Agricultural tool and process
AssigneeKubota Corporation
InventorsSai Bharathwaj, Ridhwan Luthra, Suhas Prabhu, Shan Wan, Pius Ng, Srikanth Kadiyala, Anattasakul Roatchanatam
Life of this patent
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Abstract
A method includes generating an image, segmenting the image to identify a component of an agricultural item, detecting one or more agricultural features of the agricultural item based on the image, the one or more agricultural features being associated with the component of the agricultural item, generating a two-dimensional grab-point based on the component of the agricultural item and the one or more agricultural features, and generating a three-dimensional grab-point based on the two-dimensional grab-point and a depth estimation of the agricultural item.
Claims17
A method comprising:
- generating an image;
- segmenting the image to identify a component of an agricultural item;
- detecting one or more agricultural features of the agricultural item based on the image, the one or more agricultural features being associated with the component of the agricultural item;
- generating a two-dimensional grab-point based on the component of the agricultural item and the one or more agricultural features;
- generating a three-dimensional grab-point based on the two-dimensional grab-point and a depth estimation of the agricultural item;
- segmenting the image to identify a support structure;
- generating a two-dimensional tie-point that lies on the support structure;
- generating a three-dimensional tie-point based on the two-dimensional tie-point and a depth estimation of the support structure;
- positioning an agricultural tool based on the three-dimensional grab-point;
- capturing the agricultural item with the agricultural tool that has been positioned based on the three-dimensional grab-point;
- positioning the agricultural tool based on the three-dimensional tie-point;
- capturing the support structure with the agricultural tool that has been positioned based on the three-dimensional tie-point;
- and
- attaching the agricultural item and the support structure together.
A system comprising:
- a camera to capture image data;
- one or more processors;
- and
- an agricultural tool;
- wherein
- the one or more processors are configured or programmed to:
- generate an image based on the image data;
- segment the image to identify a component of an agricultural item;
- detect one or more agricultural features of the agricultural item based on the image, the one or more agricultural features being associated with the component of the agricultural item;
- generate a two-dimensional grab-point based on the component of the agricultural item and the one or more agricultural features;
- generate a three-dimensional grab-point based on the two-dimensional grab-point and a depth estimation of the agricultural item;
- segment the image to identify a support structure;
- generate a two-dimensional tie-point that lies on the support structure;
- generate a three-dimensional tie-point based on the two-dimensional tie-point and a depth estimation of the support structure;
- position the agricultural tool based on the three-dimensional grab-point;
- control the agricultural tool to capture the agricultural item when the agricultural tool has been positioned based on the three-dimensional grab-point;
- position the agricultural tool based on the three-dimensional tie-point;
- control the agricultural tool to capture the support structure when the agricultural tool has been positioned based on the three-dimensional tie-point;
- and
- control the agricultural tool to attach the agricultural item and the support structure together.
Dependencies are inferred from the claim text.