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公开(公告)号：US20180330166A1
公开(公告)日：2018-11-15
申请号：US15975092
申请日：2018-05-09
Applicant: Blue River Technology Inc.
Inventor： Lee Kamp Redden , Christopher Grant Padwick , Rajesh Radhakrishnan , James Patrick Ostrowski
CPC classification number: G06K9/00657 , G06T7/0002 , G06T2207/20081 , G06T2207/20084 , G06T2207/30188 , G06T2210/12
Abstract: A plant treatment platform uses a plant detection model to detect plants as the plant treatment platform travels through a field. The plant treatment platform receives image data from a camera that captures images of plants (e.g., crops or weeds) growing in the field. The plant treatment platform applies pre-processing functions to the image data to prepare the image data for processing by the plant detection model. For example, the plant treatment platform may reformat the image data, adjust the resolution or aspect ratio, or crop the image data. The plant treatment platform applies the plant detection model to the pre-processed image data to generate bounding boxes for the plants. The plant treatment platform then can apply treatment to the plants based on the output of the machine-learned model.
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公开(公告)号：US20160255778A1
公开(公告)日：2016-09-08
申请号：US15061624
申请日：2016-03-04
Applicant: Blue River Technology Inc.
CPC classification number: A01G22/00 , A01C21/002 , A01M21/04 , A01M21/043 , Y02A40/12
Abstract: A modular system includes a hub and a set of modules removably coupled to the hub. The modules are physically coupled to the frame relative to each other so that each module can operate with respect to a different row of a field. An individual module includes a sensor for capturing field measurement data of individual plants along a row as the modular system moves through the geographic region. An individual module further includes a treatment mechanism for applying a treatment to the individual plants of the row based on the field measurement data before the modular system passes by the individual plants. An individual module further includes a computing device that determines the treatment based on the field measurement data and communicates data to the hub. The hub is communicatively coupled to the modules, so that it may exchange data between the modules and with a remote computing system.
Abstract translation: 模块化系统包括轮毂和可移除地联接到轮毂的一组模块。 模块相对于彼此物理耦合到框架，使得每个模块可以相对于场的不同行进行操作。 单个模块包括传感器，用于当模块化系统移动通过地理区域时捕获沿着一行的各个设备的现场测量数据。 单个模块还包括处理机构，用于在模块化系统通过各个设备之前，基于现场测量数据向该行的各个工厂施加处理。 单个模块还包括计算设备，其基于现场测量数据确定处理并将数据传送到集线器。 集线器通信地耦合到模块，使得它可以在模块之间和远程计算系统之间交换数据。
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公开(公告)号：US11961259B2
公开(公告)日：2024-04-16
申请号：US17566396
申请日：2021-12-30
Applicant: Blue River Technology Inc.
Inventor： James Patrick Ostrowski , John William Peake , Jacqueline Gao Song
CPC classification number: G06T7/85 , A01B69/001 , G06T7/73 , G06V20/188 , G06V20/56 , G06T2207/30188 , G06T2207/30244
Abstract: The calibration system of the farming machine receives images from each camera of the camera array. The images comprise visual information representing a view of a portion of an area surrounding the farming machine. To calibrate a pair of cameras including a first camera and second camera, the calibration system determines a relative pose between the pair of cameras by extracting relative position and orientation characteristics from visual information in both an image received from the first camera and an image received from the second camera. The calibration system identifies a calibration error for the pair of cameras based on a comparison of the relative pose with an expected pose between the first pair of cameras. The calibration system transmits a notification to an operator of the farming machine that describes the calibration error and instructions for remedying the calibration error.
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公开(公告)号：US20240020951A1
公开(公告)日：2024-01-18
申请号：US18352168
申请日：2023-07-13
Applicant: Blue River Technology Inc.
Inventor： Lee Kamp Redden , Christopher Grant Padwick , Rajesh Radhakrishnan , James Patrick Ostrowski
IPC: G06V10/764 , G06T7/00 , A01M7/00 , G06T7/73 , G06V20/10 , G06V10/20 , G06V10/44 , G06V20/20 , G06F18/2413
CPC classification number: G06V10/764 , G06T7/0002 , A01M7/0089 , G06T7/75 , G06V20/188 , G06V10/255 , G06V10/451 , G06V20/20 , G06F18/2414 , G06T2207/20081 , G06T2207/20084 , G06T2207/30188 , G06T2210/12 , G06T2207/20132 , G06T2207/10024
Abstract: A plant treatment platform uses a plant detection model to detect plants as the plant treatment platform travels through a field. The plant treatment platform receives image data from a camera that captures images of plants (e.g., crops or weeds) growing in the field. The plant treatment platform applies pre-processing functions to the image data to prepare the image data for processing by the plant detection model. For example, the plant treatment platform may reformat the image data, adjust the resolution or aspect ratio, or crop the image data. The plant treatment platform applies the plant detection model to the pre-processed image data to generate bounding boxes for the plants. The plant treatment platform then can apply treatment to the plants based on the output of the machine-learned model.
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公开(公告)号：US20230403988A1
公开(公告)日：2023-12-21
申请号：US17840856
申请日：2022-06-15
Applicant: Blue River Technology Inc.
Inventor： James Patrick Ostrowski , Benjamin Ray Chostner , Kent Michael Anderson , Erik Ehn , William Louis Patzoldt
CPC classification number: A01G7/06 , A01M7/0089 , A01C21/005
Abstract: A farming machine is configured to autonomously operate in a field to accomplish a farming objective. While doing so the farming machine can dynamically modify treatment plans and/or generate experimental treatment plans. Dynamically modifying treatment plans includes modifying, delaying, accelerating, adding, and/or removing farming actions in a treatment plan. Generating an experimental treatment plan includes intentionally modifying a treatment plan to induce a variance in a result, measuring the result, and determining whether the result from the experimental treatment plan is better than the unmodified treatment plan. The farming machine is also configured to generate user interactable feedback, and receive user generated instruction, to dynamically modify treatment plans and/or generate experimental treatment plans.
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Patent Agency Ranking
公开(公告)号：US20230345928A1
公开(公告)日：2023-11-02
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: A01M7/00 , G06T7/50 , A01M21/04 , A01G25/16 , A01C23/00 , A01G25/09 , A01C23/02 , G06V20/10 , G06V30/24 , G06V10/762 , G06V10/82
CPC classification number: A01M7/0089 , G06T7/50 , A01M21/043 , A01G25/16 , A01C23/007 , A01G25/09 , A01M7/0042 , A01C23/02 , G06V20/188 , G06V30/248 , G06V10/762 , G06V10/82 , G06T2207/20081 , G06T2207/30188 , G06T2207/20084 , G06T2207/10028 , 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：US20230215048A1
公开(公告)日：2023-07-06
申请号：US17566396
申请日：2021-12-30
Applicant: Blue River Technology Inc.
Inventor： James Patrick Ostrowski , John William Peake , Jacqueline Gao Song
CPC classification number: G06T7/85 , G06T7/73 , G06V20/56 , G06V20/188 , A01B69/001 , G06T2207/30188 , G06T2207/30244
Abstract: The calibration system of the farming machine receives images from each camera of the camera array. The images comprise visual information representing a view of a portion of an area surrounding the farming machine. To calibrate a pair of cameras including a first camera and second camera, the calibration system determines a relative pose between the pair of cameras by extracting relative position and orientation characteristics from visual information in both an image received from the first camera and an image received from the second camera. The calibration system identifies a calibration error for the pair of cameras based on a comparison of the relative pose with an expected pose between the first pair of cameras. The calibration system transmits a notification to an operator of the farming machine that describes the calibration error and instructions for remedying the calibration error.
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公开(公告)号：US20230205195A1
公开(公告)日：2023-06-29
申请号：US17564076
申请日：2021-12-28
Applicant: Blue River Technology Inc.
Inventor： John William Peake , James Patrick Ostrowski , Erik Ehn , Kent Michael Anderson , Benjamin Ray Chostner
IPC: G05B23/02
CPC classification number: G05B23/0283 , G05B23/024 , G05B23/0235 , G05B2223/04
Abstract: As a farming machine travels through a field of plants, the farming machine operates in a normal operational state to perform one or more farming operations. The farming machine detects an operational failure of a component of the farming machine using measurements obtained from one or more sensors coupled to and monitoring the farming machine. The operational failure of the component impacts performance of a first farming operation of the farming operations. The farming machine configures the farming machine to operate in a remedial operational state. In the remedial operational state, the farming machine diagnoses the operational failure of the component using the obtained measurements. In the remedial operational state, the farming machine selects a solution operation to address the operational failure of the component based on the diagnosis. The farming machine performs the determined solution operation.
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公开(公告)号：US20220087094A1
公开(公告)日：2022-03-24
申请号：US17544941
申请日：2021-12-08
Applicant: Blue River Technology Inc.
IPC: A01B79/00 , G01C11/00 , G01C15/04 , G01C7/04 , G01C11/06 , A01C21/00 , A01M21/00 , A01M21/02 , A01M21/04 , A01B41/06
Abstract: A method including: recording a first image of a first field region; automatically treating a plant within the first region in-situ based on the first image; automatically verifying the plant treatment with a second image of the first region; and automatically treating a second region concurrently with treatment verification.
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公开(公告)号：US11023726B2
公开(公告)日：2021-06-01
申请号：US17017223
申请日：2020-09-10
Applicant: Blue River Technology Inc.
Inventor： Deaglan Halligan , Edward William Jeffcott Pell , Rajesh Radhakrishnan , Thomas Welch Brown , Lee Kamp Redden , James Patrick Ostrowski
IPC: G06K9/00 , G06T7/00 , G06T7/11 , G06K9/62 , G06T7/70 , G06K9/32 , H04N5/235 , H04N5/232 , G06T5/50 , G06T5/00 , G06K9/46 , G06T7/143 , G06T7/174
Abstract: A plant treatment system automatically adjusts camera operation parameters for a camera used by the plant treatment system to identify and treat plants in a field. The plant treatment system can generate image segments of images received from the camera and classify the image segments based on whether the image segments represent plants. The plant treatment system determines whether each of the image segments is over- or under-exposed and adjusts the camera operation parameters for the camera based on the exposure classification of the image segments. Alternatively, the plant treatment system may use a plant detection model to identify plant pixels within an image that represent plants. The plant treatment system can then determine whether the identified plant pixels are over- or under-exposed and adjust the camera operation parameters accordingly.
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