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公开(公告)号：US20210264624A1
公开(公告)日：2021-08-26
申请号：US17314218
申请日：2021-05-07
Applicant: Blue River Technology Inc.
Inventor： Chia-Chun Fu , Christopher Grant Padwick , James Patrick Ostrowski
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 identifies a distance value associated with each pixel of the image. The distance value corresponds to a distance between a point and an object that the pixel represents. The control system classifies pixels in the image as crop, plant, ground, etc. based on depth information in in the pixels. The control system generates a labelled point cloud using the labels and depth information, and identifies features about the crops, plants, ground, etc. in the point cloud. The control system generates treatment actions based on any of the depth information, visual information, point cloud, and feature values. The control system actuates a treatment mechanism based on the classified pixels.
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公开(公告)号：US12171218B2
公开(公告)日：2024-12-24
申请号：US18350703
申请日：2023-07-11
Applicant: Blue River Technology Inc.
Inventor： Chia-Chun Fu , Christopher Grant Padwick , James Patrick Ostrowski
IPC: G06T7/50 , A01C23/00 , A01C23/02 , A01G25/09 , A01G25/16 , A01M7/00 , A01M21/04 , G06V10/762 , G06V10/82 , G06V20/10 , G06V30/24
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 identifies a distance value associated with each pixel of the image. The distance value corresponds to a distance between a point and an object that the pixel represents. The control system classifies pixels in the image as crop, plant, ground, etc. based on depth information in in the pixels. The control system generates a labelled point cloud using the labels and depth information, and identifies features about the crops, plants, ground, etc. in the point cloud. The control system generates treatment actions based on any of the depth information, visual information, point cloud, and feature values. The control system actuates a treatment mechanism based on the classified pixels.
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公开(公告)号：US12080019B2
公开(公告)日：2024-09-03
申请号：US17033318
申请日：2020-09-25
Applicant: Blue River Technology Inc.
Inventor： Chia-Chun Fu , Christopher Grant Padwick , James Patrick Ostrowski , Kent Anderson
CPC classification number: G06T7/73 , G06F18/23 , G06T7/30 , G06T7/55 , G06V20/188 , A01B76/00 , G06T2207/30188
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 the image(s) and creates a labelled three-dimensional point cloud representing the field. The control system identifies and treats plants based on the labelled point cloud. To do so, the control system applies pre-processing functions to the labelled point cloud to determine characteristics of the field and/or modify labels in the point cloud. Point clusters in the point cloud are identified as plants, crops, weeds, ground, etc., using the determined characteristics and modified labels. The control system derives feature values for the plants based on the determined characteristics and labels. If the feature value indicates that the plant should be treated, the farming machine actuates a treatment mechanism to treat the plant.
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公开(公告)号：US12016325B2
公开(公告)日：2024-06-25
申请号：US16721140
申请日：2019-12-19
Applicant: Blue River Technology Inc.
Inventor： Chia-Chun Fu , Christopher Grant Padwick
IPC: G06V20/56 , A01M7/00 , G06F18/214 , G06F18/2431 , G06T7/90 , G06V20/10
CPC classification number: A01M7/0089 , G06F18/214 , G06F18/2431 , G06T7/90 , G06V20/188 , G06V20/56 , G06T2207/10024 , G06T2207/20081 , G06T2207/20084 , G06T2207/30188
Abstract: A farming machine including a number of treatment mechanisms treats plants 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 plant identification model is also configured to identify plants in non-ideal operating conditions. For example, the control system can identify and treat plants in non-ideal operating conditions where airborne particulates are present in an accessed image. The plant identification model is also configured to determine a particulate level in an accessed image and transmit a notification of the particulate level to an operator of the farming system. The control system generates a treatment map identifying which treatment mechanisms to actuate to treat the plants in the field. The farming machine treats the plants in the field according to the treatment map.
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Patent Agency Ranking
公开(公告)号：US11771077B2
公开(公告)日：2023-10-03
申请号：US17314218
申请日：2021-05-07
Applicant: Blue River Technology Inc.
Inventor： Chia-Chun Fu , Christopher Grant Padwick , James Patrick Ostrowski
IPC: A01M7/00 , G06T7/50 , G06V20/10 , G06V10/762 , G06V10/82 , A01M21/04 , A01G25/16 , A01C23/00 , A01G25/09 , A01C23/02 , G06V30/24
CPC classification number: A01M7/0089 , A01C23/007 , A01C23/02 , A01G25/09 , A01G25/16 , A01M7/0042 , A01M21/043 , G06T7/50 , G06V10/762 , G06V10/82 , G06V20/188 , G06V30/248 , G06T2207/10028 , G06T2207/20081 , G06T2207/20084 , G06T2207/30188 , G06V30/2528
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 identifies a distance value associated with each pixel of the image. The distance value corresponds to a distance between a point and an object that the pixel represents. The control system classifies pixels in the image as crop, plant, ground, etc. based on depth information in in the pixels. The control system generates a labelled point cloud using the labels and depth information, and identifies features about the crops, plants, ground, etc. in the point cloud. The control system generates treatment actions based on any of the depth information, visual information, point cloud, and feature values. The control system actuates a treatment mechanism based on the classified pixels.
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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.
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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
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.
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公开(公告)号：US20210089771A1
公开(公告)日：2021-03-25
申请号：US16721140
申请日：2019-12-19
Applicant: Blue River Technology Inc.
Inventor： Chia-Chun Fu , Christopher Grant Padwick
Abstract: A farming machine including a number of treatment mechanisms treats plants 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 plant identification model is also configured to identify plants in non-ideal operating conditions. For example, the control system can identify and treat plants in non-ideal operating conditions where airborne particulates are present in an accessed image. The plant identification model is also configured to determine a particulate level in an accessed image and transmit a notification of the particulate level to an operator of the farming system. The control system generates a treatment map identifying which treatment mechanisms to actuate to treat the plants in the field. The farming machine treats the plants in the field according to the treatment map.
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19.发明授权公开(公告)号：US10713484B2
公开(公告)日：2020-07-14
申请号：US16126842
申请日：2018-09-10
Applicant: Blue River Technology Inc.
Inventor： Andrei Polzounov , James Patrick Ostrowski , Lee Kamp Redden , Olgert Denas , Chia-Chun Fu , Chris Padwick
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.
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