Vision based stalk sensors and associated systems and methods

Patent metadata

Field	Value
Publication number	US-11297768-B2
Application number	US-202016800469-A
Country	US
Kind code	B2
Filing date	Feb 25, 2020
Priority date	Feb 25, 2019
Publication date	Apr 12, 2022
Grant date	Apr 12, 2022

Abstract

The present disclosure is related to agricultural devices, system, and methods, particularly for detecting and measuring plant stalks during harvest. The system may comprise a harvesting row unit, with a camera, a processing unit, and an in-cab display. The system may additionally include a stalk alignment guide, a leaf shield, an artificial light source, and/or a lens cleaning apparatus.

First claim

What is claimed is:

1. A harvesting device comprising:
(a) a plurality of row units, each row unit comprising a camera;
(b) a processor in communication with the camera, the processor constructed and arranged to process images acquired by the camera to detect stalks; and
(c) a display in communication with the at least one processor, the display configured to display data acquired from the images,
wherein the data acquired from the images include stalk location and stalk size, and
wherein the processor acquires a harvester speed and a frame rate of the camera to detect stalks captured in multiple images.

2. The device of claim 1 , further comprising an artificial light disposed adjacent to the camera on the row unit for illumination of plant stalks.

3. The device of claim 1 , further comprising a lens cleaning brush operatively engaged with the camera, the lens cleaning brush configured to prevent buildup of dust and debris on the camera.

4. The device of claim 1 , further comprising a distance sensor disposed each row unit, the distance sensor configured to measure a distance from the camera to a stalk.

5. The device of claim 1 , further comprising an alignment guide configured for positioning of plant stalks with respect to the camera.

6. The device of claim 5 , wherein the alignment guide further comprises a brush shield configured to prevent leaves and debris from blocking a field of view of the camera.

7. The device of claim 5 , wherein the alignment guide further comprises an air shield configured to prevent leaves and debris from blocking a field of view of the camera.

8. A method for detecting and measuring stalks comprising:
acquiring one or more images of a stalk;
sending the one or more images to a processor;
determining a harvester speed when each of the one or more images was acquired;
determining a frame rate of a camera when each of the one or more images was acquired;
processing the at least one image via one or more algorithms to detect stalks and determine stalk size;
identifying stalks that are present in one or more of the one or more images; and
outputting data related to the detected stalk and stalk size.

9. The method of claim 8 , wherein the one or more algorithms include at least one of vision recognition, machine learning, and deep learning.

10. The method of claim 8 , wherein the one or more algorithms include at least one of edge detection, corner detection, and texture analysis for identification of stalks.

11. The method of claim 8 , further comprising measuring gaps between stalks for identification of stalks.

12. The method of claim 8 , further comprising associating each stalk with a GPS position for locating each detected stalk.

13. The method of claim 8 , further comprising performing image correction for correction of anomalies introduced by a camera.

14. A system for providing harvest data comprising:
(a) a row unit;
(b) an image sensor on the row unit; and
(c) a processor in communication with the image sensor,
wherein the image sensor acquires images during harvest and wherein the processor is constructed and arranged to process the acquired images to detect stalks, and wherein the processor is constructed and arranged to determine when a stalk is present in more than one of the acquired images.

15. The system of claim 14 , wherein the processor is further constructed and arranged to determine stalk size.

16. The system of claim 15 , wherein the processor is further constructed and arranged to determine spaces between stalks for identification of stalks.

17. The system of claim 16 , wherein the processor is further constructed and arranged to correct image distortion for identification of stalks.

18. The system of claim 17 , wherein the stalk size is determined by detecting boundary lines for identification of stalks.

19. The system of claim 18 , wherein the system is constructed and arranged to determine the distance between the image sensor and a stalk for determination of stalk size.

Assignees

• Ag Leader Tech

Inventors

• Schildroth Rhett
• Zielke Roger
• Anderson Barry
• Eichhorn Scott
• Woodcock Tony
• Ellig Vahid

Classifications

• A01D45/023

  Gathering chains of belts · CPC title

• A01D45/021

  Cornheaders · CPC title

• A01D41/127 Primary

  Control or measuring arrangements specially adapted for combines · CPC title

• H04Q2209/84

  Measuring functions · CPC title

• H04Q9/00

  Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom · CPC title