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1. 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.

2. 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.

3. 发明申请

WO2019226871A1 BOOM SPRAYER INCLUDING MACHINE FEEDBACK CONTROL 审中-公开
公开(公告)号：WO2019226871A1
公开(公告)日：2019-11-28
申请号：PCT/US2019/033701
申请日：2019-05-23
申请人： BLUE RIVER TECHNOLOGY INC.
发明人： REDDEN, Lee, Kamp , EHN, Erik , FLEMMING, James, Michael
IPC分类号： A01D41/127 , A01D46/00 , A01D46/30 , A01F12/18 , A01F7/00 , G05B13/02
摘要： A boom sprayer includes any number of components to treat plants as the boom sprayer travels through a plant field. The components take actions to treat plants or facilitate treating plants. The boom sprayer includes any number of sensors to measure the state of the boom sprayer as the boom sprayer treats plants. The boom sprayer includes a control system to generate actions for the components to treat plants in the field. The control system includes an agent executing a model that functions to improve the performance of the boom sprayer treating plants. Performance improvement can be measured by the sensors of the boom sprayer. 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

WO2019226869A1 SEMANTIC SEGMENTATION TO IDENTIFY AND TREAT PLANTS IN A FIELD AND VERIFY THE PLANT TREATMENTS 审中-公开
公开(公告)号：WO2019226869A1
公开(公告)日：2019-11-28
申请号：PCT/US2019/033699
申请日：2019-05-23
申请人： BLUE RIVER TECHNOLOGY INC.
发明人： POLZOUNOV, Andrei , OSTROWSKI, James, Patrick , REDDEN, Lee, Kamp , DENAS, Olgert , FU, Chian-Chun , PADWICK, Christopher, Grant
IPC分类号： G06K9/00 , G06N3/02 , G06N3/04 , A01B79/00 , A01B79/02 , A01C15/00 , A01C21/00
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.

5. 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。

6. 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。

7. 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。

8. 发明公开

EP3813506A1 BOOM SPRAYER INCLUDING MACHINE FEEDBACK CONTROL 审中-公开
公开(公告)号：EP3813506A1
公开(公告)日：2021-05-05
申请号：EP19807275.3
申请日：2019-05-23
申请人： Blue River Technology Inc.
发明人： REDDEN, Lee, Kamp , EHN, Erik , FLEMING, James, Michael
IPC分类号： A01D41/127 , A01D46/00 , A01D46/30 , A01F12/18 , A01F7/00 , G05B13/02

9. 发明公开

EP2822380A1 METHOD AND APPARATUS FOR AUTOMATED PLANT NECROSIS 有权
标题翻译： VERFAHREN UND VORRICHTUNGFÜRAUTOMATISIERTE PFLANZENNEKROSE
公开(公告)号：EP2822380A1
公开(公告)日：2015-01-14
申请号：EP13757748.2
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 distinguishing individual plants within a row of plants, including directing radiation at the row of plants at an angle selected to illuminate a portion of the plant and cast a shadow at the plant center, collecting an image from the radiation reflected off of two or more contiguous plants with a detector, identifying a continuous foreground region indicative of a plant within the image, identifying points of interest within the region, classifying the points of interest as plant centers and non-plant centers, and segmenting the region into sub-regions, each sub-region encompassing a single point of interest classified as a plant center.
摘要翻译：一种区分一排植物中的单个植物的方法，包括以选定的一定角度引导植物的辐射，以照射植物的一部分并在植物中心施加阴影，从两个反射的辐射中收集图像或具有检测器的更连续的植物，识别指示图像内的植物的连续前景区域，识别该区域内的感兴趣点，将兴趣点分类为植物中心和非植物中心，以及将该区域分割为子区域，区域，每个子区域包含分类为植物中心的单个兴趣点。

10. 发明公开

EP4381511A2 DETECTING UNTRAVERSABLE ENVIRONMENT AND PREVENTING DAMAGE BY A VEHICLE 审中-实审
公开(公告)号：EP4381511A2
公开(公告)日：2024-06-12
申请号：EP22853921.9
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 , OSTROWSKI, James Patrick
IPC分类号： G16B20/00 , G16H50/20
CPC分类号： G05D1/0214 , G05D1/0246 , E02F9/205 , E02F9/267 , E02F9/262 , G06V20/56 , G06V10/82

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