WO2017181127A1 - Robotic plant care systems and methods - Google Patents

Robotic plant care systems and methods Download PDF

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Publication number
WO2017181127A1
WO2017181127A1 PCT/US2017/027787 US2017027787W WO2017181127A1 WO 2017181127 A1 WO2017181127 A1 WO 2017181127A1 US 2017027787 W US2017027787 W US 2017027787W WO 2017181127 A1 WO2017181127 A1 WO 2017181127A1
Authority
WO
WIPO (PCT)
Prior art keywords
crop
plant
weed
signal
target plant
Prior art date
Application number
PCT/US2017/027787
Other languages
English (en)
French (fr)
Inventor
David Slaughter
Durham Giles
Steven FENNIMORE
Thuy Nguyen
Vivian VUONG
Leland NEILSON
Ryan BILLING
Jedediah Roach
Burt VANNUCCI
Original Assignee
The Regents Of The University Of California
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by The Regents Of The University Of California filed Critical The Regents Of The University Of California
Publication of WO2017181127A1 publication Critical patent/WO2017181127A1/en
Priority to US16/156,749 priority Critical patent/US10993430B2/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B39/00—Other machines specially adapted for working soil on which crops are growing
    • A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
    • A01B39/18—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for weeding
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C11/00—Transplanting machines
    • A01C11/02—Transplanting machines for seedlings
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C21/00—Methods of fertilising, sowing or planting
    • A01C21/005—Following a specific plan, e.g. pattern
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
    • A01M21/04—Apparatus for destruction by steam, chemicals, burning, or electricity
    • A01M21/043—Apparatus for destruction by steam, chemicals, burning, or electricity by chemicals
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0012—Biomedical image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/30—Robotic devices for individually picking crops
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G7/00—Botany in general
    • A01G7/06—Treatment of growing trees or plants, e.g. for preventing decay of wood, for tingeing flowers or wood, for prolonging the life of plants
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0003—Atomisers or mist blowers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20112—Image segmentation details
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30181—Earth observation
    • G06T2207/30188—Vegetation; Agriculture
PCT/US2017/027787 2016-04-15 2017-04-14 Robotic plant care systems and methods WO2017181127A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US16/156,749 US10993430B2 (en) 2016-04-15 2018-10-10 Robotic plant care systems and methods

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201662323446P 2016-04-15 2016-04-15
US62/323,446 2016-04-15

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US16/156,749 Continuation US10993430B2 (en) 2016-04-15 2018-10-10 Robotic plant care systems and methods

Publications (1)

Publication Number Publication Date
WO2017181127A1 true WO2017181127A1 (en) 2017-10-19

Family

ID=60042862

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2017/027787 WO2017181127A1 (en) 2016-04-15 2017-04-14 Robotic plant care systems and methods

Country Status (2)

Country Link
US (1) US10993430B2 (en.)
WO (1) WO2017181127A1 (en.)

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CN107877524A (zh) * 2017-11-20 2018-04-06 孟凡星 一种花卉造型机器人
CN109168558A (zh) * 2018-08-16 2019-01-11 张振花 一种用于农业沟渠杂草清除的自动化设备
CN109348865A (zh) * 2018-11-13 2019-02-19 杭州电子科技大学 一种朱砂桔采摘机器人及其采摘方法
WO2019203954A1 (en) * 2018-04-17 2019-10-24 Hrl Laboratories, Llc System and method for determining crop residue fraction using blind source separation of color images
CN110506727A (zh) * 2019-09-27 2019-11-29 珠江水利委员会珠江水利科学研究院 苹果园喷雾机作业角度的控制方法
IT201800006719A1 (it) * 2018-06-27 2019-12-27 Zappatrice automatica.
WO2020039046A1 (de) * 2018-08-24 2020-02-27 naiture GmbH & Co. KG Mobile analyse- und bearbeitungsvorrichtung
WO2020078692A1 (de) * 2018-10-17 2020-04-23 Robert Bosch Gmbh Verfahren zum ausbringen eines spritzmittels auf ein feld
WO2020102830A1 (en) * 2018-11-14 2020-05-22 Bartrom Michael Automated farm with robots working on plants
BE1027164B1 (nl) * 2019-03-29 2020-11-05 Agriplant Nv Plantmachine
IT202000004561A1 (it) * 2020-03-04 2021-09-04 Pierangelo Vercellino Sistema interattivo per la previsione e la cura di fitopatologie
US11144775B2 (en) 2018-06-25 2021-10-12 Cnh Industrial Canada, Ltd. System and method for illuminating the field of view of a vision-based sensor mounted on an agricultural machine
AU2021200158B2 (en) * 2018-05-24 2022-03-10 Blue River Technology Inc. Semantic segmentation to identify and treat plants in a field and verify the plant treatments
CN114794067A (zh) * 2022-04-08 2022-07-29 江苏大学 一种仿生四足行走智能旋耕除草装置及实现方法
US20220346364A1 (en) * 2013-07-26 2022-11-03 Blue River Technology Inc. System and Method for Plant Treatment Based on Neighboring Effects
EP4197304A1 (en) * 2021-12-20 2023-06-21 AGCO International GmbH Vehicles and methods for treating an agricultural field
US11832609B2 (en) 2020-12-21 2023-12-05 Deere & Company Agricultural sprayer with real-time, on-machine target sensor
US11877540B2 (en) 2018-11-14 2024-01-23 Michael Bartrom Tray and Trellis System for an Automated Farm with Robots Working on Plants
US11944087B2 (en) 2020-12-21 2024-04-02 Deere & Company Agricultural sprayer with real-time, on-machine target sensor

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US11310954B2 (en) * 2018-09-12 2022-04-26 Deere & Company Methods and apparatus for efficient material application
US11653588B2 (en) 2018-10-26 2023-05-23 Deere & Company Yield map generation and control system
US11079725B2 (en) 2019-04-10 2021-08-03 Deere & Company Machine control using real-time model
US11672203B2 (en) 2018-10-26 2023-06-13 Deere & Company Predictive map generation and control
US11467605B2 (en) 2019-04-10 2022-10-11 Deere & Company Zonal machine control
US11178818B2 (en) 2018-10-26 2021-11-23 Deere & Company Harvesting machine control system with fill level processing based on yield data
US11641800B2 (en) 2020-02-06 2023-05-09 Deere & Company Agricultural harvesting machine with pre-emergence weed detection and mitigation system
US11240961B2 (en) 2018-10-26 2022-02-08 Deere & Company Controlling a harvesting machine based on a geo-spatial representation indicating where the harvesting machine is likely to reach capacity
US11957072B2 (en) 2020-02-06 2024-04-16 Deere & Company Pre-emergence weed detection and mitigation system
US11589509B2 (en) 2018-10-26 2023-02-28 Deere & Company Predictive machine characteristic map generation and control system
US11234366B2 (en) 2019-04-10 2022-02-01 Deere & Company Image selection for machine control
US11259515B2 (en) * 2019-10-31 2022-03-01 Deere & Company Agricultural plant detection and control system
CN111325240A (zh) * 2020-01-23 2020-06-23 杭州睿琪软件有限公司 与杂草相关的计算机可执行的方法和计算机系统
US20230073541A1 (en) * 2020-01-27 2023-03-09 Matthew Charles King System and method for performing machine vision recognition of dynamic objects
JP2023520659A (ja) * 2020-03-23 2023-05-18 バイエル、アクチエンゲゼルシャフト 雑草防除管理方法、雑草防除管理車両、および雑草防除管理システム
US11477940B2 (en) 2020-03-26 2022-10-25 Deere & Company Mobile work machine control based on zone parameter modification
US11727680B2 (en) 2020-10-09 2023-08-15 Deere & Company Predictive map generation based on seeding characteristics and control
US11946747B2 (en) 2020-10-09 2024-04-02 Deere & Company Crop constituent map generation and control system
US11711995B2 (en) 2020-10-09 2023-08-01 Deere & Company Machine control using a predictive map
US11889788B2 (en) 2020-10-09 2024-02-06 Deere & Company Predictive biomass map generation and control
US11871697B2 (en) 2020-10-09 2024-01-16 Deere & Company Crop moisture map generation and control system
US11635765B2 (en) 2020-10-09 2023-04-25 Deere & Company Crop state map generation and control system
US11927459B2 (en) 2020-10-09 2024-03-12 Deere & Company Machine control using a predictive map
US11825768B2 (en) 2020-10-09 2023-11-28 Deere & Company Machine control using a predictive map
US11874669B2 (en) 2020-10-09 2024-01-16 Deere & Company Map generation and control system
US11675354B2 (en) 2020-10-09 2023-06-13 Deere & Company Machine control using a predictive map
US11849671B2 (en) 2020-10-09 2023-12-26 Deere & Company Crop state map generation and control system
US11864483B2 (en) 2020-10-09 2024-01-09 Deere & Company Predictive map generation and control system
US11474523B2 (en) 2020-10-09 2022-10-18 Deere & Company Machine control using a predictive speed map
US11844311B2 (en) 2020-10-09 2023-12-19 Deere & Company Machine control using a predictive map
US11849672B2 (en) 2020-10-09 2023-12-26 Deere & Company Machine control using a predictive map
US11895948B2 (en) 2020-10-09 2024-02-13 Deere & Company Predictive map generation and control based on soil properties
US11650587B2 (en) 2020-10-09 2023-05-16 Deere & Company Predictive power map generation and control system
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US11845449B2 (en) 2020-10-09 2023-12-19 Deere & Company Map generation and control system
US11889787B2 (en) 2020-10-09 2024-02-06 Deere & Company Predictive speed map generation and control system
US20240037749A1 (en) * 2020-12-08 2024-02-01 Terramera, Inc. Systems and methods for the improved detection of plants
WO2022183222A1 (en) * 2021-02-26 2022-09-01 Laudando & Associates Cultivating methods and apparatuses
CN113016766A (zh) * 2021-03-09 2021-06-25 厦门理工学院 一种智能温室杂草识别去除系统及其控制方法

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Cited By (28)

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US20220346364A1 (en) * 2013-07-26 2022-11-03 Blue River Technology Inc. System and Method for Plant Treatment Based on Neighboring Effects
US11974562B2 (en) * 2013-07-26 2024-05-07 Blue River Technology Inc. System and method for plant treatment based on neighboring effects
CN107877524A (zh) * 2017-11-20 2018-04-06 孟凡星 一种花卉造型机器人
US10785903B2 (en) 2018-04-17 2020-09-29 Hrl Laboratories, Llc System and method for determining crop residue fraction using blind source separation of color images
WO2019203954A1 (en) * 2018-04-17 2019-10-24 Hrl Laboratories, Llc System and method for determining crop residue fraction using blind source separation of color images
CN111868782B (zh) * 2018-04-17 2024-01-02 赫尔实验室有限公司 使用彩色图像的盲源分离确定农作物残茬分数的系统和方法
CN111868782A (zh) * 2018-04-17 2020-10-30 赫尔实验室有限公司 使用彩色图像的盲源分离确定农作物残茬分数的系统和方法
AU2021200158B2 (en) * 2018-05-24 2022-03-10 Blue River Technology Inc. Semantic segmentation to identify and treat plants in a field and verify the plant treatments
US11514671B2 (en) 2018-05-24 2022-11-29 Blue River Technology Inc. Semantic segmentation to identify and treat plants in a field and verify the plant treatments
US11144775B2 (en) 2018-06-25 2021-10-12 Cnh Industrial Canada, Ltd. System and method for illuminating the field of view of a vision-based sensor mounted on an agricultural machine
IT201800006719A1 (it) * 2018-06-27 2019-12-27 Zappatrice automatica.
CN109168558A (zh) * 2018-08-16 2019-01-11 张振花 一种用于农业沟渠杂草清除的自动化设备
CN109168558B (zh) * 2018-08-16 2021-07-13 张振花 一种用于农业沟渠杂草清除的自动化设备
WO2020039046A1 (de) * 2018-08-24 2020-02-27 naiture GmbH & Co. KG Mobile analyse- und bearbeitungsvorrichtung
US11968973B2 (en) 2018-10-17 2024-04-30 Robert Bosch Gmbh Method for applying a spray to a field based on analysis of evaluation portion of monitored field section
CN112839511A (zh) * 2018-10-17 2021-05-25 罗伯特·博世有限公司 用于将喷洒剂施布到田地上的方法
WO2020078692A1 (de) * 2018-10-17 2020-04-23 Robert Bosch Gmbh Verfahren zum ausbringen eines spritzmittels auf ein feld
CN109348865B (zh) * 2018-11-13 2023-08-29 杭州电子科技大学 一种朱砂桔采摘机器人及其采摘方法
CN109348865A (zh) * 2018-11-13 2019-02-19 杭州电子科技大学 一种朱砂桔采摘机器人及其采摘方法
WO2020102830A1 (en) * 2018-11-14 2020-05-22 Bartrom Michael Automated farm with robots working on plants
US11877540B2 (en) 2018-11-14 2024-01-23 Michael Bartrom Tray and Trellis System for an Automated Farm with Robots Working on Plants
BE1027164B1 (nl) * 2019-03-29 2020-11-05 Agriplant Nv Plantmachine
CN110506727A (zh) * 2019-09-27 2019-11-29 珠江水利委员会珠江水利科学研究院 苹果园喷雾机作业角度的控制方法
IT202000004561A1 (it) * 2020-03-04 2021-09-04 Pierangelo Vercellino Sistema interattivo per la previsione e la cura di fitopatologie
US11832609B2 (en) 2020-12-21 2023-12-05 Deere & Company Agricultural sprayer with real-time, on-machine target sensor
US11944087B2 (en) 2020-12-21 2024-04-02 Deere & Company Agricultural sprayer with real-time, on-machine target sensor
EP4197304A1 (en) * 2021-12-20 2023-06-21 AGCO International GmbH Vehicles and methods for treating an agricultural field
CN114794067A (zh) * 2022-04-08 2022-07-29 江苏大学 一种仿生四足行走智能旋耕除草装置及实现方法

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