METHOD AND SYSTEM FOR AUTOMATED PLANT SURVEILLANCE AND MANIPULATION

    公开(公告)号:US20210334952A1

    公开(公告)日:2021-10-28

    申请号:US17237503

    申请日:2021-04-22

    申请人: UT-Battelle, LLC

    IPC分类号: G06T7/00 B25J9/16

    摘要: A method and a system for automated plant surveillance and manipulation are provided. Pursuant to the method and the system, images of target plants are obtained through a machine vision system having multiple cameras. The obtained images of the target plants are processed to determine tissue candidates of the target plants and to determine a position and an orientation of each tissue candidate. A tool is manipulated, based on the position and the orientation of each tissue candidate, to excise each tissue candidate to obtain tissue samples. The tissue samples are transported for subsequently manipulation including live processing of the tissue samples or destructive processing of the tissue samples.

    APPARATUS AND METHODS FOR IMAGING INTERIOR SURFACES OF A TUBE OR THE LIKE
    10.
    发明申请
    APPARATUS AND METHODS FOR IMAGING INTERIOR SURFACES OF A TUBE OR THE LIKE 有权
    用于成像管的内部表面的装置和方法

    公开(公告)号:US20150229887A1

    公开(公告)日:2015-08-13

    申请号:US14180062

    申请日:2014-02-13

    申请人: UT-Battelle, LLC

    IPC分类号: H04N7/18 H04N5/225 G02B23/24

    摘要: An exemplary device includes, on a longitudinal axis, an illumination-light source, an axicon (conic) mirror, an image sensor, and a tilted optical element. The light source provides illumination light propagating forwardly on the axis. The axicon mirror reflects the illumination light radially outward, relative to the axis, to the interior surface of a tube to produce reflected light propagating, from the illuminated interior surface, as imaging light back to the axicon, which reflects the imaging light rearwardly. The image sensor receives at least a portion of the imaging light rearwardly reflected by the axicon mirror. The tilted optical element, situated between the axicon mirror and the interior surface, moves a selected first portion of the imaging light away from being incident on the image sensor, while allowing a second portion of the imaging light to be incident on the image sensor.

    摘要翻译: 示例性装置在纵向轴线上包括照明光源,轴锥体(圆锥镜),图像传感器和倾斜的光学元件。 光源提供在轴上向前传播的照明光。 旋转镜将相对于轴向照射的照明光径向向外反射到管的内表面,以产生从被照明的内表面传播到成像光的反射光,反射到向后反射成像光的旋转三棱镜。 图像传感器接收由旋转镜反射器向后反射的成像光的至少一部分。 位于旋转镜和内表面之间的倾斜光学元件移动成像光的所选择的第一部分远离入射到图像传感器上,同时允许成像光的第二部分入射到图像传感器上。