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11. 发明授权

US08381501B2 Agricultural robot system and method 有权
标题翻译：农业机器人系统与方法
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
IPC分类号： A01D34/00 , G06F19/00
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。

12. 发明授权

US07765780B2 Agricultural robot system and method 有权
标题翻译：农业机器人系统与方法
公开(公告)号：US07765780B2
公开(公告)日：2010-08-03
申请号：US11009909
申请日：2004-12-09
申请人： Harvey Koselka , Bret Wallach
发明人： Harvey Koselka , Bret Wallach
IPC分类号： A01B69/00
CPC分类号： A01D46/30
摘要： Robotic harvesting of agricultural crops. Robot moves through a field first to “map” the field to determine plant locations, number and size of fruit on plants and approximate positions of fruit on each plant. Once the map of the fruit is complete, the robot can plan and implement an efficient picking plan for itself or another robot. 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. 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.
摘要翻译：机械化收获农作物。机器人首先通过田野进行“映射”，以确定植物的植物位置，数量和大小以及每株植物水果的大致位置。一旦水果的地图完成，机器人就可以为自己或另一个机器人制定一个高效的采摘计划。侦察机器人或收获机器人在采摘树之前确定采摘计划。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。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。

13. 发明授权

US07196719B2 Angled axis machine vision system and method 有权
标题翻译：角轴机视觉系统及方法
公开(公告)号：US07196719B2
公开(公告)日：2007-03-27
申请号：US10710512
申请日：2004-07-16
申请人： Harvey Koselka , Bret Wallach
发明人： Harvey Koselka , Bret Wallach
IPC分类号： H04N13/02
CPC分类号： G06T7/85 , G06T2207/30252 , H04N13/239 , H04N2013/0081
摘要： An angled axis machine vision system having two cameras angled with respect to roil axis. Provides advantages of horizontal alignment between two cameras and eliminates problem of utilizing horizontal/vertical lines in the environment for distance calculations when lines arc parallel or close to parallel to axis between camera centers. With camera centers angled about roll axis, horizontal/vertical lines in environment appear angled with respect to horizon, enabling accurate distance calculations. With the cameras angled about roll, lines in the environment may line up parallel to the axis between camera centers, but these instances are rare in real world environments. May be rotatably mounted in the roll axis wherein two sets of pictures from each of the cameras may either he utilized: the two sets compared for the number of parallel lines parallel to axis between camera centers and the set of pictures with least parallel lines used for distance calculations.
摘要翻译：具有相对于罗尔轴线成角度的两个相机的成角度轴机器视觉系统。提供两个摄像机之间的水平对准的优点，并消除了当线路平行或靠近平行于相机中心之间的轴线时，在环境中利用水平/垂直线路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/垂直线条相对于水平线呈角度变化，从而实现精确的距离计算。随着相机在卷轴上倾斜，环境中的线条可能平行于相机中心之间的轴线排列，但这些实例在现实环境中很少见。可以可旋转地安装在辊轴上，其中来自每个照相机的两组照片可以被使用：两组相对于平行于相机中心之间的轴的平行线的数量与具有用于距离计算。

14. 发明申请

US20060213167A1 Agricultural robot system and method 有权
标题翻译：农业机器人系统与方法
公开(公告)号：US20060213167A1
公开(公告)日：2006-09-28
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： A01D34/00
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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