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公开(公告)号：US20060012673A1
公开(公告)日：2006-01-19
申请号：US10710512
申请日：2004-07-16
申请人： Harvey Koselka , Bret Wallach
发明人： Harvey Koselka , Bret Wallach
CPC分类号： G06T7/85 , G06T2207/30252 , H04N13/239 , H04N2013/0081
摘要： Embodiments of the invention comprise an angled axis machine vision system having a camera system angled with respect to an axis of the coordinate system of the environment. This configuration has all of the advantages of the horizontal alignment while eliminating the inherent problem of utilizing horizontal and vertical lines in an environment for distance calculations when the horizontal and vertical lines are parallel or close to parallel to an axis lying between camera centers of the camera system. With the camera centers angled about the roll axis, horizontal and vertical lines in the environment appear as angled lines in images taken from the cameras enabling more accurate distance calculations. With the camera centers angled downward about the pitch axis objects that are near are more readily observed. With angled axis rotation it is still possible for lines in the environment to be parallel to the axis defined between the camera centers, but these instances are rarer than horizontal or vertical lines in real world environments. Embodiments of the invention may comprise a camera mount that is rotatably mounted to a support wherein two sets of pictures from each of the cameras may either be utilized. In one embodiment the two sets are compared for the number of lines which are parallel to the axis of the camera centers and the set of pictures with the least lines parallel is used for distance calculations. In another embodiment, the two sets are utilized to correlate the distances derived from each set of pictures.
摘要翻译： 本发明的实施例包括具有相对于环境的坐标系的轴线成角度的照相机系统的成角度轴机器视觉系统。 这种配置具有水平对准的所有优点，同时消除了在水平和垂直线平行或接近平行于位于相机的相机中心之间的轴线的距离计算的环境中使用水平和垂直线的固有问题 系统。 随着相机中心围绕滚轴轴线成角度，环境中的水平线和垂直线在从相机拍摄的图像中呈现成角度线，可进行更准确的距离计算。 随着相机中心围绕俯仰轴向下倾斜，更接近的物体更容易观察。 使用角度轴旋转，环境中的线条仍然可以平行于相机中心之间定义的轴线，但这些实例在现实世界环境中比水平或垂直线条更为罕见。 本发明的实施例可以包括可旋转地安装到支撑件的照相机安装件，其中可以利用来自每个照相机的两组照片。 在一个实施例中，对于平行于相机中心的轴线的数量来比较两组，并且将具有最小线并行的图像集合用于距离计算。 在另一个实施例中，这两组用于将从每组图像导出的距离相关联。
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公开(公告)号：US20050216126A1
公开(公告)日：2005-09-29
申请号：US11090356
申请日：2005-03-26
申请人： Harvey Koselka , Bret Wallach , David Gollaher
发明人： Harvey Koselka , Bret Wallach , David Gollaher
CPC分类号： G05D1/0251 , B25J5/007 , B25J9/0003 , B25J19/023 , G05D1/0227 , G05D1/024 , G05D1/0242 , G05D1/0255 , G05D1/0257 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0206
摘要： Autonomous personal service robot to monitor its owner for symptoms of distress and provide assistance. The system may include sensors to detect situations before they affect people such as smoke, heat, temperature and carbon monoxide sensors. The system can provide security for the home. The PRA may comprise features such as a medicine dispenser and blood pressure cuff. Features such as broadband internet, MP3 player, reading lights and eye glass tracker provide butler type capabilities that enable the system to appeal to markets beyond the elderly and infirmed. The system may also include an X10 transmitter/receiver to automatically control various household lights and appliances. Equipping the system with a robot arm enables the robot to fetch items, turn on and off wall switches and open the refrigerator.
摘要翻译： 自主的个人服务机器人监控其所有者的困扰症状并提供帮助。 该系统可以包括在它们影响人们如烟，热，温度和一氧化碳传感器之前检测情况的传感器。 该系统可以为家庭提供安全保障。 PRA可以包括诸如药物分配器和血压袖带的特征。 特色如宽带互联网，MP3播放器，阅读灯和眼镜跟踪器提供管家类型功能，使系统能够吸引超越老年人的市场并得到证实。 该系统还可以包括用于自动控制各种家用灯和电器的X10发射器/接收器。 使用机器人手臂使系统能够使机器人获取物品，打开和关闭墙壁开关并打开冰箱。
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公开(公告)号：US08381501B2
公开(公告)日：2013-02-26
申请号：US12945871
申请日：2010-11-14
申请人： Harvey Koselka , Bret Wallach
发明人： Harvey Koselka , Bret Wallach
CPC分类号： G05D1/021 , A01D46/30 , A01D75/00 , A01D91/00 , Y10S901/01
摘要： An agricultural robot system and method of harvesting, pruning, culling, weeding, measuring and managing of agricultural crops. Uses autonomous and semi-autonomous robot(s) comprising machine-vision using cameras that identify and locate the fruit on each tree, points on a vine to prune, etc., or may be utilized in measuring agricultural parameters or aid in managing agricultural resources. The cameras may be coupled with an arm or other implement to allow views from inside the plant when performing the desired agricultural function. A robot moves through a field first to “map” the plant locations, number and size of fruit and approximate positions of fruit or map the cordons and canes of grape vines. Once the map is complete, a robot or server can create an action plan that a robot may implement. An action plan may comprise operations and data specifying the agricultural function to perform.
摘要翻译： 农业机器人系统和收获，修剪，淘汰，除草，测量和管理农作物的方法。 使用包括机器视觉的自主和半自主机器人，使用识别和定位每棵树上的果实的照相机，指向葡萄树修剪等，或者可以用于测量农业参数或帮助管理农业资源 。 相机可以与手臂或其他工具联接，以便在执行期望的农业功能时允许植物内的视图。 机器人首先通过场地来绘制水果的植物位置，数量和大小以及水果的大致位置，或者绘制葡萄藤的戒指和葡萄藤。 地图完成后，机器人或服务器可以创建机器人可能实现的动作计划。 行动计划可以包括指定要履行的农业职能的操作和数据。
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公开(公告)号：US07765780B2
公开(公告)日：2010-08-03
申请号：US11009909
申请日：2004-12-09
申请人： Harvey Koselka , Bret Wallach
发明人： Harvey Koselka , Bret Wallach
IPC分类号： A01B69/00
CPC分类号： A01D46/30
摘要： Robotic harvesting of agricultural crops. Robot moves through a field first to “map” the field to determine plant locations, number and size of fruit on plants and approximate positions of fruit on each plant. Once the map of the fruit is complete, the robot can plan and implement an efficient picking plan for itself or another robot. A scout robot or harvest robot determines a picking plan in advance of picking a tree. This may be done if the map is finished hours, days or weeks before a robot is scheduled to harvest, or if the picking plan algorithm selected requires significant computational time and cannot be implemented in “real time” by the harvesting robot as it is picking the field. The system harvests according to the selected picking plan. The picking plan may be generated in the scout robot, harvest robot or on a server.
摘要翻译： 机械化收获农作物。 机器人首先通过田野进行“映射”，以确定植物的植物位置，数量和大小以及每株植物水果的大致位置。 一旦水果的地图完成，机器人就可以为自己或另一个机器人制定一个高效的采摘计划。 侦察机器人或收获机器人在采摘树之前确定采摘计划。 如果地图在机器人计划收获之前的几个小时，几天或几周内完成，或者如果选择的拣选计划算法需要大量的计算时间，并且在采摘机器人正在采摘时无法“实时”地实施地图 场。 系统根据选定的采摘计划收获。 拾取计划可以在侦察机器人，收获机器人或服务器上生成。
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公开(公告)号：US07196719B2
公开(公告)日：2007-03-27
申请号：US10710512
申请日：2004-07-16
申请人： Harvey Koselka , Bret Wallach
发明人： Harvey Koselka , Bret Wallach
IPC分类号： H04N13/02
CPC分类号： G06T7/85 , G06T2207/30252 , H04N13/239 , H04N2013/0081
摘要： An angled axis machine vision system having two cameras angled with respect to roil axis. Provides advantages of horizontal alignment between two cameras and eliminates problem of utilizing horizontal/vertical lines in the environment for distance calculations when lines arc parallel or close to parallel to axis between camera centers. With camera centers angled about roll axis, horizontal/vertical lines in environment appear angled with respect to horizon, enabling accurate distance calculations. With the cameras angled about roll, lines in the environment may line up parallel to the axis between camera centers, but these instances are rare in real world environments. May be rotatably mounted in the roll axis wherein two sets of pictures from each of the cameras may either he utilized: the two sets compared for the number of parallel lines parallel to axis between camera centers and the set of pictures with least parallel lines used for distance calculations.
摘要翻译： 具有相对于罗尔轴线成角度的两个相机的成角度轴机器视觉系统。 提供两个摄像机之间的水平对准的优点，并消除了当线路平行或靠近平行于相机中心之间的轴线时，在环境中利用水平/垂直线路进行距离计算的问题。 随着相机中心围绕滚轴轴线倾斜，环境中的水平/垂直线条相对于水平线呈角度变化，从而实现精确的距离计算。 随着相机在卷轴上倾斜，环境中的线条可能平行于相机中心之间的轴线排列，但这些实例在现实环境中很少见。 可以可旋转地安装在辊轴上，其中来自每个照相机的两组照片可以被使用：两组相对于平行于相机中心之间的轴的平行线的数量与具有用于 距离计算。
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公开(公告)号：US09802316B2
公开(公告)日：2017-10-31
申请号：US14997307
申请日：2016-01-15
发明人： Harvey Koselka , Bret Wallach , Andrew Ferencz , Richard Wight
CPC分类号： B25J9/1676 , B25J9/1694 , B25J13/082 , B25J13/084 , B25J13/085 , B25J19/0091 , B25J19/027 , G01L1/142 , G01L1/24 , G01L1/25 , G05B2219/39527
摘要： A sensor that detects contact using compression of a compliant material sandwiched between an electromagnetic signal transmitter and a corresponding signal receiver. Potential applications include inexpensive, robust collision sensors integrated into mobile robot bumpers, and sensors on robot grippers to detect grasping of an object. Deformation of the compliant material in response to contact forces changes the distance between the transmitter and the receiver, affecting the electromagnetic field between them. Changes in this electromagnetic field provide information on the location and magnitude of the contact forces. A transmitter and receiver may form opposing surfaces of a capacitor; the measured capacitance changes as the distance between transmitter and receiver changes. Alternatively, the strength of a received signal may be monitored to detect changing distance between transmitter and receiver. Shielding and signal filtering may be used to mitigate the effects of electromagnetic noise.
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公开(公告)号：US20140021267A1
公开(公告)日：2014-01-23
申请号：US13949001
申请日：2013-07-23
发明人： Mike SUDDUTH , Mike COSTA , Bret WALLACH , Claude BROWN
IPC分类号： A01C23/00
CPC分类号： A01C23/007 , A01C21/00 , Y02P60/214
摘要： Utilizes machine vision to thin fields, for example by selectively spraying plants with enough fertilizer to kill the plants, for example to maintain a minimum distance between plants or to enable remaining plants to grow in a pattern, for example two dimension diamond pattern. The use of fertilizer to kill plants has the benefit of fertilizing the field, i.e., the remaining plants not to be killed, at the same time. This unexpected result which occurs in the thinning and simultaneous fertilizing of a field is based the discovery that immature plants are more sensitive to fertilizer than mature plants. The system and method eliminates the need for harmful chemicals and mechanical thinners and may be retrofitted onto existing spray systems and platforms, thus eliminating herbicides and thinning machinery.
摘要翻译： 将机器视觉用于薄田，例如通过选择性地喷洒具有足够肥料的植物来杀死植物，例如以保持植物之间的最小距离或使剩余植物以图案生长，例如二维菱形图案。 使用肥料杀死植物有利于同时施肥，即剩余的植物不被杀死。 这种意外的结果发生在田间的稀释和同时施肥中，这是基于未成熟植物比成熟植物对肥料更敏感的发现。 该系统和方法消除了对有害化学物质和机械稀释剂的需要，可以改造到现有的喷雾系统和平台上，从而消除除草剂和减薄机械。
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公开(公告)号：US06925679B2
公开(公告)日：2005-08-09
申请号：US10100222
申请日：2002-03-15
CPC分类号： A47L9/02 , A47L5/36 , A47L9/009 , A47L2201/00 , G05D1/024 , G05D1/0242 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/028 , G05D1/0291 , G05D2201/0203 , G05D2201/0215
摘要： An autonomous canister vacuum cleaner has a cleaning head module, a vacuum fan module separated from the cleaning module, and a hose assembly connecting the cleaning head module with the vacuum fan module. The vacuum fan module includes a controller that performs navigation and control functions for both the vacuum fan module and the cleaning head module. Alternatively, the controller may be separated from the vacuum fan module and the cleaning head module, and can be mobile. The vacuum fan module and the cleaning head module each include a drive mechanism for propulsion. The cleaning head module includes a cleaning brush assembly that can be motorized or air driven. The cleaning head module may also include a microcontroller that communicates with the controller.
摘要翻译： 自动吸尘器具有清洁头模块，与清洁模块分离的真空风扇模块以及将清洁头模块与真空风扇模块连接的软管组件。 真空风扇模块包括对真空风扇模块和清洁头模块执行导航和控制功能的控制器。 或者，控制器可以与真空风扇模块和清洁头模块分离，并且可以是移动的。 真空风扇模块和清洁头模块各自包括用于推进的驱动机构。 清洁头模块包括可以电动或空气驱动的清洁刷组件。 清洁头模块还可以包括与控制器通信的微控制器。
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公开(公告)号：US20130204437A1
公开(公告)日：2013-08-08
申请号：US13776658
申请日：2013-02-25
发明人： Harvey Koselka , Bret Wallach
CPC分类号： G05D1/021 , A01B51/026 , A01B79/005 , A01D46/30 , A01D75/00 , A01D91/00 , Y10S901/01
摘要： An agricultural robot system and method of harvesting, pruning, culling, weeding, measuring and managing of agricultural crops. Uses autonomous and semi-autonomous robot(s) comprising machine-vision using cameras that identify and locate the fruit on each tree, points on a vine to prune, etc., or may be utilized in measuring agricultural parameters or aid in managing agricultural resources. The cameras may be coupled with an arm or other implement to allow views from inside the plant when performing the desired agricultural function. A robot moves through a field first to “map” the plant locations, number and size of fruit and approximate positions of fruit or map the cordons and canes of grape vines. Once the map is complete, a robot or server can create an action plan that a robot may implement. An action plan may comprise operations and data specifying the agricultural function to perform.
摘要翻译： 农业机器人系统和收获，修剪，淘汰，除草，测量和管理农作物的方法。 使用包括机器视觉的自主和半自主机器人，使用识别和定位每棵树上的果实的照相机，指向葡萄树修剪等，或者可以用于测量农业参数或帮助管理农业资源 。 相机可以与手臂或其他工具联接，以便在执行期望的农业功能时允许植物内的视图。 机器人首先通过场地移动，以“映射”植物的位置，水果的数量和大小以及水果的大致位置，或者映射葡萄藤的戒指和葡萄藤。 地图完成后，机器人或服务器可以创建机器人可能实现的动作计划。 行动计划可以包括指定要履行的农业职能的操作和数据。
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公开(公告)号：US07898569B2
公开(公告)日：2011-03-01
申请号：US11675263
申请日：2007-02-15
申请人： Harvey Koselka , Bret Wallach
发明人： Harvey Koselka , Bret Wallach
CPC分类号： G06T7/85 , G06T2207/30252 , H04N13/239 , H04N2013/0081
摘要： Angled axis machine vision system having a camera system angled with respect to an axis of coordinate system of environment. Eliminates problem of utilizing horizontal, vertical lines in environment for distance calculations when horizontal and vertical lines are parallel or close to parallel to axis lying between camera centers of camera system. With camera centers angled about roll axis, horizontal and vertical lines in environment appear as angled lines in images taken from the cameras enabling more accurate distance calculations. With angled axis rotation it is still possible for lines in environment to be parallel to axis defined between camera centers, but instances are rare in real world environments. Camera mount may rotate wherein two sets of pictures are taken and two sets compared for the number of lines which are parallel to axis of camera centers wherein set of pictures with least lines parallel is used for distance calculations.
摘要翻译： 倾斜轴机器视觉系统具有相对于环境坐标系轴线成角度的相机系统。 消除了水平和垂直线在水平和垂直线平行或平行于相机系统相机中心之间的轴线时，在环境中利用水平垂直线进行距离计算的问题。 随着相机中心围绕滚轴轴线倾斜，环境中的水平和垂直线条在相机拍摄的图像中呈现成斜线，可进行更准确的距离计算。 使用角度轴旋转，环境中的线仍然可以平行于相机中心之间定义的轴，但实际在现实世界环境中是罕见的。 相机底座可以旋转，其中拍摄两组照片，并且对于平行于照相机中心轴的线数进行比较两组，其中将具有最小线并行的图像组用于距离计算。
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