Patent application EP20173507A (EP), filed 2020-05-07
Publication number: EP3739510A1
Title: MOBILE WORK MACHINE CONTROL SYSTEM WITH TERRAIN IMAGE ANALYSIS
Abstract: A method of controlling a mobile work machine includes receiving an image of spectral response at an area of terrain corresponding to a path of the mobile work machine, generating an image distance metric based on a distance between the spectral response and a base spectral response model corresponding to the terrain, comparing the image distance metric to a distance threshold, and controlling a controllable subsystem of the mobile work machine based on the comparison.
IPC codes: G06V  10/   764            A I
G06V  20/    13            A I
G06V  20/    17            A I
G06V  10/    74            A I
G06V  10/    75            A I
G06V  20/    58            A I
G06V  40/    16            A I
Claims: number: 1
text: A method of controlling a mobile work machine (102;200), the method comprising:
number: 2
text: The method of claim 1, wherein the terrain comprises a field and the mobile work machine comprises an agricultural machine configured to perform an agricultural operation on the field.
number: 3
text: The method of claim 2, wherein the image is captured by an unmanned aerial vehicle (UAV).
number: 4
text: The method of claim 2, wherein
the base spectral response model comprises a base color vector, and
generating the image distance metric comprises:
number: 5
text: The method of claim 4, and further comprising:
number: 6
text: The method of claim 5, wherein generating the image distance metric comprises averaging the plurality of color vector distances.
number: 7
text: The method of claim 4, and further comprising:
number: 8
text: The method of claim 4, and further comprising:
number: 9
text: The method of claim 1, wherein controlling a controllable subsystem of the mobile work machine comprises at least one of:
number: 10
text: A mobile work machine (102;200) comprising:
number: 11
text: The mobile work machine of claim 10, wherein
the base spectral response model comprises a base color vector, and
the image analysis system is configured to generate image distance metric by determining an image color vector for the received image, and determining a distance between the image color vector and the base color vector.
number: 12
text: The mobile work machine of claim 10, wherein the image analysis system is configured to:
number: 13
text: The mobile work machine of claim 10, wherein the image analysis system is configured to:
number: 14
text: The mobile work machine of claim 10, wherein the image analysis system is configured to:
number: 15
text: An agricultural machine (102;200) comprising:
Office action: search_report, dated 2020-11-18
Rejection reasons: novelty_epc_54
inventive_step_epc_56
Prior art cited: ref_id: - ROSS PATRICK ET AL: "Novelty-based visual obstacle detection in agriculture", 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 31 May 2014 (2014-05-31), pages 1699 - 1705, XP032650631, DOI: 10.1109/ICRA.2014.6907080
ref_type: npl
severity: background
ref_id: [XYI]     - KARLSEN R E ET AL: "Terrain understanding for robot navigation", INTELLIGENT ROBOTS AND SYSTEMS, 2007. IROS 2007. IEEE/RSJ INTERNATIONAL CONFERENCE ON, IEEE, PISCATAWAY, NJ, USA, 29 October 2007 (2007-10-29), pages 895 - 900, XP031222222, ISBN: 978-1-4244-0911-2
ref_type: npl
severity: background
ref_id: [XYI]     - A. L. RANKIN ET AL: "Passive sensor evaluation for unmanned ground vehicle mud detection", JOURNAL OF FIELD ROBOTICS, vol. 27, no. 4, 2 July 2010 (2010-07-02), US, pages 473 - 490, XP055736550, ISSN: 1556-4959, DOI: 10.1002/rob.20341
ref_type: npl
severity: background
ref_id: - ROSS PATRICK ET AL, "Novelty-based visual obstacle detection in agriculture", 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, (20140531), doi:10.1109/ICRA.2014.6907080, pages 1699 - 1705, XP032650631 [X] 1,2,10 * abstract; figure 2; sections III.B, III.C, IV; equations 1-4 * [Y] 3-7,11,12
ref_type: npl
severity: novelty_destroying
ref_id: - KARLSEN R E ET AL, "Terrain understanding for robot navigation", INTELLIGENT ROBOTS AND SYSTEMS, 2007. IROS 2007. IEEE/RSJ INTERNATIONAL CONFERENCE ON, IEEE, PISCATAWAY, NJ, USA, (20071029), ISBN 978-1-4244-0911-2, pages 895 - 900, XP031222222 [X] 1,10 * sections II.A, II.B, III.C * [Y] 3-7,11,12 [I] 2
ref_type: npl
severity: novelty_destroying
ref_id: - A. L. RANKIN ET AL, "Passive sensor evaluation for unmanned ground vehicle mud detection", JOURNAL OF FIELD ROBOTICS, US, (20100702), vol. 27, no. 4, doi:10.1002/rob.20341, ISSN 1556-4959, pages 473 - 490, XP055736550 [X] 1,10 * abstract; section 2, last paragraph, 2nd paragraph; section 1 on page 2 * [Y] 3-7,11,12 [I] 2-7,11,12
ref_type: npl
severity: novelty_destroying
Final disposition: pending (2020-11-18)