公开(公告)号：US09522791B2

公开(公告)日：2016-12-20

申请号：US14377395

申请日：2013-02-11

申请人： CARNEGIE MELLON UNIVERSITY, a Pennsylvania Non-Profit Corporation ,  Deere & Company

发明人： Zachary T. Bonefas ,  Mark M. Chaney ,  Jeremiah K. Johnson ,  Aaron J. Bruns ,  Herman Herman ,  Carlos Vallespi-Gonzalez ,  Jose Gonzalez Mora

IPC分类号： G06K9/00 ,  B65G67/22 ,  G06T7/00 ,  H04N7/18 ,  G05D1/02 ,  A01D43/08 ,  B60P1/42 ,  B65B1/48 ,  B60R11/04 ,  H04N13/00 ,  B62D6/00 ,  G06K9/46 ,  G06K9/52 ,  G06K9/62 ,  G06T7/20 ,  G06T7/60

CPC分类号： B65G67/22 ,  A01D43/087 ,  B60P1/42 ,  B60R11/04 ,  B62D6/001 ,  B65B1/48 ,  G05D1/021 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0293 ,  G05D2201/0201 ,  G06K9/46 ,  G06K9/52 ,  G06K9/6215 ,  G06K2009/4666 ,  G06T7/13 ,  G06T7/20 ,  G06T7/593 ,  G06T7/62 ,  G06T7/70 ,  G06T2207/10021 ,  G06T2207/10028 ,  G06T2207/20061 ,  G06T2207/20228 ,  G06T2207/30252 ,  H04N7/18 ,  H04N7/181 ,  H04N7/183 ,  H04N13/128

摘要： First imaging device collects first image data, whereas second imaging device collects second image data of a storage portion. A container identification module identifies a container perimeter of the storage portion in at least one of the collected first image data and the collected second image data. A spout identification module is adapted to identify a spout of the transferring vehicle in the collected image data. An image data evaluator determines whether to use the first image data, the second image data, or both based on an evaluation of the intensity of pixel data or ambient light conditions. An alignment module is adapted to determine the relative position of the spout and the container perimeter and to generate command data to the propelled portion to steer the storage portion in cooperative alignment such that the spout is aligned within a central zone or a target zone of the container perimeter.

摘要翻译： 第一成像装置收集第一图像数据，而第二成像装置收集存储部分的第二图像数据。 容器识别模块在所收集的第一图像数据和所收集的第二图像数据中的至少一个中识别存储部分的容器周边。 喷嘴识别模块适于在所收集的图像数据中识别传送车辆的喷口。 图像数据评估器基于对像素数据或环境光条件的强度的评估来确定是使用第一图像数据，第二图像数据还是二者。 对准模块适于确定喷口和容器周边的相对位置，并且产生到推进部分的指令数据以引导存储部分的协调对准，使得喷口在中心区域或目标区域内对准 集装箱周长。

公开(公告)号：US09457971B2

公开(公告)日：2016-10-04

申请号：US14377383

申请日：2013-02-11

申请人： CARNEGIE MELLON UNIVERSITY, a Pennsylvania Non-Profit Corporation ,  Deere & Company

发明人： Zachary T. Bonefas ,  Mark M. Chaney ,  Jeremiah K. Johnson ,  Aaron J. Bruns ,  Herman Herman ,  Carlos Vallespi-Gonzalez ,  Jose Gonzalez Mora

IPC分类号： G06F7/00 ,  B65G67/22 ,  G06T7/00 ,  H04N7/18 ,  G05D1/02 ,  A01D43/08 ,  B60P1/42 ,  B65B1/48 ,  B60R11/04 ,  H04N13/00 ,  B62D6/00 ,  G06K9/46 ,  G06K9/52 ,  G06K9/62 ,  G06T7/20 ,  G06T7/60

CPC分类号： B65G67/22 ,  A01D43/087 ,  B60P1/42 ,  B60R11/04 ,  B62D6/001 ,  B65B1/48 ,  G05D1/021 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0293 ,  G05D2201/0201 ,  G06K9/46 ,  G06K9/52 ,  G06K9/6215 ,  G06K2009/4666 ,  G06T7/13 ,  G06T7/20 ,  G06T7/593 ,  G06T7/62 ,  G06T7/70 ,  G06T2207/10021 ,  G06T2207/10028 ,  G06T2207/20061 ,  G06T2207/20228 ,  G06T2207/30252 ,  H04N7/18 ,  H04N7/181 ,  H04N7/183 ,  H04N13/128

摘要： First imaging device collects first image data, whereas second imaging device collects second image data of a storage portion. A container identification module identifies a container perimeter of the storage portion in at least one of the collected first image data and the collected second image data. A spout identification module is adapted to identify a spout of the transferring vehicle in the collected image data. An image data evaluator determines whether to use the first image data, the second image data, or both based on an evaluation of the intensity of pixel data or ambient light conditions. An alignment module is adapted to determine the relative position of the spout and the container perimeter and to generate command data to the propelled portion to steer the storage portion in cooperative alignment such that the spout is aligned within a central zone or a target zone of the container perimeter.

公开(公告)号：US20150023775A1

公开(公告)日：2015-01-22

申请号：US14377383

申请日：2013-02-11

申请人： CARNEGIE MELLON UNIVERSITY, a Pennsylvania Non-Profit Corporation ,  Deere & Company

发明人： Zachary T. Bonefas ,  Mark M. Chaney ,  Jeremiah K. Johnson ,  Aaron J. Bruns ,  Herman Herman ,  Carlos Vallespi-Gonzalez ,  Jose Gonzalez Mora

IPC分类号： B60P1/42 ,  B65G67/22 ,  B65B1/48

CPC分类号： B65G67/22 ,  A01D43/087 ,  B60P1/42 ,  B60R11/04 ,  B62D6/001 ,  B65B1/48 ,  G05D1/021 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0293 ,  G05D2201/0201 ,  G06K9/46 ,  G06K9/52 ,  G06K9/6215 ,  G06K2009/4666 ,  G06T7/13 ,  G06T7/20 ,  G06T7/593 ,  G06T7/62 ,  G06T7/70 ,  G06T2207/10021 ,  G06T2207/10028 ,  G06T2207/20061 ,  G06T2207/20228 ,  G06T2207/30252 ,  H04N7/18 ,  H04N7/181 ,  H04N7/183 ,  H04N13/128

摘要： First imaging device collects first image data, whereas second imaging device collects second image data of a storage portion. A container identification module identifies a container perimeter of the storage portion in at least one of the collected first image data and the collected second image data. A spout identification module is adapted to identify a spout of the transferring vehicle in the collected image data. An image data evaluator determines whether to use the first image data, the second image data, or both based on an evaluation of the intensity of pixel data or ambient light conditions. An alignment module is adapted to determine the relative position of the spout and the container perimeter and to generate command data to the propelled portion to steer the storage portion in cooperative alignment such that the spout is aligned within a central zone or a target zone of the container perimeter.

摘要翻译： 第一成像装置收集第一图像数据，而第二成像装置收集存储部分的第二图像数据。 容器识别模块在所收集的第一图像数据和所收集的第二图像数据中的至少一个中识别存储部分的容器周边。 喷嘴识别模块适于在所收集的图像数据中识别传送车辆的喷口。 图像数据评估器基于对像素数据或环境光条件的强度的评估来确定是使用第一图像数据，第二图像数据还是二者。 对准模块适于确定喷口和容器周边的相对位置，并且产生到推进部分的指令数据以引导存储部分的协调对准，使得喷口在中心区域或目标区域内对准 集装箱周长。

公开(公告)号：US20150109410A1

公开(公告)日：2015-04-23

申请号：US14377395

申请日：2013-02-11

申请人： CARNEGIE MELLON UNIVERSITY a Pennsylvania Non-Profit Corporation ,  DEERE & COMPANY

发明人： Zachary T. Bonefas ,  Mark M. Chaney ,  Jeremiah K. Johnson ,  Aaron J. Bruns ,  Herman Herman ,  Carlos Vallespi-Gonzalez ,  Jose Gonzalez Mora

IPC分类号： H04N13/00 ,  H04N7/18 ,  B60R11/04

CPC分类号： B65G67/22 ,  A01D43/087 ,  B60P1/42 ,  B60R11/04 ,  B62D6/001 ,  B65B1/48 ,  G05D1/021 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0293 ,  G05D2201/0201 ,  G06K9/46 ,  G06K9/52 ,  G06K9/6215 ,  G06K2009/4666 ,  G06T7/13 ,  G06T7/20 ,  G06T7/593 ,  G06T7/62 ,  G06T7/70 ,  G06T2207/10021 ,  G06T2207/10028 ,  G06T2207/20061 ,  G06T2207/20228 ,  G06T2207/30252 ,  H04N7/18 ,  H04N7/181 ,  H04N7/183 ,  H04N13/128

摘要： First imaging device collects first image data, whereas second imaging device collects second image data of a storage portion. A container identification module identifies a container perimeter of the storage portion in at least one of the collected first image data and the collected second image data. A spout identification module is adapted to identify a spout of the transferring vehicle in the collected image data. An image data evaluator determines whether to use the first image data, the second image data, or both based on an evaluation of the intensity of pixel data or ambient light conditions. An alignment module is adapted to determine the relative position of the spout and the container perimeter and to generate command data to the propelled portion to steer the storage portion in cooperative alignment such that the spout is aligned within a central zone or a target zone of the container perimeter.

摘要翻译： 第一成像装置收集第一图像数据，而第二成像装置收集存储部分的第二图像数据。 容器识别模块在所收集的第一图像数据和所收集的第二图像数据中的至少一个中识别存储部分的容器周边。 喷嘴识别模块适于在所收集的图像数据中识别传送车辆的喷口。 图像数据评估器基于对像素数据或环境光条件的强度的评估来确定是使用第一图像数据，第二图像数据还是二者。 对准模块适于确定喷口和容器周边的相对位置，并且产生到推进部分的指令数据以引导存储部分的协调对准，使得喷口在中心区域或目标区域内对准 集装箱周长。

公开(公告)号：US20200029498A1

公开(公告)日：2020-01-30

申请号：US16046620

申请日：2018-07-26

申请人： Deere & Company

发明人： Nathan R. Vandike ,  Adam J. Donohoe ,  Michael T. Meschke ,  Jody I. Eyestone ,  Jeremiah K. Johnson ,  Jeffrey R. Walter ,  Matthew T. Wold ,  Brian Gorge

IPC分类号： A01D41/127 ,  A01F12/44

摘要： A grain harvesting vehicle is configured to harvest a grain. A chaffer is configured to separate grain from material other than grain (MOG). A grate is positioned rearward of the chaffer. The grate includes a grate panel having an upper surface and a lower surface and an aperture in the grate panel extending between the upper surface and the lower surface. The aperture has a first end nearer the chaffer and a second end opposite the first end. The grate further includes a ramp portion extending above the grate panel from adjacent the first end of the aperture toward the second end of the aperture. A grain sensor has a sensing location positioned at a height below the grate.

公开(公告)号：US12063885B2

公开(公告)日：2024-08-20

申请号：US17088042

申请日：2020-11-03

申请人： Deere & Company

发明人： Zachary A. Meyers ,  Stephen R. Corban ,  Jeremiah K. Johnson ,  Alexander B. Lassers

IPC分类号： A01D41/127 ,  A01F12/44 ,  G01F1/76 ,  G01G19/08 ,  G01N33/02 ,  G06T7/62 ,  H04N7/18

CPC分类号： A01D41/1277 ,  A01D41/1272 ,  A01D41/1273 ,  A01D41/1275 ,  A01F12/444 ,  G01F1/76 ,  G01G19/08 ,  G01N33/02 ,  G06T7/62 ,  G06T2207/30188 ,  H04N7/18

摘要： Embodiments of a kernel-level grain monitoring system include a grain camera positioned to capture bulk grain sample images of a currently-harvested grain taken into and processed by a combine harvester, a moisture sensor, and a display device. A controller architecture is coupled to the grain camera, to the moisture sensor, and to the display device. The controller architecture is configured to: (i) analyze the bulk grain sample images, as received from the grain camera, to determine an average per kernel (APK) volume representing an estimated volume of a single average kernel of the currently-harvested grain; (ii) repeatedly calculate one or more topline harvesting parameters based, at least in part, on the determined APK volume and the moisture sensor data; and (iii) selectively present the topline harvesting parameters on the display device for viewing by an operator of the combine harvester.

公开(公告)号：US11013175B2

公开(公告)日：2021-05-25

申请号：US16046620

申请日：2018-07-26

申请人： Deere & Company

发明人： Nathan R. Vandike ,  Adam J. Donohoe ,  Michael T. Meschke ,  Jody I. Eyestone ,  Jeremiah K. Johnson ,  Jeffrey R. Walter ,  Matthew T. Wold ,  Brian Gorge

IPC分类号： A01D41/127 ,  A01F12/44

摘要： A grain harvesting vehicle is configured to harvest a grain. A chaffer is configured to separate grain from material other than grain (MOG). A grate is positioned rearward of the chaffer. The grate includes a grate panel having an upper surface and a lower surface and an aperture in the grate panel extending between the upper surface and the lower surface. The aperture has a first end nearer the chaffer and a second end opposite the first end. The grate further includes a ramp portion extending above the grate panel from adjacent the first end of the aperture toward the second end of the aperture. A grain sensor has a sensing location positioned at a height below the grate.

公开(公告)号：US20240357967A1

公开(公告)日：2024-10-31

申请号：US18771384

申请日：2024-07-12

申请人： Deere & Company

发明人： Zachary A. Meyers ,  Stephen R. Corban ,  Jeremiah K. Johnson ,  Alexander B. Lassers

IPC分类号： A01D41/127 ,  A01F12/44 ,  G01F1/76 ,  G01G19/08 ,  G01N33/02 ,  G06T7/62 ,  H04N7/18

CPC分类号： A01D41/1277 ,  A01D41/1272 ,  A01D41/1273 ,  A01D41/1275 ,  A01F12/444 ,  G01F1/76 ,  G01G19/08 ,  G01N33/02 ,  G06T7/62 ,  G06T2207/30188 ,  H04N7/18

摘要： Embodiments of a kernel-level grain monitoring system include a grain camera positioned to capture bulk grain sample images of a currently-harvested grain taken into and processed by a combine harvester, a moisture sensor, and a display device. A controller architecture is coupled to the grain camera, to the moisture sensor, and to the display device. The controller architecture is configured to: (i) analyze the bulk grain sample images, as received from the grain camera, to determine an average per kernel (APK) volume representing an estimated volume of a single average kernel of the currently-harvested grain; (ii) repeatedly calculate one or more topline harvesting parameters based, at least in part, on the determined APK volume and the moisture sensor data; and (iii) selectively present the topline harvesting parameters on the display device for viewing by an operator of the combine harvester.

公开(公告)号：US20220132736A1

公开(公告)日：2022-05-05

申请号：US17088042

申请日：2020-11-03

申请人： Deere & Company

发明人： Zachary A. Meyers ,  Stephen R. Corban ,  Jeremiah K. Johnson ,  Alexander B. Lassers

IPC分类号： A01D41/127 ,  A01F12/44 ,  G06T7/62 ,  G01N33/02 ,  G01G19/08 ,  G01F1/76

摘要： Embodiments of a kernel-level grain monitoring system include a grain camera positioned to capture bulk grain sample images of a currently-harvested grain taken into and processed by a combine harvester, a moisture sensor, and a display device. A controller architecture is coupled to the grain camera, to the moisture sensor, and to the display device. The controller architecture is configured to: (i) analyze the bulk grain sample images, as received from the grain camera, to determine an average per kernel (APK) volume representing an estimated volume of a single average kernel of the currently-harvested grain; (ii) repeatedly calculate one or more topline harvesting parameters based, at least in part, on the determined APK volume and the moisture sensor data; and (iii) selectively present the topline harvesting parameters on the display device for viewing by an operator of the combine harvester.