# US 2025/0143201 A1 · Autonomous agricultural vehicle systems and methods > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0143201 A1 - Document ID: US20250143201A1 - Status: Published application - Kind: A1 - Application number: 19/014,576 - Filed: 2025-01-09 - Published: 2025-05-08 - Earliest claimed: 2023-07-28 - Assignees: Moray Tecnologia Ltda. - Applicants: Moray Tecnologia Ltda. - Inventors: Juan Carlos Castilla-Rubio; Fabio Faria; Fabiano Adegas; Bruno Santos; Yves Sakamoto; Rodrigo Lopes; Victor Vazquez; Lucas de Cunto Costanzo; David Peter Swan; Liam David Harrison - Web page: https://patentgrep.com/patent/US20250143201A1 ## CPC - A01B 69/008: {automatic} - A01B 69/001: {Steering by means of optical assistance, e.g. television cameras (steering devices for road marking vehicles E01C23/163)} - A01G 7/06: Treatment of growing trees or plants, e.g. for preventing decay of wood, for tingeing flowers or wood, for prolonging the life of plants - G05D 1/225: operated by off-board computers - G05D 1/229: Command input data, e.g. waypoints - G05D 1/689: Pointing payloads towards fixed or moving targets (positioning towed, pushed or suspended implements G05D1/672) - G05D 2105/80: for information gathering, e.g. for academic research - G05D 2107/21: {Farming, e.g. fields, pastures or barns} - G05D 2109/10: Land vehicles - G05D 2111/10: Optical signals - G06V 20/188: {Vegetation} - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums - 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) - 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 - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract An agricultural autonomous vehicle is provided which is operable to traverse a field and perform one or more detection tasks. ## Claims ### Claim 1 A method for operating a vehicle, comprising: receiving, by the vehicle, a mission plan, the mission plan associated with one or more agricultural fields and defining a travel path through the one or more agricultural fields, the travel path including a plurality of waypoints; identifying, by the vehicle, at least a first detection task to be performed; controlling a drive system of the vehicle to cause operation of a first set of wheels and a second set of wheels to cause the vehicle to move along the travel path between the waypoints, the first set of wheels mounted on a first wall of the vehicle and the second set of wheels mounted on a second wall of the vehicle; controlling a detection system of the vehicle to operate at least a first camera to capture images for the at least first detection task, the at least first camera mounted on the first wall of the vehicle and oriented toward the second wall of the vehicle to acquire images of at least a portion of an area around one or more plants in a row of crops as the one or more plants pass between the first wall and the second wall; and transmitting information associated with the performance of the at least first detection task to a control system for processing. ### Claim 2 (depends on 1) The method of claim 1, wherein controlling the detection system of the vehicle further comprises: operating at least a second camera positioned on the first wall and oriented toward the second wall to acquire images of at least a second portion of an area around one or more plants in the row of crops as the one or more plants pass between the first wall and the second wall. ### Claim 3 (depends on 1) The method of claim 1, wherein controlling the detection system of the vehicle further comprises: operating at least a first light source in conjunction with operation of the first camera, the at least first light source positioned proximate to the at least first camera on the first wall and oriented toward the second wall, the first light source directing light toward an area of focus of the at least first camera. ### Claim 4 (depends on 3) The method of claim 3, wherein the at least first light source is a light emitting diode (LED) panel shaped as at least one of: (i) a ring, (ii) a circle, (iii) a rectangle, and (iv) a square. ### Claim 5 (depends on 3) The method of claim 3, wherein controlling the detection system of the vehicle to operate the at least first light source further comprises: determining that a low light condition exists. ### Claim 6 (depends on 1) The method of claim 1, wherein the information associated with the performance of the at least first detection task includes at least: (i) one or more images acquired by the at least first camera, (ii) a geolocation of the location of the vehicle when each of the one or more images was acquired, and (iii) a timestamp indicating the time and date when each of the one or more images was acquired. ### Claim 7 (depends on 1) The method of claim 1, wherein the information associated with the performance of the at least first detection task includes at least: (i) one or more images acquired by the at least first camera, (ii) a geolocation of the location of the vehicle when each of the one or more images was acquired, (iii) a timestamp indicating the time and date when each of the one or more images was acquired, and (iv) an output from a machine learning model indicating an identified item detected by the at least first detection task. ### Claim 8 (depends on 7) The method of claim 7, wherein the identified item is an identification of at least one of: (i) a pest, (ii) a disease, (iii) a nutritional deficiency (iv) a density of plants in the row, (v) a morphology of a plant branch and leaf structure and that of its fruits, and (vi) an indicator of plant stress and fruit quality. ### Claim 9 (depends on 1) The method of claim 1, wherein the first wall further comprises: a leading edge extending diagonally from a first wheel of the first set of wheels upward to a top of the vehicle, the leading edge wider in an area proximate the first wheel and narrower in an area proximate the top; and a trailing edge extending diagonally from a second wheel of the first set of wheels upward to the top, the trailing edge wider in an area proximate the second wheel and narrower in an area proximate the top. ### Claim 10 (depends on 9) The method of claim 9, further comprising: a first bumper, the first bumper substantially covering the leading edge and a portion of a front of the first wheel; and a second bumper, the second bumper substantially covering the trailing edge and a portion of a front of the second wheel; wherein the first and second bumpers prevent limbs and foliage of plants in the row of crops from being damaged by the first wall as the vehicle moves along the travel path. ### Claim 11 (depends on 9) The method of claim 9, wherein the second wall further comprises: a second leading edge extending diagonally from a first wheel of the second set of wheels upward to the top, the second leading edge wider in an area proximate the first wheel and narrower in an area proximate the top; a second trailing edge extending diagonally from a second wheel of the second set of wheels upward to the top, the second trailing edge wider in an area proximate the second wheel and narrower in an area proximate the top; a third bumper, the third bumper substantially covering the second leading edge and a portion of a front of the first wheel of the second set of wheels; and a fourth bumper, the fourth bumper substantially covering the second trailing edge and a portion of a front of the second wheel of the second set of wheels; wherein the third and fourth bumpers prevent limbs and foliage of plants in the row of crops from being damaged by the second wall as the vehicle moves along the travel path. ### Claim 12 (depends on 1) The method of claim 1, further comprising: identifying, by the vehicle, at least a second detection task to be performed; and controlling the detection system to operate at least a first sensor to capture data for the at least second detection task. ### Claim 13 A non-transitory computer readable storage medium embodying a computer program executed on a computing device for performing a method to operate a vehicle, the method comprising: receiving, by the vehicle, a mission plan, the mission plan associated with one or more agricultural fields and defining a travel path through the one or more agricultural fields, the travel path including a plurality of waypoints; identifying, by the vehicle, at least a first detection task to be performed; controlling a drive system of the vehicle to cause operation of a first set of wheels and a second set of wheels to cause the vehicle to move along the travel path between the waypoints, the first set of wheels mounted on a first wall of the vehicle and the second set of wheels mounted on a second wall of the vehicle; controlling a detection system of the vehicle to operate at least a first camera to capture images for the at least first detection task, the at least first camera mounted on the first wall of the vehicle and oriented toward the second wall of the vehicle to acquire images of at least a portion of an area around one or more plants in a row of crops as the one or more plants pass between the first wall and the second wall; and transmitting information associated with the performance of the at least first detection task to a control system for processing. ### Claim 14 (depends on 13) The non-transitory computer readable storage medium of claim 13, wherein controlling the detection system of the vehicle further comprises: operating at least a second camera positioned on the first wall and oriented toward the second wall to acquire images of at least a second portion of an area around one or more plants in the row of crops as the one or more plants pass between the first wall and the second wall. ### Claim 15 (depends on 13) The non-transitory computer readable storage medium of claim 13, wherein controlling the detection system of the vehicle further comprises: operating at least a first light source in conjunction with operation of the first camera, the at least first light source positioned proximate to the at least first camera on the first wall and oriented toward the second wall, the first light source directing light toward an area of focus of the at least first camera. ### Claim 16 (depends on 15) The non-transitory computer readable storage medium of claim 15, wherein the at least first light source is a light emitting diode (LED) panel shaped as at least one of: (i) a ring, (ii) a circle, (iii) a rectangle, and (iv) a square. ### Claim 17 (depends on 15) The non-transitory computer readable storage medium of claim 15, wherein controlling the detection system of the vehicle to operate the at least first light source further comprises: determining that a low light condition exists. ### Claim 18 (depends on 13) The non-transitory computer readable storage medium of claim 13, wherein the information associated with the performance of the at least first detection task includes at least: (i) one or more images acquired by the at least first camera, (ii) a geolocation of the location of the vehicle when each of the one or more images was acquired, and (iii) a timestamp indicating the time and date when each of the one or more images was acquired. ### Claim 19 (depends on 13) The non-transitory computer readable storage medium of claim 13, wherein the information associated with the performance of the at least first detection task includes at least: (i) one or more images acquired by the at least first camera, (ii) a geolocation of the location of the vehicle when each of the one or more images was acquired, (iii) a timestamp indicating the time and date when each of the one or more images was acquired, and (iv) an output from a machine learning model indicating a predicted item detected by the at least first detection task. ### Claim 20 (depends on 18) The non-transitory computer readable storage medium of claim 18, wherein the predicted item is an identification of at least one of: (i) a pest, (ii) a disease, (iii) a nutritional deficiency (iv) a density of plants in a row, (v) a morphology of a plant branch and leaf structure and that of its fruits, and (vi) an indicator of plant stress and fruit quality.