# US 10,368,496 B2 · Systems and methods for pruning plants > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,368,496 B2 - Document ID: US10368496B2 - Status: Granted - Kind: B2 - Application number: 15/233,766 - Filed: 2016-08-10 - Published: 2016-12-01 - Granted: 2019-08-06 - Earliest claimed: 2015-01-20 - Assignees: Elwha LLC - Applicants: Elwha LLC - Inventors: Alistair K. Chan; Roderick A. Hyde; Tony S. Pan; Lowell L. Wood, Jr. - Web page: https://patentgrep.com/patent/US10368496B2 ## CPC - A01G 3/08: Other tools for pruning, branching or delimbing standing trees - A01G 3/085: {Motor-driven saws for pruning or branching} - A01G 3/086: {Chain saws} - A01G 3/088: {Circular saws} - G05D 1/0011: {associated with a remote control arrangement} - G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target} - B64U 10/13: Flying platforms - B64U 30/20: Rotors; Rotor supports - B64U 2101/30: for imaging, photography or videography - B64U 2101/40: for agriculture or forestry operations - B64U 2201/20: Remote controls - A01G: HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING (picking of fruits, vegetables, hops or the like A01D46/00; propagating unicellular algae C12N1/12) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract An unmanned pruning vehicle includes a pruning device configured to prune plant material from a plant. The unmanned pruning vehicle also includes a processing circuit is configured to control operation of the pruning device to prune a plant. ## Claims ### Claim 1 An unmanned pruning vehicle, comprising: a pruning device configured to prune plant material from a plant; and a processing circuit configured to control operation of the pruning device based on pruning data regarding a growing envelope for the plant, the growing envelope based on a growth model for the plant, wherein the plant is identified for pruning based on a portion of the plant material extending beyond the growing envelope, the processing circuit configured to control operation of the pruning device to prune the plant such that the plant is estimated at a predetermined point in time in the future to have a size such that the plant does not extend outside of the growing envelope. ### Claim 2 (depends on 1) The pruning vehicle of claim 1, wherein the growing envelope defines at least one of a maximum height and a maximum width for the plant. ### Claim 3 (depends on 1) The pruning vehicle of claim 1, wherein the growing envelope is determined based on historical data regarding the plant. ### Claim 4 (depends on 1) The pruning vehicle of claim 1, wherein the processing circuit is configured to receive plant sensor data from a sensor and control operation of the pruning device further based on the plant sensor data. ### Claim 5 (depends on 4) The pruning vehicle of claim 4, wherein the plant sensor data includes image data for the plant, and wherein the processing circuit is configured to determine whether the plant extends beyond the growing envelope based on the image data. ### Claim 6 (depends on 1) The pruning vehicle of claim 1, wherein the growing envelope is defined by an object in an environment surrounding the plant. ### Claim 7 (depends on 6) The pruning vehicle of claim 6, wherein the object is a power transmission component. ### Claim 8 (depends on 1) The pruning vehicle of claim 1, wherein the processing circuit is further configured to control application of a treatment to a newly exposed portion of the plant after pruning. ### Claim 9 (depends on 1) The pruning vehicle of claim 1, wherein the processing circuit is configured to receive plant sensor data from a sensor, the plant sensor data comprising at least one of pre-pruning data and post-pruning data. ### Claim 10 (depends on 9) The pruning vehicle of claim 9, wherein the plant sensor data comprises an image. ### Claim 11 (depends on 9) The pruning vehicle of claim 9, wherein the processing circuit is configured to wirelessly transmit information associated with the plant sensor data to a remote device. ### Claim 12 (depends on 1) The pruning vehicle of claim 1, wherein the processing circuit is configured to wirelessly receive one or more pruning instructions from a remote device. ### Claim 13 A system for pruning plants, comprising: an unmanned pruning vehicle configured to prune plant material from a plant; and a processing circuit configured to control operation of the unmanned pruning vehicle based on pruning data regarding a growing envelope for the plant, the growing envelope based on a growth model for the plant, wherein the plant is identified for pruning based on a portion of the plant material extending beyond the growing envelope, the processing circuit configured to control operation of the unmanned pruning vehicle to prune the plant such that the plant is estimated at a predetermined point in time in the future to have a size such that the plant does not extend outside of the growing envelope. ### Claim 14 (depends on 13) The system of claim 13, wherein the processing circuit is configured to receive plant sensor data regarding the plant from a sensor and control operation of the unmanned pruning vehicle based on the plant sensor data. ### Claim 15 (depends on 13) The system of claim 13, further comprising a diagnostic device. ### Claim 16 (depends on 15) The system of claim 15, wherein: the diagnostic device is configured to collect sensor data including at least one of plant sensor data regarding the plant and environment data regarding an environment surrounding the plant; and the processing circuit is configured to receive the sensor data and control operation of the unmanned pruning vehicle based on the sensor data. ### Claim 17 (depends on 13) The system of claim 13, further comprising a remote sensor device located remote from the unmanned pruning vehicle. ### Claim 18 (depends on 17) The system of claim 17, wherein: the remote sensor device is configured to collect remote sensor data including at least one of plant sensor data regarding the plant and environment data regarding an environment surrounding the plant; and the processing circuit is configured to receive the remote sensor data and control operation of the unmanned pruning vehicle based on the remote sensor data. ### Claim 19 (depends on 13) The system of claim 13, wherein the processing circuit is configured to identify the plant for pruning based on a pruning schedule. ### Claim 20 (depends on 13) The system of claim 13, wherein the processing circuit is further configured to control operation of the unmanned pruning vehicle based on environment data regarding an environment surrounding the plant. ### Claim 21 (depends on 20) The system of claim 20, wherein the environment data includes at least one of light data regarding an amount of sunlight reaching the environment, moisture data regarding a moisture content of the environment, and obstacle data regarding an obstacle present in the environment. ### Claim 22 (depends on 13) The system of claim 13, wherein the processing circuit is further configured to control operation of the unmanned pruning vehicle to form an attachment with the plant while pruning the plant material. ### Claim 23 A system for pruning plants, comprising: an unmanned pruning vehicle configured to prune a plant; and a processing circuit configured to control operation of the unmanned pruning vehicle to selectively prune each of a plurality of branches of the plant based on plant data regarding the plurality of branches of the plant, the plant data including a growing envelope for at least one branch of the plurality of branches, wherein controlling operation of the unmanned pruning vehicle includes pruning the at least one branch such that the at least one branch is estimated at a predetermined point in time in the future to have a size such that the at least one branch does not extend outside of the growing envelope. ### Claim 24 (depends on 23) The system of claim 23, wherein the plant data includes historical data regarding at least one branch of the plurality of branches. ### Claim 25 (depends on 24) The system of claim 24, wherein the historical data includes an amount of fruit carried by the at least one branch. ### Claim 26 (depends on 23) The system of claim 23, further comprising a remote sensor device located remote from the pruning vehicle, wherein: the remote sensor device is configured to collect remote sensor data including at least one of branch sensor data regarding at least one branch of the plurality of branches and environment data regarding an environment surrounding at least one branch of the plurality of branches; and the processing circuit is configured to receive the remote sensor data and control operation of the unmanned pruning vehicle based on the remote sensor data. ### Claim 27 (depends on 23) The system of claim 23, wherein the processing circuit is further configured to control operation of the unmanned pruning vehicle based on environment data regarding an environment surrounding at least one branch of the plurality of branches, wherein the environment data includes at least one of light data regarding an amount of sunlight reaching the environment, moisture data regarding a moisture content of the environment, and obstacle data regarding an obstacle present in the environment. ### Claim 28 (depends on 23) The system of claim 23, wherein the processing circuit is further configured to control pruning of at least one branch based on a determination of blockage by a first branch of sunlight from reaching a second branch. ### Claim 29 (depends on 23) The system of claim 23, further comprising a diagnostic device, wherein: the diagnostic device is configured to collect sensor data including at least one of branch sensor data from a sensor regarding the plurality of branches, branch environment data regarding an environment surrounding the plurality of branches, plant sensor data regarding a second plant, and a second environment data regarding an environment surrounding the second plant; and the processing circuit is configured to receive the sensor data and control operation of the unmanned pruning vehicle further based on the sensor data. ### Claim 30 (depends on 23) The system of claim 23, further comprising a remote sensor device located remote from the unmanned pruning vehicle, wherein: the remote sensor device is configured to collect remote sensor data including at least one of branch sensor data regarding the plurality of branches, branch environment data regarding an environment surrounding the plurality of branches, plant sensor data regarding a second plant, and a second environment data regarding an environment surrounding the second plant; and the processing circuit is configured to receive the remote sensor data and control operation of the unmanned pruning vehicle based on the remote sensor data.