US 12,475,716 B2
Machine-learned obstruction detection in a farming machine
Rahul Agrawal, Santa Clara, CA (US); Rajesh Radhakrishnan, Mountain View, CA (US); and Brent William West, Redwood City, CA (US)
Assigned to Deere & Company, Moline, IL (US)
Filed by Deere & Company, Moline, IL (US)
Filed on Apr. 8, 2024, as Appl. No. 18/629,358.
Application 18/629,358 is a continuation of application No. 17/562,919, filed on Dec. 27, 2021, granted, now 11,983,934.
Claims priority of provisional application 63/131,296, filed on Dec. 28, 2020.
Prior Publication US 2024/0257534 A1, Aug. 1, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G06V 20/58 (2022.01); G05D 1/00 (2006.01); G05D 1/617 (2024.01); G06V 10/70 (2022.01); G06V 20/70 (2022.01); G06V 40/20 (2022.01)
CPC G06V 20/58 (2022.01) [G05D 1/0214 (2013.01); G05D 1/617 (2024.01); G06V 10/70 (2022.01); G06V 20/70 (2022.01); G06V 40/25 (2022.01); G06V 40/28 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A method for achieving a machine objective in an environment using a machine, the method comprising:
accessing, an obstruction model configured to identify obstructions in the environment from image data of the environment, the obstruction model generated by:
accessing image data of obstructions in a training environment, each obstruction in the training environment corresponding to a prescribed action occurring at a prescribed time;
labelling the image data of the obstructions in the training environment, each obstruction in the image data of the obstructions in the training environment labelled based on the prescribed time that the corresponding prescribed action occurred; and
training the obstruction model to identify the obstructions in the environment using the labelled image data;
capturing the image data of the environment including an obstruction in the environment;
inputting the image data of the environment into the obstruction model to identify the obstruction in the environment; and
responsive to identifying the obstruction in the environment, modifying machine instructions executed by the machine for implementing the machine objective, execution of the modified machine instructions causing the machine to avoid the obstruction in the environment.