Author: claimsbot

1. A device for detecting a plant, comprising:
a provider for providing at least one two-dimensional image of a plant leaf with a first two-dimensional resolution, and for providing at least one three-dimensional image of the plant leaf, the three-dimensional image comprising a two-dimensional representation of the plant leaf with a second two-dimensional resolution which is smaller than the first two-dimensional resolution, and comprising a third dimension of the three-dimensional image for points of the two-dimensional representation; and
a processor for merging the two-dimensional image and the three-dimensional image so as to acquire a three-dimensional result representation of at least a portion of the plant leaf, said result representation comprising three-dimensional information for a number of points which is larger than the number of points of the portion of the three-dimensional image for which the information about the third dimension exists,
to transform the three-dimensional image to a surface representation,
to transform the two-dimensional image to a multi-valued three-dimensional representation wherein a third dimension is multi-valued and is restricted to having comprising points on a beam starting from a projection center, and
to determine an unambiguous third dimension by calculating an intersection point of the beam with the surface representation.
2. The device as claimed in claim 1, wherein the processor is implemented to enlarge, by extrapolation, an area generated from the three-dimensional image during generation of the surface representation, such that a sought-for three-dimensional area is comprised in the area enlarged by extrapolation, and
wherein intersection points of the beams indicate border points of the sought-for three-dimensional area, such that the area enlarged by extrapolation is cut by using the intersection points for acquiring the sought-for three-dimensional area.
3. The device as claimed in claim 1, wherein for generating the areas from the three dimensional image an interpolation of points of the three-dimensional image is performed.
4. The device as claimed in claim 2, wherein the extrapolation is performed such that the area generated from the three-dimensional image is enlarged by a measure between 10% and 50% of the area generated from the three-dimensional image or more.
5. The device as claimed in claim 1, wherein the provider comprises at least one 2D camera for detecting the two-dimensional image which may be implemented as an optical color camera, or
wherein the provider comprises at least one 3D camera for detecting the three-dimensional image, the information about the third dimension of the three-dimensional image comprising distance values between points of the three-dimensional image and the three-dimensional camera, it being possible for the three-dimensional camera to be a TOF camera.
6. The device as claimed in claim 1, further comprising:
a vehicle implemented to travel on a field or in a greenhouse, a 2D camera and a 3D camera being mounted on the vehicle.
7. The device as claimed in claim 1,
wherein a 2D camera and a 3D camera are implemented to detect a series of single frames of the plant leaf in each case, a detection time for a single frame being shorter than 50 ms.
8. The device as claimed in claim 1, wherein the processor is implemented to calculate a three-dimensional coarse reconstruction of the plant leaf using the three-dimensional image, to extract a two-dimensional silhouette of the plant leaf from the two-dimensional image, and to refine the three-dimensional coarse reconstruction using the two-dimensional silhouette.
9. The device as claimed in claim 8, wherein the processor is implemented to refine the three-dimensional coarse reconstruction such that a two-dimensional silhouette of the refined coarse construction better matches the extracted silhouette than a two-dimensional silhouette of the three-dimensional coarse reconstruction, or that a three-dimensional reconstruction of the extracted silhouette better matches the refined three-dimensional reconstruction than it matches the three-dimensional coarse reconstruction prior to the refinement.
10. The device as claimed in claim 1,
wherein a 2D camera and a 3D camera are implemented to generate, for the plant leaf, at least two single frames from different capturing directions in each case, and
wherein the processor is implemented to use the at least two single frames of the two cameras for creating the three-dimensional result representation.
11. The device as claimed in any of the previous claims, wherein the processor is implemented to calculate, from the three-dimensional result representation, an area of the plant leaf or a position of the plant leaf within the three-dimensional space.
12. The device as claimed in claim 1, further comprising a calibrator implemented to provide, for a 2D camera and a 3D camera, one calculation specification in each case with which coordinates of the two-dimensional image of the 2D camera and coordinates of the three-dimensional image of the 3D camera may be converted to a uniform world coordinate system,
the processor being implemented to convert the two-dimensional image and the three-dimensional image to two-dimensional world coordinates and three-dimensional world coordinates, respectively.
13. The device as claimed in claim 1,
wherein the processor is implemented to employ foreknowledge about an expected geometry of the plant leaf during transformation of the three-dimensional image into a surface representation or during generation or transformation of the two-dimensional image into the multi-valued three-dimensional representation.
14. The device as claimed in claim 1, wherein the processor is implemented to extract an outline of the plant leaf from the two-dimensional representation,
to extract a parameterized area from a database by using the outline with foreknowledge about an expected geometry of the plant leaf, and
to calculate one or several parameters for the parameterized area by using the three-dimensional representation so as to acquire the result representation.
15. The device as claimed in claim 1,
wherein the processor is implemented to extract an outline or a silhouette of the plant leaf from the two-dimensional image by using color information of the two-dimensional image.
16. The device as claimed in claim 1,
wherein the processor is implemented to extract, from the two-dimensional image, information about an inner structure of the plant leaf, and
to provide a three-dimensional result representation in which the inner structure of the plant leaf is comprised.
17. The device as claimed in claim 1, wherein the portion of the plant leaf is a border of the plant leaf.
18. A method of detecting a plant, comprising:
providing a two-dimensional image of a plant leaf with a first two-dimensional resolution, and providing a three-dimensional image of the plant leaf, the three-dimensional image comprising a two-dimensional representation of the plant leaf with a second two-dimensional resolution which is smaller than the first two-dimensional resolution, and comprising a third dimension of the three-dimensional image for points of the two-dimensional representation; and
merging the two-dimensional image and the three-dimensional image so as to acquire a three-dimensional result representation of at least a portion of the plant leaf, said result representation comprising three-dimensional information for a number of points which is larger than the number of points of the portion of the three-dimensional image for which the information about the third dimension exists,
to transform the three-dimensional image to a surface representation,
to transform the two-dimensional image to a multi-valued three-dimensional representation wherein a third dimension is multi-valued and is restricted to having comprising points on a beam starting from a projection center, and
to determine an unambiguous third dimension by calculating an intersection point of the beam with the surface representation.
19. A computer program comprising a program code for performing a method of detecting a plant, the method comprising:
providing a two-dimensional image of a plant leaf with a first two-dimensional resolution, and providing a three-dimensional image of the plant leaf, the three-dimensional image comprising a two-dimensional representation of the plant leaf with a second two-dimensional resolution which is smaller than the first two-dimensional resolution, and comprising a third dimension of the three-dimensional image for points of the two-dimensional representation; and
merging the two-dimensional image and the three-dimensional image so as to acquire a three-dimensional result representation of at least a portion of the plant leaf, said result representation comprising three-dimensional information for a number of points which is larger than the number of points of the portion of the three-dimensional image for which the information about the third dimension exists,
to transform the three-dimensional image to a surface representation,
to transform the two-dimensional image to a multi-valued three-dimensional representation wherein a third dimension is multi-valued and is restricted to comprising points on a beam starting from a projection center, and
to determine an unambiguous third dimension by calculating an intersection point of the beam with the surface representation,
when the computer program runs on a computer.

The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.

1. A multidirectional operation switch comprising:
(a) a substantially cylindrical upper case;
(b) a lower case covering a bottom surface of said upper case;
(c) a rocking body held between said upper case and said lower case to be capable of rocking, said rocking body having a plurality of depressing parts radially projecting from a center thereof, and an operating shaft projecting upwardly therefrom;
(d) a plurality of switches each of which is to be depressed by a respective one of the plurality of depressing parts according to rocking of said rocking body to establish or break electrical contact;
(e) a resilient member housed in a lower portion of said rocking body; and
(f) a tactile feedback member housed in a position below said resilient member in the lower portion of said rocking body;
wherein said tactile feedback member is urged by said resilient member and brought into resilient contact with a recess provided in said lower case;
wherein said rocking body has a spherical fulcrum portion, that is a center of rocking, in a middle thereof leading to the operating shaft;
wherein said upper case has an upper support having a first spherical curved surface;
wherein said lower case has a lower support having a second spherical curved surface;
wherein the fulcrum portion is held by the first spherical curved surface and the second spherical curved surface; and
wherein centers of the spherical fulcrum portion, the first spherical curved surface, and the second spherical curved surface are in substantially the same position.
2. The multidirectional operation switch of claim 1, wherein said tactile feedback member has a projecting tip part in resilient contact with the recess.
3. The multidirectional operation switch of claim 2, wherein a side aid lower case is formed of a plurality of inclined planes having different inclinations.
4. The multidirectional operation switch of claim 1, wherein a side aid lower case is formed of a plurality of inclined planes having different inclinations.

1. Method for electronically controlling a bicycle gearshift comprising at least one derailleur, comprising the sequential steps of:
a) imparting through control electronics a movement on the derailleur of the gearshift until the derailleur is in an intended position;
b) waiting through the control electronics for a predetermined time period;
c) performing through the control electronics a check whether the derailleur is in the intended position, within a possible predetermined tolerance; and
d) in case said check has a negative outcome, imparting through the control electronics a further movement on the derailleur of the gearshift until the derailleur is in the intended position.
2. Method according to claim 1, wherein step a) of imparting a movement on the derailleur comprises actuating a motor of the derailleur and stopping it automatically when it is assumed that the derailleur is in an intended position, and carrying out a feedback control of the derailleur obtaining a feedback signal from at least one sensor, and optionally actuating the motor again in case the intended position has not been reached.
3. Method according to claim 1, wherein step a) is carried out as a consequence of a gearshifting request signal or to carry out a repositioning following a negative outcome of the check whether the position of the derailleur is the intended one, within a possible predetermined tolerance.
4. Method according to claim 1, wherein between two successive executions of said step a) to carry out a respective gearshifting, said step b) of waiting and a step c1) of reading an actual position of the derailleur, as well as optionally said steps c) and d), are carried out cyclically, wherein said predetermined time period is comparatively long, preceded by at least one execution of said steps b), c), d), wherein said predetermined time period is comparatively short.
5. Method according to claim 1, wherein step b) of waiting for a predetermined time period comprises monitoring the passing of time with at least one timer.
6. Method according to claim 1, wherein the intended position of the derailleur is a position that allows the positioning of a motion transmitting chain into engagement with a first of at least two coaxial toothed wheels, and it is evaluated based on a current value of a variable of the derailleur, wherein a predetermined value of the variable of the derailleur is provided for each toothed wheel associated with the derailleur.
7. Method according to claim 1, wherein step c) of checking is repeated a predetermined number of times irrespective of the outcome of each check, when said step a) is carried out to actuate a gearshifting.
8. Method according to claim 1, wherein said step d) is repeated at most a predetermined number of times before a second execution of step a) actuating a gearshifting consequent to a second gearshifting request signal.
9. Method according to claim 8, wherein each repetition of said step d) for the predetermined number of times can be carried out when said step c) of checking with a negative outcome is carried out after the comparatively short time period or when said step c) of checking with a negative outcome is carried out after the comparatively long time period.
10. Method according to claim 1, wherein if during said step b) of waiting there is a gearshifting request signal, the intended position is updated and the execution of step a) is returned to.
11. Electronically servo-assisted bicycle gearshift, comprising:
a chain and toothed wheels system for transmitting motion from an axle of the pedal cranks to a driving wheel of the bicycle, said motion transmission system comprising at least two toothed wheels that are coaxial along an axis selected from the axle of the pedal cranks and the axis of the driving wheel,
at least one derailleur comprising a chain guide element and an actuator of the chain guide element to move the chain into engagement with a preselected toothed wheel of said at least two coaxial toothed wheels, and
the control electronics comprising modules adapted to carry out the method according to claim 1.
12. Gearshift according to claim 11, wherein said actuator comprises a DC brush motor driven by a number of, each one of the steps corresponding to a fraction of a revolution, more preferably to one thirty-second of a revolution.
13. Derailleur comprising a chain guide element and an actuator of the chain guide element to move a chain into engagement with a preselected toothed wheel of at least two coaxial toothed wheels, and the control electronics comprising modules adapted to actuate the method according to claim 1.
14. Bicycle comprising an electronically servo-assisted bicycle gearshift according to claim 11.

The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.

1. A perfusion system for perfusing an organ, the system comprising: a perfusion fluid circuit arranged to circulate perfusion fluid through the organ; a surrogate organ arranged to be connected into the circuit in place of the organ so that the circuit can circulate fluid through the surrogate organ; and organ sensing means arranged to distinguish between the presence of the organ in the circuit and the presence of the surrogate organ in the circuit.
2. A system according to claim 1 wherein the organ sensing means comprises at least one pressure sensor arranged to measure the pressure of the perfusion fluid at at least one point in the circuit.
3. A system according to claim 2 wherein the organ sensing means is arranged to measure the difference in pressure between two points in the circuit.
4. A system according to claim 2 or claim 3 wherein the organ sensing means comprises one pressure sensor arranged to measure the pressure of perfusion fluid flowing towards the organ, and one pressure sensor arranged to measure the pressure of perfusion fluid flowing away from the organ.
5. A system according to any foregoing claim wherein the organ sensing means comprises a flow meter arranged to measure the rate of fluid flow at at least one point in the circuit.
6. A system according to any foregoing claim wherein the control means is arranged to operate in two different modes, one of which is a perfusion mode suitable for perfusion of an organ and one of which is a preparation mode suitable for preparing the system for perfusion of an organ.
7. A system according to claim 6 wherein the control means is arranged, in both of the modes, to control the content of at least one component of the perfusion fluid, but to control the fluid flow in the perfusion circuit in a different way in each of the two modes.
8. A system according to any foregoing claim further comprising adjustment means for adjusting the content of at least one component in the fluid, measuring means for measuring the content of said at least one component in the perfusion fluid, and control means arranged to control the adjustment means so as to keep said measured content within a target range.
9. A perfusion system for the perfusion of an organ, the system comprising a perfusion fluid circuit for circulating perfusion fluid through the organ, adjustment means for adjusting the content of at least one component in the fluid, measuring means for measuring the content of said at least one component in the perfusion fluid, and control means arranged to control the adjustment means so as to keep said measured content within a target range.
10. A perfusion system according to claim 9 wherein the at least one component is at least one of: oxygen; carbon dioxide; and a nutrient.
11. A perfusion system according to claim 8 or claim 9 wherein the at least one component comprises oxygen, and the adjustment means comprises oxygen adding means arranged to add oxygen into the fluid.
12. A perfusion system according to any of claims 7 to 11 wherein the at least one component comprises carbon dioxide, and the adjustment means comprises carbon dioxide extraction means arranged to extract carbon dioxide from the fluid.
13. A perfusion system according to any of claims 7 to 12 wherein the at least one component is at least one of: oxygen and carbon dioxide; the system further comprising nutrient measuring means arranged to measure the content of at least one nutrient in the fluid, a nutrient supply, and nutrient adding means arranged to add the nutrient from the supply into the fluid, wherein the control means is arranged to control the nutrient adding means to add the nutrient if the content of the nutrient falls below a target range.
14. A perfusion system according to any of claims 7 to 13 further comprising a thermometer arranged to measure the temperature of the fluid, and thermal adjustment means arranged to adjust the temperature of the fluid, wherein the control means is arranged to control the thermal adjustment means to maintain the temperature of the fluid within a target range.
15. A perfusion system according to any of claims 7 to 14 further comprising an analysis duct through which the fluid can flow, wherein the measuring means is arranged to measure the fluid in the analysis duct.
16. A perfusion system according to any of claims 7 to 15 wherein the measuring means is arranged to operate during perfusion of the organ and the control means is arranged to operate during perfusion of the organ to maintain the target range or ranges.
17. A perfusion system according to any of claims 7 to 16 wherein the control means includes a memory arranged to store at least one limit of said range, or of at least one of said ranges, and the control means is arranged to compare the measured content with said at least one limit.
18. A perfusion system according to any of claims 7 to 17 further comprising a user interface arranged to enable a user to input at least one limit of said range, or of at least one of said ranges.
19. A system according to any foregoing claim further comprising a bubble detection means arranged to detect bubbles in the fluid during perfusion, wherein the control means is arranged to respond to detection of bubbles by the bubble detection means.
20. A perfusion system comprising a circuit for circulating perfusion fluid through the organ, control means arranged to control the flow of fluid round the perfusion circuit, and bubble detection means arranged to detect the presence of bubbles in the fluid, wherein the control means is arranged to respond to detection of bubbles by the bubble detection means.
21. A system according to claim 19 or claim 20 wherein the control means is arranged to respond to detection of the bubbles by at least one of: producing a warning output, and reducing the fluid flow through at least one part of the circuit.
22. A system according to any of claims 19 to 21 wherein the bubble detection means is arranged also to measure the flow rate of fluid in the perfusion circuit.
23. A system according to any of claims 19 to 22 wherein the bubble detection means comprises an ultrasound transducer.
24. A system according to claim 23 wherein the bubble detection means is arranged to determine both whether bubbles are present in the fluid and the flow rate of the fluid from the timing of ultrasound transmissions and detections.
25. A system according to any foregoing claim further comprising measuring means arranged to measure the amount of fluid secreted by or leaked from the organ.
26. A system according to claim 25 further comprising a sump arranged to collect the secreted or leaked fluid, wherein the measuring means is arranged to measure the volume of fluid that enters the sump.
27. A system according to claim 25 or claim 26 which is arranged to record and display the amount of fluid that is secreted or leaked.
28. A system according to any foregoing claim further comprising a support stand on which at least some of the components of at least one of the perfusion circuit, the adjustment means and the control means are mounted, and a transport system on which the support stand can be mounted, wherein the transport system includes a cover arranged to cover the support stand and the components mounted on it.
29. A system according to claim 28 wherein the transport system includes a wheeled base.
30. A system according to claim 27 or claim 28 wherein the transport system is arranged to support the support stand in transport position, or an operative position which is raised relative to the transport position.
31. A system according to any or claims 25 to 27 wherein the measuring means comprises a fluid collection volume, sensing means arranged to detect when a predetermined volume of the fluid has collected in the collection volume, and control means arranged to remove the fluid from the collection volume when said predetermined volume is reached.
32. A system according to claim 31 wherein the control means is arranged to record each occurrence of the predetermined volume being reached thereby to record the total volume of the fluid flowing from the organ.
33. A system according to claim 32 wherein the control means is arranged to determine the time between subsequent occurrences of the predetermined volume being reached.
34. A system according to claim 33 wherein the control means is arranged to determine, from said time, a flow rate of the fluid from the organ.
35. A system according to any of claims 31 to 34 further comprising display means arranged to display information relating to the amount of the fluid that flows from the organ.
36. A system according to claim 35 wherein the display means is arranged to display a flow rate of the fluid.
37. A system according to claim 35 or claim 36 wherein the display means is arranged to display a total volume of the fluid.
38. A system according to of claims 31 to 37 wherein the measuring means further comprises an outlet from the fluid collection volume and a valve in the outlet, wherein the control means is arranged to open the valve to remove the fluid from the collection volume.
39. A system according to any of claims 31 to 38 wherein the measuring means comprises a level sensor arranged to sense when the fluid in the collection volume reaches a predetermined level.
40. A system according to any of claims 31 to 39 wherein the measuring means comprises a pump and the control means is arranged to operate the pump to remove the fluid from the collection volume.
41. A system according to any of claims 31 to 40 comprising an inlet duct, an outlet duct and an overflow duct connected together.
42. A system according to claim 41 wherein the collection volume is defined at least partly within the inlet duct.
43. A system according to claim 41 or claim 42 wherein the collection volume is defined at least partly within the overflow duct.
44. A system according to any of claims 41 to 43 wherein the measuring means is arranged to detect the level of the fluid in at least one of the inlet duct and the overflow duct.
45. A system according to any of claims 41 to 44 further comprising a sump wherein the outlet duct and the overflow duct are both connected to the sump.
46. A system according to any of claims 41 to 45 further comprising a connector for connecting the measuring means via a cannula to the organ.
47. A method of measuring fluid flowing from an organ, the method comprising collecting the fluid in a fluid collection volume, detecting when a predetermined volume of the fluid has collected in the collection volume, and removing the fluid from the collection volume when said predetermined volume is reached.
48. A method according to claim 47 further comprising recording each occurrence of the predetermined volume being reached thereby to record the total volume of the fluid from the organ.
49. A method system according to claim 48 comprising determining the time between subsequent occurrences of the predetermined volume being reached.
50. A method according to claim 49 comprising determining, from said time, a flow rate of the fluid from the organ.
51. A method according to any of claims 47 to 50 wherein the fluid is bile, or urine, or ascites, or interstitial fluid.
52. A measuring system for measuring the amount of fluid flowing from an organ, wherein the system comprises a fluid collection volume, sensing means arranged to detect when a predetermined volume of the fluid has collected in the collection volume, and control means arranged to remove the fluid from the collection volume when said predetermined volume is reached.