公开(公告)号：WO2022147156A1

公开(公告)日：2022-07-07

申请号：PCT/US2021/065553

申请日：2021-12-29

Applicant: BLUE RIVER TECHNOLOGY INC.

Inventor： SHARMA, Divya ,  OEZDEMIR, Ugur ,  KONG, Lingjian

IPC: A01D41/14 ,  G01S15/00

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：WO2022132327A1

公开(公告)日：2022-06-23

申请号：PCT/US2021/057906

申请日：2021-11-03

Applicant: BLUE RIVER TECHNOLOGY INC.

Inventor： SHARMA, Divya ,  ELCANO, Michael, Albert ,  HO, Byron, Gajun ,  KRANTZ, Jeremy, Douglas ,  NIDAY, Tyler ,  PLUMEAU, Robert, Joseph

IPC: A01B49/06 ,  A01B79/00 ,  G06K9/62 ,  G06N3/02 ,  G06T7/00

Abstract: A detection system (210) detects malfunctions in an autonomous farming vehicle during an autonomous routine using one or more models and data from sensors (220) coupled to the autonomous farming vehicle. The models may include machine-learned models (310) trained on the sensor data and configured to identify objects indicative of an operational or malfunctioning component within a tilling assembly such as a tilling shank (350) or sweep (360). Additionally, a machine-learned model may be trained on sensor data to detect whether debris has plugged the tilling assembly of the autonomous farming vehicle (370). In response to detecting a malfunction or a plug, the detection system may modify the autonomous routine (e.g., pausing operation) or provide information for the malfunction to be addressed (e.g., the likely location of a malfunctioning sweep that has detached from the tilling assembly).

公开(公告)号：WO2023014905A2

公开(公告)日：2023-02-09

申请号：PCT/US2022/039462

申请日：2022-08-04

Applicant: BLUE RIVER TECHNOLOGY INC.

Inventor： REDDEN, Lee, Kamp ,  SHARMA, Divya ,  ANDERSON, Kent, Michael ,  MAJUSIAK, Bryon, William ,  NIDAY, Tyler, Calvin ,  CHOSTNER, Benjamin, Ray

IPC: B60W10/20 ,  B60W10/30 ,  B60W30/18 ,  B60W50/14 ,  G05D1/02 ,  G05D1/00 ,  E02F9/205 ,  E02F9/261 ,  E02F9/262 ,  E02F9/267 ,  G05D1/0214 ,  G05D1/0246 ,  G05D2201/0202 ,  G06V10/82 ,  G06V20/588 ,  G07C5/0808

Abstract: A vehicle moves through an environment (e.g., a farming, construction, mining, or forestry environment) and performs one or more actions in the environment. Portions of the environment may include moisture, such as puddles or mud patches. A control system associated with the vehicle may include a traversability model or a moisture model to help the vehicle operate in the environment with the moisture. In particular, the control system may employ the traversability model to reduce the likelihood of the vehicle attempting to traverse an untraversable portion of the environment, and the control system may employ the moisture model to reduce the likelihood of the vehicle performing an action that will damage a portion of the environment.

公开(公告)号：WO2023014669A1

公开(公告)日：2023-02-09

申请号：PCT/US2022/039085

申请日：2022-08-01

Applicant: BLUE RIVER TECHNOLOGY INC.

Inventor： CHOSTNER, Ben ,  MAJUSIAK, Bryon ,  SHARMA, Divya ,  ANDERSON, Kent ,  REDDEN, Lee ,  NIDAY, Tyler

IPC: A01B79/00 ,  A01B69/00

Abstract: A farming machine moves through a field and performs one or more farming actions (e.g., treating one or more plants) in the field. Portions of the field may include moisture, such as puddles or mud patches. A control system associated with the farming machine may include a traversability model and/or a moisture model to help the farming machine operate in the field with the moisture. In particular, the control system may employ the traversability model to reduce the likelihood of the farming machine attempting to traverse an untraversable portion of the field, and the control system may employ the moisture model to reduce the likelihood of the farming machine performing an action that will damage a portion of the field.