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91. 发明申请

US20130190965A1 SYSTEM, METHOD AND APPARATUS FOR UNSUPERVISED ADAPTATION OF THE PERCEPTION OF AN AUTONOMOUS MOWER 有权
标题翻译：不自觉地适应自动门的感觉的系统，方法和装置
公开(公告)号：US20130190965A1
公开(公告)日：2013-07-25
申请号：US13738155
申请日：2013-01-10
申请人： HONDA RESEARCH INSTITUTE EUROPE GMBH
发明人： Nils EINECKE , Mathias FRANZIUS
IPC分类号： A01D34/00
CPC分类号： A01D34/008 , A01B69/001 , A01D34/00 , A01D34/04
摘要： The present invention presents a method and system for an autonomous mower attached with a camera, wherein the control of the parameters of the camera and the control of the mower movement and grass detection are optimized holistically during operation. The present invention mitigates the camera sensing limits by adapting the movement speed of the mower. Furthermore, the camera control optimizes the visibility of grass by using the grass mask of a grass segmentation to calculate updated exposure, gain and aperture values only from grass pixels. The grass segmentation tracks changes in the grass color that are caused by illumination differences. Optionally, the system is equipped with a head light used to further improve the camera signal quality in conjunction with the control of the camera parameters and the movement speed of the mower.
摘要翻译：本发明提供了一种附有照相机的自动割草机的方法和系统，其中在操作期间对照相机的参数的控制以及割草机运动和草地检测的控制被整体地优化。本发明通过适应割草机的移动速度来减轻相机感测限制。此外，相机控制通过使用草分割的草坪来优化草的可见度，以仅从草像素计算更新的曝光，增益和光圈值。草分割跟踪由照明差异引起的草色变化。可选地，该系统配备有头灯，用于结合照相机参数的控制和割草机的移动速度进一步提高摄像机信号质量。

92. 发明申请

US20120072068A1 METHOD OF DETECTING A STRUCTURE IN A FIELD, A METHOD OF STEERING AN AGRICULTURAL VEHICLE AND AN AGRICULTURAL VEHICLE 有权
标题翻译：检测现场结构的方法，一种转向农业车辆和农业车辆的方法
公开(公告)号：US20120072068A1
公开(公告)日：2012-03-22
申请号：US13052678
申请日：2011-03-21
申请人： Tommy Ertbolle Madsen , Morten Rufus Blas , Mogens Blanke
发明人： Tommy Ertbolle Madsen , Morten Rufus Blas , Mogens Blanke
IPC分类号： G05D1/02
CPC分类号： A01F15/0833 , A01B69/001
摘要： An agricultural vehicle has a steering system providing steering signals and including an imaging device for imaging surroundings of the vehicle and an image processing device, the steering system operates to provide by the imaging device an image of the field, analyse the image to obtain texture information, assign to a plurality of areas of the image probability-values reflecting the likelihood that the respective area relates to a specific structure, assume at least one geometric property of the specific structure, and establish a most possible position parameter of the specific structure taking into account the probability-values and the assumed geometric property; and to provide a steering signal in accordance with the position parameter thus established.
摘要翻译：农业车辆具有提供转向信号的转向系统，并且包括用于对车辆的周围环境进行成像的成像装置和图像处理装置，该转向系统操作以由成像装置提供场的图像，分析图像以获得纹理信息分配反映各个区域与特定结构相关的可能性的图像概率值的多个区域，假设特定结构的至少一个几何属性，并且建立特定结构的最可能的位置参数计算概率值和假定的几何属性; 并根据所建立的位置参数提供转向信号。

93. 发明授权

US07904218B2 Vision guidance system and method for identifying the position of crop rows in a field 有权
标题翻译：视觉指导系统和方法，用于识别场中作物行的位置
公开(公告)号：US07904218B2
公开(公告)日：2011-03-08
申请号：US11678548
申请日：2007-02-23
申请人： Todd Jochem , Parag Batavia , Mark Ollis
发明人： Todd Jochem , Parag Batavia , Mark Ollis
IPC分类号： G05D1/00 , G06F19/00
CPC分类号： A01B69/001 , A01D41/1278 , G05D1/0246 , G05D2201/0201
摘要： A system and method of identifying a position of a crop row in a field, where an image of two or more crop rows is transmitted to a vision data processor. The vision data processor defines a candidate scan line profile for a corresponding heading and pitch of associated with a directional movement of a vehicle, for example, traversing the two or more crop rows. The candidate scan line profile comprises an array of vector quantities, where each vector quantity comprises an intensity value and a corresponding position datum. A preferential scan line profile in a search space about the candidate scan line profile is determined, and the candidate scan line profile is identified as a preferential scan line profile for estimating a position (e.g., peak variation) of one or more crop rows if a variation in the intensity level of the candidate scan line profile exceeds a threshold variation value.
摘要翻译：一种识别场中裁剪行的位置的系统和方法，其中两个或多个裁剪行的图像被发送到视觉数据处理器。视觉数据处理器定义与车辆的定向运动相关联的相应航向和俯仰的候选扫描线轮廓，例如穿过两个或更多个作物行。候选扫描线轮廓包括矢量数组，其中每个矢量包括强度值和对应的位置数据。确定关于候选扫描线轮廓的搜索空间中的优选扫描线轮廓，并且将候选扫描线轮廓识别为优选扫描线轮廓，用于估计一个或多个裁剪行的位置（例如，峰值变化），如果候选扫描线轮廓的强度级别的变化超过阈值变化值。

94. 发明申请

US20100063681A1 METHOD AND ARRANGEMENT FOR THE STEERING OF A VEHICLE 审中-公开
标题翻译：一种车辆转向的方法和装置
公开(公告)号：US20100063681A1
公开(公告)日：2010-03-11
申请号：US12516300
申请日：2007-11-20
申请人： Nico Correns , Enrico Geissler , Michael Rode , Christoph Nieten , Tobias Neumann , Ruediger Kuehnle
发明人： Nico Correns , Enrico Geissler , Michael Rode , Christoph Nieten , Tobias Neumann , Ruediger Kuehnle
IPC分类号： A01B69/00 , B62D6/00 , H04N7/18
CPC分类号： A01B69/001
摘要： The invention relates to a method by which image data from the terrain lying in front of a vehicle (1) in the direction of travel are detected, and from which data steering commands to influence the direction and/or the speed of travel are generated. The invention relates further to an arrangement for steering an agricultural vehicle (1) according to this method. According to the invention, the problem is solved in that prominent objects (3) are selected by means of the image data, the distance between the vehicle (1) and the prominent objects (3) is determined, and the steering commands are generated from the image data which correspond to the objects and from the changes of distance between the vehicle (1) and the objects (3).
摘要翻译：本发明涉及一种方法，通过该方法可以检测到在行驶方向上位于车辆（1）前面的地形的图像数据，从而产生影响行进方向和/或速度的数据转向命令。本发明进一步涉及根据该方法转向农用车辆（1）的装置。根据本发明，解决了通过图像数据选择突出物体（3）的问题，确定了车辆（1）和突出物体（3）之间的距离，并且从对应于物体的图像数据和车辆（1）与物体（3）之间的距离的变化。

95. 发明申请

US20090037059A1 CONTROL SYSTEM FOR AGRICULTURAL WORKING VEHICLES 审中-公开
标题翻译：农业工程车辆控制系统
公开(公告)号：US20090037059A1
公开(公告)日：2009-02-05
申请号：US12183146
申请日：2008-07-31
申请人： Jochen Huster , Jens Moeller , Norbert Diekhans , Ludger Autermann , Gerhard Nienaber , Peter Hieronymus , Andreas Wilken , Christoph Pein , Lars-Peter Meyer Zu Helligen , Tommy Madsen , Kristian Kirk , Rufus Blas
发明人： Jochen Huster , Jens Moeller , Norbert Diekhans , Ludger Autermann , Gerhard Nienaber , Peter Hieronymus , Andreas Wilken , Christoph Pein , Lars-Peter Meyer Zu Helligen , Tommy Madsen , Kristian Kirk , Rufus Blas
IPC分类号： G06F19/00 , G01C21/20
CPC分类号： A01B69/008 , A01B69/001 , G05D1/0246 , G05D1/0272 , G05D1/0278 , G05D2201/0201
摘要： The invention relates to a control system for agricultural working vehicles with at least two sensor systems which generate sensor signals (A, B), wherein the sensor signals (A, B) are vehicle-dependent or dependent on the crop characteristics or a combination of both.The object of this invention is to develop a control system for agricultural working vehicles in such a manner that a suitable fusion of the sensor signals (A, B) of the sensor systems is achieved, in particular.This object is achieved according to the invention in that at least one first and at least one second sensor signal processing algorithm (I,II,III,IV,V) is provided in the control system, and in that a selection is made as to which sensor signal processing algorithm (I,II,III,IV,V) is to be used as a function of at least one characteristic parameter (P).
摘要翻译：本发明涉及一种用于农业工作车辆的控制系统，其具有产生传感器信号（A，B）的至少两个传感器系统，其中传感器信号（A，B）是车辆依赖性的或取决于作物特性或组合都。本发明的目的是开发一种用于农业工作车辆的控制系统，特别是实现传感器系统的传感器信号（A，B）的适当融合。根据本发明，该目的是实现在控制系统中提供至少一个第一和至少一个第二传感器信号处理算法（I，II，III，IV，V），并且，将使用哪个传感器信号处理算法（I，II，III，IV，V）作为至少一个特征参数（P）的函数。

96. 发明申请

US20060272201A1 Method and device for analysis of the structure and the composition of cultured hedges such as for example rows of vines 有权
标题翻译：用于分析培养树篱的结构和组成的方法和装置，例如葡萄藤行
公开(公告)号：US20060272201A1
公开(公告)日：2006-12-07
申请号：US10551534
申请日：2004-03-23
申请人： Roger Pellenc
发明人： Roger Pellenc
IPC分类号： A01B76/00
CPC分类号： A01B69/001 , A01G3/0408 , A01G17/02
摘要： The method for analysing the structure of cultured hedges, equally applicable by day or by night, for a mobile, continuously-moving machine in tied or staked plantations such as vineyards, includes a system using an artificial vision system, working by transmission, which permits a detection of the shadowing of the light between one or more transmitters and one or more detectors to one side and the other of the hedge. The information generated by said shadows of light are processed by an electronic analysis system, programmed or embodied to examine the elements of the structure of the hedge.
摘要翻译：用于分析白天或夜晚同样适用于在诸如葡萄园的捆扎或放样种植园中的移动式连续移动机器的培养树篱的结构的方法包括使用人工视觉系统进行工作的系统，其允许检测一个或多个发射器和一个或多个检测器之间的光线对一侧和另一个对冲的阴影。由所述光的阴影产生的信息由电子分析系统处理，被编程或体现以检查对冲结构的要素。

97. 发明申请

US20050102079A1 Process and steering system for the automatic steering of an agricultural vehicle 失效
标题翻译：用于农用车辆自动转向的过程和转向系统
公开(公告)号：US20050102079A1
公开(公告)日：2005-05-12
申请号：US10973863
申请日：2004-10-26
申请人： Jurgen Hofer , Manfred Bohner , Thorsten Freichel
发明人： Jurgen Hofer , Manfred Bohner , Thorsten Freichel
IPC分类号： A01B69/00 , A01D41/127 , B62D6/00
CPC分类号： A01D41/1278 , A01B69/001
摘要： An automatic steering of an agricultural tractor on a surface of a field to be processed is accomplished by equipping the tractor with a camera for taking a picture of a region of the field, which is in front of the tractor, including the surface that is to be processed, generating a pixel data file from a picture signal of the camera, generating texture information with respect to the texture of the surroundings of the pixels contained in the data file, classifying the pixels of the pixel data file while considering the texture information, in order to generate a binary information as to whether or not a particular pixel is to be associated with the surface that is to be processed, generating a steering signal based on the results of the classification, and repositioning the steering device of the harvesting machine according to the steering signal so that the machine is steered automatically along the surface that is to be processed.
摘要翻译：农用拖拉机在待处理场的表面上的自动转向是通过将拖拉机装备在摄像机上的摄像机来实现的，该相机用于拍摄拖拉机前面的场地区域，其中包括：从相机的图像信号生成像素数据文件，生成关于包含在数据文件中的像素的周围纹理的纹理信息，同时考虑纹理信息对像素数据文件的像素进行分类，为了生成关于特定像素是否与要处理的表面相关联的二进制信息，基于分类的结果生成转向信号，并且根据收集机的转向装置重新定位转向信号，使得机器沿着要被处理的表面自动转向。

98. 发明授权

US06389785B1 Contour scanning apparatus for agricultural machinery 失效
标题翻译：农业机械轮廓扫描仪
公开(公告)号：US06389785B1
公开(公告)日：2002-05-21
申请号：US09543323
申请日：2000-04-05
申请人： Norbert Diekhans , Jochen Huster
发明人： Norbert Diekhans , Jochen Huster
IPC分类号： G06F16500
CPC分类号： A01B69/008 , A01B69/001 , G01S7/497 , G01S17/88 , G01S17/89
摘要： A device on a mobile agricultural machine for contactless scanning of contours extending over the ground, such as the contour of a swath of crop material. In this case there is used a laser distance measuring device consisting of a laser beam transmitting and receiving device which determines the distance from a contour point by measuring the running time of a laser scanning beam emitted and reflected at the contour point. The laser scanning beams are pivoted within a certain angular range stepwise or continuously in a scanning beam plane. In this case the laser distance measuring device is mounted with an orientation on the agricultural machinery such that the scanning beam plane is inclined to the ground at an acute angle forwards in the direction of travel. With the aid of an analyzer, the position of the contour point corresponding to each pivot angle, based upon the measured distance and the arrangement and orientation of the laser distance measuring device on the agricultural machine, can be determined.
摘要翻译：移动农业机器上的设备，用于对地面上延伸的轮廓进行非接触扫描，例如作物材料的轮廓。在这种情况下，使用由激光束发射和接收装置组成的激光距离测量装置，其通过测量在轮廓点处发射和反射的激光扫描光束的运行时间来确定与轮廓点的距离。激光扫描光束在扫描光束平面内逐步或连续地在一定角度范围内枢转。在这种情况下，激光距离测量装置在农业机械上安装有取向，使得扫描光束平面在行进方向上以锐角向前倾斜于地面。借助于分析仪，可以基于测量的距离以及农业机器上的激光距离测量装置的布置和取向来确定对应于每个摆动角度的轮廓点的位置。

99. 发明授权

US5911669A Vision-based crop line tracking for harvesters 失效
标题翻译：基于视觉的收割机作物线跟踪
公开(公告)号：US5911669A
公开(公告)日：1999-06-15
申请号：US840771
申请日：1997-04-16
申请人： Anthony Stentz , Mark Ollis , Kerien Fitzpatrick , Regis Hoffman , William Whittaker
发明人： Anthony Stentz , Mark Ollis , Kerien Fitzpatrick , Regis Hoffman , William Whittaker
IPC分类号： A01B69/00 , A01D41/127 , G06F15/20
CPC分类号： A01D41/1278 , A01B69/001
摘要： A self-propelled harvester is provided with apparatus for tracking a crop line and steering the harvester along the crop line without operator assistance. The apparatus includes a video camera for viewing the landscape in front of the harvester and forming an image which may be electronically scanned pixel-by-pixel and line by line to produce a video signal containing information regarding the spectral characteristics of the image at each pixel. A microprocessor is programmed to act as a discriminator and a segmentor. The discriminator produces discriminant signals D(i,j) where i is the magnitude of a discriminant function and j is the relative position of a pixel on a scan line. The segmentor determines a step function which best fits the magnitudes of the discriminant signals for one scan line. The pixel position j.sub.n corresponding to the step of this step function is taken as a vote on the location of the crop line and thus a vote on the direction the harvester should be steered. The votes are summed for each pixel position j over one full scan of image. The summed votes are then normalized, time-weighted, and averaged with the normalized and time-weighted votes derived from previously scanned images to derive a steering command.
摘要翻译：自走式收割机具有用于跟踪作物线并且在没有操作者帮助的情况下沿着作物线转向收割机的装置。该装置包括摄像机，用于观看收割机前面的景观，并形成可以逐像素地并行逐行扫描的图像，以产生包含关于每个像素处的图像的光谱特性的信息的视频信号。微处理器被编程为用作鉴别器和分段器。鉴别器产生判别信号D（i，j），其中i是判别函数的幅度，j是像素在扫描线上的相对位置。分段器确定最适合一条扫描线的判别信号的幅度的阶梯函数。将与该步骤功能相对应的像素位置jn作为对作物线的位置的投票，从而对收割机的方向进行投票。在图像的一次完整扫描中对每个像素位置j求和。然后将总和投票进行归一化，时间加权，并使用从先前扫描的图像导出的归一化和时间加权投票来平均，以得出转向指令。

100. 发明授权

US5715666A Reflex locating device 失效
标题翻译：反射定位装置
公开(公告)号：US5715666A
公开(公告)日：1998-02-10
申请号：US613045
申请日：1996-03-08
申请人： Jochen Huster , Norbert Diekhans , Helmut Homburg
发明人： Jochen Huster , Norbert Diekhans , Helmut Homburg
IPC分类号： A01B69/00 , A01D41/127 , A01D41/12 , B62D5/00
CPC分类号： A01B69/001 , A01D41/1278
摘要： A reflex locating device on an agricultural machine or the like, in particular a harvested material edge locating device, has a transmitter and a receiver with a locating beam region oriented on the agricultural machine so that it is slightly inclined toward the ground and, when the grain edge side position is correct, detects a part of the standing grain in front of the harvesting mechanism and detects with a remaining part the stubble field. The locating device for this purpose is arranged at a distance above the grain, and the locating beam region is oriented substantially perpendicular to the harvesting mechanism and detects inclinedly from above partially the grain field and partially the stubble field.
摘要翻译：农业机械等上的反射定位装置，特别是收割材料边缘定位装置，具有发射器和接收器，定位梁区域定位在农业机器上，使得其朝向地面略微倾斜，并且当颗粒边缘侧位置正确，检测收获机构前方的一部分站立谷物，并用剩余部分检测茬场。用于此目的的定位装置布置在谷物之上一定距离处，并且定位梁区域定向成基本上垂直于收获机构，并且从上方部分地倾斜地从晶粒区域部分地检测残留场。

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