Calibration of systems to deliver agricultural projectiles

Patent metadata

Field	Value
Publication number	US-11653590-B2
Application number	US-201916724265-A
Country	US
Kind code	B2
Filing date	Dec 21, 2019
Priority date	Dec 21, 2019
Publication date	May 23, 2023
Grant date	May 23, 2023

Abstract

Various embodiments relate generally to computer vision and automation to autonomously identify and deliver for application a treatment to an object among other objects, data science and data analysis, including machine learning, deep learning, and other disciplines of computer-based artificial intelligence to facilitate identification and treatment of objects, and robotics and mobility technologies to navigate a delivery system, more specifically, to an agricultural delivery system configured to identify and apply, for example, an agricultural treatment to an identified agricultural object. In some examples, a method may include identifying an emitter of an agricultural projectile delivery system to calibrate a trajectory of an agricultural projectile to intercept a target, predicting a projectile impact site relative to the reference of alignment, determining a calibration parameter to align the projectile impact site and the target, and adjusting the trajectory based on the one or more calibration parameters.

First claim

What is claimed:

1. A method comprising:
identifying an emitter of an agricultural projectile delivery system to calibrate a trajectory of an agricultural projectile to intercept a target;
implementing a focused light source to provide a reference of alignment;
predicting a projectile impact site relative to the reference of alignment;
determining one or more calibration parameters to align the projectile impact site and the target;
adjusting the trajectory based on the one or more calibration parameters; and
implementing one or more boresights each of which is configured to enable an alignment light ray to transmit through a boresight to facilitate alignment of the projectile impact site and the target.

2. The method of claim 1 , further comprising:
implementing the target at a horizontal distance from the emitter.

3. The method of claim 1 , wherein adjusting the trajectory comprises:
adjusting at least one of an elevation angle of the emitter and a point in time at which to trigger propulsion of the agricultural projectile.

4. The method of claim 3 , wherein adjusting the elevation angle comprises:
adjusting a nozzle direction of emission of the emitter.

5. The method of claim 1 , wherein implementing the focused light source comprises:
implementing a coherent light source to direct coherent light to impinge a point on a surface; and
aligning the point on the surface at which the coherent light impinges with the projectile impact site.

6. The method of claim 5 , wherein predicting the projectile impact site relative to the reference of alignment comprises:
synchronizing adjustment of the point on the surface at which the coherent light impinges and adjustment of the projectile impact site.

7. The method of claim 1 , wherein adjusting the trajectory further comprises:
adjusting a direction of emission of the emitter to align the trajectory with an optical ray extending between an image capture device and the target.

8. The method of claim 7 , wherein the optical ray includes an occluded portion between the image capture device and the emitter.

9. The method of claim 1 , further comprising:
identifying a light source to generate the alignment light ray associated with the boresight.

10. The method of claim 9 , further comprising:
identifying another light source to generate another alignment light ray associated with another boresight, wherein the another alignment light ray and the alignment light ray are oriented at different angles relative to a line of reference.

11. The method of claim 1 , wherein predicting the projectile impact site relative to the reference of alignment comprises:
synchronizing adjustment of an orientation of a boresight and a direction of emission of the emitter.

12. The method of claim 11 , wherein adjusting the trajectory further comprises:
adjusting the orientation of the boresight and the direction of emission of the emitter; and
detecting the direction of the emission of the emitter is aligned with an optical ray at which the alignment light ray extends through the boresight.

13. The method of claim 1 , further comprising:
implementing a first image capture device to generate a virtual target image of the target;
implementing a second image capture device configured to form a portion of an image that is associated with an optical ray extending to the target, the optical ray including an occluded portion relative to the first image capture device; and
implementing the focused light source as a coherent light source, the focused light source being configured to adjust a point on a surface at which the coherent light impinges to coincide with the projectile impact site.

14. The method of claim 13 , further comprising:
capturing via the first image capture device an image of the point on the surface at which the coherent light impinges; and
causing adjustment of a direction of emission of the emitter so that the image of the point on the surface coincides with the virtual target image of the target.

15. The method of claim 1 , wherein determining the one or more calibration parameters comprises:
calculating at least one of an elevation distance and an azimuthal distance.

16. The method of claim 1 , wherein determining the one or more calibration parameters comprises:
calculating at least one of an elevation angle of the emitter and a point in time at which to trigger propulsion of the agricultural projectile.

17. The method of claim 1 , wherein implementing the focused light source comprises:
implementing a laser beam.

18. The method of claim 1 , further comprising:
confirming the projectile impact site aligns with the target.

19. The method of claim 18 , wherein confirming the projectile impact site aligns with the target comprises:
emitting the agricultural projectile; and

affirming the agricultural projectile intercepts the target.

20. A method comprising:
identifying an emitter of an agricultural projectile delivery system to calibrate a trajectory of an agricultural projectile to intercept a target;
implementing a focused light source to provide a reference of alignment;
predicting a projectile impact site relative to the reference of alignment, wherein predicting the projectile impact site relative to the reference of alignment comprises:
synchronizing adjustment of an orientation of a boresight and a direction of emission of the emitter;

determining one or more calibration parameters to align the projectile impact site and the target; and
adjusting the trajectory based on the one or more calibration parameters.

21. The method of claim 20 , wherein adjusting the trajectory further comprises:
adjusting the orientation of the boresight and the direction of emission of the emitter; and
detecting the direction of the emission of the emitter is aligned with an optical ray at which the alignment light ray extends through the boresight.

22. A method comprising:
identifying an emitter of an agricultural projectile delivery system to calibrate a trajectory of an agricultural projectile to intercept a target;
implementing a focused light source to provide a reference of alignment;
predicting a projectile impact site relative to the reference of alignment;
determining one or more calibration parameters to align the projectile impact site and the target;
adjusting the trajectory based on the one or more calibration parameters;
implementing a first image capture device to generate a virtual target image of the target;
implementing a second image capture device configured to form a portion of an image that is associated with an optical ray extending to the target, the optical ray including an occluded portion relative to the first image capture device; and
implementing the focused light source as a coherent light source, the focused light source being configured to adjust a point on a surface at which the coherent light impinges to coincide with the projectile impact site.

23. The method of claim 22 , further comprising:
capturing via the first image capture device an image of the point on the surface at which the coherent light impinges; and
causing adjustment of a direction of emission of the emitter so that the image of the point on the surface coincides with the virtual target image of the target.

Assignees

• Verdant Robotics Inc

Inventors

• Sibley Gabriel Thurston
• Garner Curtis Dale
• Michelin Andre Robert Daniel
• Ibarria Lorenzo
• Leger Patrick Christopher
• Rewis Benjamin
• Yan Shi

Classifications

• A01B79/02

  combined with other agricultural processing, e.g. fertilising, planting · CPC title

• A01B69/001

  Steering by means of optical assistance, e.g. television cameras (steering devices for road marking vehicles E01C23/163) · CPC title

• A01B79/005 Primary

  Precision agriculture · CPC title

• A01M7/0096

  Testing of spray-patterns · CPC title

• B05B9/06

  the delivery being related to the movement of a vehicle, e.g. the pump being driven by a vehicle wheel · CPC title