Abstract: System that automates crop maintenance activities, such as cultivating and weeding, with a device that intelligently and independently controls two blades that drag along either side of a crop row using sensors to repeatedly track the position of the blades and of the plants in the row. Blades may be moved in and out independently using an actuator for each blade to contour closely around the individual plants, even if plants or rows vary in their positions, and even if plant sizes and shapes differ. An illustrative system may use a single camera and a processor per crop row; the processor may analyze camera images to locate plant positions and shapes, to plan blade trajectories, and to control blade actuators. The processor may be able to control blade movement precisely to respond quickly to sensor input on changes in plant positions, shapes, and sizes along the row.

Abstract: A sensor that detects contact using compression of a compliant material sandwiched between an electromagnetic signal transmitter and a corresponding signal receiver. Potential applications include inexpensive, robust collision sensors integrated into mobile robot bumpers, and sensors on robot grippers to detect grasping of an object. Deformation of the compliant material in response to contact forces changes the distance between the transmitter and the receiver, affecting the electromagnetic field between them. Changes in this electromagnetic field provide information on the location and magnitude of the contact forces. A transmitter and receiver may form opposing surfaces of a capacitor; the measured capacitance changes as the distance between transmitter and receiver changes. Alternatively, the strength of a received signal may be monitored to detect changing distance between transmitter and receiver. Shielding and signal filtering may be used to mitigate the effects of electromagnetic noise.

Abstract: A sensor that detects contact using compression of a compliant material sandwiched between an electromagnetic signal transmitter and a corresponding signal receiver. Potential applications include inexpensive, robust collision sensors integrated into mobile robot bumpers, and sensors on robot grippers to detect grasping of an object. Deformation of the compliant material in response to contact forces changes the distance between the transmitter and the receiver, affecting the electromagnetic field between them. Changes in this electromagnetic field provide information on the location and magnitude of the contact forces. A transmitter and receiver may form opposing surfaces of a capacitor; the measured capacitance changes as the distance between transmitter and receiver changes. Alternatively, the strength of a received signal may be monitored to detect changing distance between transmitter and receiver. Shielding and signal filtering may be used to mitigate the effects of electromagnetic noise.

Abstract: Utilizes machine vision to thin fields, for example by selectively spraying plants with enough fertilizer to kill the plants, for example to maintain a minimum distance between plants or to enable remaining plants to grow in a pattern, for example two dimension diamond pattern. The use of fertilizer to kill plants has the benefit of fertilizing the field, i.e., the remaining plants not to be killed, at the same time. This unexpected result which occurs in the thinning and simultaneous fertilizing of a field is based the discovery that immature plants are more sensitive to fertilizer than mature plants. The system and method eliminates the need for harmful chemicals and mechanical thinners and may be retrofitted onto existing spray systems and platforms, thus eliminating herbicides and thinning machinery.

Abstract: 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.

Abstract: 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.

Abstract: Autonomous personal service robot to monitor its owner for symptoms of distress and provide assistance. The system may include sensors to detect situations before they affect people such as smoke, heat, temperature and carbon monoxide sensors. The system can provide security for the home. The PRA may comprise features such as a medicine dispenser and blood pressure cuff. Features such as broadband internet, MP3 player, reading lights and eye glass tracker provide butler type capabilities that enable the system to appeal to markets beyond the elderly and infirmed. The system may also include an X10 transmitter/receiver to automatically control various household lights and appliances. Equipping the system with a robot arm enables the robot to fetch items, turn on and off wall switches and open the refrigerator.

Abstract: Angled axis machine vision system having a camera system angled with respect to an axis of coordinate system of environment. Eliminates problem of utilizing horizontal, vertical lines in environment for distance calculations when horizontal and vertical lines are parallel or close to parallel to axis lying between camera centers of camera system. With camera centers angled about roll axis, horizontal and vertical lines in environment appear as angled lines in images taken from the cameras enabling more accurate distance calculations. With angled axis rotation it is still possible for lines in environment to be parallel to axis defined between camera centers, but instances are rare in real world environments. Camera mount may rotate wherein two sets of pictures are taken and two sets compared for the number of lines which are parallel to axis of camera centers wherein set of pictures with least lines parallel is used for distance calculations.

Abstract: 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.

Abstract: 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.

Abstract: Autonomous personal service robot to monitor its owner for symptoms of distress and provide assistance. The system may include sensors to detect situations before they affect people such as smoke, heat, temperature and carbon monoxide sensors. The system can provide security for the home. The PRA may comprise features such as a medicine dispenser and blood pressure cuff. Features such as broadband internet, MP3 player, reading lights and eye glass tracker provide butler type capabilities that enable the system to appeal to markets beyond the elderly and infirmed. The system may also include an X10 transmitter/receiver to automatically control various household lights and appliances. Equipping the system with a robot arm enables the robot to fetch items, turn on and off wall switches and open the refrigerator.

Abstract: 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.

Abstract: Embodiments of the invention comprise an angled axis machine vision system having a camera system angled with respect to an axis of the coordinate system of the environment. This configuration has all of the advantages of the horizontal alignment while eliminating the inherent problem of utilizing horizontal and vertical lines in an environment for distance calculations when the horizontal and vertical lines are parallel or close to parallel to an axis lying between camera centers of the camera system. With the camera centers angled about the roll axis, horizontal and vertical lines in the environment appear as angled lines in images taken from the cameras enabling more accurate distance calculations. With the camera centers angled downward about the pitch axis objects that are near are more readily observed.

Abstract: An autonomous canister vacuum cleaner has a cleaning head module, a vacuum fan module separated from the cleaning module, and a hose assembly connecting the cleaning head module with the vacuum fan module. The vacuum fan module includes a controller that performs navigation and control functions for both the vacuum fan module and the cleaning head module. Alternatively, the controller may be separated from the vacuum fan module and the cleaning head module, and can be mobile. The vacuum fan module and the cleaning head module each include a drive mechanism for propulsion. The cleaning head module includes a cleaning brush assembly that can be motorized or air driven. The cleaning head module may also include a microcontroller that communicates with the controller.

Abstract: A floor mopping assembly finding use in a cleaning robot. The cleaning robot may be remotely controlled or autonomous. In one embodiment, a feed roller lets out a roll of webbing or toweling, a take-up roller reels in the toweling, and a motor system causes transfer of the toweling between the feed roller and the take-up roller. A housing holds the motor system and the rollers, which are mounted in the housing such that the motor causes transfer of the webbing between the rollers. One of the rollers is configured to rest on the floor or surface so as to cause the toweling to clean the surface. In an alternative embodiment, the assembly also includes a pad to press the toweling against the surface, where the pad is mounted in the housing such that the motor causes transfer of the toweling between the rollers and between the pad and the surface.