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.

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：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：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

IPC: G06K9/00 ,  G06K9/62 ,  G06T7/90 ,  A01M7/00

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.