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公开(公告)号：US11367207B2
公开(公告)日：2022-06-21
申请号：US17033263
申请日：2020-09-25
摘要： 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 the visual information 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：US20230345928A1
公开(公告)日：2023-11-02
申请号：US18350703
申请日：2023-07-11
IPC分类号： A01M7/00 , G06T7/50 , A01M21/04 , A01G25/16 , A01C23/00 , A01G25/09 , A01C23/02 , G06V20/10 , G06V30/24 , G06V10/762 , G06V10/82
CPC分类号： 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
摘要： 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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3.发明申请公开(公告)号：US20200302170A1
公开(公告)日：2020-09-24
申请号：US16893405
申请日：2020-06-04
发明人： Andrei Polzounov , James Patrick Ostrowski , Lee Kamp Redden , Olgert Denas , Chia-Chun Fu , Chris Padwick
摘要： 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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公开(公告)号：US20240284895A1
公开(公告)日：2024-08-29
申请号：US18656392
申请日：2024-05-06
IPC分类号： A01M7/00 , G06F18/214 , G06F18/2431 , G06T7/90 , G06V20/10 , G06V20/56
CPC分类号： A01M7/0089 , G06F18/214 , G06F18/2431 , G06T7/90 , G06V20/188 , G06V20/56 , G06T2207/10024 , G06T2207/20081 , G06T2207/20084 , G06T2207/30188
摘要： 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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5.发明申请公开(公告)号：US20230076562A1
公开(公告)日：2023-03-09
申请号：US17985766
申请日：2022-11-11
发明人： Andrei Polzounov , James Patrick Ostrowski , Lee Kamp Redden , Olgert Denas , Chia-Chun Fu , Chris Padwick
摘要： 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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公开(公告)号：US20210090274A1
公开(公告)日：2021-03-25
申请号：US17033263
申请日：2020-09-25
摘要： 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 the visual information 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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7.发明授权公开(公告)号：US11514671B2
公开(公告)日：2022-11-29
申请号：US16893405
申请日：2020-06-04
发明人： Andrei Polzounov , James Patrick Ostrowski , Lee Kamp Redden , Olgert Denas , Chia-Chun Fu , Chris Padwick
摘要： 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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公开(公告)号：US20220101554A1
公开(公告)日：2022-03-31
申请号：US17033318
申请日：2020-09-25
IPC分类号： G06T7/73 , G06T7/55 , G06K9/62 , G06K9/00 , A01M7/00 , A01C23/00 , A01G25/16 , A01G25/09 , A01M21/04 , A01G7/06
摘要： 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：US20210264624A1
公开(公告)日：2021-08-26
申请号：US17314218
申请日：2021-05-07
摘要： 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
CPC分类号： G06T7/73 , G06F18/23 , G06T7/30 , G06T7/55 , G06V20/188 , A01B76/00 , G06T2207/30188
摘要： 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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