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    Upward facing light sensor for plant detection
    13.
    发明授权
    Upward facing light sensor for plant detection 有权

    公开(公告)号：US11615486B2

    公开(公告)日：2023-03-28

    申请号：US16789406

    申请日：2020-02-12

    Applicant: Blue River Technology Inc.

    Inventor： Matthew Stephen Colgan ,  Charles McCauley Ross

    IPC: A01M7/00 ,  G01N21/25 ,  G06Q50/02 ,  G06T7/00

    Abstract: A farming machine is configured to identify and treat plants in a field. The farming machine includes one or more light sensors for measuring a characteristic of light. The one or more light sensors are coupled to the farming machine and are directed a substantially upwards orientation away from the plants. A control system adjusts settings of an image acquisition system based on a characteristic of light measured by the one or more light sensors. The image acquisition system captures an image of a plant using one or more image sensors coupled to the farming machine, the one or more image sensors directed in a substantially downwards orientation towards the plants. The control system identifies a plant in the image and actuates a treatment mechanism to treat the identified plant.

    Semantic Segmentation to Identify and Treat Plants in a Field and Verify the Plant Treatments
    14.
    发明申请
    Semantic Segmentation to Identify and Treat Plants in a Field and Verify the Plant Treatments 有权

    公开(公告)号：US20230076562A1

    公开(公告)日：2023-03-09

    申请号：US17985766

    申请日：2022-11-11

    Applicant: Blue River Technology Inc.

    Inventor： Andrei Polzounov ,  James Patrick Ostrowski ,  Lee Kamp Redden ,  Olgert Denas ,  Chia-Chun Fu ,  Chris Padwick

    IPC: G06V20/10 ,  G06N5/04 ,  G06T7/10 ,  G06V10/26

    Abstract: A farming machine including a number of treatment mechanisms treats plants according to a treatment plan as the farming machine moves through the field. The control system of the farming machine executes a plant identification model configured to identify plants in the field for treatment. The control system generates a treatment map identifying which treatment mechanisms to actuate to treat the plants in the field. To generate a treatment map, the farming machine captures an image of plants, processes the image to identify plants, and generates a treatment map. The plant identification model can be a convolutional neural network having an input layer, an identification layer, and an output layer. The input layer has the dimensionality of the image, the identification layer has a greatly reduced dimensionality, and the output layer has the dimensionality of the treatment mechanisms.

    PREVENTING DAMAGE BY FARMING MACHINE
    15.
    发明申请
    PREVENTING DAMAGE BY FARMING MACHINE 有权

    公开(公告)号：US20230039092A1

    公开(公告)日：2023-02-09

    申请号：US17396193

    申请日：2021-08-06

    Applicant: Blue River Technology Inc.

    Inventor： Kent ANDERSON ,  Ben CHOSTNER ,  Bryon MAJUSIAK ,  Divya SHARMA ,  Lee REDDEN

    IPC: A01M7/00 ,  A01B79/00 ,  G01N33/24

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

    System and Method for Plant Treatment Based on Neighboring Effects
    16.
    发明申请
    System and Method for Plant Treatment Based on Neighboring Effects 有权

    公开(公告)号：US20220346364A1

    公开(公告)日：2022-11-03

    申请号：US17749113

    申请日：2022-05-19

    Applicant: Blue River Technology Inc.

    Inventor： Lee Kamp Redden

    IPC: A01M21/04 ,  A01G22/20

    Abstract: A method for plant treatment, including: receiving a first measurement for a plant from a sensor as the sensor moves within a geographic area comprising a plurality of plants; in response to receipt of the first measurement and prior to receipt of a second measurement for a second plant of the plurality, determining a set of treatment mechanism operation parameters for the plant to optimize a geographic area output parameter based on the first measurement and historical measurements for the geographic area; determining an initial treatment parameter for the plant; and operating a treatment mechanism in a treatment mode based on the set of operating parameters in response to satisfaction of the initial treatment parameter.

    AUTOMATED NOZZLE ADJUSTMENTS FOR PLANT TREATMENT APPLICATION
    17.
    发明申请
    AUTOMATED NOZZLE ADJUSTMENTS FOR PLANT TREATMENT APPLICATION 有权

    公开(公告)号：US20220248655A1

    公开(公告)日：2022-08-11

    申请号：US17665322

    申请日：2022-02-04

    Applicant: Blue River Technology Inc.

    Inventor： KENT MICHAEL ANDERSON ,  BENJAMIN RAY CHOSTNER ,  BRYON WILLIAM MAJUSIAK

    IPC: A01M7/00 ,  A01C23/04

    Abstract: A treatment mechanism for dispensing treatment fluid onto one or more plants in a field is described. The treatment mechanism includes a valve for regulating the dispensing of treatment fluid and a nozzle holder comprising a plurality of nozzles. Each nozzle is configured to dispense treatment fluid and to couple to the valve. The treatment mechanism further includes a control system configured to receive a plant treatment instruction for treating the plants. The plant treatment instruction includes a treatment position for the nozzle holder. The control system is further configured to determine a current position of the nozzle holder and adjust the current position of the nozzle holder to the treatment position for the nozzle holder. The control system is further configured to actuate the treatment mechanism such that the plants are treated via a nozzle of the plurality of nozzles.

    MACHINE-LEARNED OBSTRUCTION DETECTION IN A FARMING MACHINE
    18.
    发明申请
    MACHINE-LEARNED OBSTRUCTION DETECTION IN A FARMING MACHINE 有权

    公开(公告)号：US20220207881A1

    公开(公告)日：2022-06-30

    申请号：US17562919

    申请日：2021-12-27

    Applicant: Blue River Technology Inc.

    Inventor： Rahul Agrawal ,  Rajesh Radhakrishnan ,  Brent William West

    IPC: G06V20/58 ,  G06V20/70 ,  G06V40/20 ,  G06V10/70 ,  G05D1/02

    Abstract: A control system of a farming machine is configured to identify obstruction in a field from image data of the field. The control system accesses an obstruction model configured to identify obstructions in a field from image data of the field. The obstruction model is generated by accessing image data of obstructions in a training field, each obstruction corresponding to a prescribed action occurring at a prescribed time, labelling the image data of the obstructions, and training the obstruction model based on the labelled image data. The control system captures image data of the field including an obstruction and inputs the image data into the obstruction model. Responsive to identifying the obstruction in the field, the control system modifies treatment instructions of the farming machine such that the farming machine performs a implements a farming objective while avoiding the obstruction in the field.

    MACHINE-LEARNED TILLAGE PLUG DETECTION IN AN AUTONOMOUS FARMING VEHICLE
    19.
    发明申请
    MACHINE-LEARNED TILLAGE PLUG DETECTION IN AN AUTONOMOUS FARMING VEHICLE 有权

    公开(公告)号：US20220192076A1

    公开(公告)日：2022-06-23

    申请号：US17126764

    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: A01B79/00 ,  G06N20/00 ,  G05D1/00 ,  G06T7/00 ,  G06T7/70

    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).

    NOZZLES WITH INTERCHANGEABLE INSERTS FOR PRECISION APPLICATION OF CROP PROTECTANT
    20.
    发明申请
    NOZZLES WITH INTERCHANGEABLE INSERTS FOR PRECISION APPLICATION OF CROP PROTECTANT 有权

    公开(公告)号：US20220007631A1

    公开(公告)日：2022-01-13

    申请号：US17485095

    申请日：2021-09-24

    Applicant: Blue River Technology Inc.

    Inventor： THOMAS WELCH BROWN ,  ERIC M. GAWEHN

    IPC: A01M7/00 ,  A01G7/06 ,  A01G25/16

    Abstract: A treatment system for spraying treatment fluid onto plants in a field is described. The treatment system includes a configurable treatment mechanism including an array of nozzles and valve assemblies coupled into manifolds, and manifold assemblies. The nozzle comprises a nozzle housing and an insert assembly contained within the nozzle housing. When coupled, a top casing including a fluid inlet and a bottom casing including at least one fluid outlet form the nozzle housing. The insert assembly comprises at least one nozzle insert to fluidically couple the fluid inlet and the fluid outlets such that fluid entering from the fluid inlet exits the nozzle housing through the fluid outlets.

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