Scouting systems

Patent metadata

Field	Value
Publication number	US-10939606-B2
Application number	US-201816188428-A
Country	US
Kind code	B2
Filing date	Nov 13, 2018
Priority date	Dec 5, 2014
Publication date	Mar 9, 2021
Grant date	Mar 9, 2021

Abstract

A scouting system can include an autonomous ground vehicle having a perception sensor and a motion sensor to construct an occupancy grid referenced to a coordinate system of the autonomous ground vehicle. The autonomous ground vehicle is configured to use information from the occupancy grid to detect crop rows in a crop field. The autonomous ground vehicle is configured to identify and classify one or more non-crop plant in-lier objects arranged within the crop rows and generate an output signal received by an external vehicle to cause the external vehicle to perform a task when the one or more non-crop plant in-lier objects are identified within the crop rows.

First claim

What is claimed is:

1. A scouting system comprising:
an autonomous ground vehicle having a perception sensor and a motion sensor to construct an occupancy grid;
wherein the occupancy grid is referenced to a coordinate system of the autonomous ground vehicle;
the autonomous ground vehicle is configured to use information from the occupancy grid to detect crop rows in a crop field, based on a comparison of contents of the occupancy grid with a geometry of the crop field;
wherein the geometry includes at least one of an expected width of the crop rows, an expected length of the crop rows, and an expected crop plant spacing;
a vehicle driving path is generated for the autonomous ground vehicle, wherein the vehicle driving path is based on the comparison of contents for candidate crop rows; and
wherein the autonomous ground vehicle is configured to identify and classify one or more non-crop plant in-lier objects arranged within the crop rows and to generate an output signal received by an external vehicle to cause the external vehicle to perform a task when the one or more non-crop plant in-lier objects are identified within the crop rows.

2. The scouting system of claim 1 , wherein a strength of cells in the occupancy grid is determined from a number of sensor readings that fall in a region where crop plants are expected; and wherein the occupancy grid is obtained after filtering out noise and transients.

3. The scouting system of claim 1 , wherein the autonomous ground vehicle classifies weeds or hazardous objects from crop plants based on whether an object is an in-lier or outlier within a found crop row.

4. The scouting system of claim 1 , wherein the autonomous ground vehicle travels behind or ahead of a tractor or a sprayer vehicle and is in communication with the tractor or the sprayer vehicle to monitor spraying or to guide spraying.

5. The scouting system of claim 4 , wherein the autonomous ground vehicle transforms the coordinate system to a farm field coordinate system or to an Earth coordinate system to identify a location of at least one of an end-row, a weed, a hazardous object, and a ground moisture.

6. The scouting system of claim 1 , wherein the autonomous ground vehicle is in communication with an aerial drone; wherein the autonomous ground vehicle performs ground tasks and the aerial drone performs a crop surveillance; and wherein the ground tasks include at least one of soil sampling, moisture sensing, weed identification, and hazard object identification; and wherein the crop surveillance includes at least one of identification of damaged crops and notification to the autonomous ground vehicle.

7. The scouting system of claim 1 , wherein the autonomous ground vehicle is in communication with an aerial drone; and wherein the autonomous ground vehicle and the aerial drone are docked together on an agricultural vehicle that provides a power source.

8. The scouting system of claim 1 , wherein perception sensor includes one of a lidar and a camera that provides data to populate the occupancy grid; and wherein the motion sensor propagates a position of the autonomous ground vehicle in the occupancy grid.

9. A method to scout an agricultural field, the method comprising:
constructing an occupancy grid for an autonomous ground vehicle having a perception sensor;

referencing the occupancy grid to a coordinate system of the autonomous ground vehicle;
using information from the occupancy grid to detect crop rows in a crop field, based on a comparison of contents of the occupancy grid with a geometry of the crop field; wherein the geometry of the crop field includes at least one of an expected width of the crop rows, an expected length of the crop rows, and an expected crop plant spacing;
generating a vehicle driving path for the autonomous ground vehicle, wherein the vehicle driving path is based on the comparison of contents for candidate crop rows; and
identifying and classifying one or more non-crop plant in-lier objects arranged within the crop rows and generating an output signal received by an external vehicle to cause the external vehicle to perform a task when the one or more non-crop plant in-lier objects are identified within the crop rows.

10. The method of claim 9 further comprising using a motion sensor to help construct the occupancy grid; populating the occupancy grid with data from the perception sensor, wherein the perception sensor includes one of a lidar and a camera; and; using the motion sensor to propagate a position of the autonomous ground vehicle in the occupancy grid.

Assignees

• Deere & Co

Inventors

• Ackerman Chad A
• Stephens Scott A
• Wu Dolly
• Mercer David S
• Harris Mark A

Classifications

• G01S19/48

  by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system · CPC title

• G01S19/14

  specially adapted for specific applications · CPC title

• G01S5/16

  using electromagnetic waves other than radio waves · CPC title

• A01B69/008 Primary

  automatic · CPC title

• G05D1/0272

  comprising means for registering the travel distance, e.g. revolutions of wheels (measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00) · CPC title