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1. 发明授权

US09691237B2 Non-visual navigation feedback system and method 有权
公开(公告)号：US09691237B2
公开(公告)日：2017-06-27
申请号：US14465388
申请日：2014-08-21
申请人： Raven Industries, Inc.
发明人： Robert Leonard Nelson, Jr. , David Anthony Fowler , Dale L. Gambill , Daniel R. Weber , Charles D. Parker , James Darrell McCauley
IPC分类号： G06F17/00 , G08B6/00 , B60K35/00
CPC分类号： G08B6/00 , B60K35/00
摘要： A system for generating a non-visual notification of a machine condition includes a machine condition sensor configured to sense a machine condition. A notification generation controller is in communication with the machine condition sensor. The notification generation controller generates a notification according to the sensed machine condition. In a feedback configuration the notification generation controller compares an integral of a rate of change of the sensed machine condition with a threshold to trigger the generation of a notification. In a guidance configuration the notification generation controller uses the deviation of the machine condition from a guidance direction determined with a steering algorithm to control the generation of a notification. A non-visual notification generator is in communication with the notification generation controller and generates a non-visual notification based on the notification.

2. 发明授权

US10223588B2 Image filter based on row identification 有权
公开(公告)号：US10223588B2
公开(公告)日：2019-03-05
申请号：US15437331
申请日：2017-02-20
申请人： Raven Industries, Inc.
发明人： Edwin Ernest Wilson , Robert Leonard Nelson, Jr. , David Anthony Fowler
IPC分类号： G06K9/00 , A01D34/00 , G06K9/46 , G06T7/00 , G06T7/536 , A01B69/00
摘要： System and techniques for an image filter based on row identification are described herein. A crop row center represented in an image of a crop row can be calculated. A filter corresponding to a set of expected crop characteristics of the crop row can be obtained. Elements in the image can then be categorized based on applying the filter to the image when the filter anchored on the crop row.

3. 发明授权

US09123113B2 Row guidance parameterization with Hough transform 有权
标题翻译：行引导参数化与霍夫变换
公开(公告)号：US09123113B2
公开(公告)日：2015-09-01
申请号：US13791515
申请日：2013-03-08
申请人： Raven Industries, Inc.
发明人： Robert Leonard Nelson, Jr.
IPC分类号： G06T7/00 , A01B69/04
CPC分类号： A01B69/008 , A01B69/007 , G05D1/0219 , G05D1/0246 , G06T7/536 , G06T2207/20061
摘要： Systems and techniques for row guidance parameterization with Hough transform are described herein. An electronic representation of a field (ERF) can be received. The ERF can include a set of feature sets including one of a set of crop row features or a set of furrow features. A first parameter space can be produced by applying a slope-intercept Hough transform (SLIHT) to members of a feature set. Peaks in the first parameter space can be identified. A second parameter space can be produced by application of the SLIHT to the peaks. A vanishing point can be calculated based on a vanishing point peak in the second parameter space. A track-angle error can be calculated from the vanishing point.
摘要翻译：本文描述了使用霍夫变换进行行引导参数化的系统和技术。可以接收字段（ERF）的电子表示。 ERF可以包括一组特征集，其包括一组裁剪行特征或一组沟槽特征中的一个。可以通过对特征集的成员应用斜率截距霍夫变换（SLIHT）来产生第一参数空间。可以识别第一个参数空间中的峰。可以通过将SLIHT应用于峰值来产生第二参数空间。可以基于第二参数空间中的消失点峰值来计算消失点。可以从消失点计算出轨迹角误差。

4. 发明授权

US09829364B2 Method of sensing volume of loose material 有权
公开(公告)号：US09829364B2
公开(公告)日：2017-11-28
申请号：US15152111
申请日：2016-05-11
申请人： Raven Industries, Inc.
发明人： Edwin Ernest Wilson , John D. Preheim , Robert Leonard Nelson, Jr.
IPC分类号： G01F23/296 , G01F22/00 , G01S17/42 , G01S17/88 , A01D41/00 , B60P1/00 , G01F23/292 , G01F23/00
CPC分类号： G01F22/00 , A01D41/00 , A01D41/1217 , A01D41/127 , B60P1/00 , G01F23/0069 , G01F23/292 , G01F23/2928 , G01S17/42 , G01S17/88
摘要： A system for determining a volume of loose material within a container comprises a support arm mountable above the container, an array of one or more sensors mounted to the support arm, wherein each of the one or more sensors is configured to determine a discrete distance measurement between the array and a surface of the loose material or a surface of the container, and at least one processor in communication with the array of one or more sensors, the processor configured to estimate a volume of the loose material in the container from discrete distance measurements determined by the one or more sensors of the array.

5. 发明授权

US09638543B2 Rate-of-turn bias estimation for marine navigation 有权
公开(公告)号：US09638543B2
公开(公告)日：2017-05-02
申请号：US13795189
申请日：2013-03-12
申请人： Raven Industries, Inc.
发明人： Robert Leonard Nelson, Jr.
IPC分类号： G01C25/00 , G01C19/5776
CPC分类号： G01C25/005 , G01C19/5776
摘要： An example includes a method to estimate a bias affecting an inertial sensor. The method can include monitoring a plurality of rate-of-turn samples, from the inertial sensor, in a sequence over time, wherein each of the plurality of rate-of-turn samples includes substantially the same actual bias value that is included in each of the plurality of other rate-of-turn samples. The method can include estimating the bias as a weighted average of the plurality of rate-of-turn samples. The method can include determining an adjusted rate-of-turn sample by subtracting the bias from an instant rate-of-turn sample of the plurality of rate-of-turn samples. The method can include putting out the adjusted rate-of-turn.

6. 发明授权

US09446791B2 Refined row guidance parameterization with Hough transform 有权
标题翻译： Hough变换精细行引导参数化
公开(公告)号：US09446791B2
公开(公告)日：2016-09-20
申请号：US14706880
申请日：2015-05-07
申请人： Raven Industries, Inc.
发明人： Robert Leonard Nelson, Jr. , Edwin Ernest Wilson
IPC分类号： G06K9/00 , B62D6/00 , G06T7/00 , G06K9/46 , G05D1/02
CPC分类号： B62D6/00 , A01B69/008 , B62D6/005 , G05D1/021 , G05D1/0246 , G05D2201/0201 , G06K9/00 , G06K9/00791 , G06K9/00798 , G06K9/46 , G06K9/4633 , G06K2207/1016 , G06K2209/17 , G06T7/73 , G06T2207/10004 , G06T2207/10016 , G06T2207/10028 , G06T2207/20061 , G06T2207/30188 , G06T2207/30241 , G06T2207/30252
摘要： Systems and techniques for refined row guidance parameterization with Hough transform are described herein. An electronic representation of a field (ERF) can be received. A steering variable calculation can be performed by executing a cascaded Hough transform on the ERF. An intermediate value used in calculating the steering variable can be selected. A refined intermediate value can be identified from the intermediate value by measuring a difference between the intermediate value and an anchor value. The steering variable calculation can be adjusted using the refined intermediate value.
摘要翻译：本文描述了使用霍夫变换进行精细行引导参数化的系统和技术。可以接收字段（ERF）的电子表示。可以通过在ERF上执行级联霍夫变换来执行转向变量计算。可以选择用于计算转向变量的中间值。可以通过测量中间值和锚点值之间的差异从中间值来识别精细的中间值。转向变量计算可以使用精细的中间值进行调整。

7. 发明授权

US09374940B2 Row guidance parameterization with hough transform 有权
标题翻译：行引导参数化与hough变换
公开(公告)号：US09374940B2
公开(公告)日：2016-06-28
申请号：US14836647
申请日：2015-08-26
申请人： Raven Industries, Inc.
发明人： Robert Leonard Nelson, Jr.
IPC分类号： A01B69/00 , G05D1/00 , G06T7/00 , A01B69/04 , G05D1/02
CPC分类号： A01B69/008 , A01B69/007 , G05D1/0219 , G05D1/0246 , G06T7/536 , G06T2207/20061
摘要： Systems and techniques for row guidance parameterization with Hough transform are described herein. An electronic representation of a field (ERF) can be received. The ERF can include a set of feature sets including one of a set of crop row features or a set of furrow features. A first parameter space can be produced by applying a slope-intercept Hough transform (SLIHT) to members of a feature set. Peaks in the first parameter space can be identified. A second parameter space can be produced by application of the SLIHT to the peaks. A vanishing point can be calculated based on a vanishing point peak in the second parameter space. A track-angle error can be calculated from the vanishing point.
摘要翻译：本文描述了使用霍夫变换进行行引导参数化的系统和技术。可以接收字段（ERF）的电子表示。 ERF可以包括一组特征集，其包括一组裁剪行特征或一组沟槽特征中的一个。可以通过对特征集的成员应用斜率截距霍夫变换（SLIHT）来产生第一参数空间。可以识别第一个参数空间中的峰。可以通过将SLIHT应用于峰值来产生第二参数空间。可以基于第二参数空间中的消失点峰值来计算消失点。可以从消失点计算出轨道角度误差。

8. 发明授权

US09675000B2 Optical flow sensing application in agricultural vehicles 有权
公开(公告)号：US09675000B2
公开(公告)日：2017-06-13
申请号：US14706867
申请日：2015-05-07
申请人： Raven Industries, Inc.
发明人： Edwin Ernest Wilson , Robert Leonard Nelson, Jr. , David Anthony Fowler
IPC分类号： A01B69/00 , G06T7/00 , B60R1/00 , G06T7/20 , G06K9/00 , G06T7/246 , A01B69/04 , H04N5/232 , H04N9/07 , H04N9/04 , A63B60/42 , G01N3/20 , G01B11/14 , F16C13/00 , G01B5/016 , G01B11/00 , G01N3/04 , G03F7/24 , B05C1/08 , G03G15/08 , G06T1/00 , G03F7/20 , A63B53/10
CPC分类号： A01B69/00 , A01B69/001 , A01B69/008 , A63B53/10 , A63B60/42 , B05C1/08 , B60R1/00 , F16C13/00 , G01B5/016 , G01B11/007 , G01B11/14 , G01N3/04 , G01N3/20 , G03F7/24 , G03F7/70791 , G03G15/0806 , G06K9/00 , G06K9/00791 , G06T1/00 , G06T7/0004 , G06T7/20 , G06T7/246 , G06T2207/30188 , G06T2207/30252 , H04N5/23232 , H04N9/045 , H04N9/07
摘要： System and techniques for optical flow sensing applications in agricultural vehicles are described herein. A plurality of digital images of an agricultural environment can be obtained from a sensor affixed to agricultural equipment. The plurality of digital images can include a first image and a second image, the second image being captured subsequent to the first image. A transformation of a landmark between the first image and the second image can be identified. A degree of motion for the agricultural equipment relative to an environmental target can be calculated based on the transformation of the landmark.

9. 发明授权

US09576215B2 Image filter based on row identification 有权
标题翻译：基于行识别的图像滤波器
公开(公告)号：US09576215B2
公开(公告)日：2017-02-21
申请号：US14706831
申请日：2015-05-07
申请人： Raven Industries, Inc.
发明人： Edwin Ernest Wilson , Robert Leonard Nelson, Jr. , David Anthony Fowler
IPC分类号： G06K9/00 , G06K9/46 , G06T7/00 , A01D34/00 , A01B69/00
CPC分类号： G06K9/4633 , A01B69/007 , A01D34/008 , G06K9/00671 , G06K9/00697 , G06K9/00791 , G06K2207/1016 , G06K2209/17 , G06T7/0002 , G06T7/536 , G06T2207/10016 , G06T2207/10021 , G06T2207/10024 , G06T2207/10028 , G06T2207/20076 , G06T2207/20092 , G06T2207/30244
摘要： System and techniques for an image filter based on row identification are described herein. A crop row center represented in an image of a crop row can be calculated. A filter corresponding to a set of expected crop characteristics of the crop row can be obtained. Elements in the image can then be categorized based on applying the filter to the image when the filter anchored on the crop row.
摘要翻译：本文描述了基于行识别的图像滤波器的系统和技术。可以计算在裁剪行的图像中表示的裁剪行中心。可以获得与裁剪行的预期裁剪特性的集合相对应的过滤器。然后，当过滤器锚定在裁剪行上时，可以将图像中的元素分类为基于将过滤器应用于图像。

10. 发明授权

US09380738B2 System and method for determining implement train position 有权
标题翻译：确定实施列车位置的系统和方法
公开(公告)号：US09380738B2
公开(公告)日：2016-07-05
申请号：US14584322
申请日：2014-12-29
申请人： Raven Industries, Inc.
发明人： Robert Leonard Nelson, Jr.
IPC分类号： A01B63/114 , G05D1/02 , A01B69/02 , A01B69/00 , G06F11/30 , A01C21/00 , A01B76/00 , A01B69/08
CPC分类号： A01B76/00 , A01B69/006 , A01B69/007 , A01C21/00 , G05D1/021 , G06F11/30
摘要： Leading vehicle position information can be used to determine a location and heading of one or more implements of a trailing vehicle in an implement train that includes the leading vehicle. In an example, the leading vehicle pulls one or more trailing vehicles, and information about the leading vehicle position or heading is used to update a function of one or more implements associated with trailing vehicles of the implement train. In an example, the present subject matter includes identifying a heading of a trailing vehicle based on its initial location, an intermediate location, and a destination location. In an example, the present subject matter includes identifying a speed of one or more points on a trailing vehicle. In some examples, the present subject matter includes determining a location, heading, or speed of multiple implements associated with multiple trailing vehicles.
摘要翻译：领先的车辆位置信息可以用于确定包括前方车辆的车辆列车中的后方车辆的一个或多个车辆的位置和方位。在一个示例中，前导车辆牵引一个或多个后方车辆，并且使用关于前方车辆位置或航向的信息来更新与车辆列车的尾随车辆相关联的一个或多个车辆的功能。在一个示例中，本主题包括基于其初始位置，中间位置和目的地位置识别尾随车辆的航向。在一个示例中，本主题包括识别尾随车辆上的一个或多个点的速度。在一些示例中，本主题包括确定与多个后续车辆相关联的多个工具的位置，航向或速度。

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