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公开(公告)号：US20250113780A1
公开(公告)日：2025-04-10
申请号：US18801083
申请日：2024-08-12
Applicant: Blue River Technology Inc.
Inventor： Lee Kamp Redden , Matthew Colgan
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.
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公开(公告)号：US20240315232A1
公开(公告)日：2024-09-26
申请号：US18612794
申请日：2024-03-21
Applicant: Blue River Technology Inc.
Inventor： Lee Kamp Redden
CPC classification number: A01M21/04 , A01G22/20 , A01M21/043 , A01M21/046
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.
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公开(公告)号：US12020465B2
公开(公告)日：2024-06-25
申请号：US17348752
申请日：2021-06-15
Applicant: Blue River Technology Inc.
Inventor： Lee Kamp Redden
IPC: A01D75/00 , A01B41/06 , A01G7/00 , A01M21/00 , G06T7/11 , G06T7/66 , G06T7/73 , G06V10/145 , G06V10/20 , G06V20/10 , G06V20/68
CPC classification number: G06V10/255 , A01B41/06 , A01D75/00 , A01G7/00 , A01M21/00 , G06T7/11 , G06T7/66 , G06T7/73 , G06V10/145 , G06V20/188 , G06T2207/20164 , G06T2207/30128 , G06T2207/30188 , G06T2207/30252 , G06V20/68
Abstract: A method of real-time plant selection and removal from a plant field including capturing a first image of a first section of the plant field, segmenting the first image into regions indicative of individual plants within the first section, selecting the optimal plants for retention from the first image based on the first image and the previously thinned plant field sections, sending instructions to the plant removal mechanism for removal of the plants corresponding to the unselected regions of the first image from the second section before the machine passes the unselected regions, and repeating the aforementioned steps for a second section of the plant field adjacent the first section in the direction of machine travel.
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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：US20240046479A1
公开(公告)日：2024-02-08
申请号：US18487252
申请日：2023-10-16
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.
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Patent Agency Ranking
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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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：US20230210039A1
公开(公告)日：2023-07-06
申请号：US18087060
申请日：2022-12-22
Applicant: Blue River Technology Inc.
Inventor： Edward William Jeffcott Pell , Ugur Oezdemir
CPC classification number: A01B79/005 , G05D1/0214 , G05D1/0231 , G06V20/50 , G05D2201/0201
Abstract: An autonomous farming machine navigable in an environment for performing farming action(s) is disclosed. The farming machine receives a notification from a manager that there are no obstacles in the blind spots of the detection system. The farming machine applies an obstacle detection model to the captured images to verify that there are no obstacles in unobstructed views. The farming machine determines a configuration of the farming machine. The farming machine determines a virtual safety bubble for the farming machine to autonomously perform the farming action(s) based on the determined configuration. The farming machine detects an obstacle in the environment by applying the obstacle detection model to the captured images. The farming machine determines that the obstacle is entering the virtual safety bubble. In response to determining that the obstacle is entering the virtual safety bubble, the farming machine terminates operation of the farming machine and/or enacts preventive measures.
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