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US 9,717,171 B2Granted
System and method for automated odometry calibration for precision agriculture systems
AssigneeBlue River Technology Inc.
InventorsLee Kamp Redden, Kent Anderson, Edward William Jeffcott Pell, James Patrick Ostrowski
Life of this patent
Estimating the term…
Abstract
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.
Claims30
A method for in-situ precision agriculture calibration of a device during operation of the device within a field, the method comprising:
- capturing a first image of a first field region with a first camera of the device;
- setting, by a computer of the device, a target treatment boundary location in the first field region based on the first image, the target treatment boundary location set in the first field region between a first treatment area and a second treatment area;
- controlling, by the computer, a treatment mechanism of the device to apply the first treatment to the first treatment area;
- controlling, by the computer, the treatment mechanism of the device to apply the second treatment to the second treatment area at a transition time, wherein the transition time is based on the target treatment boundary location;
- capturing a second image of a second field region with a second camera of the device after the transition time, wherein the second field region overlaps with at least a portion of the first field region, the overlapped portion including the target treatment boundary location, and at least a portion of the first and second treatment areas, and the second camera being fixed on the device a predetermined separation distance away from the first camera along a traversal axis of the device;
- determining, by the computer, an actual treatment boundary location based on the second image and a motion of the device, wherein the actual treatment boundary location is a location in the first field region where application of the second treatment begins;
- and
- calibrating, by the computer, the device based on the target treatment boundary location and the actual treatment boundary location.
5 more elements
A device for in-situ precision agriculture calibration during operation of the device within a field, the device comprising:
- a first camera;
- a second camera;
- a treatment mechanism;
- a processor;
- and
- a non-transitory computer-readable storage medium comprising instructions that, when executed, cause the processor to:
- capture a first image of a first field region with the first camera of the device;
- set, by a computer of the device, a target treatment boundary location in the first field region based on the first image, the target treatment boundary location set in the first field region between a first treatment area and a second treatment area;
- control, by the computer, a treatment mechanism of the device to apply the first treatment to the first treatment area;
- control, by the computer, the treatment mechanism of the device to apply the second treatment to the second treatment area at a transition time, wherein the transition time is based on the target treatment boundary location;
- capture a second image of a second field region with a second camera of the device after the transition time, wherein the second field region overlaps with at least a portion of the first field region, the overlapped portion including the target treatment boundary location, and at least a portion of the first and second treatment areas, and the second camera being fixed on the device a predetermined separation distance away from the first camera along a traversal axis of the device;
- determine an actual treatment boundary location based on the second image and a motion of the device, wherein the actual treatment boundary location is a location in the first field region where application of the second treatment begins;
- and
- calibrate the device based on the target treatment boundary location and the actual treatment boundary location.
11 more elements
Dependencies are inferred from the claim text.