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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：US11483958B2
公开(公告)日：2022-11-01
申请号：US16520254
申请日：2019-07-23
申请人： Bret Wallach , Harvey Koselka
发明人： Bret Wallach , Harvey Koselka
摘要： System that automates crop maintenance activities, such as cultivating and weeding, with a device that intelligently and independently controls two blades that drag along either side of a crop row using sensors to repeatedly track the position of the blades and of the plants in the row. Blades may be moved in and out independently using an actuator for each blade to contour closely around the individual plants, even if plants or rows vary in their positions, and even if plant sizes and shapes differ. An illustrative system may use a single camera and a processor per crop row; the processor may analyze camera images to locate plant positions and shapes, to plan blade trajectories, and to control blade actuators. The processor may be able to control blade movement precisely to respond quickly to sensor input on changes in plant positions, shapes, and sizes along the row.
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公开(公告)号：US08359122B2
公开(公告)日：2013-01-22
申请号：US11675267
申请日：2007-02-15
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：US07228203B2
公开(公告)日：2007-06-05
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
IPC分类号： G06F19/00
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：US20110137456A1
公开(公告)日：2011-06-09
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移动，以“映射”植物的位置，果实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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公开(公告)号：US07854108B2
公开(公告)日：2010-12-21
申请号：US11354548
申请日：2006-02-15
申请人： Harvey Koselka , Bret Wallach
发明人： Harvey Koselka , Bret Wallach
IPC分类号： A01B69/00
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移动，以“映射”植物的位置，果实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：US20050126144A1
公开(公告)日：2005-06-16
申请号：US11009909
申请日：2004-12-09
申请人： Harvey Koselka , Bret Wallach
发明人： Harvey Koselka , Bret Wallach
CPC分类号： A01D46/30
摘要： Embodiments of the invention comprise a system and method that enable robotic harvesting of agricultural crops. One approach for automating the harvesting of fresh fruits and vegetables is to use a robot comprising a machine-vision system containing rugged solid-state digital cameras to identify and locate the fruit on each tree, coupled with a picking system to perform the picking. In one embodiment of the invention a robot moves through a field first to “map” the field to determine plant locations, the number and size of fruit on the plants and the approximate positions of the fruit on each plant. A robot employed in this embodiment may comprise a GPS sensor to simplify the mapping process. At least one camera on at least one arm of a robot may be mounted in appropriately shaped protective enclosure so that a camera can be physically moved into the canopy of the plant if necessary to map fruit locations from inside the canopy. Once the map of the fruit is complete for a field, the robot can plan and implement an efficient picking plan for itself or another robot. In one embodiment of the invention, 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. If the picking algorithm selected is less computationally intense, the harvester may calculate the plan as it is harvesting. 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. Each of the elements in the system may be configured to communicate with each other using wireless communications technologies.
摘要翻译： 本发明的实施例包括能够机械化收获农作物的系统和方法。 用于自动收获新鲜水果和蔬菜的一种方法是使用机器人，其包括包含坚固的固态数字照相机的机器视觉系统，以在每棵树上识别和定位果实，并与拾取系统结合以执行拾取。 在本发明的一个实施例中，机器人首先移动场以“映射”该场以确定植物位置，植物上果实的数量和大小以及每个植物上果实的大致位置。 在该实施例中使用的机器人可以包括GPS传感器，以简化映射过程。 在机器人的至少一个臂上的至少一个摄像机可以安装在适当形状的保护性外壳中，使得摄像机可以被物理地移动到植物的顶盖中，如果需要，可以从树冠内部映射水果位置。 一旦水果地图完成了一个领域，机器人可以为自己或另一个机器人制定和实施有效的采摘计划。 在本发明的一个实施例中，侦察机器人或收获机器人在拾取树之前确定拾取计划。 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。 如果选择的选择算法计算量较小，收割机可能会在收获时计算出计划。 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。 系统中的每个元件可以被配置为使用无线通信技术彼此通信。
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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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