Material identification system

• US 8,498,786 B2
• Filed: 10/14/2010
• Issued: 07/30/2013
• Est. Priority Date: 10/14/2010
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Anderson, Noel Wayne
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US12/904,542
• Publication Number:
  US 20120095652A1
• Time in Patent Office: 1,020 Days
• Field of Search: 701/26, 701/50, 356/3.09, 356/29, 56/102.R, 56/102.J, 700/250, 700/253, 342/357.21, 342/357.2, 342/357.34, 348/118, 348/120, 348/169, 111/100, 111/130, 172/5, 172/8, 172/10
• US Class Current: 701/50
• CPC Class Codes: A01B 69/001 Steering by means of optical assistance, e.g. television cameras steering devices for road marking vehicles E01C23/163
• CPC Class Codes: G06F 7/00 Methods or arrangements for processing data by operating upon the order or content of the data handled logic circuits H03K19/00
• CPC Class Codes: G06V 20/68 Food, e.g. fruit or vegetables

Abstract

A method and apparatus for managing undesired material in an area. A sensor system monitors the area for the undesired material. A number of operations is performed on the area using a vehicle system. The vehicle system comprises a vehicle and a structure connected to the vehicle. A computer system receives data for the area from the sensor system. The computer system identifies a presence of the undesired material along a number of paths in the area using the data to form an identification. The computer system initiates removal of the undesired material based on the identification.

Claims

1. A method for managing undesired material in an area, the method comprising:

monitoring the area for the undesired material using a sensor system, wherein a number of operations is performed on the area using a vehicle system, wherein the vehicle system comprises a vehicle and a structure connected to and pulled by the vehicle;

receiving data for the area from the sensor system;

identifying a presence of the undesired material along a number of paths in the area using the data to form an identification, wherein the number of paths are concurrently formed by the structure when pulled by the vehicle; and

initiating removal of the undesired material based on the identification.

2. The method of claim 1, wherein the step of initiating the removal of the undesired material based on the identification comprises:

sending a signal to a plurality of removal members attached to the structure to remove the undesired material.

3. The method of claim 2, wherein the step of identifying the presence of the undesired material along the number of paths in the area using the data to form the identification comprises:

identifying the presence of the undesired material along the number paths in the area using the data to form the identification, wherein the identification includes a number of positions for the undesired material along the number of paths in the area.

4. The method of claim 3, wherein the signal includes the number of positions for the undesired material along the number of paths in the area, and further comprising a step of:

locating the number of removal members along the structure based on the number of positions for the undesired material.

5. The method of claim 4, wherein the step of removing the undesired material based on the signal comprises:

removing the undesired material from the number of positions in the area using the number of removal members based on the signal.

6. The method of claim 5, wherein the number of removal members is each a mechanical arm.

7. The method of claim 5, wherein the number of removal members is each positioned at a number of locations on the structure.

8. The method of claim 5 further comprising:

changing a size of the undesired material using an end effecter, wherein the end effecter is connected to a removal member of the number of removal members.

9. The method of claim 5 further comprising:

moving the number of removal members along a rail system to the number of positions for the undesired material.

10. The method of claim 3 further comprising:

identifying the number of positions for the undesired material along the number of paths in the area using the data and a number of locations for a number of objects associated with the structure.

11. The method of claim 10, wherein the number of objects has a shape selected from a group consisting of one of a sphere, a cube, a cuboid, a pyramid, a cone, a prism, a cylinder, and a polyhedron.

12. The method of claim 10, wherein each of the number of objects has a color, wherein the color is selected to contrast with a number of colors for the area.

13. The method of claim 1, wherein the step of initiating the removal of the undesired material based on the identification comprises:

generating an alert indicating that the undesired material is to be removed and then initiating the removal of the undesired material.

14. The method of claim 1, wherein the structure has a number of members configured to perform the number of operations on the area while moving in the area.

15. The method of claim 1, wherein the sensor system comprises an imaging system configured to generate imaging data.

16. The method of claim 15, wherein the imaging data comprises images and wherein the step of identifying the presence of the undesired material along the number of paths in the area using the data to form the identification comprises:

identifying a number of changes in a number of features between a set of images in the images; and

identifying the presence of the undesired material along the number of paths in the area when a change in the number of changes in the number of features between a first image in the set of images and a second image in the set of images is greater than a selected threshold.

17. The method of claim 16, wherein the number of features is selected from a group consisting of color, texture, size, intensity, and shape.

18. The method of claim 15, wherein the data comprises at least one of the imaging data, structured light data, and laser data;

and wherein the imaging data is generated by the imaging system in the sensor system, the structured light data is generated by a structured light sensor system, and the laser data is generated by a laser system in the sensor system.

19. The method of claim 18, wherein the step of identifying the presence of the undesired material along the number of paths in the area using the data to form the identification comprises:

selecting at least one of the imaging data, the structured light data, and the laser data using a policy to form selected data; and

identifying the presence of the undesired material along the number of paths in the area using the selected data to form the identification, wherein the identification includes a number of positions for the undesired material along the number of paths in the area.

20. The method of claim 18, wherein the step of identifying the presence of the undesired material along the number of paths in the area using the data to form the identification comprises:

applying weighting factors to the at least one of the imaging data, the structured light data, and the laser data to form weighted data; and

identifying the presence of the undesired material along the number of paths in the area using the weighted data to form the identification, wherein the identification includes a number of positions for the undesired material along the number of paths in the area.

21. The method of claim 18 further comprising:

directing a number of beams of light across the number of paths in the area; and

receiving a number of responses to the number of beams of light.

22. The method of claim 21, wherein the step of identifying the presence of the undesired material along the number of paths in the area using the data to form the identification comprises:

identifying a change in a desired pattern for the number of responses, wherein the change indicates the presence of the undesired material along the number of paths in the area.

23. The method of claim 1, further comprising:

monitoring movement of the structure relative to the vehicle using the sensor system.

24. The method of claim 23, further comprising:

identifying a number of distances from the sensor system associated with the vehicle to a number of objects associated with the structure;

identifying an orientation of the structure relative to the vehicle using the number of distances from the sensor system associated with the vehicle to the number of objects;

determining whether the orientation of the structure meets a number of criteria; and

initiating an operation for the vehicle system in response to an absence of a determination that the orientation meets the number of criteria.

25. The method of claim 1, wherein the undesired material comprises at least one of weeds, grass clippings, straw, bark, stalks, leaves, plastic, irrigation drip tape, twine, dirt, rocks, branches or trash.

26. An apparatus comprising:

a sensor system configured to monitor an area for undesired material, wherein a number of operations is performed on the area using a vehicle system, wherein the vehicle system comprises a vehicle and a structure connected to the vehicle, and wherein the number of operations includes at least one of tilling, sowing and plowing;

a computer system configured to receive data for the area from the sensor system, identify a presence of the undesired material along a number of paths in the area using the data to form an identification, and initiate removal of the undesired material based on the identification, wherein the number of paths are concurrently formed by the structure when performing the number of operations.

27. The apparatus of claim 26 further comprising:

a plurality of removal members connected to the structure and configured to remove the undesired material.

28. The apparatus of claim 27, wherein in being configured to identify the presence of the undesired material along the number of paths in the area using the data to form the identification, the computer system is configured to identify the presence of the undesired material along the number paths in the area using the data to form the identification, wherein the identification includes a number of positions for the undesired material along the number of paths in the area.

29. The apparatus of claim 28, wherein the computer system is further configured to send a signal to a number of removal members to remove the undesired material, wherein the signal includes the number of positions for the undesired material along the number of paths in the area, and position the number of removal members along the structure based on the number of positions for the undesired material.

30. The apparatus of claim 29, wherein in being configured to remove the undesired material based on the signal, the number of removal members is configured to remove the undesired material from the number of positions in the area based on the signal.

31. The apparatus of claim 30, wherein the number of removal members is each a mechanical arm.

32. The apparatus of claim 30, wherein the number of removal members is each positioned at a number of locations on the structure.

33. The apparatus of claim 30 further comprising:

an end effecter connected to a removal member of the number of removal members and configured to change a size of the undesired material using the end effecter.

34. The apparatus of claim 30, wherein the removal member is further configured to move the number of removal members along a rail system to the number of positions for the undesired material.

35. The apparatus of claim 28, wherein the computer system is further configured to identify the number of positions for the undesired material along the number of paths in the area using the data and a number of locations for a number of objects associated with the structure.

36. The apparatus of claim 35, wherein the number of objects has a shape selected from a group consisting of one of a sphere, a cube, a cuboid, a pyramid, a cone, a prism, a cylinder, and a polyhedron.

37. The apparatus of claim 35, wherein each of the number of objects has a color, wherein the color is selected to contrast with a number of colors for the area.

38. The apparatus of claim 26, wherein the structure has a number of members configured to perform the number of operations on the area while moving in the area.

39. The apparatus of claim 26, wherein the sensor system comprises an imaging system configured to generate imaging data.

40. The apparatus of claim 39, wherein the imaging data comprises images and wherein in being configured to identify the presence of the undesired material along the number of paths in the area using the data to form the identification, the computer system is configured to identify a number of changes in a number of features between a set of images in the images;

and identify the presence of the undesired material along the number of paths in the area when a change in the number of changes in the number of features between a first image in the set of images and a second image in the set of images is greater than a selected threshold.

41. The apparatus of claim 40, wherein the number of features is selected from a group consisting of color, texture, size, intensity, and shape.

42. The apparatus of claim 39, wherein the data comprises at least one of the imaging data, structured light data, and laser data;

and wherein the imaging data is generated by the imaging system in the sensor system, the structured light data is generated by a structured light sensor system, and the laser data is generated by a laser system in the sensor system.

43. The apparatus of claim 42, wherein in being configured to identify the presence of the undesired material along the number of paths in the area using the data to form the identification, the computer system is configured to select at least one of the imaging data, the structured light data, and the laser data using a policy to form selected data;

and identify the presence of the undesired material along the number of paths in the area using the selected data to form the identification, wherein the identification includes a number of positions for the undesired material along the number of paths in the area.

44. The apparatus of claim 42, wherein in being configured to identify the presence of the undesired material along the number of paths in the area using the data to form the identification, the computer system is configured to apply weighting factors to the at least one of the imaging data, the structured light data, and the laser data to form weighted data;

and identify the presence of the undesired material along the number of paths in the area using the weighted data to form the identification, wherein the identification includes a number of positions for the undesired material along the number of paths in the area.

45. The apparatus of claim 42, wherein the sensor system is configured to direct a number of beams of light across the number of paths in the area, and receive a number of responses to the number of beams of light.

46. The apparatus of claim 45, wherein in being configured to identify the presence of the undesired material along the number of paths in the area using the data to form the identification, the computer system is configured to identify a change in a desired pattern for the number of responses, wherein the change indicates the presence of the undesired material along the number of paths in the area.

47. The apparatus of claim 26, wherein the undesired material comprises at least one of weeds, grass clippings, straw, bark, stalks, leaves, plastic, irrigation drip tape, twine, dirt, rocks, branches or trash.