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公开(公告)号：US20190212191A1
公开(公告)日：2019-07-11
申请号：US15867158
申请日：2018-01-10
Applicant: X Development LLC
Inventor： Benoit Schillings , Elliott Grant
Abstract: A technique and apparatus for monitoring a plant canopy over a field is disclosed. The technique includes receiving first sensor values from a plurality of plant canopy sensors disposed in or on a ground of the field under the plant canopy. The first sensor values are indicative of near-infrared (IR) light reflected or reradiated from the plant canopy. Second sensor values are also received from the plant canopy sensors. The second sensor values are indicative of red light that is incident through the plant canopy. A map of the plant canopy may be generated based upon the first and second sensor values.
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公开(公告)号：US11750791B2
公开(公告)日：2023-09-05
申请号：US17505058
申请日：2021-10-19
Applicant: X Development LLC
Inventor： Elliott Grant , Sergey Yaroshenko , Gabriella Levine
IPC: H04N13/239 , A01B63/02 , A01B76/00 , G06T7/80 , G06T7/73 , A01B79/00 , H04N13/296 , H04N13/246
CPC classification number: H04N13/239 , A01B63/02 , A01B76/00 , A01B79/005 , G06T7/73 , G06T7/85 , H04N13/246 , H04N13/296 , G06T2207/30188 , G06T2207/30204
Abstract: Implementations are disclosed for automatic commissioning, configuring, calibrating, and/or coordinating sensor-equipped modular edge computing devices that are mountable on agricultural vehicles. In various implementations, neighbor modular edge computing device(s) that are mounted on a vehicle nearest a given modular edge computing device may be detected based on sensor signal(s) generated by contactless sensor(s) of the given modular edge computing device. Based on the detected neighbor modular edge computing device(s), an ordinal position of the given modular edge computing device may be determined relative to a plurality of modular edge computing devices mounted on the agricultural vehicle. Based on the sensor signal(s), distance(s) to the neighbor modular edge computing device(s) may be determined. Extrinsic parameters of the given modular edge computing device may be determined based on the ordinal position of the given modular edge computing device and the distance(s).
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公开(公告)号：US20230102576A1
公开(公告)日：2023-03-30
申请号：US17485928
申请日：2021-09-27
Applicant: X Development LLC
Inventor： Sergey Yaroshenko , Gabriella Levine , Elliott Grant , Daniel Ribeiro Silva , Linda Kanu , Francis Ebong
Abstract: Implementations are disclosed for adaptively adjusting various parameters of equipment in unpredictable terrain, such as agricultural fields. In various implementations, edge computing device(s) may obtain a first image captured by vision sensor(s) transported across an agricultural field by a vehicle. The first image may depict plant(s) growing in the agricultural area. The edge computing device(s) may process the first image based on a machine learning model to generate agricultural inference(s) about the plant(s) growing in the agricultural area. The edge computing device(s) may determine a quality metric for the agricultural inference(s). While the vehicle continues to travel across the agricultural field, and based on the quality metric: the edge computing device(s) may trigger one or more hardware adjustments to one or more of the vision sensors, or one or more adjustments in an operation of the vehicle.
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公开(公告)号：US20230074663A1
公开(公告)日：2023-03-09
申请号：US17467888
申请日：2021-09-07
Applicant: X Development LLC
Inventor： Zhiqiang Yuan , Elliott Grant
Abstract: Implementations are described herein for auditing performance of large-scale tasks. In various implementations, one or more ground-level vision sensors may capture a first set of one or more images that depict an agricultural plot prior to an agricultural task being performed in the agricultural plot, and a second set of one or more images that depict the agricultural plot subsequent to the agricultural task being performed in the agricultural plot. The first and second sets of images may be processed in situ using edge computing device(s) based on a machine learning model to generate respective pluralities of pre-task and post-task inferences about the agricultural plot. Performance of the agricultural task may include comparing the pre-task inferences to the post-task inferences to generate operational metric(s) about the performance of the agricultural task in the agricultural plot. The operational metric(s) may be presented at one or more output devices.
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公开(公告)号：US20230044622A1
公开(公告)日：2023-02-09
申请号：US17971303
申请日：2022-10-21
Applicant: X Development LLC
Inventor： Elliott Grant
Abstract: Implementations set forth herein relate to using fiducial markings on one or more localized portions of an agricultural apparatus in order to generate local and regional data that can be correlated for planning and executing agricultural maintenance. An array of fiducial markings can be disposed onto plastic mulch that surrounds individual crops, in order that each fiducial marking of the array can operate as a signature for each individual crop. Crop data, such as health and yield, corresponding to a particular crop can then be stored in association with a corresponding fiducial marking, thereby allowing the certain data for the particular crop to be tracked and analyzed. Furthermore, autonomous agricultural devices can rely on the crop data, over other sources of data, such as GPS satellites, thereby allowing the autonomous agricultural devices to be more reliable.
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Patent Agency Ranking
公开(公告)号：US20220217894A1
公开(公告)日：2022-07-14
申请号：US17147048
申请日：2021-01-12
Applicant: X Development LLC
Inventor： Cheng-en Guo , Jie Yang , Zhiqiang Yuan , Elliott Grant
Abstract: Implementations are described herein for predicting soil organic carbon (“SOC”) content for agricultural fields detected in digital imagery. In various implementations, one or more digital images depicting portion(s) of one or more agricultural fields may be processed. The one or more digital images may have been acquired by a vision sensor carried through the field(s) by a ground-based vehicle. Based on the processing, one or more agricultural inferences indicating agricultural practices or conditions predicted to affect SOC content may be determined. Based on the agricultural inferences, one or more predicted SOC measurements for the field(s) may be determined.
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公开(公告)号：US10949972B2
公开(公告)日：2021-03-16
申请号：US16236743
申请日：2018-12-31
Applicant: X Development LLC
Inventor： Cheng-en Guo , Wilson Zhao , Jie Yang , Zhiqiang Yuan , Elliott Grant
IPC: G06T7/00 , G06T5/50 , G06T7/143 , A01D41/127 , G06K9/00 , G06N3/04 , G06N3/08 , G06Q10/04 , G06Q50/02
Abstract: Implementations relate to diagnosis of crop yield predictions and/or crop yields at the field- and pixel-level. In various implementations, a first temporal sequence of high-elevation digital images may be obtained that captures a geographic area over a given time interval through a crop cycle of a first type of crop. Ground truth operational data generated through the given time interval and that influences a final crop yield of the first geographic area after the crop cycle may also be obtained. Based on these data, a ground truth-based crop yield prediction may be generated for the first geographic area at the crop cycle's end. Recommended operational change(s) may be identified based on distinct hypothetical crop yield prediction(s) for the first geographic area. Each distinct hypothetical crop yield prediction may be generated based on hypothetical operational data that includes altered data point(s) of the ground truth operational data.
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公开(公告)号：US20210053229A1
公开(公告)日：2021-02-25
申请号：US16545441
申请日：2019-08-20
Applicant: X Development LLC
Inventor： Zhiqiang Yuan , Elliott Grant
Abstract: Implementations are described herein for coordinating semi-autonomous robots to perform agricultural tasks on a plurality of plants with minimal human intervention. In various implementations, a plurality of robots may be deployed to perform a respective plurality of agricultural tasks. Each agricultural task may be associated with a respective plant of a plurality of plants, and each plant may have been previously designated as a target for one of the agricultural tasks. It may be determined that a given robot has reached an individual plant associated with the respective agricultural task that was assigned to the given robot. Based at least in part on that determination, a manual control interface may be provided at output component(s) of a computing device in network communication with the given robot. The manual control interface may be operable to manually control the given robot to perform the respective agricultural task.
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公开(公告)号：US20210045379A1
公开(公告)日：2021-02-18
申请号：US16543111
申请日：2019-08-16
Applicant: X Development LLC
Inventor： Elliott Grant
Abstract: Implementations set forth herein relate to using fiducial markings on one or more localized portions of an agricultural apparatus in order to generate local and regional data that can be correlated for planning and executing agricultural maintenance. An array of fiducial markings can be disposed onto plastic mulch that surrounds individual crops, in order that each fiducial marking of the array can operate as a signature for each individual crop. Crop data, such as health and yield, corresponding to a particular crop can then be stored in association with a corresponding fiducial marking, thereby allowing the certain data for the particular crop to be tracked and analyzed. Furthermore, autonomous agricultural devices can rely on the crop data, over other sources of data, such as GPS satellites, thereby allowing the autonomous agricultural devices to be more reliable.
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公开(公告)号：US10591352B2
公开(公告)日：2020-03-17
申请号：US15867158
申请日：2018-01-10
Applicant: X Development LLC
Inventor： Benoit Schillings , Elliott Grant
Abstract: A technique and apparatus for monitoring a plant canopy over a field is disclosed. The technique includes receiving first sensor values from a plurality of plant canopy sensors disposed in or on a ground of the field under the plant canopy. The first sensor values are indicative of near-infrared (IR) light reflected or reradiated from the plant canopy. Second sensor values are also received from the plant canopy sensors. The second sensor values are indicative of red light that is incident through the plant canopy. A map of the plant canopy may be generated based upon the first and second sensor values.
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