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.

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.

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.

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

IPC: G06F19/00 ,  G08G9/00

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).

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

IPC: G06F19/00 ,  G08G9/00

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.

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.

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

IPC: G05D1/02 ,  G05D1/08

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.