediate outcomes of the first set of plants comprises:

identifying a region of the first image depicting foliage;

extracting a set of foliage color characteristics and a set of foliage density characteristics from the region of the first image; and

interpreting intermediate outcomes of the first set of plants during the first time period based on the first set of foliage color characteristics and the set of foliage density characteristics.

12. The method of claim 5 :

wherein interpreting intermediate outcomes of the first set of plants based on the set of module-level data comprises, for each plant in the first set of plants:

characterizing an intermediate color, an intermediate size, and an intermediate geometry of the plant based on the set of module-level data captured by the imaging station during the first time period; and

calculating an intermediate viability score of the plant based on the intermediate color, the intermediate size, and the intermediate geometry of the plant; and

wherein writing intermediate outcomes of the first set of plants to the first set of plant records comprises, for each plant in the first set of plants, writing an intermediate viability score of the plant to a plant record, in the first set of plant records, associated with the plant.

13. The method of claim 5 :

further comprising, by the imaging station, capturing the set of module-level data comprising a photographic image of the first module as the first module progresses through the imaging station during the first time period; and

wherein interpreting intermediate outcomes of the first set of plants and writing intermediate outcomes of the first set of plants to the first set of plant records comprise, for each plant in the first set of plants:

selecting a plant location in the first module;

identifying a plant record associated with the plant location;

extracting a set of plant features from a region of the photographic image proximal the plant location;

interpreting an intermediate outcome based on the set of plant features; and

writing the intermediate outcome to the plant record.

14. The method of claim 5 :

wherein accessing the series of ambient conditions comprises accessing ambient conditions captured by the fixed sensor unit, arranged within the grow area, at a first frequency during the first time period;

wherein dispatching the mover to autonomously deliver the first module from the grow area to the imaging station during the first time period comprises dispatching the mover to autonomously deliver the first module from the grow area to the imaging station at a second frequency less than the first frequency during the first time period; and

wherein accessing the set of module-level data comprises accessing the set of module-level data captured by the imaging station, when occupied by the first module at the second frequency, during the first period of time.

15. The method of claim 14 :

wherein deriving the first set of relationships between ambient conditions and intermediate outcomes comprises deriving strengths of relationships between ambient conditions and intermediate outcomes of plants grown within the agricultural facility based on the corpus of plant records; and

further comprising:

based on the first set of relationships between ambient conditions and intermediate outcomes, generating a new grow schedule:

defining target ambient conditions for a new plant over a growth cycle; and

predicted to yield a target intermediate outcome for the new plant; and

for a second module loaded with a second set of plants and occupying the grow area during a second time period succeeding the first time period, autonomously adjusting actuators within the agricultural facility according to the new grow schedule based on ambient conditions captured by the fixed sensor unit during the second time period.

16. The method of claim 5 :

further comprising:

accessing a set of water quality data captured by the mover via a probe inserted into the first module by the mover during the first time period; and

writing the set of water quality data to the first set of plant records; and

wherein deriving the first set of relationships between ambient conditions and intermediate outcomes of plants grown within the agricultural facility comprises deriving the first set of relationships between ambient conditions, water quality, and intermediate outcomes of plants grown within the agricultural facility based on the corpus of plant records.

17. A method for monitoring growth of plants within an agricultural facility comprising:

during a first time period, by a mover deployed within the agricultural facility:

autonomously navigating to a first module at a grow area;

autonomously navigating the first module through an imaging station within the agricultural facility; and

autonomously returning the first module to the grow area;

accessing a set of module-level data captured by the imaging station when occupied by the first module, at a first frequency, during a first period of time;

interpreting intermediate outcomes of a first set of plants occupying the first module during the first time period based on the set of module-level data;

writing intermediate outcomes of the first set of plants to a first set of plant records associated with the first set of plants;

during a second time period succeeding the first time period, by the mover, autonomously delivering the first module from the grow area to a transfer station within the agricultural facility;

for each plant in the first set of plants:

interpreting a final outcome of the plant based on plant-level data captured by the transfer station while transferring the plant out of the first module; and

writing the final outcome of the plant to a plant record, in the first set of plant records, associated with the plant; and

deriving a set of relationships between intermediate outcomes and final outcomes of plants grown within the agricultural facility based on the first set of plant records.

18. The method of claim 17 :

further comprising:

accessing a series of ambient conditions captured by a fixed sensor unit, arranged proximal the grow area within the agricultural facility, at a second frequency greater than the first frequency during a third time period preceding the second time period; and

writing the series of ambient conditions to a corpus of plant records associated with plants occupying a group of modules within the grow area based on known locations of modules within the grow area during the third time period, the corpus of plant records comprising the first set of plant records; and

wherein deriving the set of relationships between intermediate outcomes and final outcomes from the first set of plant records comprises deriving relationships between ambient conditions, intermediate outcomes, and final outcomes of plants grown within the agricultural facility based on the corpus of plant records.

19. The method of claim 17 :

further comprising:

by the mover, in response to receiving a command to deliver the first module from the grow area to the imaging station:

autonomously navigating to a first module at the grow area within the agricultural facility;

coupling to the first module;

autonomously navigating to the imaging station;

autonomously navigating the first module through the imaging station; and

autonomously returning the first module to the grow area;

by the imaging station, capturing the set of module-level data comprising a first image of the first module as the first module progresses through the imaging station;

for each plant in the first set of plants:

detecting the plant in a region of the first image; and

extracting visual characteristics of the plant based on visual features detected in the region of the first image; and

wherein interpreting intermediate outcomes of the first set of plants comprises interpreting intermediate outcomes of the first set of plants based on visual characteristics of the first set of plants derived from the first image.

20. The method of claim 19 , wherein capturing the set of module-level data comprises:

by the imaging station, capturing a sequence of photographic images of the first module as the first module progresses through the imaging station; and

fusing the sequence of photographic images into the first image comprising a three-dimensional representation of the first set of plants occupying the first module.

Assignments (4)

Continuity (4)

References Cited (37)