公开(公告)号：US09805316B2

公开(公告)日：2017-10-31

申请号：US13318469

申请日：2010-04-30

Applicant: Eric Nettleton ,  Ross Hennessy ,  Hugh Durrant-Whyte ,  Ali Haydar Göktogan

Inventor： Eric Nettleton ,  Ross Hennessy ,  Hugh Durrant-Whyte ,  Ali Haydar Göktogan

IPC: G06Q10/00 ,  G06Q10/06

CPC classification number: G06Q10/00 ,  G05B2219/45004 ,  G06Q10/0631

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 localized 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：US09678052B2

公开(公告)日：2017-06-13

申请号：US13824313

申请日：2011-10-28

Applicant: Chris Innes ,  Eric Nettleton ,  Hugh Durrant-Whyte ,  Arman Melkumyan

Inventor： Chris Innes ,  Eric Nettleton ,  Hugh Durrant-Whyte ,  Arman Melkumyan

IPC: G06F17/50 ,  G01N33/24 ,  G01G19/08 ,  B65G67/04

CPC classification number: G01N33/24 ,  B65G67/04 ,  G01G19/08

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.

公开(公告)号：US09146553B2

公开(公告)日：2015-09-29

申请号：US13318478

申请日：2010-04-30

Applicant: Eric Nettleton ,  Ross Hennessy ,  Hugh Durrant-Whyte ,  Ali Haydar Göktogan ,  Surya P N Singh

Inventor： Eric Nettleton ,  Ross Hennessy ,  Hugh Durrant-Whyte ,  Ali Haydar Göktogan ,  Surya P N Singh

IPC: G05B23/02 ,  G05B19/414 ,  E21C41/26

CPC classification number: G05B19/4148 ,  E21C41/26 ,  G05B2219/33342

Abstract: A hierarchical control system (203) for supervising operations of an autonomous operator located within a defined geographical region containing a localized 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 localized zone. The secondary controller (605) is responsive to the supervisory control of the primary controller (604). The autonomous operator, if located within the localized zone, is responsive to the supervisory control of the secondary controller (605).

Abstract translation: 一种分层控制系统（203），用于监视位于限定的地理区域内的自治运营商的运营，该地理区域包含具有操作界定的边界的局部区域。 控制系统（203）具有与所定义的地理区域相关联的主控制器（604）和与该局部区域相关联的辅助控制器（605）。 次级控制器（605）响应于主控制器（604）的监控。 如果位于本地化区域内的自主操作者响应于二级控制器（605）的监督控制。

公开(公告)号：US20120046818A1

公开(公告)日：2012-02-23

申请号：US13318468

申请日：2010-04-30

Applicant: Eric Nettleton ,  Ross Hennessy ,  Hugh Durrant-Whyte ,  Ali Haydar Göktogan

Inventor： Eric Nettleton ,  Ross Hennessy ,  Hugh Durrant-Whyte ,  Ali Haydar Göktogan

IPC: G05B19/418 ,  G05D1/00

CPC classification number: E21F17/00

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.

Abstract translation: 描述了用于在定义的地理区域内实现自主操作的方法和系统（1110）。 在该区域内指定具有操作定义的地理边界的多个局部区域（1102,1104,1106,1108）。 建立与相应的局部区域相关联的多个控制模块，并且在与发生自主操作的局部区域相关联的控制模块的监督控制下实现自主操作。 至少一个局部区域的边界的地理位置在限定的地理区域内变化。

公开(公告)号：US09476303B2

公开(公告)日：2016-10-25

申请号：US13318468

申请日：2010-04-30

Applicant: Eric Nettleton ,  Ross Hennessy ,  Hugh Durrant-Whyte ,  Ali Haydar Göktogan

Inventor： Eric Nettleton ,  Ross Hennessy ,  Hugh Durrant-Whyte ,  Ali Haydar Göktogan

IPC: G06Q10/00 ,  E21F17/00

CPC classification number: E21F17/00

Abstract: Methods and systems are described for effecting autonomous operations within a defined geographical region (1110). A plurality of localized 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 localized zones and autonomous operations are effected under the supervisory control of the control module associated with the localized zone in which the autonomous operation occurs. The geographical disposition of the boundary of at least one of the localized zones is varied within the defined geographical region.

Abstract translation: 描述了用于在定义的地理区域内实现自主操作的方法和系统（1110）。 在该区域内指定具有操作定义的地理边界的多个局部区域（1102,1104,1106,1108）。 建立与相应的局部区域相关联的多个控制模块，并且在与发生自主操作的局部区域相关联的控制模块的监督控制下实现自主操作。 至少一个局部区域的边界的地理位置在限定的地理区域内变化。

公开(公告)号：US09382797B2

公开(公告)日：2016-07-05

申请号：US13318464

申请日：2010-04-30

Applicant: Eric Nettleton ,  Ross Hennessy ,  Hugh Durrant-Whyte ,  Ali Haydar Göktogan

Inventor： Eric Nettleton ,  Ross Hennessy ,  Hugh Durrant-Whyte ,  Ali Haydar Göktogan

IPC: G05B15/02 ,  G05B19/18 ,  G05B11/01 ,  G06F19/00 ,  G05B19/04 ,  E21C41/26

CPC classification number: E21C41/26

Abstract: Autonomous operations are conducted within a defined geographical region. In an autonomous system of a management party a plurality of localized 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 localized zones. The autonomous system of the management party is integrated with the autonomous operating systems of the entities.

Abstract translation: 自治行动在一个确定的地理区域内进行。 在管理方的自主系统中，在地理区域内建立具有操作定义的地理边界的多个局部区域。 具有自主操作系统以在相应的局部区域内执行特定自主操作的实体。 管理层的自主制度与实体的自主操作系统相结合。

公开(公告)号：US09297256B2

公开(公告)日：2016-03-29

申请号：US13318465

申请日：2010-04-30

Applicant: Eric Nettleton ,  Ross Hennessy ,  Hugh Durrant-Whyte ,  Ali Haydar Göktogan ,  Peter James Hatherly ,  Fabio Tozeto Ramos

Inventor： Eric Nettleton ,  Ross Hennessy ,  Hugh Durrant-Whyte ,  Ali Haydar Göktogan ,  Peter James Hatherly ,  Fabio Tozeto Ramos

IPC: E02F9/20 ,  E21C41/26 ,  A61B19/00 ,  E21F17/00

CPC classification number: E21C41/26 ,  A61B34/32 ,  E02F9/205 ,  E21F17/00 ,  G05B2219/45004 ,  G05D2201/021 ,  Y02P90/02

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 localized caused zones having operation-defined geographical boundaries within the region; receiving heterogeneous data descriptive of the region; associating the received data with respective localized zones; fusing the received data associated with the localized zones into data representations of the localized zones; and integrating the data representations of the localized zones into a common data representation of the geographical region.

Abstract translation: 描述了用于生成地理区域的数据表示作为在区域内进行自主操作的附加的方法和系统。 该方法包括：在该区域内接收指定具有操作定义的地理边界的多个本地化引导区域的信息; 接收描述该区域的异构数据; 将接收到的数据与相应的定位区域相关联; 将与局部区域相关联的接收数据融合到局部区域的数据表示中; 以及将本地化区域的数据表示集成到地理区域的公共数据表示中。

公开(公告)号：US20130272829A1

公开(公告)日：2013-10-17

申请号：US13824313

申请日：2011-10-28

Applicant: Chris Innes ,  Eric Nettleton ,  Hugh Durrant-Whyte ,  Arman Melkumyan

Inventor： Chris Innes ,  Eric Nettleton ,  Hugh Durrant-Whyte ,  Arman Melkumyan

IPC: G01N33/24 ,  B65G67/04

CPC classification number: G01N33/24 ,  B65G67/04 ,  G01G19/08

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.

Abstract translation: 描述了用于通过生产链或操作过程链跟踪材料的方法和系统，其中材料经由多个空间上不同的集体质量的材料（12,14,16,18）转移。 动态状态空间（430）被维持描述多个空间上不同的集中质量的物质，其中动态状态空间中的条目数量被增加或减少，取决于被跟踪的空间上不同的集中质量的数量。 与观察到的材料的集体质量有关的测量融合到动态状态空间和动态协方差矩阵中，以提供多个空间上不同的集中质量块中材料的更新估计。

公开(公告)号：US08315838B2

公开(公告)日：2012-11-20

申请号：US12398171

申请日：2009-03-04

Applicant: Hugh Durrant-Whyte ,  Fabio Tozeto Ramos ,  Peter James Hatherly

Inventor： Hugh Durrant-Whyte ,  Fabio Tozeto Ramos ,  Peter James Hatherly

IPC: G06F17/50

CPC classification number: G06Q10/06

Abstract: A system and method are described for generating a model of an environment in which a plurality of equipment units are deployed for the extraction of at least one resource from the environment. The system comprises a pre-extraction modeling unit configured to receive data from a first plurality of heterogeneous sensors in the environment and to fuse the data into a pre-extraction model. An equipment modeling unit is configured to receive equipment data relating to the plurality of equipment units and to combine the equipment data into an equipment model. A post-extraction modeling unit is configured to receive data from a second plurality of sensors and to fuse the data into a post-extraction model. Information from the pre-extraction model, the equipment model and/or the post-extraction model is communicable to the equipment units for use in controlling operation of the equipment units in the environment.

Abstract translation: 描述了一种用于生成环境模型的系统和方法，其中部署多个设备单元用于从环境中提取至少一个资源。 该系统包括预提取建模单元，其被配置为从环境中的第一多个异构传感器接收数据，并将数据融合到预提取模型中。 设备建模单元被配置为接收与多个设备单元相关的设备数据，并将设备数据组合成设备模型。 后提取建模单元被配置为从第二多个传感器接收数据并且将数据融合到后提取模型中。 来自提取前模型，设备模型和/或提取后模型的信息可以连接到设备单元，以用于控制环境中的设备单元的操作。

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。