公开(公告)号：US4470123A

公开(公告)日：1984-09-04

申请号：US337200

申请日：1982-01-05

Applicant: Bertram Magenheim ,  James K. Rocks

Inventor： Bertram Magenheim ,  James K. Rocks

IPC: G01B15/02 ,  B64D15/20 ,  G01B7/02 ,  G01B13/04

CPC classification number: B64D15/20

Abstract: A system for indicating ice thickness and rate of ice thickness growth on surfaces is disclosed. The region to be monitored for ice accretion is provided with a resonant surface waveguide which is mounted flush, below the surface being monitored. A controlled oscillator provides microwave energy via a feed point at a controllable frequency. A detector is coupled to the surface waveguide and is responsive to electrical energy. A measuring device indicates the frequency deviation of the controlled oscillator from a quiescent frequency. A control means is provided to control the frequency of oscillation of the controlled oscillator. In a first, open-loop embodiment, the control means is a shaft operated by an operator. In a second, closed-loop embodiment, the control means is a processor which effects automatic control.

Abstract translation: 公开了一种用于指示冰厚度和表面上冰厚度生长速率的系统。 要监测积冰的区域设置有谐振表面波导，其在被监视的表面下方齐平地安装。 受控振荡器通过可控频率的馈电点提供微波能量。 检测器耦合到表面波导并且响应于电能。 测量装置指示受控振荡器与静态频率的频率偏差。 提供控制装置来控制受控振荡器的振荡频率。 在第一个开环实施例中，控制装置是由操作者操作的轴。 在第二个闭环实施例中，控制装置是实现自动控制的处理器。

公开(公告)号：US4688185A

公开(公告)日：1987-08-18

申请号：US639298

申请日：1984-08-10

Applicant: Bertram Magenheim ,  James K. Rocks

Inventor： Bertram Magenheim ,  James K. Rocks

IPC: B64D15/20 ,  G01B15/02 ,  B64D15/00 ,  G01B15/00 ,  G01R27/04 ,  G08B19/02

CPC classification number: B64D15/20 ,  G01B15/02

Abstract: An ice measurement instrument includes a waveguide operating in a transmission mode passing energy from an input port to an output port. The resonant frequency of the waveguide depends on the presence and/or thickness of ice at a measuring location. The energy applied to the input port is swept in frequency from a first frequency to a second frequency at or above an ice-free resonant frequency of said waveguide, and back to said first frequency. Energy received at the output port is peak detected to provide a detection signal with four recognizable transitions identifying a pair of peaks which correspond to the resonant frequency of the waveguide. The time delay between these peaks can be used, in comparison with the time delay corresponding to an ice-free condition, to determine ice thickness.

Abstract translation: 冰测量仪器包括以传输模式工作的波导，其将能量从输入端口传送到输出端口。 波导的谐振频率取决于测量位置处冰的存在和/或厚度。 施加到输入端口的能量在等于或高于所述波导的无冰共振频率处的频率从第一频率扫频到第二频率，并且返回到所述第一频率。 在输出端口处接收的能量被峰值检测，以提供具有四个可识别的转换的检测信号，其识别对应于波导的谐振频率的一对峰值。 与对应于无冰条件的时间延迟相比，可以使用这些峰值之间的时间延迟来确定冰的厚度。

公开(公告)号：US5974348A

公开(公告)日：1999-10-26

申请号：US766486

申请日：1996-12-13

Applicant: James K. Rocks

Inventor： James K. Rocks

IPC: G05D1/02 ,  G06F165/00 ,  G01C21/00

CPC classification number: G05D1/0246 ,  A01D46/30 ,  G01S1/70 ,  G05D1/028 ,  G05D1/0242 ,  G05D2201/0201

Abstract: A precise automated work system and method is provided. One or more self-navigating robots can perform automated work operations with precision given six degrees of freedom in a undulating, sloping or irregular terrain, such as, a commercial truck garden. A self-propelled robot moves through the garden and performs gardening tasks following a specified course by dead-reckoning and periodically determining its position and orientation by a navigation fix. At least seven navigation beacons are positioned around a perimeter of a garden work area. Each beacon emits electromagnetic radiation across the garden for detection by the self-propelled robot. A panoramic image collector gathers and focuses electromagnetic radiation from each navigation beacon on an electronic camera to form at least seven beam spots. The relative position of the detected beam spots in the focal plane vary depending upon the six degrees of freedom for robot movement in a garden: the robot's three-dimensional position (x,y,z) and the robot's orientation (heading, pitch, and roll). A navigation module determines the position and orientation of the robot within the garden based on the output of the imaging camera. A self-propelled gardening robot performs many varied automated farming tasks from tillage, to planting, to harvesting by controlling the point of impact of a implement carried by a robot with precision, that is, to within an inch on average for any given position coordinate. Commercial feasibility of small truck gardens is improved as automation is comprehensive and accessible to the solitary farmer.

Abstract translation: 提供了一种精确的自动化工作系统和方法。 一个或多个自导航机器人可以在起伏，倾斜或不规则的地形（如商业卡车花园）中进行六度自由度的精确自动化作业。 一个自走机器人通过花园移动，并通过推算确定一个特定的过程，并通过导航定位定期确定其位置和方位，执行园艺任务。 至少有七个导航信标位于花园工作区的周边。 每个信标在花园内发射电磁辐射，以便由自行式机器人检测。 全景图像采集器将来自每个导航信标的电磁辐射器收集并聚焦在电子照相机上以形成至少七个光束点。 检测到的光束点在焦平面上的相对位置根据花园中机器人运动的六个自由度而变化：机器人的三维位置（x，y，z）和机器人的方向（航向，俯仰和 滚）。 导航模块基于摄像机的输出来确定机器人在花园内的位置和方位。 自行式园艺机器人通过控制机器人承载的工具的精确度，即任何给定位置坐标的平均值在一英寸内，可以进行从耕作，种植到收割的各种各样的自动化耕作任务 。 随着自动化程度的提高，小型园林商业化的可行性得到提高，独立农民得以实现。