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21. 发明申请

WO2018208947A1 AUTOMATED PLANT DETECTION USING IMAGE DATA 审中-公开
公开(公告)号：WO2018208947A1
公开(公告)日：2018-11-15
申请号：PCT/US2018/031845
申请日：2018-05-09
申请人： BLUE RIVER TECHNOLOGY INC. , REDDEN, Lee Kamp , PADWICK, Christopher Grant , RADHAKRISHNAN, Rajesh , OSTROWSKI, James Patrick
发明人： REDDEN, Lee Kamp , PADWICK, Christopher Grant , RADHAKRISHNAN, Rajesh , OSTROWSKI, James Patrick
IPC分类号： A01G1/00 , A01M21/04 , G01N33/00 , G06K9/00 , G06K9/20 , G06K9/62 , H04N7/18
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.

22. 发明申请

WO2016144795A1 MODULAR PRECISION AGRICULTURE SYSTEM 审中-公开
标题翻译：模块化精确农业系统
公开(公告)号：WO2016144795A1
公开(公告)日：2016-09-15
申请号：PCT/US2016/020990
申请日：2016-03-04
申请人： BLUE RIVER TECHNOLOGY INC.
发明人： REDDEN, Lee, Kamp , OSTROWSKI, James, Patrick , ANDERSON, Kent , PELL, Edward William Jeffcott
IPC分类号： A01M21/04 , A01G25/09 , A01G25/16
CPC分类号： A01G25/09 , A01G25/16 , A01M7/0042 , A01M7/0089 , A01M21/04 , A01M21/043 , Y02A40/12
摘要： 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.
摘要翻译：模块化系统包括轮毂和可移除地联接到轮毂的一组模块。这些模块相对于彼此物理耦合到框架，使得每个模块可以相对于场的不同行进行操作。单个模块包括传感器，用于当模块化系统移动通过地理区域时捕获沿着一行的各个设备的场测量数据。单个模块还包括处理机构，用于在模块化系统通过各个设备之前，基于现场测量数据将处理应用于该行的各个工厂。单个模块还包括计算设备，其基于现场测量数据确定处理并将数据传送到集线器。集线器通信地耦合到模块，使得它可以在模块之间和远程计算系统之间交换数据。

23. 发明申请

WO2015127397A1 SYSTEM AND METHOD FOR AUTOMATED ODOMETRY CALIBRATION FOR PRECISION ALGRICULTURE SYSTEMS 审中-公开
标题翻译：用于精密农业系统的自动校准的系统和方法
公开(公告)号：WO2015127397A1
公开(公告)日：2015-08-27
申请号：PCT/US2015/017159
申请日：2015-02-23
申请人： BLUE RIVER TECHNOLOGY, INC.
发明人： REDDEN, Lee, Kamp , ANDERSON, Kent , PELL, Edward William, Jeffcott
IPC分类号： A01C21/00
CPC分类号： A01B79/005 , A01B41/06 , A01C21/00 , A01C21/005 , A01M21/00 , A01M21/02 , A01M21/04 , G01C7/04 , G01C11/00 , G01C11/06 , G01C15/04 , Y02A40/12
摘要： 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.
摘要翻译：一种方法，包括：记录第一场区域的第一图像; 基于第一图像自动处理第一区域内的植物; 用第一区域的第二图像自动验证植物处理; 并且与治疗验证同时自动处理第二区域。

24. 发明申请

WO2015006675A2 METHOD FOR AUTOMATIC PHENOTYPE MEASUREMENT AND SELECTION 审中-公开
标题翻译：自动测温和选择方法
公开(公告)号：WO2015006675A2
公开(公告)日：2015-01-15
申请号：PCT/US2014046320
申请日：2014-07-11
申请人： BLUE RIVER TECHNOLOGY INC
发明人： REDDEN LEE KAMP , COLGAN MATTHEW
IPC分类号： G01N33/00 , G06K9/20 , G06K9/62
CPC分类号： G01S17/89 , A01C21/007 , A01G1/001 , A01G7/06 , G01B11/24 , G01N33/0098 , G06K9/6202 , G06K2209/17
摘要： A system for plant parameter detection, including: a plant morphology sensor having a first field of view and configured to record a morphology measurement of a plant portion and an ambient environment adjacent the plant, a plant physiology sensor having a second field of view and configured to record a plant physiology parameter measurement of a plant portion and an ambient environment adjacent the plant, wherein the second field of view overlaps with the first field of view; a support statically coupling the plant morphology sensor to the physiology sensor, and a computing system configured to: identify a plant set of pixels within the physiology measurement based on the morphology measurement; determine physiology values for each pixel of the plant set of pixels; and extract a growth parameter based on the physiology values.
摘要翻译：一种用于植物参数检测的系统，包括：植物形态传感器，其具有第一视野并且被配置为记录植物部分和邻近植物的周围环境的形态学测量;植物生理学传感器，其具有第二视野并且被配置记录与植物相邻的植物部分和周围环境的植物生理参数测量，其中第二视场与第一视野重叠; 将植物形态传感器静态耦合到生理学传感器的支撑件，以及计算系统，其被配置为：基于所述形态测量来识别所述生理测量内的植物的像素组; 确定植物像素集合的每个像素的生理值; 并根据生理值提取生长参数。

25. 发明申请

WO2013134480A1 METHOD AND APPARATUS FOR AUTOMATED PLANT NECROSIS 审中-公开
标题翻译：自动化植物病害的方法和装置
公开(公告)号：WO2013134480A1
公开(公告)日：2013-09-12
申请号：PCT/US2013/029548
申请日：2013-03-07
申请人： BLUE RIVER TECHNOLOGY, INC.
发明人： REDDEN, Lee, Kamp
IPC分类号： A01M21/00
CPC分类号： A01B41/06 , A01D75/00 , A01G7/00 , A01M21/00 , G06K9/00657 , G06K9/2036 , G06K9/3241 , G06K2209/17 , G06T7/11 , G06T7/66 , G06T7/73 , G06T2207/20164 , G06T2207/30128 , G06T2207/30188 , G06T2207/30252
摘要： A method of real-time plant selection and removal from a plant field including capturing a first image of a first section of the plant field, segmenting the first image into regions indicative of individual plants within the first section, selecting the optimal plants for retention from the first image based on the first image and the previously thinned plant field sections, sending instructions to the plant removal mechanism for removal of the plants corresponding to the unselected regions of the first image from the second section before the machine passes the unselected regions, and repeating the aforementioned steps for a second section of the plant field adjacent the first section in the direction of machine travel.
摘要翻译：一种从植物领域实时植物选择和移除的方法，包括捕获植物区域的第一部分的第一图像，将第一图像分割成指示第一部分内的单个植物的区域，选择用于保留的最佳植物基于第一图像和先前变薄的植物场部分的第一图像，在机器通过未选择的区域之前，向第二部分发送指示给植物去除机构以从第二部分移除与第一图像的未选择区域相对应的植物;以及对机器行进方向上与第一部分相邻的植物场的第二部分重复上述步骤。

26. 发明申请

WO2021034775A1 PLANT GROUP IDENTIFICATION 审中-公开
公开(公告)号：WO2021034775A1
公开(公告)日：2021-02-25
申请号：PCT/US2020/046696
申请日：2020-08-17
申请人： BLUE RIVER TECHNOLOGY INC.
发明人： PADWICK, Chirstopher, Grant , PATZOLDT, William, Louis , CLINE, Benjamin, Kahn , DENAS, Olgert , TANNA, Sonali, Subhash
IPC分类号： G06K9/00 , G06T7/00 , G06T7/10 , G06T7/11
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.

27. 发明授权

US11615486B2 Upward facing light sensor for plant detection 有权
公开(公告)号：US11615486B2
公开(公告)日：2023-03-28
申请号：US16789406
申请日：2020-02-12
申请人： Blue River Technology Inc.
发明人： Matthew Stephen Colgan , Charles McCauley Ross
IPC分类号： A01M7/00 , G01N21/25 , G06Q50/02 , G06T7/00
摘要： A farming machine is configured to identify and treat plants in a field. The farming machine includes one or more light sensors for measuring a characteristic of light. The one or more light sensors are coupled to the farming machine and are directed a substantially upwards orientation away from the plants. A control system adjusts settings of an image acquisition system based on a characteristic of light measured by the one or more light sensors. The image acquisition system captures an image of a plant using one or more image sensors coupled to the farming machine, the one or more image sensors directed in a substantially downwards orientation towards the plants. The control system identifies a plant in the image and actuates a treatment mechanism to treat the identified plant.

28. 发明申请

US20230076562A1 Semantic Segmentation to Identify and Treat Plants in a Field and Verify the Plant Treatments 有权
公开(公告)号：US20230076562A1
公开(公告)日：2023-03-09
申请号：US17985766
申请日：2022-11-11
申请人： Blue River Technology Inc.
发明人： Andrei Polzounov , James Patrick Ostrowski , Lee Kamp Redden , Olgert Denas , Chia-Chun Fu , Chris Padwick
IPC分类号： G06V20/10 , G06N5/04 , G06T7/10 , G06V10/26
摘要： 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.

29. 发明申请

US20230039092A1 PREVENTING DAMAGE BY FARMING MACHINE 有权
公开(公告)号：US20230039092A1
公开(公告)日：2023-02-09
申请号：US17396193
申请日：2021-08-06
申请人： Blue River Technology Inc.
发明人： Kent ANDERSON , Ben CHOSTNER , Bryon MAJUSIAK , Divya SHARMA , Lee REDDEN
IPC分类号： A01M7/00 , A01B79/00 , G01N33/24
摘要： 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.

30. 发明申请

US20220346364A1 System and Method for Plant Treatment Based on Neighboring Effects 有权
公开(公告)号：US20220346364A1
公开(公告)日：2022-11-03
申请号：US17749113
申请日：2022-05-19
申请人： Blue River Technology Inc.
发明人： Lee Kamp Redden
IPC分类号： A01M21/04 , A01G22/20
摘要： A method for plant treatment, including: receiving a first measurement for a plant from a sensor as the sensor moves within a geographic area comprising a plurality of plants; in response to receipt of the first measurement and prior to receipt of a second measurement for a second plant of the plurality, determining a set of treatment mechanism operation parameters for the plant to optimize a geographic area output parameter based on the first measurement and historical measurements for the geographic area; determining an initial treatment parameter for the plant; and operating a treatment mechanism in a treatment mode based on the set of operating parameters in response to satisfaction of the initial treatment parameter.

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