# US 12,114,102 B2 · System and method for visual confirmation of planter performance > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,114,102 B2 - Document ID: US12114102B2 - Status: Granted - Kind: B2 - Application number: 17/494,266 - Filed: 2021-10-05 - Published: 2022-01-27 - Granted: 2024-10-08 - Earliest claimed: 2019-02-20 - Assignees: Deere & Company - Applicants: Deere & Company - Inventors: Matthew Mentzer - Web page: https://patentgrep.com/patent/US12114102B2 ## CPC - A01C 7/105: {Seed sensors} - H04N 7/188: {Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position (signal generation from motion picture films H04N5/253)} - A01C 7/04: Single-grain seeders with or without suction devices - G01B 11/14: for measuring distance or clearance between spaced objects or spaced apertures (G01B11/26 takes precedence; rangefinders G01C3/00) - G01B 11/22: for measuring depth - G06T 7/0004: {Industrial image inspection} - H04N 23/54: Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils - H04N 23/74: by influencing the scene brightness using illuminating means - A01C 5/064: {with rotating tools} - A01C 5/068: {Furrow packing devices, e.g. press wheels} - G06T 2207/30188: Vegetation; Agriculture - A01C: PLANTING; SOWING; FERTILISING (parts, details or accessories of agricultural machines or implements, in general A01B51/00 - A01B75/00) - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract Systems and methods for automatically capturing visual data of a seed placed by a seed planting machine (e.g., a crop row planter). An electronic controller is configured to receive a signal indicative of a seed being dispensed by the seed planting machine and to trigger a camera to capture an image of the dispensed seed in response to a determination, based on the signal, that the seed has been dispensed by the seed planting machine. In some implementations, the system includes a seed sensor configured to detect a seed moving through a seed tube that dispensed seeds from the seed planting machine. In other implementations, the system is configured to detect a new seed being dispensed by the seed planting machine by analyzing image data captured by a camera. ## Claims ### Claim 1 A system for automatically capturing visual data of a seed placed by a seed planting machine, the system comprising: a camera coupled to the seed planting machine and positioned with a field of view that includes a portion of a field surface; and an electronic controller configured to detect a seed being dispensed by the seed planting machine based at least in part on a signal from a seed dispensing actuator, trigger the camera to capture an image of the dispensed seed in response to the expiration of a delay period after detecting the seed being dispensed, and adjust the delay period based at least in part on an analysis of the captured image of the dispensed seed. ### Claim 2 (depends on 1) The system of claim 1, wherein the electronic controller is configured to detect the seed being dispensed based on an actuation signal transmitted to a controllable seed dispensing actuator instructing the controllable seed dispensing actuator to dispense the seed. ### Claim 3 (depends on 1) The system of claim 1, wherein a length of the delay period is indicative of an expected amount of time from detecting the seed being dispensed until the dispensed seed comes to a rest at a bottom of a trench formed in the field surface. ### Claim 4 (depends on 3) The system of claim 3, wherein the electronic controller is configured to adjust the delay period by determining a depth of a trench in the field surface based on the captured image of the dispensed seed, and adjusting the delay period based on the determined depth of the trench. ### Claim 5 (depends on 4) The system of claim 4, wherein the electronic controller is further configured to adjust the delay period based on a speed of the seed planting machine indicated by a vehicle speedometer of the seed planting machine. ### Claim 6 (depends on 4) The system of claim 4, wherein the electronic controller is configured to determine the depth of the trench based on a relative size of the dispensed seed in the captured image of the dispensed seed. ### Claim 7 (depends on 4) The system of claim 4, wherein the electronic controller is further configured to transmit a control signal configured to controllably adjust a height of an opening disc of the seed planting machine based on the determined depth of the trench to cause a seed depth of subsequent dispensed seeds to approach a target seed depth. ### Claim 8 (depends on 1) The system of claim 1, wherein the electronic controller is further configured to superimpose a scale onto the captured image of the dispensed seed, wherein the scale is indicative of a spacing distance between the dispensed seed and another dispensed seed in the captured image of the dispensed seed. ### Claim 9 (depends on 1) The system of claim 1, wherein the electronic controller is configured to adjust the delay period by determining a relative position of the dispensed seed in the field of view of the captured image of the dispensed seed and adjusting the delay period to cause the dispensed seed to appear centered in captured images of subsequent dispensed seeds. ### Claim 10 (depends on 1) The system of claim 1, wherein the electronic controller is further configured to transmit an actuator control signal based on an analysis of the captured image of the dispensed seed, wherein the actuator control signal includes at least one selected from a group consisting of a trench width control signal to an opening disc angle actuator of the seed planting machine configured to adjust a width of a trench and a seed frequency control signal to the seed dispensing actuator configured to adjust a spacing between dispensed seeds in the trench. ### Claim 11 A method for automatically capturing visual data of a seed placed by a seed planting machine, the method comprising: detecting, by an electronic controller, a seed being dispensed via a signal from a seed dispensing actuator of the seed planting machine, triggering a camera to capture an image of the dispensed seed in response to the expiration of a delay period after detecting the seed being dispensed, wherein the camera is coupled to the seed planting machine and positioned with a field of view that includes a portion of a field surface, and adjusting the delay period based at least in part on an analysis of the captured image of the dispensed seed. ### Claim 12 (depends on 11) The method of claim 11, wherein detecting the seed being dispensed includes detecting an actuation signal transmitted to a controllable seed dispensing actuator instructing the controllable seed dispensing actuator to dispense the seed. ### Claim 13 (depends on 11) The method of claim 11, wherein a length of the delay period is indicative of an expected amount of time from detecting the seed being dispensed until the dispensed seed comes to a rest at a bottom of a trench formed in the field surface. ### Claim 14 (depends on 13) The method of claim 13, wherein adjusting the delay period includes determining a depth of a trench in the field surface based on the captured image of the dispensed seed, and adjusting the delay period based on the determined depth of the trench. ### Claim 15 (depends on 14) The method of claim 14, further comprising adjusting the delay period based on a speed of the seed planting machine indicated by a vehicle speedometer of the seed planting machine. ### Claim 16 (depends on 14) The method of claim 14, wherein determining the depth of the trench includes determining the depth of the trench based on a relative size of the dispensed seed in the captured image of the dispensed seed. ### Claim 17 (depends on 14) The method of claim 14, further comprising transmitting, by the electronic controller, a control signal configured to controllably adjust a height of an opening disc of the seed planting machine based on the determined depth of the trench to cause a seed depth of subsequent dispensed seeds to approach a target seed depth. ### Claim 18 (depends on 11) The method of claim 11, further comprising superimposing a scale onto the captured image of the dispensed seed, wherein the scale is indicative of a spacing distance between the dispensed seed and another dispensed seed in the captured image of the dispensed seed. ### Claim 19 (depends on 11) The method of claim 11, wherein adjusting the delay period includes determining a relative position of the dispensed seed in the field of view of the captured image of the dispensed seed and adjusting the delay period to cause the dispensed seed to appear centered in captured images of subsequent dispensed seeds. ### Claim 20 (depends on 11) The method of claim 11, further comprising transmitting an actuator control signal based on an analysis of the captured image of the dispensed seed, wherein the actuator control signal includes at least one selected from a group consisting of a trench width control signal to an opening disc angle actuator of the seed planting machine configured to adjust a width of a trench and a seed frequency control signal to the seed dispensing actuator configured to adjust a spacing between dispensed seeds in the trench.