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1. 发明授权

US06203111B1 Miner guidance using laser and image analysis 有权
标题翻译：使用激光和图像分析的矿工指导
公开(公告)号：US06203111B1
公开(公告)日：2001-03-20
申请号：US09430567
申请日：1999-10-29
申请人： Mark Ollis , Steven John Scheding , Christopher C. Fromme , Jorgen Pederson , John Bares , Herman Herman , Anthony J. Stentz , David K. Herdle , Frank Higgins , Bryan G. Campbell
发明人： Mark Ollis , Steven John Scheding , Christopher C. Fromme , Jorgen Pederson , John Bares , Herman Herman , Anthony J. Stentz , David K. Herdle , Frank Higgins , Bryan G. Campbell
IPC分类号： E21C3508
CPC分类号： E21C27/24 , E21C35/24 , E21D9/004
摘要： A mining machine comprising a vehicle body having forward and rearward ends, the vehicle body being movable along a mine floor, a cutter head mounted on the forward end of the vehicle body, and a position sensing and control apparatus including first and second generally vertical, generally parallel surfaces on the vehicle body, an off-board light source emitting a light beam that strikes the surfaces, an imaging device for imaging both of the plates in a single image, and a computer receiving the single image from the camera, the computer using the single image to determine at least one of the roll, yaw and lateral offset of the machine.
摘要翻译：一种采矿机，包括具有前端和后端的车体，所述车身可沿矿井移动，安装在所述车身前端的刀头，以及包括第一和第二大致垂直的位置检测和控制装置，车身上的大体上平行的表面，发射表面光束的板外光源，用于在单个图像中成像两个板的成像装置和从相机接收单个图像的计算机，计算机使用单个图像来确定机器的滚动，偏航和横向偏移中的至少一个。

2. 发明授权

US06296317B1 Vision-based motion sensor for mining machine control 有权
标题翻译：基于视觉的矿山机械控制运动传感器
公开(公告)号：US06296317B1
公开(公告)日：2001-10-02
申请号：US09430102
申请日：1999-10-29
申请人： Mark Ollis , Christopher C. Fromme , Timothy Ennis Hegadorn , Alonzo James Kelly , John Bares , Herman Herman , Anthony J. Stentz , Richard McCargo Moore, Jr. , David K. Herdle , Frank Higgins , Bryan G. Campbell
发明人： Mark Ollis , Christopher C. Fromme , Timothy Ennis Hegadorn , Alonzo James Kelly , John Bares , Herman Herman , Anthony J. Stentz , Richard McCargo Moore, Jr. , David K. Herdle , Frank Higgins , Bryan G. Campbell
IPC分类号： E21C3508
CPC分类号： G05D1/0251 , G05D2201/021
摘要： A mining machine having a position sensing and control apparatus is claimed. The mining machine has a vehicle body having forward and rearward ends and movable along a mine floor. A cutter head is mounted on the forward end of the mining machine for upward and downward movement relative to the vehicle body. A conveyor mounted on the vehicle body conveys material cut by the cutter head. The position sensing and control apparatus has at least one light source and at least one imaging device mounted on the machine. The position sensing and control apparatus captures images of natural features of an interior surface of a mine, digitizes the images and determines the distance between the imaging device and the natural feature to determine positional change of the machine.
摘要翻译：要求具有位置感测和控制装置的采矿机。采矿机具有前后端的车体，沿矿井可移动。刀头安装在采矿机的前端，以相对于车身上下移动。安装在车身上的输送机输送由切割头切割的材料。位置检测和控制装置具有安装在机器上的至少一个光源和至少一个成像装置。位置检测和控制装置捕获矿山内表面的自然特征的图像，数字化图像并确定成像装置与自然特征之间的距离，以确定机器的位置变化。

3. 发明授权

US06728608B2 System and method for the creation of a terrain density model 失效
标题翻译：用于创建地形密度模型的系统和方法
公开(公告)号：US06728608B2
公开(公告)日：2004-04-27
申请号：US10226933
申请日：2002-08-23
申请人： Mark Ollis , Todd Jochem
发明人： Mark Ollis , Todd Jochem
IPC分类号： G01C2100
CPC分类号： G05D1/024 , G05D1/0257 , G05D1/0274
摘要： A system and method of constructing a density map is disclosed. The density map is a cellular grid representing local terrain, wherein each cell contains a density vector representing the density of portion of the terrain corresponding to the cell. The density map can be used to classify and characterize the surrounding terrain, which is useful in making a determination of the traversability of the terrain to mobile vehicles.
摘要翻译：公开了一种构建密度图的系统和方法。密度图是表示局部地形的蜂窝网格，其中每个小区包含表示对应于小区的地形的部分密度的密度矢量。密度图可用于对周围地形进行分类和表征，这有助于确定地形对移动车辆的穿越能力。

4. 发明申请

US20070271012A1 VISION GUIDANCE SYSTEM AND METHOD FOR IDENTIFYING THE POSITION OF CROP ROWS IN A FIELD 有权
标题翻译：视觉指导系统和识别田间作物条位置的方法
公开(公告)号：US20070271012A1
公开(公告)日：2007-11-22
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： G01C21/30
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。

5. 发明申请

US20070269114A1 VISION GUIDANCE SYSTEM AND METHOD FOR IDENTIFYING THE POSITION OF CROP ROWS IN A FIELD 有权
标题翻译：视觉指导系统和识别田间作物条位置的方法
公开(公告)号：US20070269114A1
公开(公告)日：2007-11-22
申请号：US11678552
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： G06K9/62
CPC分类号： G06K9/00798
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 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. In addition, a template scan line profile may be utilized, where a candidate scan line profile is identified to be a preferential scan line profile if it is consistent with the template scan line profile.
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用于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。此外，可以使用模板扫描线轮廓，其中如果候选扫描线轮廓与模板扫描线轮廓一致，则将候选扫描线轮廓识别为优先扫描线轮廓。

6. 发明授权

US08019513B2 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：US08019513B2
公开(公告)日：2011-09-13
申请号：US11678558
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： G06F19/00
CPC分类号： G01C11/00 , A01B69/001
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. A preferential scan line profile in a search space about a 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. Alternatively, a position datum associated with a highest intensity value within the array of vector quantities can be selected as being indicative of a candidate position of a crop row. The candidate position is then identified as a preliminary row position if a variation in 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。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用于估计一个或多个裁剪行的位置（例如，峰值变化）的优选扫描线轮廓，如果候选扫描线轮廓的强度级别的变化超过阈值变化值。或者，可以选择与向量量阵列内的最高强度值相关联的位置数据，以指示作物行的候选位置。如果候选扫描线轮廓的强度级别的变化超过阈值变化值，则将候选位置识别为初步行位置。

7. 发明申请

US20070271013A1 VISION GUIDANCE SYSTEM AND METHOD FOR IDENTIFYING THE POSITION OF CROP ROWS IN A FIELD 有权
标题翻译：视觉指导系统和识别田间作物条位置的方法
公开(公告)号：US20070271013A1
公开(公告)日：2007-11-22
申请号：US11678558
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： G01C21/30
CPC分类号： G01C11/00 , A01B69/001
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. A preferential scan line profile in a search space about a 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. Alternatively, a position datum associated with a highest intensity value within the array of vector quantities can be selected as being indicative of a candidate position of a crop row. The candidate position is then identified as a preliminary row position if a variation in 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。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用于估计一个或多个裁剪行的位置（例如，峰值变化）的优选扫描线轮廓，如果候选扫描线轮廓的强度级别的变化超过阈值变化值。或者，可以选择与向量量阵列内的最高强度值相关联的位置数据，以指示作物行的候选位置。如果候选扫描线轮廓的强度级别的变化超过阈值变化值，则将候选位置识别为初步行位置。

8. 发明授权

US06336051B1 Agricultural harvester with robotic control 失效
标题翻译：农业收割机与机器人控制
公开(公告)号：US06336051B1
公开(公告)日：2002-01-01
申请号：US09648741
申请日：2000-08-28
申请人： Henning Pangels , Thomas Pilarski , Kerien Fitzpatrick , Michael Happold , Mark Ollis , William Whittaker , Anthony Stentz
发明人： Henning Pangels , Thomas Pilarski , Kerien Fitzpatrick , Michael Happold , Mark Ollis , William Whittaker , Anthony Stentz
IPC分类号： G05B1302
CPC分类号： A01D41/1278 , A01B79/005
摘要： An agricultural harvesting machine (harvester) is automatically controlled and steered so as to completely harvest all crop in a field. A Global Positioning System (GPS) and an Inertial Navigation System provide data regarding the position and orientation of the harvester in a field. A Field Coverage Planner constructs a field coverage plan which defines a path for the harvester to follow in cutting crop from a field. Video images of the field in front of the harvester are derived alternately from two video cameras mounted on opposite sides of the harvester. The video images are processed in a Video Processing Computer to detect the crop line between cut and uncut crop and generate steering signals for steering the harvester along the crop line. Video images are also processed to detect the end of a row at the end of a field and supply a measure of the distance to the end of the row. When the end of a row is reached, the harvester executes a 180° spin turn and traverses the field in the opposite direction.
摘要翻译：农业收割机（收割机）自动控制和转向，以便在现场完全收获所有作物。全球定位系统（GPS）和惯性导航系统提供有关领域的收割机的位置和方向的数据。现场覆盖计划员构建一个现场覆盖计划，该计划定义了收割机在从场中切割作物时遵循的路径。收割机前面的视野图像交替地从安装在收割机相对两侧的摄像机派生。视频图像在视频处理计算机中进行处理，以检测切割和未切割作物之间的剪切线，并产生用于沿收割线转向收割机的转向信号。还处理视频图像以检测字段末尾的一行的结尾，并提供距行末的距离的度量。当达到一排的末端时，收割机执行180°旋转旋转，并沿相反方向横穿该场。

9. 发明授权

US08121345B2 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：US08121345B2
公开(公告)日：2012-02-21
申请号：US11678552
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： G06K9/00
CPC分类号： G06K9/00798
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 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. In addition, a template scan line profile may be utilized, where a candidate scan line profile is identified to be a preferential scan line profile if it is consistent with the template scan line profile.
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用于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。此外，可以使用模板扫描线轮廓，其中如果候选扫描线轮廓与模板扫描线轮廓一致，则将候选扫描线轮廓识别为优先扫描线轮廓。

10. 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。

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