公开(公告)号：US20120053775A1

公开(公告)日：2012-03-01

申请号：US13318477

申请日：2010-04-30

Applicant: Eric Nettleton ,  Ross Hennessy ,  Hugh Durrant-Whyte ,  Ali Haydar Göktogan ,  Surya P N Singh ,  Guralawela Ekanayake Dharmapriya Chandrarathne Bandara

Inventor： Eric Nettleton ,  Ross Hennessy ,  Hugh Durrant-Whyte ,  Ali Haydar Göktogan ,  Surya P N Singh ,  Guralawela Ekanayake Dharmapriya Chandrarathne Bandara

IPC: G06F19/00

CPC classification number: E21C41/26 ,  G05D1/0282 ,  G05D1/0297 ,  G05D2201/0216 ,  G06F19/00 ,  G06Q10/06

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.

Abstract translation: 描述了一种调节自主实体在第一区域（904）和第二区域（901）之间的移动的方法，其中第一和第二区域各自在所定义的地理区域内具有操作定义的地理边界。 指示自主实体移动到跨越第一区域和第二区域的过渡区域（906,907），其中位于第一区域中的自主实体响应于与第一区域相关联的第一控制器（912）的监督控制 第一区。 自主实体被注册到与第二区域相关联的第二控制器（910），以使自主实体能够响应于第二控制器的监督控制，因为自主实体通过过渡区域进入第二区域。 自主实体从第一控制器取消注册。

公开(公告)号：US6126023A

公开(公告)日：2000-10-03

申请号：US077216

申请日：1998-07-08

Applicant: Hugh Durrant-Whyte ,  Gamini Dissanayke ,  David C. Rye

Inventor： Hugh Durrant-Whyte ,  Gamini Dissanayke ,  David C. Rye

IPC: B66C13/06 ,  B66C17/20

CPC classification number: B66C13/06

Abstract: A crane arranged through its reeving system to manoeuver a load. The crane includes an upper support structure, a lower support structure arranged to carry a load and six reeving cables suspending the lower support structure from the upper support structure. Means are provided for changing the effective length between the upper and lower support structure of selective ones of the reeving cables. The reeving cables are arranged such that they are connected geometrically to the upper and lower support structures at apexes of an upper and a lower quadrilateral plane figure, respectively. The reeving cables are arranged such that the cables of a first pair of the reeving cables converge in a downward direction, the cables of a second pair of the reeving cables converge in an upward direction, and the cables of the third pair of reeving cables extend between opposite ends of the first and second pair reeving cables at the upper and lower support structures. A crane with such reeving arrangement enables adjustment of the position and altitude of the lower support structure with respect to the upper support structure by manipulating the length in individual reeving cables. The reeving cable arrangement results in "stiffness" between the upper and lower support structures when all cables are in tension.

Abstract translation: PCT No.PCT / AU96 / 00749 Sec。 371日期：1998年7月8日 102（e）日期1998年7月8日PCT 1996年11月22日PCT公布。 WO97 / 19888 PCT出版物 日期1997年6月5日起重机通过其安装系统进行安装以操纵负载。 起重机包括上支撑结构，布置成承载负载的下支撑结构和从上支撑结构悬挂下支撑结构的六根绞合电缆。 提供了用于改变选择性护套电缆的上和下支撑结构之间的有效长度的装置。 绞线被布置成使得它们分别在上和下四边形平面图的顶点处几何地连接到上支撑结构和下支撑结构。 绞线电缆布置成使得第一对绕组电缆的电缆沿向下的方向汇聚，第二对绕组电缆的电缆沿向上的方向汇聚，并且第三对绕组电缆的电缆延伸 在上和下支撑结构处的第一和第二对绞合电缆的相对端之间。 具有这种固定装置的起重机使得能够通过操纵各个绕组电缆中的长度来调节下支撑结构相对于上支撑结构的位置和高度。 当所有电缆处于张紧状态时，绞合电缆布置导致上部和下部支撑结构之间的“刚度”。

公开(公告)号：US09224050B2

公开(公告)日：2015-12-29

申请号：US13049822

申请日：2011-03-16

Applicant: Pantelis Elinas ,  Linthotage Dushantha Lochana Perera ,  Eric Nettleton ,  Hugh Durrant-Whyte

Inventor： Pantelis Elinas ,  Linthotage Dushantha Lochana Perera ,  Eric Nettleton ,  Hugh Durrant-Whyte

IPC: G06K9/00 ,  G06T7/00

CPC classification number: G06K9/00791 ,  G06K2209/23 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/30236

Abstract: Described herein is a method and system for vehicle localization in an open pit mining environment having intermittent or incomplete GPS coverage. The system comprises GPS receivers associated with the vehicles and providing GPS measurements when available, as well as one or more cameras 50,55 overlooking the mine region 10. The cameras 50,55 are at a known location and are used for generating a sequence of images in a field of view with predetermined calibration in a fixed coordinate system. The system further comprises a vehicle recognition processor 120 for analyzing individual images from the camera to identify and locate within an image a vehicle in the mine region, as well as a vehicle tracking processor 130 for analyzing a sequence of images from the camera to track the identified vehicle location in the sequence of images. A data fusion processor 160 is coupled to receive GPS measurements, when available, from the vehicle GPS receivers, to fuse the received GPS measurement and corresponding vehicle image location, and to output a vehicle localization output 125.

Abstract translation: 这里描述了一种在具有间歇或不完整的GPS覆盖的露天采矿环境中的车辆定位的方法和系统。 该系统包括与车辆相关联的GPS接收器，并且当可用时提供GPS测量，以及一个或多个俯瞰矿区10的照相机50,55。照相机50,55位于已知位置，并用于产生一系列 在固定坐标系中具有预定校准的视场中的图像。 该系统还包括车辆识别处理器120，用于分析来自照相机的各个图像以识别和定位矿区内的车辆的图像，以及车辆跟踪处理器130，用于分析来自相机的图像序列以跟踪 在图像序列中识别车辆位置。 数据融合处理器160被耦合以在可用时从车载GPS接收机接收GPS测量值，以便熔接接收到的GPS测量值和对应的车辆图像位置，并输出车辆定位输出125。

公开(公告)号：US08886382B2

公开(公告)日：2014-11-11

申请号：US13318477

申请日：2010-04-30

Applicant: Eric Nettleton ,  Ross Hennessy ,  Hugh Durrant-Whyte ,  Ali Haydar Göktogan ,  Surya P N Singh ,  Guralawela Ekanayake Mudiyanselage Dharmapriya Cha Bandara

Inventor： Eric Nettleton ,  Ross Hennessy ,  Hugh Durrant-Whyte ,  Ali Haydar Göktogan ,  Surya P N Singh ,  Guralawela Ekanayake Mudiyanselage Dharmapriya Cha Bandara

IPC: G06F19/00 ,  E21C41/26 ,  G06Q10/06 ,  G05D1/02

CPC classification number: E21C41/26 ,  G05D1/0282 ,  G05D1/0297 ,  G05D2201/0216 ,  G06F19/00 ,  G06Q10/06

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.

Abstract translation: 描述了一种调节自主实体在第一区域（904）和第二区域（901）之间的移动的方法，其中第一和第二区域各自在所定义的地理区域内具有操作定义的地理边界。 指示自主实体移动到跨越第一区域和第二区域的过渡区域（906,907），其中位于第一区域中的自主实体响应于与第一区域相关联的第一控制器（912）的监督控制 第一区。 自主实体被注册到与第二区域相关联的第二控制器（910），以使自主实体能够响应于第二控制器的监督控制，因为自主实体通过过渡区域进入第二区域。 自主实体从第一控制器取消注册。

公开(公告)号：US20130249909A1

公开(公告)日：2013-09-26

申请号：US13824327

申请日：2011-10-21

Applicant: Paul Thompson ,  Eric Nettleton ,  Hugh Durrant-Whyte

Inventor： Paul Thompson ,  Eric Nettleton ,  Hugh Durrant-Whyte

IPC: G06T17/05

CPC classification number: G06T17/05 ,  G06T17/20

Abstract: Described herein is a system and a method of spatial field estimation from input data from a domain of interest. The method comprises defining a spatial mesh of positions over the domain of interest (802) and defining a smoothness information model (804) which is defined with respect to the spatial mesh to form an information matrix Y1 and vector y1. The method further comprises defining an information representation of the input data, the information representation comprising an information matrix Yobs and vector y, both defined relative to the spatial mesh. The method further comprises through an additive function fusing (806) the smoothness information model with the information representation of the input data to form an information matrix Y and vector y. The method then comprises, in a computational system, solving for x in Yx=y (808), wherein x represents the spatial field estimation.

Abstract translation: 这里描述的是从感兴趣域的输入数据中进行空间场估计的系统和方法。 该方法包括定义感兴趣域（802）上的位置的空间网格，并且定义相对于空间网格定义的平滑信息模型（804）以形成信息矩阵Y1和向量y1。 该方法还包括定义输入数据的信息表示，信息表示包括相对于空间网格定义的信息矩阵Yobs和向量y。 该方法还包括通过加和函数将平滑信息模型与输入数据的信息表示融合（806）以形成信息矩阵Y和向量y。 该方法然后包括在计算系统中求解Y x = y（808）中的x，其中x表示空间场估计。

公开(公告)号：US20120179635A1

公开(公告)日：2012-07-12

申请号：US13496480

申请日：2010-09-15

Applicant: Shrihari Vasudevan ,  Fabio Toreto Ramos ,  Eric Nettleton ,  Hugh Durrant-Whyte

Inventor： Shrihari Vasudevan ,  Fabio Toreto Ramos ,  Eric Nettleton ,  Hugh Durrant-Whyte

IPC: G06F15/18 ,  G06F17/10

CPC classification number: G06F17/18 ,  G01S17/89 ,  G06T7/521 ,  G06T2207/10028

Abstract: A method of computerised data analysis and synthesis is described. First and second datasets of a quantity of interest are stored. A Gaussian process model is generated using the first and second datasets to compute optimized kernel and noise hyperparameters. The Gaussian process model is applied using the stored first and second datasets and hyperparameters to perform Gaussian process regression to compute estimates of unknown values of the quantity of interest. The resulting computed estimates of the quantity of interest result from a non-parametric Gaussian process fusion of the first and second measurement datasets. The first and second datasets may be derived from the same or different measurement sensors. Different sensors may have different noise and/or other characteristics.

Abstract translation: 描述了计算机化数据分析和合成的方法。 存储感兴趣数量的第一和第二数据集。 使用第一和第二数据集生成高斯过程模型来计算优化的内核和噪声超参数。 使用存储的第一和第二数据集和超参数来应用高斯过程模型以执行高斯过程回归以计算感兴趣数量的未知值的估计。 所得到的计算的兴趣量的估计值来自第一和第二测量数据集的非参数高斯过程融合。 第一和第二数据集可以来自相同或不同的测量传感器。 不同的传感器可能具有不同的噪声和/或其他特性。

公开(公告)号：US20120044043A1

公开(公告)日：2012-02-23

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

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 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).

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：US20110299730A1

公开(公告)日：2011-12-08

申请号：US13049822

申请日：2011-03-16

Applicant: Pantelis ELINAS ,  Linthotage Dushantha Lochana PERERA ,  Eric NETTLETON ,  Hugh DURRANT-WHYTE

Inventor： Pantelis ELINAS ,  Linthotage Dushantha Lochana PERERA ,  Eric NETTLETON ,  Hugh DURRANT-WHYTE

IPC: G06K9/00

CPC classification number: G06K9/00791 ,  G06K2209/23 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/30236

Abstract: Described herein is a method and system for vehicle localization in an open pit mining environment having intermittent or incomplete GPS coverage. The system comprises GPS receivers associated with the vehicles and providing GPS measurements when available, as well as one or more cameras 50,55 overlooking the mine region 10. The cameras 50,55 are at a known location and are used for generating a sequence of images in a field of view with predetermined calibration in a fixed coordinate system. The system further comprises a vehicle recognition processor 120 for analysing individual images from the camera to identify and locate within an image a vehicle in the mine region, as well as a vehicle tracking processor 130 for analysing a sequence of images from the camera to track the identified vehicle location in the sequence of images. A data fusion processor 160 is coupled to receive GPS measurements, when available, from the vehicle GPS receivers, to fuse the received GPS measurement and corresponding vehicle image location, and to output a vehicle localization output 125.

Abstract translation: 这里描述了一种在具有间歇或不完整的GPS覆盖的露天采矿环境中的车辆定位的方法和系统。 该系统包括与车辆相关联的GPS接收器，并且当可用时提供GPS测量，以及一个或多个俯瞰矿区10的照相机50,55。照相机50,55位于已知位置，并用于产生一系列 在固定坐标系中具有预定校准的视场中的图像。 该系统还包括车辆识别处理器120，用于分析来自照相机的各个图像以识别和定位矿区内的车辆的图像，以及车辆跟踪处理器130，用于分析来自相机的图像序列以跟踪 在图像序列中识别车辆位置。 数据融合处理器160被耦合以在可用时从车载GPS接收机接收GPS测量值，以便熔接接收到的GPS测量值和对应的车辆图像位置，并输出车辆定位输出125。

公开(公告)号：US20090240481A1

公开(公告)日：2009-09-24

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: G06G7/48

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 (104) are deployed for the extraction of at least one 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 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. 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.

Abstract translation: 描述了一种用于生成环境模型的系统和方法，其中多个设备单元（104）被部署用于从环境中提取至少一个资源。 该系统包括预提取或地面间建模单元（204），其被配置为从环境中的第一多个异构传感器接收数据，并将数据融合到描述环境的预提取模型中，并且至少一个 资源。 设备建模单元（208）被配置为接收与在环境中操作的多个设备单元有关的设备数据，并将设备数据组合成设备模型。 后提取或地面外建模单元（206）被配置为从第二多个传感器接收数据并且将数据融合到描述从环境提取的材料的后提取模型中，其中至少一个 设备单元操作以从环境中提取至少一个资源。 来自提取前模型，设备模型和提取后模型中的至少一个的信息可以传送到设备单元，以用于控制环境中的设备单元的操作。 环境可能是一个矿。