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.

公开(公告)号：US11510404B2

公开(公告)日：2022-11-29

申请号：US16420169

申请日：2019-05-23

Applicant: Blue River Technology Inc.

Inventor： Lee Kamp Redden ,  Erik Ehn ,  James Michael Fleming

IPC: G06F7/70 ,  A01M7/00 ,  G05B13/02 ,  G05B13/04 ,  G05B17/02 ,  G05B19/05 ,  G06G7/00

Abstract: A boom sprayer includes any number of components to treat plants as the boom sprayer travels through a plant field. The components take actions to treat plants or facilitate treating plants. The boom sprayer includes any number of sensors to measure the state of the boom sprayer as the boom sprayer treats plants. The boom sprayer includes a control system to generate actions for the components to treat plants in the field. The control system includes an agent executing a model that functions to improve the performance of the boom sprayer treating plants. Performance improvement can be measured by the sensors of the boom sprayer. The model is an artificial neural network that receives measurements as inputs and generates actions that improve performance as outputs. The artificial neural network is trained using actor-critic reinforcement learning techniques.

公开(公告)号：US11510355B2

公开(公告)日：2022-11-29

申请号：US17497868

申请日：2021-10-08

Applicant: Blue River Technology Inc.

Inventor： Lee Kamp Redden

IPC: G06T7/00 ,  A01B41/06 ,  A01D75/00 ,  G06T7/73 ,  G06T7/11 ,  G06T7/66 ,  A01G7/00 ,  G06V10/145 ,  G06V10/20 ,  G06V20/10 ,  A01M21/00 ,  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.

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.

Inventor： Lee Kamp Redden ,  Kent Anderson ,  Edward William Jeffcott Pell ,  James Patrick Ostrowski

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.

公开(公告)号：US20220022445A1

公开(公告)日：2022-01-27

申请号：US17497866

申请日：2021-10-08

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.

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.

公开(公告)号：US20210056338A1

公开(公告)日：2021-02-25

申请号：US16995618

申请日：2020-08-17

Applicant: Blue River Technology Inc.

Inventor： Christopher Grant Padwick ,  William Louis Patzoldt ,  Benjamin Kahn Cline ,  Olgert Denas ,  Sonali Subhash Tanna

IPC: G06K9/32 ,  G06K9/46 ,  G06K9/62 ,  G06T7/11 ,  G06T7/66 ,  G06T7/73

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：US10803311B2

公开(公告)日：2020-10-13

申请号：US15975066

申请日：2018-05-09

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.

公开(公告)号：US20200302170A1

公开(公告)日：2020-09-24

申请号：US16893405

申请日：2020-06-04

Applicant: Blue River Technology Inc.

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

IPC: G06K9/00 ,  G06K9/34 ,  G06N5/04 ,  G06T7/10

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.

公开(公告)号：US10761211B2

公开(公告)日：2020-09-01

申请号：US16174232

申请日：2018-10-29

Applicant: Blue River Technology Inc.

Inventor： Lee Kamp Redden ,  Matthew Colgan

IPC: A01C21/00 ,  A01G22/00 ,  A01G7/00 ,  A01G7/06 ,  G01B11/24 ,  G01N33/00 ,  G01S17/89 ,  G06K9/62

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.