US 12,116,147 B2
Sampling method and sampling system
Fuminobu Sakamoto, Kakamigahara (JP); and Toyotoshi Kurose, Seki (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Filed on Oct. 10, 2023, as Appl. No. 18/378,410.
Application 18/378,410 is a division of application No. 17/092,422, filed on Nov. 9, 2020, granted, now 11,926,440.
Application 17/092,422 is a continuation of application No. PCT/JP2019/018356, filed on May 8, 2019.
Claims priority of provisional application 62/668,989, filed on May 9, 2018.
Prior Publication US 2024/0034486 A1, Feb. 1, 2024
Int. Cl. B64G 1/00 (2006.01); B64G 1/10 (2006.01); B64G 1/16 (2006.01); B64G 1/22 (2006.01); B64G 1/24 (2006.01); B64G 1/36 (2006.01); G06T 7/73 (2017.01); G06V 10/22 (2022.01); G06V 10/24 (2022.01); G06V 20/10 (2022.01); G06V 20/64 (2022.01)
CPC B64G 1/105 (2013.01) [B64G 1/16 (2013.01); B64G 1/222 (2013.01); B64G 1/2427 (2023.08); B64G 1/36 (2013.01); G06T 7/74 (2017.01); G06V 10/22 (2022.01); G06V 10/245 (2022.01); G06V 20/10 (2022.01); G06V 20/64 (2022.01); B64G 1/1071 (2023.08); G06T 2207/30204 (2013.01); G06T 2207/30248 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A sampling system comprising:
a sampler for bringing back a sample of a ground surface;
a projector configured to project a reference mark onto the ground surface, the reference mark including a line that has a predetermined shape;
a camera configured to capture an image of the reference mark that is displayed on the ground surface by projection;
an arm whose distal end portion is provided with the sampler, the projector, and the camera; and
a controller configured to:
obtain a size of the line that is displayed on the ground surface by projection, based on image data of the reference mark captured by the camera;
adjust a height position of the projector based on the obtained size of the line; and thereafter
specify a sampling point, into which the sampler is thrown and inserted, based on the image data of the reference mark captured by the camera.