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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：US20210406540A1
公开(公告)日：2021-12-30
申请号：US17378658
申请日：2021-07-17
摘要： 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：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：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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公开(公告)号：US11823388B2
公开(公告)日：2023-11-21
申请号：US18094927
申请日：2023-01-09
发明人： Christopher Grant Padwick , William Louis Patzoldt , Benjamin Kahn Cline , Olgert Denas , Sonali Subhash Tanna
IPC分类号： G06T7/11 , G06T7/73 , G06V10/82 , G06V20/10 , G06V20/00 , G06V10/75 , G06V10/44 , G06V10/20 , G06T7/66 , G06V20/68
CPC分类号： G06T7/11 , G06T7/66 , G06T7/73 , G06V10/255 , G06V10/44 , G06V10/751 , G06V10/82 , G06V20/188 , G06V20/38 , G06T2207/20164 , G06T2207/30128 , G06T2207/30188 , G06T2207/30252 , G06V20/68
摘要： 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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公开(公告)号：US11748976B2
公开(公告)日：2023-09-05
申请号：US17378658
申请日：2021-07-17
IPC分类号： G06T7/00 , G06V10/764 , A01M7/00 , G06T7/73 , G06V20/10 , G06V10/20 , G06V10/44 , G06V20/20 , G06F18/2413
CPC分类号： G06V10/764 , A01M7/0089 , G06F18/2414 , G06T7/0002 , G06T7/75 , G06V10/255 , G06V10/451 , G06V20/188 , G06V20/20 , G06T2207/10024 , G06T2207/20081 , G06T2207/20084 , G06T2207/20132 , G06T2207/30188 , G06T2210/12
摘要： 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：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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公开(公告)号：US20240046479A1
公开(公告)日：2024-02-08
申请号：US18487252
申请日：2023-10-16
发明人： Christopher Grant Padwick , William Louis Patzoldt , Benjamin Kahn Cline , Olgert Denas , Sonali Subhash Tanna
IPC分类号： G06T7/11 , G06T7/66 , G06T7/73 , G06V10/82 , G06V20/10 , G06V20/00 , G06V10/75 , G06V10/44 , G06V10/20
CPC分类号： 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
摘要： 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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公开(公告)号：US20240020951A1
公开(公告)日：2024-01-18
申请号：US18352168
申请日：2023-07-13
IPC分类号： G06V10/764 , G06T7/00 , A01M7/00 , G06T7/73 , G06V20/10 , G06V10/20 , G06V10/44 , G06V20/20 , G06F18/2413
CPC分类号： 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
摘要： 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：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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