公开(公告)号：US08554478B2

公开(公告)日：2013-10-08

申请号：US11678313

申请日：2007-02-23

Applicant: Randolph G. Hartman

Inventor： Randolph G. Hartman

IPC: G01C21/00 ,  G01S13/88

CPC classification number: G01C21/005 ,  G01S17/023 ,  G01S17/87 ,  G01S17/875 ,  G01S19/45 ,  G01S19/48 ,  G01S19/53 ,  G05D1/0231 ,  G05D1/0274 ,  G05D2201/0208 ,  G05D2201/021

Abstract: Methods and apparatus for navigating with the use of correlation within a select area are provided. One method includes, storing data required to reconstruct ranges and associated angles to objects along with statistical accuracy information while initially traversing throughout the select area. Measuring then current ranges and associated angles to the objects during a subsequent traversal throughout the select area. Correlating the then current ranges and associated angles to the objects to reconstructed ranges and associated angles to the objects from the stored data. Determining at least one of then current location and heading estimates within the select area based at least in part on the correlation and using the least one of the then current location and heading estimates for navigation.

Abstract translation: 提供了使用选择区域内的相关性进行导航的方法和装置。 一种方法包括在初始遍历整个选择区域时存储重建范围和相关角度所需的数据以及统计精度信息。 在随后遍历整个选择区域期间，测量当前范围和与对象相关的角度。 将当前范围和相关角度与对象重新组合，并根据存储的数据将其与对象相关联。 至少部分地基于相关性并且使用当前的当前位置和导航的航向估计中的至少一个来确定选择区域内的当前位置和航向估计中的至少一个。

公开(公告)号：US20130261868A1

公开(公告)日：2013-10-03

申请号：US13436810

申请日：2012-03-30

Applicant: Ken L. Stratton ,  Eric J. Ruth

Inventor： Ken L. Stratton ,  Eric J. Ruth

IPC: G05D1/00 ,  B62D6/00

CPC classification number: G05D1/00 ,  B62D6/00 ,  B62D15/025 ,  G05D1/024 ,  G05D1/0278 ,  G05D2201/021

Abstract: A system and method for guiding an off-highway truck along a roadway with respect to a trolley line determine a position of the off-highway truck on the roadway by sensing two or more roadside objects and uses the determined position of the off-highway truck and a known position of the trolley line relative to the two or more roadside objects to automatically determine a relative position of the off-highway truck under the trolley line. Based on the relative position of the off-highway truck under the trolley line, the off-highway truck is automatically steered to alter the position of the off-highway truck relative to the trolley line, e.g., to maintain an electrical power flow from the trolley line to the off-highway truck.

Abstract translation: 用于引导越野车辆相对于小车线路的道路车辆的系统和方法通过感测两个或更多个路边物体来确定越野车辆在道路上的位置，并使用非公路卡车的确定位置 以及台车线相对于两个或更多路边物体的已知位置，以自动确定越野车辆在台车线下方的相对位置。 根据超车公路卡车在小车线下的相对位置，越野车卡车自动转向，以改变越野车相对于小车线的位置，例如维持从 小车线到越野卡车。

公开(公告)号：US20130144472A1

公开(公告)日：2013-06-06

申请号：US13308804

申请日：2011-12-01

Applicant: Eric J. Ruth ,  Kenneth Stratton

Inventor： Eric J. Ruth ,  Kenneth Stratton

IPC: B62D6/00 ,  G05D1/00

CPC classification number: B62D1/02 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/021

Abstract: Operating a mining truck includes receiving data indicative of a prospective directional change in an on-trolley availability corridor, and outputting a control command to a steering mechanism of the mining truck responsive to the data. The mining truck is steered responsive to the control command from a first heading accordant with a first part of the corridor toward a second heading accordant with a succeeding part of the corridor. A related mining truck and steering system are disclosed.

Abstract translation: 操作采矿卡车包括接收指示无轨电车可用性走廊中的预期方向改变的数据，并且响应于该数据向控制装置的转向机构输出控制命令。 采矿卡车响应控制指令，从与走廊第一部分相符的第一个方向转向符合走廊后续部分的第二个方向。 公开了一种相关的采矿卡车和转向系统。

公开(公告)号：US20120296495A1

公开(公告)日：2012-11-22

申请号：US13574656

申请日：2011-01-20

Applicant: Tomonori Ozaki ,  Koji Takeda

Inventor： Tomonori Ozaki ,  Koji Takeda

IPC: G05D1/00

CPC classification number: G05D1/0278 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/021

Abstract: Provided are a vehicular driving system and a driving method thereof that can improve production efficiency by driving a vehicle toward a loading point without fail even when the loading point is changed successively due to a movement or the like of a loader, and by keeping driving the vehicle as close as possible to the loader without stopping the vehicle forcedly (without waiting time). A waiting point, which is a point where the vehicle should stand by until permission is given by the loader to the vehicle, is set on a driving path. For example, a switch-back point is set as the waiting point. The vehicle drives from an entry point of a loading site to the waiting point along the driving path, and stands by at the waiting point until the permission is given by the loader. In a case when there is an order to change the loading point when the vehicle is standing by at the waiting point or driving from the entry point to the waiting point, a partial driving path is created, and the vehicle drives from the waiting point to the new loading point along the partial driving path. Meanwhile, in a case when there is no order to change the loading point when the vehicle is standing by at the waiting point and driving from the entry point to the waiting point, the vehicle drives from the waiting point to the original loading point along the driving path.

Abstract translation: 提供了一种车辆驱动系统及其驱动方法，即使由于装载机的移动等而连续地改变装载点，也能够通过将车辆向装载点驱动而提高生产效率，并且通过保持驾驶 车辆尽可能靠近装载机而不会强制停车（无等待时间）。 等待点，这是车辆应该站立的点，直到由装载机给予车辆的许可才被设置在驱动路径上。 例如，将切换点设置为等待点。 车辆从装载地点的入口点沿驾驶路径行驶到等待点，并在等待点处待命，直到装载机给出许可。 在当车辆在等待点站立时或者从进入点到等待点行驶时有改变装载点的命令的情况下，产生部分驱动路径，并且车辆从等待点行驶到 沿着部分行驶路径的新装载点。 同时，在车辆在等待点站立并且从进入点到等待点行驶时没有命令改变装载点的情况下，车辆沿着等待点从原始装载点开始沿着 行车道。

公开(公告)号：US20120179322A1

公开(公告)日：2012-07-12

申请号：US13496481

申请日：2010-09-15

Applicant: Ross Hennessy ,  Florian Oppolzer ,  Xiuyi Fan ,  Surya P.N. Singh ,  Hugh Durrant-Whyte

Inventor： Ross Hennessy ,  Florian Oppolzer ,  Xiuyi Fan ,  Surya P.N. Singh ,  Hugh Durrant-Whyte

IPC: G05D1/00

CPC classification number: G05D1/0278 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/021

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.

Abstract translation: 描述了用于跟踪或滑行转向车辆的自主导航系统。 该系统包括路径规划器（54），路径规划器（54）计算指定跟随路径的一系列航路点位置和车辆位置传感器（82）。 轨道控制器（60）包括航路点控制器（62），其基于来自车辆位置传感器的车辆位置信息和多个相邻航路点的位置来计算车辆速度和偏航率设定点;以及速率控制器（64），其生成 来自速度和偏航率设定值的左右轨道速度设定值。 车辆控制界面根据左和右轨道速度设定点来致动车辆控制。

公开(公告)号：US20120092486A1

公开(公告)日：2012-04-19

申请号：US13334867

申请日：2011-12-22

Applicant: Michael S. McDaniel ,  Jeffrey E. Jensen

Inventor： Michael S. McDaniel ,  Jeffrey E. Jensen

IPC: H04N7/18

CPC classification number: G05D1/0011 ,  G05D1/024 ,  G05D1/0272 ,  G05D1/0293 ,  G05D2201/0202 ,  G05D2201/021

Abstract: The present disclosure is directed to a system for controlling a plurality of machines. The system includes a camera disposed on a second machine and configured to record at least one image of a first machine. A controller is configured to be in communication with the first machine and the second machine. The controller is configured to track information associated with the recorded image of the first machine. The controller is also configured to determine a direction of movement of the second machine based on an analysis of the tracked information.

Abstract translation: 本公开涉及一种用于控制多个机器的系统。 该系统包括设置在第二机器上并被配置为记录第一机器的至少一个图像的照相机。 控制器被配置为与第一机器和第二机器通信。 控制器被配置为跟踪与第一机器的记录图像相关联的信息。 控制器还被配置为基于对跟踪信息的分析来确定第二机器的移动方向。

公开(公告)号：US08090491B2

公开(公告)日：2012-01-03

申请号：US11922706

申请日：2006-07-26

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

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

IPC: G01C22/00

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: A guidance, navigation, and control method and system for an underground mining vehicle wherein an operator directly or indirectly guides the vehicle along a route as vehicle-mounted sensors including odometric sensors and rangefinders log motion data to a file which data is processed into a route profile including a vehicle path, a sequence of submaps along the path, and a profile of desired speed as a function of distance along the path. Thereafter the vehicle automatically repeats the route as represented by the route profile without an operator using the sensors and the maps to determine vehicle location.

Abstract translation: 一种用于地下采矿车辆的引导，导航和控制方法和系统，其中操作员直接或间接地沿着路线引导车辆，作为包括测距传感器和测距仪的车载传感器将运动数据记录到数据被处理成路线的文件 轮廓，包括车辆路径，沿着路径的子图的序列，以及作为沿着路径的距离的函数的期望速度的轮廓。 此后，车辆自动地重复路线，如路线轮廓所示，而操作人员不用传感器和地图来确定车辆位置。

公开(公告)号：US20110118927A1

公开(公告)日：2011-05-19

申请号：US12619367

申请日：2009-11-16

Applicant: Jarrid Cima

Inventor： Jarrid Cima

IPC: G05D1/00 ,  G01C21/00

CPC classification number: G05D1/0088 ,  G05D1/0214 ,  G05D2201/021

Abstract: A method for controlling an autonomous vehicle includes: Receiving data relating to a plurality of proposed vehicle locations; generating a simulated vehicle path based on the received data; determining a simulated vehicle orientation for at least one point on the simulated vehicle path; presenting at least the simulated vehicle orientation in a user-discernable form; receiving a user verification of the simulated vehicle orientation for at least one point on the simulated vehicle path; and producing approved vehicle control commands from the simulated vehicle path and simulated vehicle orientation, the approved vehicle control commands controlling the autonomous vehicle to follow the simulated vehicle path and the simulated vehicle orientation.

Abstract translation: 一种用于控制自主车辆的方法包括：接收与多个所提出的车辆位置有关的数据; 基于接收到的数据生成模拟车辆路径; 确定所述模拟车辆路径上的至少一个点的模拟车辆方位; 以用户可辨别的形式呈现至少模拟车辆方位; 接收对所述模拟车辆路径上的至少一个点的模拟车辆方向的用户验证; 并从模拟车辆路径和模拟车辆方向产生批准的车辆控制命令，控制自主车辆的认可车辆控制命令跟随模拟车辆路径和模拟车辆方向。

公开(公告)号：US20080208455A1

公开(公告)日：2008-08-28

申请号：US11678313

申请日：2007-02-23

Applicant: Randolph G. Hartman

Inventor： Randolph G. Hartman

IPC: G01C21/00

CPC classification number: G01C21/005 ,  G01S17/023 ,  G01S17/87 ,  G01S17/875 ,  G01S19/45 ,  G01S19/48 ,  G01S19/53 ,  G05D1/0231 ,  G05D1/0274 ,  G05D2201/0208 ,  G05D2201/021

Abstract: Methods and apparatus for navigating with the use of correlation within a select area are provided. One method includes, storing data required to reconstruct ranges and associated angles to objects along with statistical accuracy information while initially traversing throughout the select area. Measuring then current ranges and associated angles to the objects during a subsequent traversal throughout the select area. Correlating the then current ranges and associated angles to the objects to reconstructed ranges and associated angles to the objects from the stored data. Determining at least one of then current location and heading estimates within the select area based at least in part on the correlation and using the least one of the then current location and heading estimates for navigation.

Abstract translation: 提供了使用选择区域内的相关性进行导航的方法和装置。 一种方法包括在初始遍历整个选择区域时存储重建范围和相关角度所需的数据以及统计精度信息。 在随后遍历整个选择区域期间，测量当前范围和与对象相关的角度。 将当前范围和相关角度与对象重新组合，并根据存储的数据将其与对象相关联。 至少部分地基于相关性并且使用当前的当前位置和导航的航向估计中的至少一个来确定选择区域内的当前位置和航向估计中的至少一个。

公开(公告)号：US20070280528A1

公开(公告)日：2007-12-06

申请号：US11446089

申请日：2006-06-02

Applicant: Carl Wellington ,  Aaron Courville ,  Anthony Stentz

Inventor： Carl Wellington ,  Aaron Courville ,  Anthony Stentz

IPC: G06K9/00

CPC classification number: G06K9/00201 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0251 ,  G05D1/0274 ,  G05D2201/0201 ,  G05D2201/0207 ,  G05D2201/021 ,  G06K9/00664 ,  G06K9/00697 ,  G06K9/4638 ,  G06T17/05

Abstract: The disclosed terrain model is a generative, probabilistic approach to modeling terrain that exploits the 3D spatial structure inherent in outdoor domains and an array of noisy but abundant sensor data to simultaneously estimate ground height, vegetation height and classify obstacles and other areas of interest, even in dense non-penetrable vegetation. Joint inference of ground height, class height and class identity over the whole model results in more accurate estimation of each quantity. Vertical spatial constraints are imposed on voxels within a column via a hidden semi-Markov model. Horizontal spatial constraints are enforced on neighboring columns of voxels via two interacting Markov random fields and a latent variable. Because of the rules governing abstracts, this abstract should not be used to construe the claims.

Abstract translation: 所公开的地形模型是一种生成性的概率方法，它利用户外域内固有的3D空间结构和一系列噪声丰富的传感器数据来模拟地形，同时估计地面高度，植被高度，分类障碍物和其他感兴趣的领域，甚至 密集不可渗透的植被。 对整个模型的地面高度，班级身高和班级身份的联合推断可以更准确地估算每个数量。 垂直空间约束通过隐藏的半马尔可夫模型施加在列内的体素上。 水平空间约束通过两个相互作用的马尔科夫随机场和潜在变量在相邻列的体素上实现。 由于管理摘要的规则，本摘要不应用于解释索赔。