Patents by Inventor John Gordon Morrison
John Gordon Morrison has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11856883Abstract: 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.Type: GrantFiled: October 11, 2021Date of Patent: January 2, 2024Assignee: Scythe Robotics, Inc.Inventors: John Gordon Morrison, Davis Thorp Foster, Isaac Heath Roberts
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Publication number: 20230380340Abstract: 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.Type: ApplicationFiled: August 9, 2023Publication date: November 30, 2023Inventors: Davis Thorp Foster, Robert Johnstone McCutcheon, IV, John Gordon Morrison, Isaac Heath Roberts
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Patent number: 11765992Abstract: 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.Type: GrantFiled: July 8, 2020Date of Patent: September 26, 2023Assignee: Scythe Robotics, Inc.Inventors: Davis Thorp Foster, Robert Johnstone McCutcheon, IV, John Gordon Morrison, Isaac Heath Roberts
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Publication number: 20230152815Abstract: 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.Type: ApplicationFiled: January 3, 2023Publication date: May 18, 2023Inventors: Marc Christopher Alban, Zachary Austin Goins, Kristopher Charles Kozak, John Gordon Morrison
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Patent number: 11579618Abstract: 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.Type: GrantFiled: September 18, 2020Date of Patent: February 14, 2023Assignee: Scythe Robotics, Inc.Inventors: Marc Christopher Alban, Zachary Austin Goins, Kristopher Charles Kozak, John Gordon Morrison
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Patent number: 11553644Abstract: Systems and techniques for detecting suboptimal mowing due to impacted vegetation and/or orientation changes are discussed. In some examples, blade speeds, blade heights, torques, and/or a current required to spin the blades of a mower at a determined rate may be calibrated and associated with a lawn mower and/or map. Changes in any one or more of the blade speed, current required, torque, etc. (and/or additional data from one or more sensors on the mower) may be used as an indication for determining whether vegetation has impacted the underside of a mower, whether the blade has struck an object, whether the mower is undergoing an orientation change, whether the mower requires maintenance, and the like. Based on the indication, the mower can perform one or more functions to attempt to remediate the problem autonomously and/or send a signal to a user for additional help.Type: GrantFiled: July 8, 2020Date of Patent: January 17, 2023Assignee: Scythe Robotics, Inc.Inventors: Davis Thorp Foster, Robert Johnstone McCutcheon, IV, John Gordon Morrison, Isaac Heath Roberts
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Publication number: 20220369545Abstract: 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.Type: ApplicationFiled: May 21, 2021Publication date: November 24, 2022Inventors: Evan Thomas KAUFMAN, Zachary Austin GOINS, John Gordon MORRISON
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Publication number: 20220174867Abstract: An autonomous lawn mower is described. The autonomous lawn mower comprises a chassis supporting a podium. In some examples, the podium comprises an upper portion and a lower portion, where the upper portion 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. The upper portion may be detached from the lower portion such that the upper portion is calibrated prior to the upper portion being coupled to the lower portion.Type: ApplicationFiled: June 8, 2021Publication date: June 9, 2022Inventors: Robert Johnstone McCutcheon, IV, John Gordon Morrison, Isaac Heath Roberts, Kevin Peter McGlade, Davis Thorp Foster, Mathew Alexander Kaplan, Zachary Austin Goins, Mathew G. Quick
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Publication number: 20220174866Abstract: An autonomous lawn mower is described. The autonomous lawn mower comprises a chassis supporting a podium. 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 autonomous lawn mower receives, via a wireless receiver, a signal from a remote controller, the signal comprising one or more of an emergency stop signal or a pause signal. Based at least in part on the signal comprising the emergency stop signal, causing the autonomous lawn mower to invoke an emergency stop procedure, or based at least in part on the signal comprising the pause signal, causing the autonomous lawn mower to invoke a pause procedure.Type: ApplicationFiled: June 8, 2021Publication date: June 9, 2022Inventors: 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
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Publication number: 20220174865Abstract: 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.Type: ApplicationFiled: June 8, 2021Publication date: June 9, 2022Inventors: 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
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Publication number: 20220091613Abstract: 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.Type: ApplicationFiled: September 18, 2020Publication date: March 24, 2022Inventors: Marc Christopher Alban, Zachary Austin Goins, Kristopher Charles Kozak, John Gordon Morrison
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Publication number: 20220039313Abstract: An autonomous lawn mower is described which is provided with boundary information of a region, explores the region, and based on information collected while exploring, is configured to mow the region in accordance with a mow pattern. Exploration may be performed based on random motions, striping, etc. Sensor data captured during exploration is captured in order to determine the presence of any objects within the region (e.g., trees, manmade objects, lakes, and the like). Sensor data and boundary information is used to optimize a mow pattern for the lawn mower to follow when mowing the region. Additional sensor data captured while mowing may be used for obstacle avoidance, monitoring of the system, or otherwise generating notifications.Type: ApplicationFiled: August 5, 2020Publication date: February 10, 2022Inventors: John Gordon Morrison, Isaac Heath Roberts, Kevin Peter McGlade, Davis Thorp Foster, Robert Johnstone McCutcheon, IV, Zachary Austin Goins
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Publication number: 20220030763Abstract: 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.Type: ApplicationFiled: October 11, 2021Publication date: February 3, 2022Inventors: John Gordon Morrison, Davis Thorp Foster, Isaac Heath Roberts
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Publication number: 20220007571Abstract: 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.Type: ApplicationFiled: July 8, 2020Publication date: January 13, 2022Inventors: Davis Thorp Foster, Robert Johnstone McCutcheon, IV, John Gordon Morrison, Isaac Heath Roberts
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Publication number: 20220007570Abstract: Systems and techniques for detecting suboptimal mowing due to impacted vegetation and/or orientation changes are discussed. In some examples, blade speeds, blade heights, torques, and/or a current required to spin the blades of a mower at a determined rate may be calibrated and associated with a lawn mower and/or map. Changes in any one or more of the blade speed, current required, torque, etc. (and/or additional data from one or more sensors on the mower) may be used as an indication for determining whether vegetation has impacted the underside of a mower, whether the blade has struck an object, whether the mower is undergoing an orientation change, whether the mower requires maintenance, and the like. Based on the indication, the mower can perform one or more functions to attempt to remediate the problem autonomously and/or send a signal to a user for additional help.Type: ApplicationFiled: July 8, 2020Publication date: January 13, 2022Inventors: Davis Thorp Foster, Robert Johnstone McCutcheon, IV, John Gordon Morrison, Isaac Heath Roberts
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Publication number: 20210382476Abstract: An autonomous lawn mowing system and method comprising receiving data from at least one autonomous lawn mower of a fleet of autonomous lawn mowers. The data comprising at least sensor data from one or more sensors associated with the at least one autonomous lawn mower. The sensor data is captured while the at least one autonomous lawn mower traversed an environment in accordance with a mow pattern. Based at least in part on the data, generating information indicative of one or more of: a diagnostic of the at least one autonomous lawn mower, an attribute associated with the environment, or a metric associated with the at least one autonomous lawn mower performing a task, and providing the information to a user.Type: ApplicationFiled: June 5, 2020Publication date: December 9, 2021Inventors: John Gordon Morrison, Isaac Heath Roberts, Kevin Peter McGlade, Davis Thorp Foster
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Publication number: 20210378171Abstract: 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.Type: ApplicationFiled: June 3, 2020Publication date: December 9, 2021Inventors: 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
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Patent number: 11140813Abstract: 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.Type: GrantFiled: January 23, 2019Date of Patent: October 12, 2021Assignee: SCYTHE ROBOTICS, INC.Inventors: John Gordon Morrison, Davis Thorp Foster, Isaac Roberts
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Patent number: D965030Type: GrantFiled: December 4, 2020Date of Patent: September 27, 2022Assignee: Scythe Robotics, Inc.Inventors: 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
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Patent number: D985624Type: GrantFiled: August 31, 2022Date of Patent: May 9, 2023Assignee: SCYTHE ROBOTICS, INC.Inventors: 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