US 2021/0368680 A1Published application

Real-time speed adjustment for harvesting crops

AssigneeAutomated Harvesting Solutions, LLC

InventorsAnthony Wisdom, Ian Mintz

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Abstract

A speed of a harvester may be adjusted based on a number or ratio of harvestable edible crowns across rows of broccoli plants. For example, as the harvester travels across a field, imaging device(s) may image edible crowns across the multiple rows. The image(s) may be used to determine a number of harvestable edible crowns within each row of broccoli plants. Determining which row contains the greatest number of harvestable edible crowns may be used for adjusting the speed of the harvester to accommodate for harvesting the edible crowns across all rows. Therefore, because edible crowns mature at different rates, the harvester may travel as fast as the “slowest” row, or the row having the greatest number of harvestable edible crowns, to allow enough time for the harvester to harvest the edible crowns.

Claims20

Dependent claims

A machine for harvesting edible crowns, the machine comprising:

a first imaging device for imaging a first row of the edible crowns;
a second imaging device for imaging a second row of the edible crowns;
a driving system;
one or more processors;
and
one or more computer-readable media storing instructions that, when executed, cause the one or more processors to perform operations comprising:
receiving, from the first imaging device:
first image data representing a first edible crown within the first row;
and
second image data representing a second edible crown within the first row;
receiving, from the second imaging device:
third image data representing a third edible crown within the second row;
and
fourth image data representing a fourth edible crown within the second row;
determining, based at least in part on the first image data and the second image data, that the first edible crown and the second edible crown are ready for harvesting;
determining, based at least in part on the third image data and the fourth image data, that at least one of the third edible crown or the fourth edible crown is not ready for harvesting;
determining a speed of the machine based at least in part on the first edible crown and the second edible crown being ready for harvesting, wherein the speed accommodates the machine to harvest first edible crown and the second edible crown;
and
instructing the driving system to move at the speed.

16 more elements

A machine comprising:

a first imaging device;
a second imaging device;
one or more processors;
and
one or more computer-readable media storing instructions that, when executed, cause the one or more processors to perform operations comprising:
receiving, from the first imaging device, first image data representing first edible crowns within a first row;
receiving, from the second imaging device, second image data representing second edible crowns within a second row;
determining, based at least in part on the first image data, a first number of the first edible crowns that are ready for harvesting;
determining, based at least in part on the second image data, a second number of the second edible crowns that are ready for harvesting;
and
determining, based at least in part on at least one of the first number or the second number, a speed of the machine.

8 more elements

A method comprising:

receiving first image data corresponding to edible crowns within a first row;
receiving second image data corresponding to edible crowns within a second row;
determining, based at least in part on the first image data, a first number of edible crowns within the first row that are ready for harvesting;
determining, based at least in part on the second image data, a second number of edible crowns within the second row that are ready for harvesting;
and
determining, based at least in part on at least one of the first number or the second number, a speed of the machine.

3 more elements

Dependencies are inferred from the claim text.