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公开(公告)号：AU2010242543B2
公开(公告)日：2016-01-14
申请号：AU2010242543
申请日：2010-04-30
Applicant: TECH RESOURCES PTY LTD
Inventor： NETTLETON ERIC , HENNESSY ROSS , DURRANT-WHYTE HUGH , GOKTOGAN ALI HAYDAR
IPC: G06F19/00
Abstract: A planning system (201) for scheduling the operation of autonomous entities within a defined geographical region. The planning system operates at a region plan level (301) for strategic planning across the geographical region, at an operation plan level (302) for operations to be performed by autonomous entities in localised zones having operation-defined geographical boundaries, and at a task plan level (303) in which processing is undertaken in respect of specific tasks to be performed by the autonomous entities, in undertaking the operations.
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公开(公告)号：AU2009200855B2
公开(公告)日：2014-05-15
申请号：AU2009200855
申请日：2009-03-04
Applicant: TECH RESOURCES PTY LTD
Inventor： DURRANT-WHYTE HUGH , RAMOS FABIO TOZETO , HATHERLY PETER JAMES
Abstract: A system and method are described for generating a model of an environment in which a plurality of equipment units (104) are deployed for the extraction of at least one 5 resource from the environment. The system comprises a pre-extraction or in-ground modelling unit (204) configured to receive data from a first plurality of heterogeneous sensors in the environment and to fuse the data into a pre-extraction model descriptive of the environment and the at least one resource. An equipment modelling unit (208) is configured to receive equipment data relating to the plurality of equipment units 0 operating in the environment and to combine the equipment data into an equipment model. A post-extraction or out-of-ground modelling unit (206) is configured to receive data from a second plurality of sensors and to fuse the data into a post-extraction model descriptive of material extracted from the environment, wherein at least one of the equipment units operates to extract the at least one resource from the environment. 5 Information from at least one of the pre-extraction model, the equipment model and the post-extraction model is communicable to the equipment units for use in controlling operation of the equipment units in the environment. The environment may be a mine. (Figure 2) (N3 0 _ (0 0 E2f aw3 a)0 u 0 0 0) U)) 4-Ir E Q 0) U) 0) NN (NC (D W
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公开(公告)号：AU2010242545B2
公开(公告)日：2015-07-30
申请号：AU2010242545
申请日：2010-04-30
Applicant: TECH RESOURCES PTY LTD
Inventor： NETTLETON ERIC , HENNESSY ROSS , DURRANT-WHYTE HUGH , GOKTOGAN ALI HAYDAR
IPC: G05B19/418 , E21F17/00 , G05B19/18
Abstract: Methods and systems are described for effecting autonomous operations within a defined geographical region (1110). A plurality of localised zones (1102, 1104, 1106, 1108) having operation-defined geographical boundaries are specified within the region. A plurality of control modules are established associated with respective ones of the localised zones and autonomous operations are effected under the supervisory control of the control module associated with the localised zone in which the autonomous operation occurs. The geographical disposition of the boundary of at least one of the localised zones is varied within the defined geographical region.
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公开(公告)号：AU2011320033B2
公开(公告)日：2015-06-25
申请号：AU2011320033
申请日：2011-10-28
Applicant: TECH RESOURCES PTY LTD
Inventor： INNES CHRIS , NETTLETON ERIC , DURRANT-WHYTE HUGH , MELKUMYAN ARMAN
Abstract: Methods and systems are described for tracking material through a production chain or operational process chain in which the material is transferred via a plurality of spatially distinct lumped masses of material (12, 14, 16, 18). A dynamic state space (430) is maintained descriptive of the plurality of spatially distinct lumped masses of material, wherein a quantity of entries in the dynamic state space is augmented or diminished dependent on a quantity of spatially distinct lumped masses being tracked. Measurements relating to an observed lumped mass of material are fused into the dynamic state space and a dynamic covariance matrix to provide an updated estimate of material in the plurality of spatially distinct lumped masses of material.
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公开(公告)号：AU2009200859B2
公开(公告)日：2014-08-07
申请号：AU2009200859
申请日：2009-03-04
Applicant: TECH RESOURCES PTY LTD
Inventor： NIETO JUAN , DURRANT-WHYTE HUGH , BLAIR ALLAN
Abstract: A method of mining comprising: using a vehicle fitted with scanning module to scan a bench face of a mine bench for both geometric and geological information; making ore grade assessments of material at the bench face from the information provided by the 5 bench face scan; removing material from the bench; and transporting removed material for processing. At least one of said removing, transporting, and processing is performed at least partially dependent on the ore grade assessments. Take initial scan ____ Provide data to processing station __ _56 Fuse data to generate model Tk 58 Take further scan Provide data to processing station Update model and/or create new model 10 Use model(s) Figure 3
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Patent Agency Ranking
公开(公告)号：AU2010242540B2
公开(公告)日：2016-01-14
申请号：AU2010242540
申请日：2010-04-30
Applicant: TECH RESOURCES PTY LTD
Inventor： NETTLETON ERIC , HENNESSY ROSS , DURRANT-WHYTE HUGH , GOKTOGAN ALI HAYDAR
IPC: G05B19/418 , E21F17/00 , G05B17/00 , G05B19/18
Abstract: Autonomous operations are conducted within a defined geographical region. In an autonomous system of a management party a plurality of localised zones are established having operation-defined geographical boundaries within the geographical region. Entities having autonomous operating systems to perform specific autonomous operations within respective ones of the localised zones. The autonomous system of the management party is integrated with the autonomous operating systems of the entities.
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公开(公告)号：AU2010295227B2
公开(公告)日：2015-02-05
申请号：AU2010295227
申请日：2010-09-15
Applicant: TECH RESOURCES PTY LTD
Inventor： HENNESSY ROSS , OPPOLZER FLORIAN , FAN XIUYI , SINGH SURYA P N , DURRANT-WHYTE HUGH
Abstract: An autonomous navigation system for a tracked or skid-steer vehicle is described. The system includes a path planner (54) that computes a series of waypoint locations specifying a path to follow and vehicle location sensors (82). A tramming controller (60) includes a waypoint controller (62) that computes vehicle speed and yaw rate setpoints based on vehicle location information from the vehicle location sensor and the locations of a plurality of neighbouring waypoints, and a rate controller (64) that generates left and right track speed setpoints from the speed and yaw rate setpoints. A vehicle control interface actuates the vehicle controls in accordance with the left and right track speed setpoints.
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公开(公告)号：AU2010242544B2
公开(公告)日：2015-07-16
申请号：AU2010242544
申请日：2010-04-30
Applicant: TECH RESOURCES PTY LTD
Inventor： NETTLETON ERIC , HENNESSY ROSS , DURRANT-WHYTE HUGH , GOKTOGAN ALI HAYDAR , HATHERLY PETER JAMES , RAMOS FABIO TOZETO
IPC: G06Q50/00 , E21F17/00 , G05B19/18 , G05B19/418
Abstract: Methods and systems are described for generating a data representation of a geographical region as an adjunct to conducting autonomous operations within the region. The method comprises receiving information specifying a plurality of localised zones having operation-defined geographical boundaries within the region; receiving heterogeneous data descriptive of the region; associating the received data with respective localised zones; fusing the received data associated with the localised zones into data representations of the localised zones; and integrating the data representations of the localised zones into a common data representation of the geographical region.
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公开(公告)号：AU2010242542B2
公开(公告)日：2015-07-16
申请号：AU2010242542
申请日：2010-04-30
Applicant: TECH RESOURCES PTY LTD
Inventor： NETTLETON ERIC , HENNESSY ROSS , DURRANT-WHYTE HUGH , GOKTOGAN ALI HAYDAR , SINGH SURYA P N
Abstract: A hierarchical control system (203) for supervising operations of an autonomous operator located within a defined geographical region containing a localised zone having an operation-defined boundary. The control system (203) has a primary controller (604) associated with the defined geographical region and a secondary controller (605) associated with the localised zone. The secondary controller (605) is responsive to the supervisory control of the primary controller (604). The autonomous operator, if located within the localised zone, is responsive to the supervisory control of the secondary controller (605).
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公开(公告)号：AU2010242541B2
公开(公告)日：2014-09-18
申请号：AU2010242541
申请日：2010-04-30
Applicant: TECH RESOURCES PTY LTD
Inventor： NETTLETON ERIC , HENNESSY ROSS , DURRANT-WHYTE HUGH , GOKTOGAN ALI HAYDAR , SINGH SURYA P N , BANDARA GURALAWELA EKANAYAKE MUDIYANSELAGE DHARMAP
Abstract: A method is described of regulating movement of an autonomous entity between a first zone (904) and a second zone (901), wherein the first and second zones each have an operation-defined geographical boundary within a defined geographical region. The autonomous entity is instructed to move into a transition zone (906, 907) that spans the first zone and the second zone, wherein the autonomous entity while located in the first zone is responsive to supervisory control of a first controller (912) associated with the first zone. The autonomous entity is registered with a second controller (910) associated with the second zone to enable the autonomous entity to respond to supervisory control of the second controller as the autonomous entity enters the second zone through the transition zone. The autonomous entity is de-registered from the first controller.
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