公开(公告)号：US09802316B2

公开(公告)日：2017-10-31

申请号：US14997307

申请日：2016-01-15

申请人： Vision Robotics Corporation

发明人： Harvey Koselka ,  Bret Wallach ,  Andrew Ferencz ,  Richard Wight

IPC分类号： G01L1/14 ,  B25J9/16 ,  G01L1/24 ,  G01L1/25 ,  B25J13/08

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.

公开(公告)号：US20130204437A1

公开(公告)日：2013-08-08

申请号：US13776658

申请日：2013-02-25

申请人： VISION ROBOTICS CORPORATION

发明人： Harvey Koselka ,  Bret Wallach

IPC分类号： G05D1/02 ,  A01D75/00 ,  A01D46/30 ,  A01D91/00

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。