公开(公告)号：US07742853B2

公开(公告)日：2010-06-22

申请号：US11636133

申请日：2006-12-08

Applicant: Masaki Mori ,  Tsugio Sudou ,  Akiharu Nishijima ,  Masanori Tojima ,  Kazunori Kuromoto ,  Koji Takeda ,  Tomonori Ozaki

Inventor： Masaki Mori ,  Tsugio Sudou ,  Akiharu Nishijima ,  Masanori Tojima ,  Kazunori Kuromoto ,  Koji Takeda ,  Tomonori Ozaki

IPC: G01C21/26 ,  G05D1/02

CPC classification number: G01C21/005 ,  G05D1/0297 ,  G05D2201/021

Abstract: A restricted area (60) is created based on positional information of a manned vehicle (20) traveling one of outward/return lanes (51, 52), and a detour course (72) is created based on information of the restricted area (60). Information on the detour course (72) is provided to the unmanned vehicles (10, 11) and the manned vehicle (20). Based on the positional information of the unmanned vehicles (10, 11) which proceed towards each other from the opposite directions with the restricted area (60) therebetween, the unmanned vehicle (11) on the lane (52) which is the opposite side of the restricted area (60) is blocked at a block position (61B) and at the same time a travel permission command for permitting traveling the detour course (72) is issued to the unmanned vehicle (10) traveling the lane (51) on the restricted area side so that the unmanned vehicle (10) travels the detour course (72).

Abstract translation: 基于通过向外/返回车道（51,52）中的一个行驶的人载车辆（20）的位置信息创建限制区域（60），并且基于限制区域（60）的信息创建绕行路线（72） ）。 关于迂回路线（72）的信息被提供给无人驾驶车辆（10,11）和载人车辆（20）。 基于在其间具有限制区域（60）的相反方向彼此前进的无人驾驶车辆（10,11）的位置信息，位于车道（52）相对侧的无人驾驶车辆（11） 限制区域（60）在块位置（61B）被阻挡，同时，向在行驶路线（51）上行驶的无人驾驶车辆（10）发出用于允许行走迂回路线（72）的行驶许可命令 限制区域侧，使得无人驾驶车辆（10）行进迂回路线（72）。

公开(公告)号：US07603235B2

公开(公告)日：2009-10-13

申请号：US10550310

申请日：2004-03-25

Applicant: Hannu Mäkelä ,  Thomas Von Numers

Inventor： Hannu Mäkelä ,  Thomas Von Numers

IPC: G08G1/16 ,  G06F17/00 ,  G05B15/00

CPC classification number: G05D1/028 ,  G05D1/024 ,  G05D1/0255 ,  G05D1/0274 ,  G05D2201/021

Abstract: A mine vehicle and a method of preventing a mine vehicle from colliding. The mine vehicle (1) includes at least one scanner (13, 14) to scan the environment in front of the vehicle. On the basis of the scanning, an obstacle-free route is determined whose outermost points in a sideward direction are stored as memory points (21). At least one sideward safe area (15b) has been predetermined around the vehicle (1). A control system checks that no memory point (21) resides within the safe area (15b).

Abstract translation: 矿用车辆和防止矿山车辆碰撞的方法。 矿山车辆（1）包括扫描车辆前方的环境的至少一个扫描器（13,14）。 在扫描的基础上，确定作为存储点（21）存储侧向方向的最外点的无障碍路线。 在车辆（1）周围已经预定了至少一个侧向安全区域（15b）。 控制系统检查在安全区域（15b）内没有存储点（21）。

公开(公告)号：US20090118889A1

公开(公告)日：2009-05-07

申请号：US11992953

申请日：2006-10-02

Applicant: Timo Heino ,  Pekka Vauramo

Inventor： Timo Heino ,  Pekka Vauramo

IPC: G05D1/02

CPC classification number: B62D1/28 ,  B62D12/02 ,  E21C41/00 ,  G05D1/0297 ,  G05D2201/021

Abstract: A method of driving mine vehicles in a mine, and a transport system. A plurality of mine vehicles is arranged in succession and driven in convoy between working areas. A master vehicle in the convoy is driven manually, and slave vehicles follow the master, provided with no mechanical connection. In the working areas, the convoy is disassembled, since single vehicles are each driven separately. When assigned tasks in the working areas have been completed, the vehicles are reassembled into a convoy so as to be driven to a next working area.

Abstract translation: 一种在矿山内开采矿山车辆的方法，以及运输系统。 多个矿山车辆相继布置，并在工作区域之间的车队中驾驶。 车辆中的主车辆是手动驱动的，而从车辆跟随主机，没有机械连接。 在工作区内，车队拆卸，单车分开驱动。 当工作区内的任务完成时，将车辆重新组装成车队，以便被驱动到下一个工作区域。

公开(公告)号：US20090043439A1

公开(公告)日：2009-02-12

申请号：US11922706

申请日：2006-07-26

Applicant: Timothy D. Barfoot ,  Joshua A. Marshall ,  Raja Mukherji ,  Robret Ward

Inventor： Timothy D. Barfoot ,  Joshua A. Marshall ,  Raja Mukherji ,  Robret Ward

IPC: B60W30/10

CPC classification number: G08G1/20 ,  B60W10/04 ,  B60W10/20 ,  B60W2050/0028 ,  B60W2550/14 ,  B60W2550/402 ,  G05B2219/40555 ,  G05B2219/45004 ,  G05D1/024 ,  G05D1/0261 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0297 ,  G05D2201/021 ,  G08G1/202

Abstract: The present invention provides a guidance, navigation, and control method and system for an underground mining vehicle that allow said vehicle to be taught a route by a human operator and then have it automatically drive the route with no human intervention. The method works in three steps: teaching, route profiling, and playback. In the teaching step the vehicle is manually driven by a operator (or using tele-operation whereby the operator views a screen displaying live views from vehicle-mounted cameras and using remote controls) along a route which can consist of an arbitrary sequence of maneuvers including tramming forwards, switching directions, tramming backwards, turning, or pausing movement. During this phase raw data from vehicle-mounted sensors including odometric sensors and rangefinders are logged to a file throughout teaching for later processing. During the (offline) route profiling step, the raw data in the log file are processed into a route profile including a vehicle path, a sequence of local metric submaps located along the path, and a profile of desired speed as a function of distance along the path. During the playback step, the vehicle automatically repeats the route that was taught during the teaching phase, as represented by the route profile. This is accomplished by first determining where the vehicle is on the route using a localization method which uses the odometric and laser rangefinder sensors and the local metric maps to determine the vehicle location. A steering control method adjusts the vehicle's steering to ensure it tracks the intended path. A drive control method adjusts the vehicle's speed accordingly and safety method ensures the vehicle stops in the event that an obstruction is on the vehicle's intended path.

Abstract translation: 本发明提供了一种用于地下采矿车辆的引导，导航和控制方法和系统，其允许所述车辆由人操作者教导路线，然后使其无需人为干预地自动地驱动路线。 该方法分为三个步骤：教学，路线分析和播放。 在教学步骤中，车辆由操作者手动驾驶（或使用遥控操作，其中操作者从车载摄像机观看显示实时视图的屏幕并使用遥控器）沿着可以包括任意操纵序列的路线，包括 向前行驶，转车方向，向后行驶，转弯或暂停运动。 在此阶段，来自车载传感器（包括测向传感器和测距仪）的原始数据将记录到整个教学中，以备后续处理。 在（离线）路线分析步骤期间，日志文件中的原始数据被处理为包括车辆路径，沿着路径定位的局部度量子图的序列以及作为距离的函数的期望速度的轮廓的路线简档 路径。 在回放步骤期间，车辆自动重复在教学阶段中教导的路线，如路线轮廓所示。 这是通过首先使用定位方法来确定车辆在路线上的位置来实现的，该定位方法使用计量和激光测距仪传感器以及本地度量图来确定车辆位置。 转向控制方法调整车辆的转向，以确保其跟踪预期路径。 驱动控制方法相应地调整车辆的速度，并且在障碍物在车辆的预期路径上的情况下，安全方法确保车辆停止。

公开(公告)号：US20070271002A1

公开(公告)日：2007-11-22

申请号：US11419699

申请日：2006-05-22

Applicant: Reed L. Hoskinson ,  Matthew O. Anderson ,  Mark D. McKay ,  Kevin L. Kenney

Inventor： Reed L. Hoskinson ,  Matthew O. Anderson ,  Mark D. McKay ,  Kevin L. Kenney

IPC: G06F19/00

CPC classification number: G06Q10/06 ,  G05D1/0088 ,  G05D1/0291 ,  G05D2201/0201 ,  G05D2201/021

Abstract: A control system for controlling and coordinating a plurality of moving machines includes a global coordinator; a first subsystem controlled by the global coordinator, the first subsystem including a plurality of automated moving machines, the machines including sensors and actuators, including actuators for automated guidance and movement; and a local control system, under guidance of the global coordinator coupled to the sensors and actuators of one of the machines and configured to control automated functions for the machine, including automated guidance and movement; and an intelligent communications system configured to allow communications between the first subsystem and the global coordinator or a second subsystem.

Abstract translation: 用于控制和协调多个移动机器的控制系统包括全局协调器; 由全球协调器控制的第一子系统，第一子系统包括多个自动移动机器，所述机器包括传感器和致动器，包括用于自动引导和移动的致动器; 和一个本地控制系统，在全球协调员的指导下，耦合到其中一台机器的传感器和执行器，并配置为控制机器的自动化功能，包括自动化引导和移动; 以及被配置为允许所述第一子系统与所述全局协调器或第二子系统之间的通信的智能通信系统。

公开(公告)号：US20060265166A1

公开(公告)日：2006-11-23

申请号：US10550309

申请日：2004-03-25

Applicant: Hannu Mäkelä

Inventor： Hannu Mäkelä

IPC: G01C17/38

CPC classification number: G05D1/0038 ,  G01C21/30 ,  G05D1/024 ,  G05D1/0255 ,  G05D1/027 ,  G05D2201/021

Abstract: A method of initializing the position and direction of a mining vehicle, and a mining vehicle. An environmental model and route points are stored in a control system of the vehicle. The environment of the vehicle is scanned, and scanned points are generated based on obstacles observed. The control system is arranged to determine coordinates of the scanned points by using the position of the route points within a search range and at least one direction. The coordinates calculated for the scanned points are compared with the environmental model. Such a route point and direction are selected as initial values for the mining vehicle, by which the generated coordinates of the scanned points best match the environmental model.

Abstract translation: 初始化采矿车辆和采矿车辆的位置和方向的方法。 环境模型和路线点存储在车辆的控制系统中。 扫描车辆的环境，并根据观察到的障碍物生成扫描点。 控制系统被布置成通过使用搜索范围和至少一个方向上的路线点的位置来确定扫描点的坐标。 将扫描点计算的坐标与环境模型进行比较。 选择这样的路线点和方向作为采矿车辆的初始值，由此所产生的扫描点的坐标与环境模型最匹配。

公开(公告)号：US07069124B1

公开(公告)日：2006-06-27

申请号：US10696669

申请日：2003-10-28

Applicant: William Lawrence Whittaker ,  Warren Charles Whittaker ,  Scott Mason Thayer ,  Zachary Meyer Omohundro ,  Carlos Felipe Reverte ,  David Ian Ferguson ,  Aaron Christopher Morris ,  Christopher Baker

Inventor： William Lawrence Whittaker ,  Warren Charles Whittaker ,  Scott Mason Thayer ,  Zachary Meyer Omohundro ,  Carlos Felipe Reverte ,  David Ian Ferguson ,  Aaron Christopher Morris ,  Christopher Baker

IPC: G01V3/38

CPC classification number: G05D1/0274 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0207 ,  G05D2201/021

Abstract: Robotic systems for modeling, mapping and exploring subterranean void spaces such as mines, caves, tunnels, bunkers, and conduits. Robotic modeling of subterranean voids is generally enabled by a procedural system consisting of preprocessing, ingress, void modeling, mapping and navigation, exploration, conveying payloads other than void modeling sensors, egress, and post processing. The robots can either be imposed mobility or can be self mobile with either autonomous, remote, teleoperated, or manual modes of operation. The robot may optionally transform from a compact size into a more conventional operating size if the operating size exceeds the void entry opening size. Void geometries with flat floors are amenable to robot locomotion such as rolling, crawling, walking or swimming. Alternatively, irregular floor geometries that preclude self mobilization may be accessible by imposed mobilization such as dropping or pushing a movable robotic sensor into such voids. The robotic device is preferably adaptable to voids filled with a gas or liquid. To maximize mapping applicability, the robot optionally includes sensing, locomotion and environmental tolerance to submersion and safeguarding, according to use criteria.

Abstract translation: 用于建模，绘图和探索地下空隙的机器人系统，如矿山，洞穴，隧道，掩体和管道。 地下空隙的机器人建模通常由包括预处理，入口，空间建模，映射和导航，勘探，传送除空模型传感器之外的有效载荷，出口和后期处理的程序系统来实现。 机器人可以强加移动性，也可以是自主的，远程的，远程操作的或手动的操作模式。 如果操作尺寸超过空隙入口开口尺寸，则机器人可以可选地从紧凑尺寸变换成更传统的操作尺寸。 具有平坦地板的空隙几何适合机器人运动，如滚动，爬行，步行或游泳。 或者，排除自动动作的不规则地板几何形状可以通过施加的动员来实现，例如将可移动机器人传感器落下或推动到这样的空隙中。 机器人装置优选地适应于填充有气体或液体的空隙。 为了最大限度地提高绘图适用性，机器人根据使用标准可选地包括感知，移动和环境容忍浸入和保护。

公开(公告)号：US5961560A

公开(公告)日：1999-10-05

申请号：US781889

申请日：1996-12-19

Applicant: Carl A. Kemner

Inventor： Carl A. Kemner

IPC: E02F9/20 ,  G05D1/02 ,  G06F165/00

CPC classification number: G05D1/0297 ,  G05D1/0236 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/021

Abstract: The invention is a system and method for managing a service resource by a fleet of mobile machines. Each of the mobile machines has a queue manager adapted to generate a queue position request signal as the mobile machine approaches the service resource. A service manager is on each mobile machine, and is adapted to generate a service request signal in response to a condition of the mobile machine. A resource manager is adapted to establish and control a queue to control access to the resource in response to receiving a queue request position signal. The resource manager is also adapted to receive a service request signal, and responsively determine when to allow the mobile machine to access the service resource based on a condition of each of the mobile machine in the fleet.

Abstract translation: 本发明是一种通过移动机器群管理服务资源的系统和方法。 每个移动机器具有适于在移动机器接近服务资源时生成队列位置请求信号的队列管理器。 服务管理器在每个移动机器上，并且适于响应于移动机器的状况而生成服务请求信号。 资源管理器适于建立和控制队列以响应于接收到队列请求位置信号来控制对资源的访问。 资源管理器还适于接收服务请求信号，并且响应地确定何时允许移动机器基于车队中的每个移动机器的状况来访问服务资源。

公开(公告)号：US5913914A

公开(公告)日：1999-06-22

申请号：US769295

申请日：1996-12-18

Applicant: Carl A. Kemner ,  Craig L. Koehrsen

Inventor： Carl A. Kemner ,  Craig L. Koehrsen

IPC: G05D1/02 ,  G06Q10/04 ,  G08G1/0968 ,  G08G1/123 ,  G06F165/00

CPC classification number: G06Q10/047 ,  G05D1/0297 ,  G08G1/202 ,  G05D1/0236 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/021

Abstract: The invention is a system and method for managing a resource having a dump location. A plurality of stop points are located adjacent to the dump location. Each of a plurality of mobile machines includes a queue manager adapted to generate a queue position request signal as each mobile machine approaches the resource. A resource manager is adapted to establish and control a queue to control access to the resource in response to receiving a queue position request signal. The resource manager is also adapted to enable simultaneous access of the dump location by the mobile machines.

Abstract translation: 本发明是用于管理具有转储位置的资源的系统和方法。 多个停靠点位于倾倒位置附近。 多个移动机器中的每一个包括适于在每个移动机器接近资源时生成队列位置请求信号的队列管理器。 资源管理器适于建立和控制队列以响应于接收到队列位置请求信号来控制对资源的访问。 资源管理器还适于使移动机器能够同时访问转储位置。

公开(公告)号：US5652593A

公开(公告)日：1997-07-29

申请号：US315261

申请日：1994-09-29

Applicant: Quentin H. Rench ,  Stephen Jacobs

Inventor： Quentin H. Rench ,  Stephen Jacobs

IPC: G01S5/22 ,  G01S11/16 ,  G01S13/88 ,  G01S15/88 ,  G01S15/93 ,  G05D1/02 ,  G01S3/02

CPC classification number: G01S15/931 ,  G01S11/16 ,  G01S5/22 ,  G05D1/0242 ,  G05D1/0255 ,  A47L2201/04 ,  G01S13/881 ,  G01S15/88 ,  G01S2015/938 ,  G05D2201/0201 ,  G05D2201/0203 ,  G05D2201/021

Abstract: The disclosure involves a method for guiding a machine within an area. Such method includes the steps of triggering an acoustic locating signal from a stationary "beacon-type" base module to a receiver on the machine. The method is applicable for one-beacon, two-receiver and two-beacon, one-receiver applications. A related apparatus also includes a device for emitting a trigger signal and a device for determining the time elapsed between transmission and reception of the locating signal. An operating principle involves computing the module-to-machine distance by determining the "time of flight" of such signal. The machine is steered along a path, the locus of which is defined by an equation.

Abstract translation: 本公开涉及一种用于在区域内引导机器的方法。 这种方法包括以下步骤：将来自固定的“信标型”基本模块的声学定位信号触发到机器上的接收器。 该方法适用于单信标，双接收机和双信标，单接收机应用。 相关装置还包括用于发射触发信号的装置和用于确定定位信号的发送和接收之间经过的时间的装置。 操作原理包括通过确定这种信号的“飞行时间”来计算模块到机器的距离。 机器沿着路径转向，其轨迹由等式定义。