公开(公告)号：US20230281987A1

公开(公告)日：2023-09-07

申请号：US17826144

申请日：2022-05-26

Applicant: Blue River Technology Inc.

Inventor： Christopher Grant Padwick ,  Chia-Chun Fu ,  Anuradha Chandrashekar ,  Umabharathi Govindarajan

IPC: G06V20/10 ,  A01M7/00 ,  A01B79/02 ,  G06V10/764

CPC classification number: G06V20/188 ,  A01M7/0089 ,  A01B79/02 ,  G06V10/764

Abstract: A farming machine is configured to identify and compensate for occlusions in the field of view of its image acquisition system. To do so, the machine captures an image using a first set of capture parameters associated with a first set of treatment results. The farming machine identifies an occlusion in the first image that obstructs a portion of the first image and determines occlusion characteristics representative of the occlusion based on image data in the first image. The farming machine compensates for the identified occlusion based on the occlusion characteristics. The farming machine captures a second image using modified set of capture parameters that compensate for the occlusion. The second image is associated with a second set of treatment results. The farming machine transmits the second set of treatment results to a manager of the farming machine.

公开(公告)号：US20230177697A1

公开(公告)日：2023-06-08

申请号：US18094927

申请日：2023-01-09

Applicant: Blue River Technology Inc.

Inventor： Christopher Grant Padwick ,  William Louis Patzoldt ,  Benjamin Kahn Cline ,  Olgert Denas ,  Sonali Subhash Tanna

IPC: G06T7/11 ,  G06T7/66 ,  G06T7/73 ,  G06V10/82 ,  G06V20/10 ,  G06V20/00 ,  G06V10/75 ,  G06V10/44 ,  G06V10/20

CPC classification number: G06T7/11 ,  G06T7/66 ,  G06T7/73 ,  G06V10/82 ,  G06V20/188 ,  G06V20/38 ,  G06V10/751 ,  G06V10/44 ,  G06V10/255 ,  G06T2207/30252 ,  G06T2207/20164 ,  G06T2207/30128 ,  G06T2207/30188 ,  G06V20/68

Abstract: A farming machine moves through a field and includes an image sensor that captures an image of a plant in the field. A control system accesses the captured image and applies the image to a machine learned plant identification model. The plant identification model identifies pixels representing the plant and categorizes the plant into a plant group (e.g., plant species). The identified pixels are labeled as the plant group and a location of the pixels is determined. The control system actuates a treatment mechanism based on the identified plant group and location. Additionally, the images from the image sensor and the plant identification model may be used to generate a plant identification map. The plant identification map is a map of the field that indicates the locations of the plant groups identified by the plant identification model.

公开(公告)号：US11647701B2

公开(公告)日：2023-05-16

申请号：US17884566

申请日：2022-08-10

Applicant: Blue River Technology Inc.

Inventor： Lee Kamp Redden ,  Matthew Stephen Colgan

IPC: A01C21/00 ,  A01G7/06 ,  G01B11/24 ,  G06V10/75 ,  G01N33/00 ,  A01G7/00 ,  G06V20/68

CPC classification number: A01G7/00 ,  A01C21/007 ,  A01G7/06 ,  G01B11/24 ,  G01N33/0098 ,  G06V10/751 ,  G06V20/68

Abstract: A system for plant parameter detection, including: a plant morphology sensor having a first field of view and configured to record a morphology measurement of a plant portion and an ambient environment adjacent the plant, a plant physiology sensor having a second field of view and configured to record a plant physiology parameter measurement of a plant portion and an ambient environment adjacent the plant, wherein the second field of view overlaps with the first field of view; a support statically coupling the plant morphology sensor to the physiology sensor, and a computing system configured to: identify a plant set of pixels within the physiology measurement based on the morphology measurement; determine physiology values for each pixel of the plant set of pixels; and extract a growth parameter based on the physiology values.

公开(公告)号：US20230038422A1

公开(公告)日：2023-02-09

申请号：US17881436

申请日：2022-08-04

Applicant: Blue River Technology Inc.

Inventor： Lee Kamp Redden ,  Divya Sharma ,  Kent Michael Anderson ,  Bryon William Majusiak ,  Benjamin Ray Chostner ,  James Patrick Ostrowski

IPC: E02F9/26 ,  E02F9/20 ,  G05D1/02 ,  G07C5/08 ,  G06V10/82 ,  G06V20/56

Abstract: A vehicle moves through an environment (e.g., a farming, construction, mining, or forestry environment) and performs one or more actions in the environment. Portions of the environment may include moisture, such as puddles or mud patches. A control system associated with the vehicle may include a traversability model or a moisture model to help the vehicle operate in the environment with the moisture. In particular, the control system may employ the traversability model to reduce the likelihood of the vehicle attempting to traverse an untraversable portion of the environment, and the control system may employ the moisture model to reduce the likelihood of the vehicle performing an action that will damage a portion of the environment.

公开(公告)号：US11537027B2

公开(公告)日：2022-12-27

申请号：US16746872

申请日：2020-01-19

Applicant: Blue River Technology Inc.

Inventor： Atul Maharshi ,  Pablo A Anigstein ,  Rajiv Laroia

IPC: H04N5/225 ,  G03B11/00 ,  G06T1/20 ,  G06T7/20 ,  H04N5/232 ,  H04N5/357

Abstract: Methods and apparatus for using a controllable filter, e.g., an liquid crystal panel, in front of a camera are described. The filter is controlled based on the luminosity of object in a scene being captured by the camera to reduce or eliminate luminosity related image defects such as flaring, blooming or ghosting. Multiple cameras and filters can be used to capture multiple images as part of a depth determination processes where pixel values captured by cameras at different locations are matched to determine the depth, e.g., distance from the camera or camera system to object in the environment. Pixel values are normalized in some embodiments based on the amount of filtering applied to a sensor region and sensor exposure time. The filtering allows for regional sensor exposure control at an individual camera even though the overall exposure time of the pixel sensors may be and often will be the same.

公开(公告)号：US20220377986A1

公开(公告)日：2022-12-01

申请号：US17884566

申请日：2022-08-10

Applicant: Blue River Technology Inc.

Inventor： Lee Kamp Redden ,  Matthew Stephen Colgan

IPC: A01G7/00 ,  G01N33/00 ,  G06V10/75 ,  A01C21/00 ,  A01G7/06 ,  G01B11/24

Abstract: A system for plant parameter detection, including: a plant morphology sensor having a first field of view and configured to record a morphology measurement of a plant portion and an ambient environment adjacent the plant, a plant physiology sensor having a second field of view and configured to record a plant physiology parameter measurement of a plant portion and an ambient environment adjacent the plant, wherein the second field of view overlaps with the first field of view; a support statically coupling the plant morphology sensor to the physiology sensor, and a computing system configured to: identify a plant set of pixels within the physiology measurement based on the morphology measurement; determine physiology values for each pixel of the plant set of pixels; and extract a growth parameter based on the physiology values.

公开(公告)号：US11425354B2

公开(公告)日：2022-08-23

申请号：US17012055

申请日：2020-09-04

Applicant: Blue River Technology Inc.

Inventor： Lee Kamp Redden

IPC: H04N13/204 ,  G06T7/593 ,  G06K9/62 ,  H04N13/128 ,  H04N13/239 ,  H04N13/271 ,  H04N13/243 ,  G06V20/00 ,  H04N13/00

Abstract: Described are methods for identifying the in-field positions of plant features on a plant by plant basis. These positions are determined based on images captured as a vehicle (e.g., tractor, sprayer, etc.) including one or more cameras travels through the field along a row of crops. The in-field positions of the plant features are useful for a variety of purposes including, for example, generating three-dimensional data models of plants growing in the field, assessing plant growth and phenotypic features, determining what kinds of treatments to apply including both where to apply the treatments and how much, determining whether to remove weeds or other undesirable plants, and so on.

公开(公告)号：US20220198643A1

公开(公告)日：2022-06-23

申请号：US17126800

申请日：2020-12-18

Applicant: Blue River Technology Inc.

Inventor： Divya Sharma ,  Michael Albert Elcano ,  Byron Gajun Ho ,  Jeremy Douglas Krantz ,  Tyler Niday ,  Robert Joseph Plumeau

IPC: G06T7/00 ,  G06K9/62 ,  H04N13/204 ,  G06T7/593 ,  A01B79/00 ,  A01B3/26 ,  G06N20/00 ,  G06K7/10 ,  G06K19/07

Abstract: A detection system detects malfunctions in an autonomous farming vehicle during an autonomous routine using one or more models and data from sensors coupled to the autonomous farming vehicle. The models may include machine-learned models trained on the sensor data and configured to identify objects indicative of an operational or malfunctioning component within a tilling assembly such as a tilling shank or sweep. Additionally, a machine-learned model may be trained on sensor data to detect whether debris has plugged the tilling assembly of the autonomous farming vehicle. In response to detecting a malfunction or a plug, the detection system may modify the autonomous routine (e.g., pausing operation) or provide information for the malfunction to be addressed (e.g., the likely location of a malfunctioning sweep that has detached from the tilling assembly).

公开(公告)号：US20220100996A1

公开(公告)日：2022-03-31

申请号：US17033292

申请日：2020-09-25

Applicant: Blue River Technology Inc.

Inventor： Chia-Chun Fu ,  Christopher Grant Padwick

IPC: G06K9/00 ,  G06T9/00 ,  G06K9/62 ,  H04N5/225 ,  A01B69/00

Abstract: A farming machine includes one or more image sensors for capturing an image as the farming machine moves through the field. A control system accesses an image captured by the one or more sensors and classifies each pixel in the image as ground pixels or plant pixels. The control system then determines a ground plane for the image based on the classified ground pixels and corrects the pixels in the image based on the determined ground plane. Plant pixels in the image can represent plants and the control system identifies plant pixel clusters as plants. The difference in height of plants relative to other plants in a field can be indicative for plant treatments. As such, the control system determines a height of each plant pixel cluster relative to the ground plane and compares the height of the pixel cluster to other plant pixel clusters in the field. Based on the determined height dissimilarity, the control system can identify the plant for treatment and actuate treatment mechanisms to treat the plant.

公开(公告)号：US20220053689A1

公开(公告)日：2022-02-24

申请号：US17497861

申请日：2021-10-08

Applicant: Blue River Technology Inc.

Inventor： Thomas W. Brown ,  Eric M. Gawehn ,  Kent Anderson

IPC: A01C23/04 ,  B05B1/04 ,  A01C23/00 ,  B05B12/12 ,  B05B7/00 ,  B05B7/24 ,  B05B13/00

Abstract: A treatment system for spraying treatment fluid onto plants in a field is described. The treatment system includes a highly configurable treatment mechanism including an array of nozzles and valve assemblies coupled into manifolds, and manifold assemblies. The manifolds of the manifold assemblies can be oriented in an open state or a nested state, the open state with no overlap between nozzles of adjacent manifolds and the nested state with overlap between nozzles of adjacent manifolds. The manifolds can have multiple configurations, examples of which include a tube manifold and an offset manifold. The nozzles of the system can have multiple configurations, examples of which include a tri-spray nozzle, a bar nozzle, a fan nozzle, and a deflected fan nozzle. The system can be controlled by a system controller which detects plant material and instructs a nozzle or combination of nozzles to spray treatment fluid.