公开(公告)号：US20220207852A1

公开(公告)日：2022-06-30

申请号：US17565218

申请日：2021-12-29

Applicant: Blue River Technology Inc.

Inventor： Divya Sharma ,  Ugur Oezdemir ,  Lingjian Kong

IPC: G06V10/26 ,  G06V10/762 ,  G06V10/25 ,  G06V10/62 ,  G06V20/10 ,  G06T7/70 ,  G05D1/02

Abstract: A control system receives image data of a portion of a field, where the image data comprises a plurality of pixels each representing a three dimensional (3D) coordinate in the field. The control system applies an obstruction identification model to the image data to identify an obstruction in the field. The obstruction identification model determines a seed segment for the field portion and determines a detection ground plane by extrapolating a seed segment to the 3D coordinates of the plurality of pixels. The obstruction identification model identifies a set of pixels of the plurality of pixels that have three dimensional coordinates above the detection ground plane as the obstruction. The control system executes an action for the farming machine to avoid the obstruction in the field based on the obstruction identification model's identification of the obstruction.

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

IPC: A01B79/00 ,  G05D1/02 ,  G06V20/50

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.

公开(公告)号：US12118746B2

公开(公告)日：2024-10-15

申请号：US17483762

申请日：2021-09-23

Applicant: Blue River Technology Inc.

Inventor： Tyler Calvin Niday ,  Ugur Oezdemir

IPC: G06T7/80 ,  G06T7/579 ,  G06T7/70 ,  G06T17/05 ,  G06V20/58 ,  G06V20/64

CPC classification number: G06T7/80 ,  G06T7/579 ,  G06T7/70 ,  G06T17/05 ,  G06V20/58 ,  G06V20/647

Abstract: A system and a method are disclosed for calibrating an image acquisition system of a farming machine. The farming machine captures images of objects in an environment as the farming machine moves through an environment. Based on the captured images, a represented three-dimensional (3D) model of the environment representing the objects in a three-dimensional space is generated. From the represented 3D model, a represented location of an object (e.g., building, lamppost, tree) is determined. The represented location of the object is compared to a reference location of the object and the comparison is used to calibrate the image acquisition system by modifying positions, orientations, or optical settings of one or more cameras in the image acquisition system.