System and method for determining soil clod parameters of a field using three-dimensional image data

Patent metadata

Field	Value
Publication number	US-11810285-B2
Application number	US-202117202735-A
Country	US
Kind code	B2
Filing date	Mar 16, 2021
Priority date	Mar 16, 2021
Publication date	Nov 7, 2023
Grant date	Nov 7, 2023

Abstract

A method for determining soil clod parameters within a field includes receiving, with a computing system, three-dimensional image data depicting an imaged portion of the field. The three-dimensional image data, in turn, includes a first two-dimensional image depicting the imaged portion of the field relative to a first position and a second two-dimensional image depicting the imaged portion of the field relative to a second position, with the first position being spaced apart from the second position. Furthermore, the method includes identifying, with the computing system, a soil clod depicted with the received three-dimensional image data. Additionally, the method includes comparing, with the computing system, the first and second two-dimensional images to identify a shadow surrounding at least a portion of the identified soil clod. Moreover, the method includes determining, with the computing system, a soil clod parameter associated with the identified soil clod based on the identified shadow.

First claim

The invention claimed is:

1. A method for determining soil clod parameters of a field, the method comprising:
receiving, with a computing system, three-dimensional image data depicting an imaged portion of the field, the three-dimensional image data including a first two-dimensional image depicting the imaged portion of the field relative to a first position and a second two-dimensional image depicting the imaged portion of the field relative to a second position, the first position being spaced apart from the second position;
identifying, with the computing system, a soil clod depicted with the received three-dimensional image data;
comparing, with the computing system, the first and second two-dimensional images to identify a shadow surrounding at least a portion of the identified soil clod;
determining, with the computing system, an area of the identified shadow; and
determining, with the computing system, an amount that the identified soil clod is buried in soil within the imaged portion of the field based on the determined area.

2. The method of claim 1 , wherein receiving the three-dimensional image data comprises receiving, with the computing system, the three-dimensional image data from an imaging device supported relative to an agricultural machine, the three-dimensional image data being captured by the imaging device as the agricultural machine travels across the field.

3. The method of claim 2 , wherein the imaging device comprises a first camera located at the first position and a second camera located at the second position.

4. The method of claim 2 , further comprising: initiating, with the computing system, a control action associated with adjusting an operation of the agricultural machine based at least in part on the determined amount that the identified soil clod is buried in the soil.

5. The method of claim 4 , wherein the control action comprises adjusting at least one of a force being applied to or a position of a ground-engaging tool of the agricultural machine.

6. The method of claim 4 , wherein the control action comprises adjusting a ground speed at which the agricultural machine travels across the field.

7. The method of claim 1 , further comprising:
generating, with the computing system, a soil clod map identifying the position of the identified soil clod to its position within the field.

8. A system for determining soil clod parameters of a field, the system comprising:
an imaging device configured to capture three-dimensional image data depicting an imaged portion of the field, the captured three-dimensional image data including a first two-dimensional image depicting the imaged portion of the field relative to a first position and a second two-dimensional image depicting the imaged portion of the field relative to a second position, the first position being spaced apart from the second position; and
a computing system communicatively coupled to the imaging device, the computing system configured to:
identify a soil clod depicted with the captured three-dimensional image data;
compare the first and second two-dimensional images to identify a shadow surrounding at least a portion of the identified soil clod;
determine an area of the identified shadow; and
determine an amount that the identified soil clod is buried in soil within the imaged portion of the field based on the determined area.

9. The system of claim 8 , wherein the imaging device is supported relative to an agricultural machine such that the three-dimensional image data is captured by the imaging device as the agricultural machine travels across the field.

10. The system of claim 9 , wherein the imaging device comprises a first camera located at the first position and a second camera located at the second position.

11. The system of claim 9 , wherein the computing system is further configured to initiate a control action associated with adjusting an operation of the agricultural machine based at least in part on the determined amount that the identified soil clod is buried in the soil.

12. The system of claim 11 , wherein the control action comprises adjusting at least one of a force being applied to or a position of a ground-engaging tool of the agricultural machine.

13. The system of claim 11 , wherein the control action comprises adjusting a ground speed at which the agricultural machine travels across the field.

14. The system of claim 8 , wherein the computing system is further configured to generate a soil clod map identifying the position of the identified soil clod within the field.

Assignees

• Cnh Ind Canada Ltd

Inventors

• Henry James W

Classifications

• G06T7/0004 Primary

  Industrial image inspection · 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

• G06T2207/10028

  Range image; Depth image; 3D point clouds · CPC title

• G06T2207/30188

  Vegetation; Agriculture · CPC title