# US 11,308,323 B2 · Micro-precision application of multiple treatments to agricultural objects > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,308,323 B2 - Document ID: US11308323B2 - Status: Granted - Kind: B2 - Application number: 16/724,266 - Filed: 2019-12-21 - Published: 2021-06-24 - Granted: 2022-04-19 - Earliest claimed: 2019-12-21 - Assignees: Verdant Robotics, Inc. - Applicants: Verdant Robotics, Inc. - Inventors: Gabriel Thurston Sibley; Curtis Dale Garner; Andre Robert Daniel Michelin; Lorenzo Ibarria; Patrick Christopher Leger; Benjamin Rewis; Shi Yan - Web page: https://patentgrep.com/patent/US11308323B2 ## CPC - A01B 69/001: {Steering by means of optical assistance, e.g. television cameras (steering devices for road marking vehicles E01C23/163)} - A01B 69/004: {automatic} - A01B 79/005: {Precision agriculture} - A01C 21/005: {Following a specific plan, e.g. pattern} - A01C 21/007: {Determining fertilization requirements} - A01M 21/043: {by chemicals} - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/0246: {using a video camera in combination with image processing means} - G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras - G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path - G06F 18/243: relating to the number of classes - G06V 20/188: {Vegetation} - G06V 20/38: {Outdoor scenes} - A01M 7/0089: {Regulating or controlling systems (the delivery being related to the movement of a vehicle B05B9/06)} - A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21) - A01C: PLANTING; SOWING; FERTILISING (parts, details or accessories of agricultural machines or implements, in general A01B51/00 - A01B75/00) - A01M: CATCHING, TRAPPING OR SCARING OF ANIMALS (appliances for catching swarms or drone-catching A01K57/00; fishing A01K69/00 - {A01K99/00}; biocides, pest repellants or attractants A01N); APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract Various embodiments relate generally to computer vision and automation to autonomously identify and deliver for application a treatment to an object among other objects, data science and data analysis, including machine learning, deep learning, and other disciplines of computer-based artificial intelligence to facilitate identification and treatment of objects, and robotics and mobility technologies to navigate a delivery system, more specifically, to an agricultural delivery system configured to identify and apply, for example, an agricultural treatment to an identified agricultural object. In some examples, a method may include, receiving data representing a policy specifying a type of action for an agricultural object, selecting an emitter with which to perform a type of action for the agricultural object as one of one or more classified subsets, and configuring the agricultural projectile delivery system to activate an emitter to propel an agricultural projectile to intercept the agricultural object. ## Claims ### Claim 1 A method comprising: receiving data representing one or more subsets of agricultural objects into a memory of an agricultural projectile delivery system, one or more agricultural objects being indexed among the one or more subsets of agricultural objects associated within an geographic boundary; receiving data representing one or more policies, at least one policy including data specifying a type of action for an agricultural object; identifying via one or more sensors one or more agricultural objects of a first classified subset, wherein identifying the one or more agricultural objects of the first classified subset comprises: determining a position of one or more emitters within the geographic boundary, the one or more emitters configured to emit the agricultural projectile as the one or more emitters traverse one or more paths within the geographic boundary; determining the first classified subset is associated with a path including the position; and predicting spatial locations of the one or more agricultural objects of the first classified subset relative to the position of the one or more emitters; selecting at a processor of the agricultural projectile delivery system an emitter with which to perform the type of action for the agricultural object as one of the first classified subset; and configuring the agricultural projectile delivery system to activate the emitter to propel an agricultural projectile to intercept the agricultural object. ### Claim 2 (depends on 1) The method of claim 1, further comprising: identifying via the one or more sensors one or more other agricultural objects of a second classified subset, wherein the one or more agricultural objects of the first classified subset are different than one or more other agricultural objects of the second classified sub set. ### Claim 3 (depends on 2) The method of claim 2, further comprising: selecting another emitter with which to perform another type of action for another agricultural object as one of the second classified subset, wherein the type of action is different than the another type of action. ### Claim 4 (depends on 1) The method of claim 1, further comprising: accessing map data to facilitate autonomous mobility of the one or more emitters to traverse the path. ### Claim 5 (depends on 4) The method of claim 4, further comprising: activating the emitter to propel agricultural projectiles to intercept each of the one or more agricultural objects of the first classified subset as the agricultural projectile delivery system traverses the path. ### Claim 6 (depends on 1) The method of claim 1, wherein identifying the one or more agricultural objects of the first classified subset further comprises: identifying via the one or more sensors one or more other agricultural objects of a second classified subset; and activating at least the emitter to propel agricultural projectiles to intercept each of the one or more agricultural objects of the first classified subset and each of the one or more other agricultural objects of the second classified subset as the agricultural projectile delivery system traverses the path. ### Claim 7 (depends on 1) The method of claim 1, wherein identifying the one or more agricultural objects of the first classified subset comprises: identifying a type of agricultural object; and selecting the type of action based on a policy for the type of agricultural object. ### Claim 8 (depends on 7) The method of claim 7, wherein selecting the type of action based on the policy for the type of agricultural object comprises: selecting the policy as a function of context. ### Claim 9 (depends on 8) The method of claim 8, wherein the context includes a stage of growth of a blossom. ### Claim 10 (depends on 1) The method of claim 1, wherein identifying the one or more agricultural objects of the first classified subset comprises: identifying a type of agricultural object as being classified as a blossom. ### Claim 11 (depends on 10) The method of claim 10, wherein selecting the emitter to perform the type of action comprises: performing one or more of a first type of action to pollinate a king blossom and a second type of action to terminate a lateral blossom as one or more agricultural projectiles. ### Claim 12 (depends on 1) The method of claim 1, wherein identifying the one or more agricultural objects of the first classified subset comprises: identifying a type of agricultural object as being classified as unwanted growth. ### Claim 13 (depends on 12) The method of claim 12, wherein selecting the emitter to perform the type of action comprises: performing one or more of a first type of action to apply a growth regulator on a limb and a second type of action to apply an herbicide to a weed as one or more agricultural projectiles. ### Claim 14 (depends on 1) The method of claim 1, wherein identifying the one or more agricultural objects of the first classified subset comprises: identifying a type of agricultural object as being classified as diseased vegetation. ### Claim 15 (depends on 14) The method of claim 14, wherein selecting the emitter to perform the type of action comprises: performing one or more of a first type of action to apply a fungicide to a fruit and a second type of action to apply a foliar liquid treatment to a leaf as one or more agricultural projectiles. ### Claim 16 (depends on 1) The method of claim 1, wherein identifying the one or more agricultural objects of the first classified subset comprises: identifying a type of agricultural object as being classified as an insect. ### Claim 17 (depends on 16) The method of claim 16, wherein selecting the emitter to perform the type of action comprises: performing a first type of action to apply insecticide as the agricultural projectile. ### Claim 18 (depends on 1) The method of claim 1, wherein identifying the one or more agricultural objects of the first classified subset comprises: identifying a type of agricultural object as being classified as reduced vegetation growth. ### Claim 19 (depends on 18) The method of claim 18, wherein selecting the emitter to perform the type of action comprises: performing a first type of action to apply foliar growth hormone as the agricultural projectile.