公开(公告)号：US20230202495A1

公开(公告)日：2023-06-29

申请号：US17564063

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: B60W50/035 ,  G06T7/00 ,  B60W50/02 ,  G07C5/08

CPC classification number: B60W50/035 ,  G06T7/0004 ,  B60W50/0205 ,  G07C5/085 ,  G06T2207/30164 ,  B60W2420/42 ,  B60W2300/15

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：US11514671B2

公开(公告)日：2022-11-29

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: G06V20/10 ,  G06N5/04 ,  G06T7/10 ,  G06V10/26 ,  A01B76/00

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：US20220101554A1

公开(公告)日：2022-03-31

申请号：US17033318

申请日：2020-09-25

Applicant: Blue River Technology Inc.

Inventor： Chia-Chun Fu ,  Christopher Grant Padwick ,  James Patrick Ostrowski ,  Kent Anderson

IPC: G06T7/73 ,  G06T7/55 ,  G06K9/62 ,  G06K9/00 ,  A01M7/00 ,  A01C23/00 ,  A01G25/16 ,  A01G25/09 ,  A01M21/04 ,  A01G7/06

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 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.

公开(公告)号：US20210406540A1

公开(公告)日：2021-12-30

申请号：US17378658

申请日：2021-07-17

Applicant: Blue River Technology Inc.

Inventor： Lee Kamp Redden ,  Christopher Grant Padwick ,  Rajesh Radhakrishnan ,  James Patrick Ostrowski

IPC: G06K9/00 ,  G06T7/00 ,  G06K9/32 ,  G06K9/62 ,  G06K9/46 ,  A01M7/00 ,  G06T7/73

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.

公开(公告)号：US20210264624A1

公开(公告)日：2021-08-26

申请号：US17314218

申请日：2021-05-07

Applicant: Blue River Technology Inc.

Inventor： Chia-Chun Fu ,  Christopher Grant Padwick ,  James Patrick Ostrowski

IPC: G06T7/50 ,  G06K9/00 ,  A01M21/04 ,  A01M7/00 ,  A01G25/16 ,  A01C23/00 ,  A01G25/09 ,  A01C23/02

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.

公开(公告)号：US20190090408A1

公开(公告)日：2019-03-28

申请号：US16153824

申请日：2018-10-08

Applicant: Blue River Technology Inc.

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

IPC: A01B79/00 ,  A01C21/00 ,  A01M21/04 ,  A01M21/02 ,  A01M21/00 ,  G01C11/00 ,  A01B41/06 ,  G01C11/06 ,  G01C7/04 ,  G01C15/04

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：US10127450B2

公开(公告)日：2018-11-13

申请号：US15341890

申请日：2016-11-02

Applicant: Blue River Technology Inc.

Inventor： Lee Kamp Redden ,  James Patrick Ostrowski ,  James Willis ,  Zebulon Elias Wheeler

IPC: G06K9/00 ,  A01G22/00

Abstract: Field data is collected of a field. Each instance of field data contains information that can be used to determine a value corresponding to whether or not a plant is present or absent in a particular location and is referred to as a plant presence value. The plant presence values are aggregated using the position data associated with each instance of field data to generate aggregated plant presence values. Gaps between plots are identified based partly on variations in the plant presence values within the aggregated field data. Information known about a field can be used to heuristically identify gaps in a seed line or used to eliminate locations on a seed line that may look like a gap based on low plant presence values. The aggregated plant presence values can be presented as a heat map of plant presence values showing the relative plant density of the field.

公开(公告)号：US11816874B2

公开(公告)日：2023-11-14

申请号：US17396454

申请日：2021-08-06

Applicant: Blue River Technology Inc.

Inventor： John William Peake ,  James Patrick Ostrowski

IPC: G06T7/90 ,  G06V10/143 ,  H04N13/25 ,  H04N13/257 ,  H04N13/271 ,  A01B79/00 ,  A01C21/00 ,  A01M7/00 ,  G06T7/593 ,  G06V10/56 ,  G06V20/56 ,  G06F18/25 ,  G06F18/214 ,  H04N23/11 ,  G06V10/58

CPC classification number: G06V10/143 ,  A01B79/005 ,  A01C21/005 ,  A01M7/0089 ,  G06F18/214 ,  G06F18/25 ,  G06T7/593 ,  G06T7/90 ,  G06V10/56 ,  G06V20/56 ,  H04N13/25 ,  H04N13/257 ,  H04N13/271 ,  H04N23/11 ,  G06T2207/10024 ,  G06T2207/10036 ,  G06T2207/20081 ,  G06T2207/20084 ,  G06T2207/30188 ,  G06V10/58

Abstract: A farming machine identifies and treats a plant as the farming machine travels through a field. The farming machine includes a pair of image sensors for capturing images of a plant. The image sensors are different, and their output images are used to generate a depth map to improve the plant identification process. A control system identifies a plant using the depth map. The control system captures images, identifies a plant, and actuates a treatment mechanism in real time.

公开(公告)号：US20230337601A1

公开(公告)日：2023-10-26

申请号：US18302662

申请日：2023-04-18

Applicant: Blue River Technology Inc.

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

IPC: A01G22/00 ,  A01C21/00 ,  A01M21/04

CPC classification number: A01G22/00 ,  A01C21/002 ,  A01M21/04 ,  A01M21/043 ,  Y02A40/10

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.

公开(公告)号：US11748976B2

公开(公告)日：2023-09-05

申请号：US17378658

申请日：2021-07-17

Applicant: Blue River Technology Inc.

Inventor： Lee Kamp Redden ,  Christopher Grant Padwick ,  Rajesh Radhakrishnan ,  James Patrick Ostrowski

IPC: G06T7/00 ,  G06V10/764 ,  A01M7/00 ,  G06T7/73 ,  G06V20/10 ,  G06V10/20 ,  G06V10/44 ,  G06V20/20 ,  G06F18/2413

CPC classification number: 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

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.