# US 12,757,808 B2 · Method for autonomously weeding crops in an agricultural field > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,757,808 B2 - Document ID: US12757808B2 - Status: Granted - Kind: B2 - Application number: 18/929,185 - Filed: 2024-10-28 - Published: 2025-02-13 - Granted: 2026-10-13 - Earliest claimed: 2018-02-05 - Assignees: FarmWise Labs, Inc. - Applicants: FarmWise Labs, Inc. - Inventors: Thomas Palomares; Sébastien Boyer; Arthur Flajolet; Eric Stahl-David - Web page: https://patentgrep.com/patent/US12757808B2 ## CPC - A01B 39/18: for weeding - 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 - 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) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract One variation of a method for executing agricultural actions on an agricultural field includes: based a type of a crop planted on the agricultural field and a maturity of the crop, setting a nominal blade gap width of a weeding module installed in an autonomous agricultural vehicle; and, at the autonomous agricultural vehicle, while autonomously traversing the agricultural field, detecting a first target plant passing under the autonomous agricultural vehicle and aligned with the weeding module, triggering the weeding module to open a set of weeding blades to the nominal blade gap width at a nominal blade speed in response to the first target plant approaching the weeding module, and triggering the weeding module to close the set of weeding blades in response to the first target plant passing the weeding module. ## Claims ### Claim 1 A method for executing agricultural actions on an agricultural field comprising: determining a nominal blade separation distance for a weeding module of an autonomous agricultural system; at the autonomous agricultural system, while traversing the agricultural field: detecting a first target plant aligned with the weeding module; autonomously controlling a first weeding action based on a location of the first target plant, comprising: in response to the first target plant approaching the weeding module, autonomously triggering the weeding module to open a pair of weeding blades to the nominal blade separation distance using an actuator, both weeding blades of the pair mechanically coupled to the actuator; and in response to the first target plant passing the weeding module, triggering the weeding module to close the set of weeding blades; and based on sensor feedback, characterizing a motion for the first weeding action; providing feedback to a remote computing system comprising: the motion for the first weeding action and at least one image of the first target plant; responsive to the feedback, adjusting the nominal blade separation distance for the weeding module; and at the autonomous agriculture system, controlling a second weeding action based on the adjusted nominal blade separation distance. ### Claim 2 (depends on 1) The method of claim 1, wherein the sensor feedback comprises a sequence of images captured during the first weeding action, wherein the motion comprises a centroid motion of the first target across the sequence of images. ### Claim 3 (depends on 2) The method of claim 2, further comprising: determining terminal weeding associated with the first target plant based on satisfaction of a motion threshold. ### Claim 4 (depends on 3) The method of claim 3, wherein providing feedback to the remote computing system occurs responsive to the determination of terminal weeding associated with the first target plant. ### Claim 5 (depends on 1) The method of claim 1, wherein providing feedback to the remote computing system further comprises: streaming video along with a current blade separation distance. ### Claim 6 (depends on 1) The method of claim 1, further comprising, prior to the second weeding action: resetting the weeding module from the remote computing system. ### Claim 7 (depends on 1) The method of claim 1, wherein adjusting the nominal blade separation distance comprises: at the autonomous agriculture vehicle, automatically calculating the adjusted nominal blade separation distance based on the sensor feedback; and prompting verification by a remote human operator via the remote computing system. ### Claim 8 (depends on 7) The method of claim 7, wherein prompting verification occurs responsive to satisfaction of a threshold deviation a nominal parameter value. ### Claim 9 (depends on 1) The method of claim 1, wherein the feedback comprises a request for remote assistance. ### Claim 10 (depends on 1) The method of claim 1, wherein the feedback comprises: the location of the first target plant, a plant type of the first plant, and a set of weeding metrics. ### Claim 11 (depends on 1) The method of claim 1, wherein the set of weeding metrics comprises a count of weeding actions. ### Claim 12 A method comprising: at an autonomous agriculture system which is traversing in an agricultural field: detecting a first target plant aligned with an actuator coupled to a pair of weeding blades; autonomously controlling the actuator based on a location of the first target plant and a set of control parameters; and based on sensor feedback, characterizing a motion of the actuator; providing, to a remote computing system comprising, feedback with a request for remote assistance, the feedback comprising: the motion and at least one image of the first target plant; responsive to the feedback, adjusting the set of control parameters for the autonomous agriculture system; and at the autonomous agriculture system, controlling the actuator based on the adjusted set of control parameters. ### Claim 13 (depends on 12) The method of claim 12, wherein the sensor feedback comprises a sequence of images captured during the autonomously controlled actuation of the actuator, wherein the motion comprises a centroid motion of the first target plant across the sequence of images. ### Claim 14 (depends on 13) The method of claim 13, further comprising: determining termination of the first target plant based on satisfaction of a motion threshold. ### Claim 15 (depends on 14) The method of claim 14, wherein the feedback provision to a remote computing system occurs responsive to termination of the first target plant. ### Claim 16 (depends on 12) The method of claim 12, wherein the feedback comprises: the location of the first target plant, a plant type of the first plant, a plant size of the first plant, and a set of actuation metrics. ### Claim 17 (depends on 12) The method of claim 12, wherein adjusting the set of control parameters comprises: at the autonomous agriculture vehicle, automatically calculating an actuation distance based on the sensor feedback; and prompting verification by a remote human operator via the remote computing system. ### Claim 18 (depends on 12) The method of claim 12, wherein the actuator is dynamically controlled based on the adjusted set of control parameters.