Granted Patent B2

US 12,225,847 · App. 17/889,886 · Granted Feb 18, 2025

Inventors: Vidyanath Gururajan (Lincoln, GB); Alison Wright (Lincoln, GB); Mark Hansen (Bristol, GB); Ian Hales (Bristol, GB); Melvyn Smith (Bristol, GB); Lyndon Smith (Bristol, GB); Dave Samworth (Bristol, GB); Luke Greenwood (Grantham, GB)

Assignee: HARVESTEYE LIMITED

A01D41/127A01D17/00A01D33/00A01D43/087A01D91/00A01D2033/005

Abstract

Claims (45)

1. A monitoring system configured to determine one or more parameters associated with harvested items, the system comprising:

a camera module configured to generate image data associated with the harvested items, the image data including depth data for the harvested items and images of the harvested items; and

a processing unit configured to receive the image data and to determine the one or more parameters associated with the harvested items,

wherein the one or more parameters include size information including a dimension of a first harvested item of the harvested items, and

wherein the processing unit is further configured to categorise the first harvested item by determining whether the first harvested item would pass through a sizing aperture of a virtual sieve based on the size information,

wherein the processing unit is further configured to track the first harvested item across the images by:

identifying the first harvested item in a first image of the image data; and

identifying the first harvested item in a second image of the image data, so as to avoid duplication of the virtual sieving process for the first harvested item.

2. The monitoring system according to claim 1 , wherein the camera module includes a stereoscopic camera.

3. The monitoring system according to claim 1 , wherein the camera module includes a visible light camera, an infra-red transmitter, and an infra-red receiver, and the depth data is determined by analysis of a distortion pattern of infra-red light emitted by the infra-red transmitter and received by the infra-red receiver.

4. The monitoring system according to claim 1 , wherein the processing unit is configured to depth filter the image data to exclude or delete parts of the image data which are more than a maximum distance away from the camera module.

5. The monitoring system according to claim 1 , wherein the processing unit is configured to depth filter the image data to exclude or delete parts of the image data which are less than a minimum distance away from the camera module.

6. The monitoring system according to claim 1 , wherein the processing unit is configured to segment the image data into at least one portion which represents one of the harvested items.

7. The monitoring system according to claim 1 , wherein the size information further includes a weight of the first harvested item.

8. The monitoring system according to claim 1 , further including a storage sub-system which is configured to store the one or more parameters in association with location data acquired by a location module of the monitoring system.

9. The monitoring system according to claim 1 , further including a communication sub-system which is configured to transmit the one or more parameters in association with the location data to a remote management system.

10. The monitoring system according to claim 1 , comprising a conveyor configured to convey the harvested items, wherein the camera module is secured by a camera module mount such that the conveyor passes through a field of view of the camera module.

11. A harvester including a monitoring system, wherein:

the monitoring system is carried by the harvester;

the monitoring system is configured to determine one or more parameters associated with harvested items; and

the monitoring system comprises:

a camera module configured to generate image data associated with the harvested items, the image data including depth data for the harvested items and images of the harvested items; and

a processing unit configured to receive the image data and to determine the one or more parameters associated with the harvested items,

wherein the one or more parameters include size information including a dimension of a first harvested item of the harvested items, and

wherein the processing unit is further configured to categorise the first harvested item by determining whether the first harvested item would pass through a sizing aperture of a virtual sieve based on the size information,

wherein the processing unit is further configured to track the first harvested item across the images by:

identifying the first harvested item in a first image of the image data; and

identifying the first harvested item in a second image of the image data, so as to avoid duplication of the virtual sieving process for the first harvested item.

12. The harvester according to claim 11 , comprising a conveyor configured to convey the harvested items, wherein the camera module is secured by a camera module mount such that the conveyor passes through a field of view of the camera module.

13. A computer-implemented monitoring method to determine one or more parameters associated with harvested items, the method comprising:

receiving image data associated with the harvested items from a camera module; and

determining the one or more parameters associated with the harvested items at a processing unit based on the received image data, wherein the image data includes depth data for the harvested items and images of the harvested items, and wherein the one or more parameters include size information including a dimension of a first harvested item of the harvested items, and

categorising the first harvested item by determining whether the first harvested item would pass through a sizing aperture of a virtual sieve based on the size information,

the method further comprising the processing unit tracking the first harvested item across the images by:

identifying the first harvested item in a first image of the image data; and

identifying the first harvested item in a second image of the image data, so as to avoid duplication of the virtual sieving process for the first harvested item.

14. The computer-implemented monitoring method according to claim 13 , wherein receiving image data associated with the harvested items from a camera module comprises receiving image data associated with the harvested items from a camera module secured by a camera module mount such that a conveyor conveying the harvested items passes through a field of view of the camera module.

15. A non-transitory computer readable storage medium having instructions stored thereon which, when executed by a processing unit, cause the processing unit to:

receive image data associated with the harvested items from a camera module; and

determine the one or more parameters associated with the harvested items at a processing unit based on the received image data, wherein the image data includes depth data for the harvested items and images of the harvested items, and wherein the one or more parameters include size information including a dimension of a first harvested item of the harvested items, and

categorise the first harvested item by determining whether the first harvested item would pass through a sizing aperture of a virtual sieve based on the size information,

wherein the instructions further cause the processing unit to track the first harvested item across the images by:

identifying the first harvested item in a first image of the image data; and

identifying the first harvested item in a second image of the image data, so as to avoid duplication of the virtual sieving process for the first harvested item.

16. The non-transitory computer readable storage medium of claim 15 , wherein receiving image data associated with the harvested items from a camera module comprises receiving image data associated with the harvested items from a camera module secured by a camera module mount such that a conveyor conveying the harvested items passes through a field of view of the camera module.

Assignments (2)

Priority Claims (2)

Continuity (2)

References Cited (64)