公开(公告)号：US5911669A

公开(公告)日：1999-06-15

申请号：US840771

申请日：1997-04-16

申请人： Anthony Stentz ,  Mark Ollis ,  Kerien Fitzpatrick ,  Regis Hoffman ,  William Whittaker

发明人： Anthony Stentz ,  Mark Ollis ,  Kerien Fitzpatrick ,  Regis Hoffman ,  William Whittaker

IPC分类号： A01B69/00 ,  A01D41/127 ,  G06F15/20

CPC分类号： A01D41/1278 ,  A01B69/001

摘要： A self-propelled harvester is provided with apparatus for tracking a crop line and steering the harvester along the crop line without operator assistance. The apparatus includes a video camera for viewing the landscape in front of the harvester and forming an image which may be electronically scanned pixel-by-pixel and line by line to produce a video signal containing information regarding the spectral characteristics of the image at each pixel. A microprocessor is programmed to act as a discriminator and a segmentor. The discriminator produces discriminant signals D(i,j) where i is the magnitude of a discriminant function and j is the relative position of a pixel on a scan line. The segmentor determines a step function which best fits the magnitudes of the discriminant signals for one scan line. The pixel position j.sub.n corresponding to the step of this step function is taken as a vote on the location of the crop line and thus a vote on the direction the harvester should be steered. The votes are summed for each pixel position j over one full scan of image. The summed votes are then normalized, time-weighted, and averaged with the normalized and time-weighted votes derived from previously scanned images to derive a steering command.

摘要翻译： 自走式收割机具有用于跟踪作物线并且在没有操作者帮助的情况下沿着作物线转向收割机的装置。 该装置包括摄像机，用于观看收割机前面的景观，并形成可以逐像素地并行逐行扫描的图像，以产生包含关于每个像素处的图像的光谱特性的信息的视频信号 。 微处理器被编程为用作鉴别器和分段器。 鉴别器产生判别信号D（i，j），其中i是判别函数的幅度，j是像素在扫描线上的相对位置。 分段器确定最适合一条扫描线的判别信号的幅度的阶梯函数。 将与该步骤功能相对应的像素位置jn作为对作物线的位置的投票，从而对收割机的方向进行投票。 在图像的一次完整扫描中对每个像素位置j求和。 然后将总和投票进行归一化，时间加权，并使用从先前扫描的图像导出的归一化和时间加权投票来平均，以得出转向指令。

公开(公告)号：US06336051B1

公开(公告)日：2002-01-01

申请号：US09648741

申请日：2000-08-28

申请人： Henning Pangels ,  Thomas Pilarski ,  Kerien Fitzpatrick ,  Michael Happold ,  Mark Ollis ,  William Whittaker ,  Anthony Stentz

发明人： Henning Pangels ,  Thomas Pilarski ,  Kerien Fitzpatrick ,  Michael Happold ,  Mark Ollis ,  William Whittaker ,  Anthony Stentz

IPC分类号： G05B1302

CPC分类号： A01D41/1278 ,  A01B79/005

摘要： An agricultural harvesting machine (harvester) is automatically controlled and steered so as to completely harvest all crop in a field. A Global Positioning System (GPS) and an Inertial Navigation System provide data regarding the position and orientation of the harvester in a field. A Field Coverage Planner constructs a field coverage plan which defines a path for the harvester to follow in cutting crop from a field. Video images of the field in front of the harvester are derived alternately from two video cameras mounted on opposite sides of the harvester. The video images are processed in a Video Processing Computer to detect the crop line between cut and uncut crop and generate steering signals for steering the harvester along the crop line. Video images are also processed to detect the end of a row at the end of a field and supply a measure of the distance to the end of the row. When the end of a row is reached, the harvester executes a 180° spin turn and traverses the field in the opposite direction.

摘要翻译： 农业收割机（收割机）自动控制和转向，以便在现场完全收获所有作物。 全球定位系统（GPS）和惯性导航系统提供有关领域的收割机的位置和方向的数据。 现场覆盖计划员构建一个现场覆盖计划，该计划定义了收割机在从场中切割作物时遵循的路径。 收割机前面的视野图像交替地从安装在收割机相对两侧的摄像机派生。 视频图像在视频处理计算机中进行处理，以检测切割和未切割作物之间的剪切线，并产生用于沿收割线转向收割机的转向信号。 还处理视频图像以检测字段末尾的一行的结尾，并提供距行末的距离的度量。 当达到一排的末端时，收割机执行180°旋转旋转，并沿相反方向横穿该场。

公开(公告)号：US08024066B2

公开(公告)日：2011-09-20

申请号：US11335176

申请日：2006-01-18

申请人： Carlos F. Reverte ,  Scott M. Thayer ,  William Whittaker ,  Eric C. Close ,  Adam Slifko ,  Edison Hudson ,  Subramanian Vallapuzha

发明人： Carlos F. Reverte ,  Scott M. Thayer ,  William Whittaker ,  Eric C. Close ,  Adam Slifko ,  Edison Hudson ,  Subramanian Vallapuzha

IPC分类号： G06F19/00

CPC分类号： H04N7/185 ,  E03F7/10 ,  F16L55/32

摘要： An autonomous inspector mobile platform robot that is used to inspect a pipe or network of pipes. The robot includes a locomotion device that enables the device to autonomously progress through the pipe and accurately track its pose and odometry during movement. At the same time, image data is autonomously captured to detail the interior portions of the pipe. Images are taken at periodic intervals using a wide angle lens, and additional video images may be captured at locations of interest. Either onboard or offboard the device, each captured image is unwarped (if necessary) and combined with images of adjacent pipe sections to create a complete image of the interior features of the inspected pipe. Optional features include additional sensors and measurement devices, various communications systems to communicate with an end node or the surface, and/or image compression software.

摘要翻译： 用于检查管道或管道网络的自主检查员移动平台机器人。 机器人包括一个运动装置，使装置自动进入管道，并在运动过程中精确跟踪其姿态和距离。 同时，自动捕获图像数据以细节管道的内部部分。 使用广角镜头以周期性间隔拍摄图像，并且可以在感兴趣的位置捕获附加的视频图像。 无论是在设备上或板外，每个捕获的图像都是不合适的（如有必要），并与相邻管道部分的图像相结合，以创建被检查管道内部特征的完整图像。 可选功能包括附加的传感器和测量设备，与终端节点或表面通信的各种通信系统和/或图像压缩软件。

公开(公告)号：US5127484A

公开(公告)日：1992-07-07

申请号：US682863

申请日：1991-04-05

申请人： John E. Bares ,  William Whittaker

发明人： John E. Bares ,  William Whittaker

IPC分类号： B62D57/02 ,  B62D57/032

CPC分类号： B62D57/032 ,  B62D57/02

摘要： The present invention pertains to a robot for moving along uneven terrain. The robot comprises a body having an opening through which a leg can pass. There is also a device for moving the body. The moving device includes at least 3 legs, at least one of which can exhibit an overlapping gait with respect to another leg. The robot is also comprised of a device for controlling the moving device such that the body moves along the terrain in a desired path. In an alternative embodiment, the moving device includes legs, each of which can exhibit an overlapping gait with respect to another leg while moving the body. In a preferred embodiment, each leg is comprised of a shoulder that is rotatable in a .theta. direction. Each leg is also comprised of a pedestal which has an axis that is disposed in essentially a z direction, where the z direction is perpendicular to the .theta. direction. There is also a device for linking the shoulder and the pedestal such that the pedestal can be moved in an r direction to a desired r position with respect to the shoulder, where the r direction is perpendicular to the z and the .theta. directions. The robot moves along the terrain which it defines with the defining device by positioning each leg in a desired place determined by the controlling device and then moving the body forward to resituate itself.

摘要翻译： 本发明涉及一种用于沿不平坦地形移动的机器人。 机器人包括具有开口的主体，腿可穿过该开口。 还有一个移动身体的装置。 移动装置包括至少3个腿，其中至少一个腿可相对于另一个腿呈现重叠的步态。 机器人还包括用于控制移动装置的装置，使得身体沿着所需的路径沿着地形移动。 在替代实施例中，移动装置包括腿部，每个腿部在移动身体的同时可以相对于另一腿部呈现重叠的步态。 在优选实施例中，每个腿部包括可在θ方向上旋转的肩部。 每个腿还包括具有基本上z方向设置的轴的基座，其中z方向垂直于θ方向。 还有一种用于连接肩部和基座的装置，使得基座可以在r方向上相对于肩部移动到期望的r位置，其中r方向垂直于z和θ方向。 机器人通过将每个腿定位在由控制装置确定的所需位置，然后将身体向前移动以自行调整，沿着与限定装置限定的地形一起移动。

公开(公告)号：US10958206B1

公开(公告)日：2021-03-23

申请号：US16791000

申请日：2020-02-14

申请人： William Whittaker

发明人： William Whittaker

IPC分类号： H02S10/12 ,  F03D9/25 ,  H02J7/14 ,  F03D9/11 ,  F03D9/00

摘要： A battery powered generator. The battery powered generator has a housing including a rechargeable battery. A pedal assembly, a wind turbine, and at least one solar panel are removably securable to the housing, enabling a user to choose any combination of which to recharge the battery. When secured to the housing, the pedal assembly, the wind turbine, and the at least one solar panel are operably connected to the rechargeable battery. A subpanel and an electrical panel are also operably connected to the rechargeable battery. An automatic transfer switch is operably connected to the electrical panel, the rechargeable battery, and the subpanel, and can control a flow of. The battery powered generator can be recharged by a variety of devices, or a combination thereof, to provide an uninterrupted flow of electricity in the event the electrical panel is unable to.

公开(公告)号：US5005658A

公开(公告)日：1991-04-09

申请号：US288677

申请日：1988-12-22

申请人： John E. Bares ,  William Whittaker

发明人： John E. Bares ,  William Whittaker

IPC分类号： B62D57/02

CPC分类号： B62D57/02

摘要： The present invention pertains to a robot for moving along uneven terrain. The robot comprises a body having an exterior surface and a device for defining the terrain around the body. There is also a device for moving the body. The moving device includes legs, at least one of which are capable of being independently positioned adjacent to any portion of the exterior surface of the body. The robot is also comprised of a device for controlling the moving device. The controlling device is connected to the defining device such that the body moves along the terrain in a desired path. In an alternative embodiment, the moving device includes legs, each of which can exhibit an overlapping gait with respect to another leg while moving the body. In a preferred embodiment, each leg is comprised of a shoulder that is rotatable in a angular direction. Each leg is also comprised of a pedestal which has an axis that is disposed in essentially a z direction, where the z direction is perpendicular to the angular direction. There is also a device for linking the shoulder and the pedestal such that the pedestal can be moved in an r direction to a desired r position with respect to the shoulder, where the r direction is perpendicular to the z and the angular directions. The robot moves along the terrain which it defines with the defining device by positioning each leg in a desired place determined by the controlling device and then moving the body forward to reposition itself.

摘要翻译： 本发明涉及一种用于沿不平坦地形移动的机器人。 机器人包括具有外表面的主体和用于限定身体周围的地形的装置。 还有一个移动身体的装置。 移动装置包括腿，其中的至少一个能够独立地定位成与身体的外表面的任何部分相邻。 机器人还包括用于控制移动装置的装置。 控制装置连接到定义装置，使得主体沿着所需的路径沿地形移动。 在替代实施例中，移动装置包括腿部，每个腿部在移动身体的同时可以相对于另一腿部呈现重叠的步态。 在优选实施例中，每个腿部包括可沿角度方向旋转的肩部。 每个腿还包括具有基本上z方向设置的轴线的基座，其中z方向垂直于角度方向。 还有一种用于连接肩部和基座的装置，使得基座可以在r方向上相对于肩部移动到期望的r位置，其中r方向垂直于z和角度方向。 机器人通过将每个腿定位在由控制装置确定的所需位置，然后将身体向前移动以重新定位自身，通过定义装置来定义的地形移动。

公开(公告)号：US20060290779A1

公开(公告)日：2006-12-28

申请号：US11335176

申请日：2006-01-18

申请人： Carlos Reverte ,  Scott Thayer ,  William Whittaker ,  Eric Close ,  Adam Slifko ,  Edison Hudson ,  Subramanian Vallapuzha

发明人： Carlos Reverte ,  Scott Thayer ,  William Whittaker ,  Eric Close ,  Adam Slifko ,  Edison Hudson ,  Subramanian Vallapuzha

IPC分类号： H04N7/18

CPC分类号： H04N7/185 ,  E03F7/10 ,  F16L55/32

摘要： An autonomous inspector mobile platform robot that is used to inspect a pipe or network of pipes. The robot includes a locomotion device that enables the device to autonomously progress through the pipe and accurately track its pose and odometry during movement. At the same time, image data is autonomously captured to detail the interior portions of the pipe. Images are taken at periodic intervals using a wide angle lens, and additional video images may be captured at locations of interest. Either onboard or offboard the device, each captured image is unwarped (if necessary) and combined with images of adjacent pipe sections to create a complete image of the interior features of the inspected pipe. Optional features include additional sensors and measurement devices, various communications systems to communicate with an end node or the surface, and/or image compression software.

摘要翻译： 用于检查管道或管道网络的自主检查员移动平台机器人。 机器人包括一个运动装置，使装置自动进入管道，并在运动过程中精确跟踪其姿态和距离。 同时，自动捕获图像数据以细节管道的内部部分。 使用广角镜头以周期性间隔拍摄图像，并且可以在感兴趣的位置捕获附加的视频图像。 无论是在设备上还是外部，每个捕获的图像都是不必要的（如果需要的话），并且与相邻管道部分的图像相结合，以创建被检查管道的内部特征的完整图像。 可选功能包括附加的传感器和测量设备，与终端节点或表面通信的各种通信系统和/或图像压缩软件。

公开(公告)号：US20060095171A1

公开(公告)日：2006-05-04

申请号：US10980389

申请日：2004-11-03

申请人： William Whittaker ,  Chris Urmson ,  Byron Smith ,  Hiroki Kato ,  Nicholas Miller ,  Kevin Peterson ,  Matthew Johnson-Roberson ,  Vanessa Hodge ,  Michael Clark ,  Joshua Anhalt

发明人： William Whittaker ,  Chris Urmson ,  Byron Smith ,  Hiroki Kato ,  Nicholas Miller ,  Kevin Peterson ,  Matthew Johnson-Roberson ,  Vanessa Hodge ,  Michael Clark ,  Joshua Anhalt

IPC分类号： G01C22/00

CPC分类号： G05D1/024 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274

摘要： The invention comprises an autonomous off-road vehicle capable of traveling at high speeds. Preferred embodiments of the invention comprise a system for sensory instrument stabilization comprises three axis assemblies movable about three orthogonal axes. The invention also comprises novel methods for generating a high accuracy route for a robotically controlled vehicle. Other aspects of the invention include drive time, perception-based path adjustments to steer a robotic vehicle within an intended corridor. Another embodiment of the invention comprises the consideration of vehicular dynamics in generating a high accuracy route and in steering a robotic vehicle within an intended corridor.

摘要翻译： 本发明包括能够高速行驶的自主越野车辆。 本发明的优选实施例包括用于感觉仪器稳定的系统，包括可围绕三个正交轴线移动的三轴组件。 本发明还包括用于产生用于机器人控制的车辆的高精度路线的新颖方法。 本发明的其他方面包括驾驶时间，基于感知的路径调节以将机器人车辆转向预期的走廊。 本发明的另一实施例包括考虑车辆动力学以产生高精度路线以及在期望的走廊内转向机器人车辆。

公开(公告)号：US06918321B1

公开(公告)日：2005-07-19

申请号：US10795899

申请日：2004-03-08

申请人： William Whittaker

发明人： William Whittaker

IPC分类号： E04D15/00

CPC分类号： E04D15/003

摘要： A Shingle Ripper is provided for removing existing shingles from a roof. A claw which includes a generally triangularly-shaped plate with a front edge. The claw has a bottom surface and a top surface. The front edge of the claw has teeth. A handle, which is connected to the claw has a claw section which is the part of the handle affixed to the claw. A lower section is connected to the claw section and is located at an acute angle from the bottom surface. A lower intermediate section is connected to the lower section at an acute angle upwardly away from the bottom surface. An upper intermediate section is connected to the lower intermediate section at an acute angle downwardly toward the bottom surface. An upper section connected to the upper intermediate section at an acute angle upwardly away from the bottom surface. Hand grips are located on the lower intermediate section and the upper section.

摘要翻译： 提供了一个瓦片裂土器，用于从屋顶上除去现有的木瓦。 爪，其包括具有前边缘的大致三角形的板。 爪具有底面和顶面。 爪的前边缘有齿。 与爪连接的手柄具有爪部，该爪部是固定在爪上的手柄的一部分。 下部连接到爪部并且与底表面成锐角。 下部中间部分以与从底部表面向上远的锐角连接到下部。 上部中间部分以锐角向下表面连接到下部中间部分。 上部部分以与从底部表面向上远的锐角连接到上部中间部分。 手柄位于下中间部分和上部。

公开(公告)号：US20210067082A1

公开(公告)日：2021-03-04

申请号：US16791000

申请日：2020-02-14

申请人： William Whittaker

发明人： William Whittaker

IPC分类号： H02S10/12 ,  F03D9/25 ,  F03D9/00 ,  F03D9/11 ,  H02J7/14

摘要： A battery powered generator. The battery powered generator has a housing including a rechargeable battery. A pedal assembly, a wind turbine, and at least one solar panel are removably securable to the housing, enabling a user to choose any combination of which to recharge the battery. When secured to the housing, the pedal assembly, the wind turbine, and the at least one solar panel are operably connected to the rechargeable battery. A subpanel and an electrical panel are also operably connected to the rechargeable battery. An automatic transfer switch is operably connected to the electrical panel, the rechargeable battery, and the subpanel, and can control a flow of. The battery powered generator can be recharged by a variety of devices, or a combination thereof, to provide an uninterrupted flow of electricity in the event the electrical panel is unable to