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1. 发明授权

US09952084B2 Increasing signal to noise ratio of acoustic echoes by a group of spaced apart acoustic transceiver arrays 有权
公开(公告)号：US09952084B2
公开(公告)日：2018-04-24
申请号：US14050387
申请日：2013-10-10
申请人： A.P.M. AUTOMATION SOLUTIONS LTD.
发明人： Yossi Zlotnick , Avishai Bartov
IPC分类号： G01S15/00 , G01F23/296 , G01F22/00
CPC分类号： G01F23/2966 , G01F22/00 , H04M9/082
摘要： A method and a system for evaluating a content of a bin, the method may include: transmitting by multiple acoustic transceiver arrays, a plurality of acoustics pulses in an at least partially overlapping manner towards an expected location of the content to generate an acoustic interference pattern that comprises multiple fringes; detecting by an acoustic transceiver array a first fringe of the acoustic interference pattern and providing a fringe detection signal; and processing the first fringe detection signal to assist in a provision of a first estimate related to the content. A distance between a pair of acoustic transceiver arrays is at least ten times a distance between transducers of a same acoustic transceiver array.

2. 发明授权

US09587939B2 Method and system for measuring content of a bin 有权
标题翻译：用于测量垃圾箱内容的方法和系统
公开(公告)号：US09587939B2
公开(公告)日：2017-03-07
申请号：US13747493
申请日：2013-01-23
申请人： Avishai Bartov , Yossi Zlotnick
发明人： Avishai Bartov , Yossi Zlotnick
IPC分类号： G01F23/00 , G01B21/20 , G01F23/296
CPC分类号： G01B21/20 , G01F23/0076 , G01F23/2962
摘要： A method, non-transitory computer readable medium and a system that includes a confidence level module arranged to calculate, in response to detection signals, estimated upper surface points and to associate a non-binary confidence level with each estimated upper surface point; wherein the detection signals are generated by a receiver in response to an irradiation of at least a portion of the upper surface of the content with radiation pulses transmitted by a transmitter; and an estimator that is arranged to calculate an estimate of the upper surface based upon the estimated upper surface points and the non-binary confidence level associated with each estimated upper surface point.
摘要翻译：一种方法，非暂时性计算机可读介质和包括置信度模块的系统，所述置信度模块被布置为响应于检测信号计算估计的上表面点并将非二进制置信水平与每个估计的上表面点相关联; 其中所述检测信号由接收机响应于所述内容物的所述上表面的至少一部分的照射由发射器发射的辐射脉冲产生; 以及估计器，其被布置为基于与每个估计的上表面点相关联的估计上表面点和非二进制置信水平来计算上表面的估计。

3. 发明授权

US09518860B2 System and method for fuzzy logic based measurement of a content of a bin 有权
标题翻译：用于基于模糊逻辑的测量箱体内容的系统和方法
公开(公告)号：US09518860B2
公开(公告)日：2016-12-13
申请号：US13755176
申请日：2013-01-31
申请人： Avishai Bartov , Yossi Zlotnick
发明人： Avishai Bartov , Yossi Zlotnick
IPC分类号： G01F23/76 , G01F23/296 , G01F23/00
CPC分类号： G01F23/2962 , G01F23/0076
摘要： A method, non-transitory computer readable medium and a system that includes a fuzzy logic module arranged to apply a fuzzy logic algorithm for calculating, in response to received echoes that are received by a receiver, confidence levels of origins of received echoes; wherein the received echoes are reflected or scattered from the origins; and a volume calculator that is arranged to calculate a volume of the content in response to (a) estimated locations of the origins, and (b) the confidence levels of the origins.
摘要翻译：一种方法，非暂时性计算机可读介质和包括模糊逻辑模块的系统，所述模糊逻辑模块被布置为应用模糊逻辑算法来响应于接收机接收到的接收到的回波来计算接收到的回波的起点的置信水平; 其中所接收的回波从所述起点反射或散射; 以及体积计算器，其被布置为响应于（a）原点的估计位置来计算内容的体积，以及（b）起源的置信水平。

4. 发明授权

US09952083B2 Movable system for measuring a content of a bin 有权
公开(公告)号：US09952083B2
公开(公告)日：2018-04-24
申请号：US14050391
申请日：2013-10-10
申请人： A.P.M. AUTOMATION SOLUTIONS LTD.
发明人： Avishai Bartov , Yossi Zlotnick
IPC分类号： G01S15/00 , G01F23/296
CPC分类号： G01F23/2962
摘要： A method and a system for evaluating a content of a bin, the method may include (a) transmit multiple acoustic pulses by multiple acoustic transceiver arrays towards different areas of an upper surface of the content when the acoustic transceivers are positioned at different locations; wherein the multiple acoustic transceiver arrays are connected to a device that is moved according to a movement pattern between the different locations; receive by the multiple acoustic transceiver arrays multiple echoes of the multiple acoustic pulses; process by the multiple acoustic transceiver arrays the multiple echoes to provide multiple estimates of the different areas; associate with the multiple estimates of the different areas timing information indicative of a timing of the receiving of the multiple echoes to a computer; and obtain by an acoustic based location device, location information readings related to locations of the device at multiple points of time.

5. 发明授权

US09562799B2 System and method for shape attribute based detection of obstacles within a bin 有权
标题翻译：基于形状属性的系统和方法，用于检测仓内的障碍物
公开(公告)号：US09562799B2
公开(公告)日：2017-02-07
申请号：US13752402
申请日：2013-01-29
申请人： Avishai Bartov , Yossi Zlotnick
发明人： Avishai Bartov , Yossi Zlotnick
IPC分类号： G01F23/296 , G01F23/00
CPC分类号： G01F23/2962 , G01F23/0076
摘要： A method and a system for automatically mapping obstacles within a bin that stores content, the system may include: a location estimator that is arranged to calculate, in response to detection signals, an estimated shape of an upper surface of the content; wherein the detection signals are generated by a receiver in response to radiation signals reflected or scattered from multiple points within the bin; and an obstacle detector that is arranged to detect at least one obstacle point that belongs to an obstacle in response to (a) the estimated shape of the upper surface of the content, and (b) an expected shape attribute of the upper surface of the content.
摘要翻译：一种用于自动映射存储内容的存储区内的障碍物的方法和系统，所述系统可以包括：位置估计器，被布置为响应于检测信号计算内容的上表面的估计形状; 其中所述检测信号由接收机响应于从所述箱内的多个点反射或散射的辐射信号而产生; 以及障碍物检测器，被配置为响应于（a）内容的上表面的估计形状来检测属于障碍物的至少一个障碍点，以及（b）所述内容的上表面的预期形状属性内容。

6. 发明授权

US09518859B2 System and method for content estimate based detection of obstacles within a bin 有权
标题翻译：用于基于垃圾箱内的障碍物的内容估计的系统和方法
公开(公告)号：US09518859B2
公开(公告)日：2016-12-13
申请号：US13752406
申请日：2013-01-29
申请人： Avishai Bartov , Yossi Zlotnick
发明人： Avishai Bartov , Yossi Zlotnick
IPC分类号： G01F23/296
CPC分类号： G01F23/2962
摘要： A method and a system for automatically mapping obstacles within a bin that stores content, the system may include a location estimator that is arranged to calculate, in response to detection signals, multiple estimates of shapes of the upper surface of the content at different time periods; wherein the detection signals are generated by a receiver in response to radiation signals reflected or scattered within the bin; and an obstacle detector that is arranged to detect an obstacle in response to relationships between the multiple estimates of shapes of the upper surface of the content.
摘要翻译：一种用于自动映射存储内容的存储区内的障碍物的方法和系统，所述系统可以包括位置估计器，其被布置为响应于检测信号计算不同时间段内容的上表面的形状的多个估计 ; 其中所述检测信号由接收机响应于在所述箱内反射或散射的辐射信号而产生; 以及障碍物检测器，其布置成响应于内容的上表面的形状的多个估计之间的关系来检测障碍物。

7. 发明授权

US09952318B2 Group of spaced apart acoustic transceiver arrays and a method for measuring a content of a bin 有权
公开(公告)号：US09952318B2
公开(公告)日：2018-04-24
申请号：US14050382
申请日：2013-10-10
申请人： A.P.M. AUTOMATION SOLUTIONS LTD.
发明人： Avishai Bartov , Yossi Zlotnick
IPC分类号： G01S15/00 , G01S7/54 , G01S15/10 , G01S15/46 , G01S15/87 , G01S15/88 , G01S15/89
CPC分类号： G01S7/54 , G01S15/003 , G01S15/10 , G01S15/46 , G01S15/878 , G01S15/88 , G01S15/89
摘要： A method and a system for evaluating a content of a bin, the method may include: transmitting at a first point in time and by a first acoustic transceiver array, a first acoustic pulse; receiving by a second acoustic transceiver array an echo of the first acoustic pulse; and processing the echo of the first acoustic pulse to assist in a provision of a first estimate related to the content; wherein the second acoustic transceiver array differs from the first transceiver array; wherein a distance between the first and second acoustic transceiver array is at least ten times a distance between transducers of the second acoustic transceiver array.

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