# US 12,004,443 B2 · Payload selection to treat multiple plant objects having different attributes > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,004,443 B2 - Document ID: US12004443B2 - Status: Granted - Kind: B2 - Application number: 17/883,436 - Filed: 2022-08-08 - Published: 2022-12-01 - Granted: 2024-06-11 - 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/US12004443B2 ## CPC - A01B 79/005: {Precision agriculture} - A01B 69/001: {Steering by means of optical assistance, e.g. television cameras (steering devices for road marking vehicles E01C23/163)} - A01B 79/02: combined with other agricultural processing, e.g. fertilising, planting - A01C 21/005: {Following a specific plan, e.g. pattern} - A01C 21/007: {Determining fertilization requirements} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G05D 1/246: using environment maps, e.g. simultaneous localisation and mapping [SLAM] - 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) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract Computer vision and autonomous identification of objects are used for the application of a treatment to an object. Robotics and mobility technologies navigate a delivery system which is configured to identify and apply an agricultural treatment to an identified agricultural object. The delivery system identifies a subset of payloads to provide one or more actions based on data representing a policy for one or more subsets of agricultural objects. The delivery system causes one or more cartridges to be charged based on the subset of payloads. ## Claims ### Claim 1 A method comprising: receiving data representing a policy with which to implement one or more actions in association with one or more subsets of agricultural objects, the data representing the policy being configured to apply the one or more actions as an agricultural projectile delivery system traverses one or more paths adjacent the one or more subsets of agricultural objects; identifying a subset of payloads to provide the one or more actions based on the data representing the policy for the one or more subsets of agricultural objects; determining whether a payload is sufficient to implement the one or more actions; and transmitting data representing executable instructions to implement the one or more actions. ### Claim 2 (depends on 1) The method of claim 1, further comprising causing one or more cartridges to be charged based on the subset of payloads. ### Claim 3 (depends on 2) The method of claim 2, further comprising filling cartridges with the subset of payloads in a combination customized for the one or more subsets of agricultural objects at a specific geographic location. ### Claim 4 (depends on 1) The method of claim 1, wherein receiving the data representing the policy comprises: receiving the data representing one or more actions as a function of contextual data including one or more of data representing one or more abiotic factors, data representing one or more biotic factors, and data representing a stage of growth. ### Claim 5 (depends on 1) The method of claim 1, wherein receiving the data representing the one or more actions comprises: receiving the data representing one or more actions at an agricultural projectile delivery system. ### Claim 6 (depends on 1) The method of claim 1, wherein identifying the subset of payloads comprises: identifying one or more fluid-based agricultural treatments. ### Claim 7 (depends on 6) The method of claim 6, wherein the one or more actions comprises emitting one or more fluid-based agricultural treatments to intercept the one or more subsets of agricultural objects. ### Claim 8 (depends on 1) The method of claim 1, wherein receiving the data representing the policy comprises: executable instructions to mix two or more payloads in situ at the agricultural projectile delivery system. ### Claim 9 (depends on 1) The method of claim 1, wherein the one or more actions include experimental treatments to one of the agricultural objects to implement a test including A/B testing. ### Claim 10 (depends on 1) The method of claim 1 further comprising: accessing a map to apply the one or more actions by the agricultural projectile delivery system; navigating the agricultural projectile delivery system in accordance with the map; and executing the one or more actions on the one or more subsets of agricultural objects. ### Claim 11 (depends on 1) The method of claim 1, wherein the policy is based on a shape, size, color, orientation, dimensions, or a combination thereof, of the one or more subsets of agricultural objects. ### Claim 12 (depends on 1) The method of claim 1, wherein the agricultural projectile delivery system transmits instructions to implement the one or more actions based on a detected shape, size, color, orientation, dimensions, or a combination thereof, of the one or more subsets of agricultural objects reaching a threshold. ### Claim 13 A system comprising: a memory including executable instructions; and a processor, responsive to executing the instructions, is configured to: receive data representing one or more actions for application to subsets of agricultural objects based on contextual data; receive data representing a policy with which to implement the one or more actions in association with one or more subsets of agricultural objects, the data representing the policy being configured to apply the one or more actions as an agricultural projectile delivery system traverses one or more paths adjacent the one or more subsets of agricultural objects; identify a subset of payloads to provide the one or more actions based on the data representing the policy for the one or more subsets of agricultural objects; determining whether a payload is sufficient to implement the one or more actions; and transmit data representing executable instructions to implement the one or more actions. ### Claim 14 (depends on 13) The system of claim 13, wherein a subset of the instructions causes the processor to: cause one or more cartridges to be charged based on the subset of payloads. ### Claim 15 (depends on 13) The system of claim 13, wherein contextual data includes one or more of data representing one or more abiotic factors, data representing one or more biotic factors, and data representing a stage of growth. ### Claim 16 (depends on 13) The system of claim 13, wherein a subset of the instructions to receive the data representing the one or more actions causes the processor to: receive the data representing one or more actions at an agricultural projectile delivery system. ### Claim 17 (depends on 13) The system of claim 13, wherein a subset of the instructions to identify the subset of payloads causes the processor to: identify one or more fluid-based agricultural treatments. ### Claim 18 (depends on 13) The system of claim 13, wherein the one or more actions include experimental treatments to one of the agricultural objects to implement a test including A/B testing. ### Claim 19 (depends on 13) The system of claim 13, wherein the processor is further configured to execute the instructions of: access a map to apply the one or more actions by the agricultural projectile delivery system; navigate the agricultural projectile delivery system in accordance with the map; and execute the one or more actions on the one or more subsets of agricultural objects. ### Claim 20 (depends on 13) The system of claim 13, wherein the policy is based on a shape, size, color, orientation, dimensions, or a combination thereof, of the one or more subsets of agricultural objects.