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    Methods and computer-program products for generating grasp patterns for use by a robot
    145.
    发明授权
    Methods and computer-program products for generating grasp patterns for use by a robot 有权
    用于产生机器人使用的抓握模式的方法和计算机程序产品

    公开(公告)号：EP2657863B1

    公开(公告)日：2017-12-13

    申请号：EP12199730.8

    申请日：2012-12-28

    申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA ,  Carnegie Mellon University

    发明人： Ota, Yasuhiro ,  Kim, Junggon ,  Iwamoto, Kunihiro ,  Kuffner, James J. ,  Pollard, Nancy S.

    IPC分类号： G06F17/50 ,  B25J9/16

    CPC分类号： B25J9/1669

    摘要： Methods and computer program products for generating robot grasp patterns are disclosed. In one embodiment, a method for generating robot grasp patterns includes generating a plurality of approach rays associated with a target object. Each approach ray of the plurality of approach rays extends perpendicularly from a surface of the target object. The method further includes generating at least one grasp pattern for each approach ray to generate a grasp pattern set of the target object, calculating a grasp quality score for each individual grasp pattern of the grasp pattern set, and comparing the grasp quality score of each individual grasp pattern with a grasp quality threshold. The method further includes selecting individual grasp patterns of the grasp pattern set having a grasp quality score that is greater than the grasp quality threshold, and providing the selected individual grasp patterns to the robot for on-line manipulation of the target object.

    CONTROL ARRANGEMENT AND METHOD FOR CONTROLLING A POSITION OF A TRANSFER DEVICE OF A HARVESTING MACHINE
    146.
    发明授权
    CONTROL ARRANGEMENT AND METHOD FOR CONTROLLING A POSITION OF A TRANSFER DEVICE OF A HARVESTING MACHINE 有权
    控制装置和控制收割机传送装置位置的方法

    公开(公告)号：EP3020265B1

    公开(公告)日：2017-09-20

    申请号：EP15193363.7

    申请日：2014-04-02

    申请人： Deere & Company ,  Carnegie Mellon University

    发明人： Zametzer, Johannes ,  Vallespi, Carlos ,  Herman, Herman ,  Bonefas, Zachary

    IPC分类号： A01D43/073

    CPC分类号： A01D43/087 ,  A01D43/073 ,  B60R1/00 ,  G06T7/70 ,  G06T2207/30241 ,  H04N13/204 ,  H04N13/279

    摘要： An adjustable transfer device for unloading processed crop onto a container of a transport vehicle includes a control arrangement with an electronic control unit, among other integrated components. Electronic control unit calculates position of expected point of incidence of crop flow on the container within field of view of optical image capture device, displays image of container together with symbol representing calculated expected point of incidence of crop flow on container on display, receives adjustment inputs from user interface for adjusting position of actuator and thus of adjustable transfer device, updates position of symbol in image on display, receives confirmation input from user interface once symbol in image on display is in appropriate position, derives at least one feature in image representing container, and tracks container within output signal of image processing system based on retrieved image feature and controls actuator accordingly to fill container with crop.

    摘要翻译： 用于将经处理的作物卸载到运输车辆的集装箱上的可调节的传送装置包括具有电子控制单元以及其他集成组件的控制装置。 电子控制单元计算在光学图像捕获设备的视场内的容器上作物流的预期入射点的位置，显示容器的图像以及表示显示的容器上的作物流量的计算出的预期入射点的符号，接收调整输入 从用于调节致动器的位置并由此调节传送装置的用户界面更新显示器上的图像中的符号的位置，一旦显示的图像中的符号处于适当位置，就从用户接口接收确认输入，导出图像表示容器中的至少一个特征 并且基于检索到的图像特征跟踪图像处理系统的输出信号内的容器并且相应地控制致动器以用作物填充容器。

    SYSTEM FOR MONITORING AGRICULTURAL MATERIAL
    147.
    发明公开
    SYSTEM FOR MONITORING AGRICULTURAL MATERIAL 审中-公开
    监测农业材料的系统

    公开(公告)号：EP3159827A1

    公开(公告)日：2017-04-26

    申请号：EP16194786.6

    申请日：2016-10-20

    申请人： Carnegie Mellon University ,  Deere & Company

    发明人： Loukili, Tarik ,  Hageman, John M ,  Pazzementi, Zach Abraham

    IPC分类号： G06K9/00 ,  A01D41/127

    摘要： Disclosed herein is a diagnostic module configured to determine an average image of a set or a sequence of collected images, to obtain a last image of the set or the sequence of collected images, and to determine a difference between the average image and the last image to yield a differenced image. Background image data or background pixels are eliminated from the differenced image to produce an initial image mask of unchanged content in the last image. A diagnostic module or data processor determines a mask area of the initial image mask or a revised image mask derived from the initial image mask. A diagnostic module or data processor generates an alert data message to inspect or clean the imaging system if the mask area exceeds a threshold area.

    摘要翻译： 本文公开了一种诊断模块，其被配置为确定一组或一系列收集图像的平均图像，以获得该组的最后图像或收集图像的序列，并确定平均图像和最后图像之间的差异 以产生不同的图像。 背景图像数据或背景像素从差异图像中消除以产生最后图像中具有未改变内容的初始图像掩膜。 诊断模块或数据处理器确定初始图像掩模的掩模区域或从初始图像掩模导出的修改后的图像掩模。 如果屏蔽区域超过阈值区域，则诊断模块或数据处理器生成警报数据消息以检查或清洁成像系统。

    PROBABILISTIC PALM REJECTION USING SPATIOTEMPORAL TOUCH FEATURES AND ITERATIVE CLASSIFICATION
    148.
    发明公开
    PROBABILISTIC PALM REJECTION USING SPATIOTEMPORAL TOUCH FEATURES AND ITERATIVE CLASSIFICATION 审中-公开
    概率手掌误触LTV时曝光特点和分类迭代

    公开(公告)号：EP3132339A1

    公开(公告)日：2017-02-22

    申请号：EP15779531.1

    申请日：2015-04-14

    申请人： Carnegie Mellon University

    发明人： SCHWARZ, Julia ,  HARRISON, Christopher

    IPC分类号： G06F3/041

    CPC分类号： G06F3/0418

    摘要： The present invention is a palm rejection technique utilizing temporal features, iterative classification, and probabilistic voting. Touch events are classified based on features periodically extracted from time windows of increasing size, always centered at the birth of the event. The classification process uses a series of decision trees acting on said features.

    摘要翻译： 本发明是一种手掌误触技术利用时间特征，迭代分类，和概率投票。 触摸事件分类基于从规模日益扩大的时间窗口，总是在事件的诞生中心定期提取的特征。 分类过程中使用了一系列作用于所述特征决策树。

    GRAIN QUALITY MONITORING
    150.
    发明公开
    GRAIN QUALITY MONITORING 审中-公开
    粮食质量监测

    公开(公告)号：EP3038054A3

    公开(公告)日：2016-07-20

    申请号：EP15196200.8

    申请日：2015-11-25

    申请人： Deere & Company ,  Carnegie Mellon University

    发明人： Herman, Herman ,  Vallespi, Carlos ,  Dima, Cristian ,  Phelan, James J ,  Bruns, Aaron J ,  Sierra, Victor S ,  Wellington, Carl ,  Hageman, John ,  Boesch, Hanke ,  Male, Cason ,  Campoy, Joan ,  Pezzementi, Zach

    IPC分类号： G06T7/00 ,  G06K9/00

    摘要： A method and non-transitory computer-readable medium capture an image of bulk grain and apply a feature extractor to the image to determine a feature of the bulk grain in the image. For each of a plurality of different sampling locations in the image, based upon the feature of the bulk grain at the sampling location, a determination is made regarding a classification score for the presence of a classification of material at the sampling location. A quality of the bulk grain of the image is determined based upon an aggregation of the classification scores for the presence of the classification of material at the sampling locations.

    摘要翻译： 一种方法和非临时性计算机可读介质捕获散装颗粒的图像并将特征提取器应用于图像以确定图像中散装颗粒的特征。 对于图像中的多个不同采样位置中的每一个，基于采样位置处的散装颗粒的特征，针对在采样位置存在材料分类的分类分数进行确定。 图像的散装颗粒的质量基于在采样位置存在材料分类的分类评分的集合来确定。