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1. 发明申请

WO2022098785A1 FARMING VEHICLE FIELD BOUNDARY IDENTIFICATION 审中-公开
公开(公告)号：WO2022098785A1
公开(公告)日：2022-05-12
申请号：PCT/US2021/057935
申请日：2021-11-03
申请人： BLUE RIVER TECHNOLOGY INC.
发明人： PELL, Edward William Jeffcott , WEST, Brent William
IPC分类号： A01C21/00 , G06K9/62 , G06Q50/02
摘要： A system and a method are disclosed for planning a path within a field for a farming machine. The system predicts boundaries of the field using a previously captured image of the field and generates a suggested route to be taken by a data collection device based on the predicted boundaries. As the data collection device travels along the suggested route, the data collection device collects location data associated with a current layout of the field. The location data may be labeled with obstructions encountered along the way. Based on the location data, the system identifies current boundaries of the field, which may be different from the predicted boundaries. The current boundaries are sent to a verification device to be verified. After the current boundaries have been verified, the path for the farming machine is planned.

2. 发明申请

WO2021062235A1 PLANT IDENTIFICATION IN THE PRESENCE OF AIRBORNE PARTICULATES 审中-公开
公开(公告)号：WO2021062235A1
公开(公告)日：2021-04-01
申请号：PCT/US2020/052836
申请日：2020-09-25
申请人： BLUE RIVER TECHNOLOGY INC.
发明人： FU, Chia-Chun , PADWICK, Christopher, Grant
IPC分类号： G01N15/14 , A01G7/00 , B07C5/342 , G01N15/06 , G01N33/00 , G06K9/62
摘要： A farming machine including a number of treatment mechanisms treats plants 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 plant identification model is also configured to identify plants in non-ideal operating conditions. For example, the control system can identify and treat plants in non-ideal operating conditions where airborne particulates are present in an accessed image. The plant identification model is also configured to determine a particulate level in an accessed image and transmit a notification of the particulate level to an operator of the farming system. The control system generates a treatment map identifying which treatment mechanisms to actuate to treat the plants in the field. The farming machine treats the plants in the field according to the treatment map.

3. 发明申请

WO2018175641A1 COMBINE HARVESTER INCLUDING MACHINE FEEDBACK CONTROL 审中-公开
公开(公告)号：WO2018175641A1
公开(公告)日：2018-09-27
申请号：PCT/US2018/023638
申请日：2018-03-21
申请人： BLUE RIVER TECHNOLOGY INC. , YU, Wentao , FLEMMING, James Michael
发明人： YU, Wentao , FLEMMING, James Michael , EHN, Erik , REDDEN, Lee Kamp
IPC分类号： A01D41/127 , A01D46/00 , A01D46/30 , A01F7/00 , A01F12/18
摘要： A combine harvester (combine) includes any number of components to harvest plants as the combine travels through a plant field. The components take actions to harvest plants or facilitate harvesting plants. The combine includes any number of sensors to measure the state of the combine as the combine harvests plants. The combine includes a control system to generate actions for the components to harvest plants in the field. Thecontrol system includes an agent executing a model that functions to improve the performance of the combine harvesting plants. Performance improvement can be measured by the sensors of the combine. The model is an artificial neural network that receives measurements as inputs and generates actions that improve performance as outputs. The artificial neural network is trained using actor-critic reinforcement learning techniques.

4. 发明申请

WO2015006675A3 METHOD FOR AUTOMATIC PHENOTYPE MEASUREMENT AND SELECTION 审中-公开
公开(公告)号：WO2015006675A3
公开(公告)日：2015-01-15
申请号：PCT/US2014/046320
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： A01M7/00
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.

5. 发明申请

WO2023014905A2 DETECTING UNTRAVERSABLE ENVIRONMENT AND PREVENTING DAMAGE BY A VEHICLE 审中-公开
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
申请人： BLUE RIVER TECHNOLOGY INC.
发明人： REDDEN, Lee, Kamp , SHARMA, Divya , ANDERSON, Kent, Michael , MAJUSIAK, Bryon, William , NIDAY, Tyler, Calvin , CHOSTNER, Benjamin, Ray
IPC分类号： 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
摘要： 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.

6. 发明申请

WO2023014669A1 DETECTING UNTRAVERSABLE SOIL FOR FARMING MACHINE AND PREVENTING DAMAGE BY FARMING MACHINE 审中-公开
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
申请人： BLUE RIVER TECHNOLOGY INC.
发明人： CHOSTNER, Ben , MAJUSIAK, Bryon , SHARMA, Divya , ANDERSON, Kent , REDDEN, Lee , NIDAY, Tyler
IPC分类号： A01B79/00 , A01B69/00
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.

7. 发明申请

WO2023287668A1 CAMERA CALIBRATION FOR STEREOSCOPIC DEPTH DETERMINATION IN A VEHICLE CONTROL SYSTEM 审中-公开
公开(公告)号：WO2023287668A1
公开(公告)日：2023-01-19
申请号：PCT/US2022/036596
申请日：2022-07-09
申请人： BLUE RIVER TECHNOLOGY, INC.
发明人： LAROIA, Rajiv , ANIGSTEIN, Pablo , GOTSCH, Daniel , MAHARSHI, Atul
IPC分类号： H04N13/239 , H04N13/246 , B60R1/00 , B60W60/00 , G05D1/00 , G06T7/80 , H04N13/00
摘要： Calibration target(s) are mounted on a vehicle including a plurality of cameras. The calibration targets are in the field of view of the cameras. The calibration targets are sometimes LED or IR illumined targets. The targets in some embodiments are shielded to block light from oncoming cars and/or to block driver view of the target to reduce the risk of driver distraction. The cameras capture images at the same time. Calibration operations are then performed using the target or targets included in the captured images as a known visual reference of a known shape, size and/or having a known image pattern. Calibration parameters including parameters providing information about the location and/or spatial positions of the cameras with respect to each other and/or the target are generated from the captured images. Distance to objects in the environment which are included in the captured images are then determined.

8. 发明申请

WO2018208944A1 AUTOMATIC CAMERA PARAMETER ADJUSTMENT ON A PLANT TREATMENT SYSTEM 审中-公开
公开(公告)号：WO2018208944A1
公开(公告)日：2018-11-15
申请号：PCT/US2018/031841
申请日：2018-05-09
申请人： BLUE RIVER TECHNOLOGY INC. , RADHAKRISHNAN, Rajesh , REDDEN, Lee Kamp , OSTROWSKI, James Patrick
发明人： RADHAKRISHNAN, Rajesh , REDDEN, Lee Kamp , OSTROWSKI, James Patrick , HALLIGAN, Deaglan , PELL, Edward William Jeffcott , BROWN, Thomas Welch
IPC分类号： G06K9/00 , G06K9/32 , G06K9/62 , G06T7/00 , H04N13/00
摘要： A plant treatment system automatically adjusts camera operation parameters for a camera used by the plant treatment system to identify and treat plants in a field. The plant treatment system can generate image segments of images received from the camera and classify the image segments based on whether the image segments represent plants. The plant treatment system determines whether each of the image segments is over- or under-exposed and adjusts the camera operation parameters for the camera based on the exposure classification of the image segments. Alternatively, the plant treatment system may use a plant detection model to identify plant pixels within an image that represent plants. The plant treatment system can then determine whether the identified plant pixels are over- or under-exposed and adjust the camera operation parameters accordingly.

9. 发明申请

WO2015013723A2 SYSTEM AND METHOD FOR PLANT TREATMENT 审中-公开
标题翻译：用于植物处理的系统和方法
公开(公告)号：WO2015013723A2
公开(公告)日：2015-01-29
申请号：PCT/US2014048507
申请日：2014-07-28
申请人： BLUE RIVER TECHNOLOGY INC
发明人： REDDEN LEE
IPC分类号： A01G1/00 , A01M21/04
CPC分类号： A01G1/001 , A01M21/04 , A01M21/043 , A01M21/046
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.
摘要翻译：一种用于植物处理的方法，包括：随着传感器在包括多个植物的地理区域内移动，从传感器接收植物的第一测量; 响应于接收到所述第一测量并且在接收到所述多个第二工厂的第二测量之前，基于所述第一测量和历史测量确定所述工厂的一组处理机构操作参数以优化地理区域输出参数地理区域; 确定植物的初始处理参数; 以及响应于初始治疗参数的满足，基于该组操作参数以治疗模式操作治疗机构。

10. 发明申请

WO2022147156A1 GENERATING A GROUND PLANE FOR OBSTRUCTION DETECTION 审中-公开
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
申请人： BLUE RIVER TECHNOLOGY INC.
发明人： SHARMA, Divya , OEZDEMIR, Ugur , KONG, Lingjian
IPC分类号： A01D41/14 , G01S15/00
摘要： 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.

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