US 11,734,917 B2
Safety system for autonomous operation of off-road and agricultural vehicles using machine learning for detection and identification of obstacles
Colin Josh Hurd, Ames, IA (US); Rahul Ramakrishnan, Ames, IA (US); Mark William Barglof, Burt, IA (US); Quincy Calvin Milloy, Ames, IA (US); and Thomas Antony, Ames, IA (US)
Assigned to Raven Industries, Inc., Sioux Falls, SD (US)
Filed by Raven Industries, Inc., Sioux Falls, SD (US)
Filed on Jan. 10, 2020, as Appl. No. 16/740,109.
Application 16/740,109 is a continuation of application No. 16/188,114, filed on Nov. 12, 2018.
Claims priority of provisional application 62/585,170, filed on Nov. 13, 2017.
Prior Publication US 2020/0326715 A1, Oct. 15, 2020
Int. Cl. G05D 1/02 (2020.01); G05D 1/00 (2006.01); B60W 10/20 (2006.01); B60W 10/18 (2012.01); B60W 10/04 (2006.01); B60W 10/10 (2012.01); G06K 9/00 (2022.01); G06K 9/62 (2022.01); G06N 20/00 (2019.01); G06V 10/82 (2022.01); G06V 20/58 (2022.01); G06F 18/24 (2023.01); G06F 18/214 (2023.01); G06F 18/21 (2023.01); G06F 18/25 (2023.01); G06V 10/143 (2022.01)
CPC G06V 10/82 (2022.01) [B60W 10/04 (2013.01); B60W 10/10 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); G05D 1/0088 (2013.01); G05D 1/0214 (2013.01); G05D 1/0246 (2013.01); G05D 1/0248 (2013.01); G06F 18/214 (2023.01); G06F 18/217 (2023.01); G06F 18/24 (2023.01); G06F 18/251 (2023.01); G06N 20/00 (2019.01); G06V 10/143 (2022.01); G06V 20/58 (2022.01); B60W 2300/15 (2013.01); B60W 2420/42 (2013.01); B60W 2554/00 (2020.02); B60W 2710/10 (2013.01); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01); B60W 2720/106 (2013.01); G05D 2201/0201 (2013.01)] 22 Claims
OG exemplary drawing
 
1. An obstacle identification and agricultural machine control system comprising:
a first sensor configured to detect one or more first obstacle attributes;
a second sensor configured to detect one or more second obstacle attributes different than the first obstacle attributes;
a framework in communication with the first and second sensors, the framework includes:
an artificial intelligence component configured to generate training attributes;
an obstacle recognition module connected to the artificial intelligence component wherein the obstacle recognition module is configured to identify the detected obstacle based on at least one of the first or second obstacle attributes compared with training attributes of the artificial intelligence component; and
an obstacle kinematics module configured to index a position and trajectory of the detected obstacle based on at least one of the first or second obstacle attributes; and
a navigation controller in communication with the obstacle data processing module, the navigation controller includes:
a vehicle control interface configured for coupling with the agricultural machine steering; and
wherein the navigation controller is configured to deliver navigation controls for steering of the agricultural machine based on the identified and indexed obstacle to the agricultural machine through the vehicle control interface.