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    GNSS guidance and machine control
    31.
    发明授权
    GNSS guidance and machine control 有权
    GNSS导航和机器控制

    公开(公告)号：US08594879B2

    公开(公告)日：2013-11-26

    申请号：US12857298

    申请日：2010-08-16

    申请人： André C. Roberge ,  Walter J. Feller ,  Michael L. Whitehead ,  John A. McClure ,  Steven R. Miller

    发明人： André C. Roberge ,  Walter J. Feller ,  Michael L. Whitehead ,  John A. McClure ,  Steven R. Miller

    IPC分类号： G01S19/41

    CPC分类号： A01B79/005 ,  A01B69/007 ,  G01S19/04 ,  G01S19/14 ,  G01S19/41 ,  G01S19/44 ,  G01S19/53 ,  G01S19/55 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0278 ,  G05D1/0291 ,  G05D2201/0201 ,  G05D2201/0202

    摘要： A global navigation satellite sensor system (GNSS) and gyroscope control system for vehicle steering control comprising a GNSS receiver and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase position differences. The roll angle facilitates correction of the lateral motion induced position errors resultant from motion of the antennae as the vehicle moves based on an offset to ground and the roll angle. The system also includes a control system configured to receive the vehicle position, heading, and at least one of roll and pitch, and configured to generate a steering command to a vehicle steering system. The system includes gyroscopes for determining system attitude change with respect to multiple axes for integrating with GNSS-derived positioning information to determine vehicle position, velocity, rate-of-turn, attitude and other operating characteristics. A vehicle control method includes the steps of computing a position and a heading for the vehicle using GNSS positioning and a rate gyro for determining vehicle attitude, which is used for generating a steering command. Alternative aspects include multiple-antenna GNSS guidance methods for high-dynamic roll compensation, real-time kinematic (RTK) using single-frequency (L1) receivers, fixed and moving baselines between antennas, multi-position GNSS tail guidance (“breadcrumb following”) for crosstrack error correction, guiding multiple vehicles and pieces of equipment relative to each other and earth-moving equipment and method applications.

    摘要翻译： 一种用于车辆转向控制的全球导航卫星传感器系统（GNSS）和陀螺仪控制系统，其包括GNSS接收器和固定间隔的天线，以确定车辆位置，速度以及行驶角，俯仰角和侧倾角 基于载波相位差。 滚动角度有助于校正当车辆基于对地面的偏移和侧倾角度而移动时由天线的运动产生的横向运动引起的位置误差。 该系统还包括被配置为接收车辆位置，航向以及滚动和俯仰中的至少一个的控制系统，并被配置为产生对车辆转向系统的转向命令。 该系统包括用于确定相对于多个轴的系统姿态变化的陀螺仪，用于与GNSS导航的定位信息集成以确定车辆位置，速度，转弯角度，姿态和其他操作特性。 车辆控制方法包括以下步骤：使用GNSS定位来计算车辆的位置和航向，以及用于确定用于产生转向命令的车辆姿态的速率陀螺仪。 替代方面包括用于高动态滚动补偿的多天线GNSS指导方法，使用单频（L1）接收机的实时运动学（RTK），天线之间的固定和移动基线，多位置GNSS尾部指导（“面包屑跟踪” ）用于交叉错误校正，引导多个车辆和设备相对于彼此和移动设备和方法应用。

    METHOD AND SYSTEM FOR AUTOMATICALLY GUIDING AN UNMANNED VEHICLE
    32.
    发明申请
    METHOD AND SYSTEM FOR AUTOMATICALLY GUIDING AN UNMANNED VEHICLE 审中-公开
    用于自动引导无人驾驶车辆的方法和系统

    公开(公告)号：US20130289818A1

    公开(公告)日：2013-10-31

    申请号：US13854505

    申请日：2013-04-01

    申请人： Israel Aerospace Industries Ltd.

    发明人： Dina APPLEMAN ,  Alex PINSKY ,  Arkady SIGAL ,  Arieh TSENTSIPER

    IPC分类号： G05D1/02

    CPC分类号： G05D1/02 ,  G05D1/0223 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0278

    摘要： An unmanned vehicle is guided by selecting locations along a predetermined mute defining adjacent first, second and third linear portions. If an imaginary circle can be constructed that is mutually tangential to all three linear portions or to projections thereof, the vehicle is guided according to the circle intercept method until it reaches an imaginary point of contact (M) between the circle and the second linear portion or passes its traverse. If an imaginary circle cannot be constructed that is mutually tangential to all three linear portions or to projections thereof, an imaginary circle is constructed that is mutually tangential to the first and second linear portions; and the vehicle is guided along according to the leg intercept method until it reaches an imaginary point of contact (M) between the circle and the first linear portion or passes its traverse. The process is repeated iteratively in respect of successive locations

    摘要翻译： 通过沿着预定的静音选择定位相邻的第一，第二和第三直线部分的位置来引导无人驾驶车辆。 如果可以构造与所有三个直线部分或其突起相互切向的假想圆，则车辆根据圆截距法被引导直到其到达圆与第二直线部分之间的虚拟接触点（M） 或通过其横越。 如果不能构造与所有三个线性部分或其突起相互切向的假想圆，则构造与第一和第二直线部分相互切向的假想圆; 并且车辆根据腿部拦截方法被引导，直到其到达圆周和第一线性部分之间的假想接触点（M）或者通过其横越。 关于连续位置迭代地重复该过程

    Control apparatus for autonomous operating vehicle
    33.
    发明授权
    Control apparatus for autonomous operating vehicle 有权
    自动驾驶车辆控制装置

    公开(公告)号：US08532864B2

    公开(公告)日：2013-09-10

    申请号：US13241038

    申请日：2011-09-22

    申请人： Kazuhisa Sato ,  Makoto Yamamura ,  Yoshinori Masubuchi

    发明人： Kazuhisa Sato ,  Makoto Yamamura ,  Yoshinori Masubuchi

    IPC分类号： G05B19/19

    CPC分类号： G05D1/0272 ,  G05D1/0259 ,  G05D1/0265 ,  G05D1/027 ,  G05D2201/0208

    摘要： In an apparatus for controlling an autonomous operating vehicle, a traveling direction and traveled distance are calculated based on outputs of wheel speed sensor and angular velocity sensor, and the vehicle is controlled to, as traveling straight, perform the operation using an operating machine in accordance with a predetermined travel pattern in a travel-scheduled area based on the calculated traveling direction and traveled distance. It is determined whether a difference between a scheduled-travel distance scheduled in the predetermined travel pattern and an actual traveled distance exceeds a permissible value when the vehicle is traveled straight and a center value of the outputs of the angular velocity sensor is corrected when the difference is determined to exceed the permissible value.

    摘要翻译： 在用于控制自主操作车辆的装置中，基于车轮速度传感器和角速度传感器的输出来计算行驶方向和行驶距离，并且车辆被控制为直行，使用操作机器进行操作 基于所计算的行进方向和行进距离，在行驶调度区域中具有预定行驶模式。 当车辆行驶直线时，确定在预定行驶模式中预定的预定行驶距离与实际行驶距离之间的差是否超过允许值，并且当差异值被校正时校正角速度传感器的输出的中心值 被确定超过允许值。

    DATA STORAGE SYSTEM USING A MEDIA MOBILITY UNIT (MMU) THE MMU, AND METHODS OF USE THEREOF
    35.
    发明申请
    DATA STORAGE SYSTEM USING A MEDIA MOBILITY UNIT (MMU) THE MMU, AND METHODS OF USE THEREOF 有权
    使用媒体移动单元（MMU）的数据存储系统MMU及其使用方法

    公开(公告)号：US20120287532A1

    公开(公告)日：2012-11-15

    申请号：US13105844

    申请日：2011-05-11

    申请人： Jesus R. Acevedo ,  Jonathan W. Ain

    发明人： Jesus R. Acevedo ,  Jonathan W. Ain

    IPC分类号： G11B15/68

    CPC分类号： G11B15/689 ,  B65G1/137 ,  B65G1/1371 ,  G05D1/021 ,  G05D1/0255 ,  G05D1/0259 ,  G06F13/4208 ,  G11B15/68 ,  G11B15/6835 ,  G11B17/22

    摘要： In one embodiment, a media mobility unit includes a media cartridge holding portion for storing media cartridges, a sensing mechanism for sensing at least an approximate location of the holding portion in relation to other objects, a drive mechanism for moving the holding portion from a source media library to a destination media library, and a power source electrically coupled to at least one of the sensing mechanism and the drive mechanism for providing current to the at least one of the drive mechanism and the sensing mechanism. In another embodiment, a method for transporting a media cartridge includes receiving one or more media cartridges from a source media library, storing the one or more media cartridges in a holding portion of a media mobility unit, sensing at least an approximate location of the media mobility unit, and transporting the one or more media cartridges to a destination media library. Additional embodiments are also presented.

    摘要翻译： 在一个实施例中，介质移动单元包括用于存储介质盒的介质盒保持部分，用于感测至少相对于其他物体的保持部分的大致位置的感测机构，用于将保持部分从源 媒体库到目的地媒体库，以及电耦合到感测机构和驱动机构中的至少一个的电源，用于向驱动机构和感测机构中的至少一个提供电流。 在另一个实施例中，用于传送介质盒的方法包括从源媒体库接收一个或多个介质盒，将一个或多个介质盒存储在介质移动单元的保持部分中，至少感测介质的大致位置 移动单元，并将一个或多个介质盒运送到目的地媒体库。 还提供了另外的实施例。

    GNSS BASED CONTROL FOR DISPENSING MATERIAL FROM VEHICLE
    36.
    发明申请
    GNSS BASED CONTROL FOR DISPENSING MATERIAL FROM VEHICLE 有权
    基于GNSS的控制从车辆分配材料

    公开(公告)号：US20120215410A1

    公开(公告)日：2012-08-23

    申请号：US13217839

    申请日：2011-08-25

    申请人： John A. McClure ,  Aaron C. Stichter

    发明人： John A. McClure ,  Aaron C. Stichter

    IPC分类号： G06F19/00

    CPC分类号： A01B79/005 ,  G01C15/00 ,  G01S5/0063 ,  G01S19/04 ,  G01S19/14 ,  G01S19/54 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0201

    摘要： A spray control method employs a spray vehicle including a material tank, a pump communicating with the tank, and nozzles of a spray boom communicating with the pump. A GNSS receiver mounted on the vehicle and interfaced to a controller tracks its position in relation to stored position coordinates of field boundaries separating spray zones from spray exclusion zones. The tank is activated and deactivated by the controller to retain spray of the material within the spray zones and to prevent spray of the material in the exclusion zones, by processing an offset of the spray nozzles from the receiver, the spray range of the nozzles, spray turn-on and turn-off lag times, and the velocity of the spray vehicle, all in relation to the field boundaries. An alternative embodiment individually controls spray from the nozzles by using associated valves interfaced to the controller.

    摘要翻译： 喷雾控制方法采用包括材料罐，与罐连通的泵以及与泵连通的喷射臂的喷嘴的喷雾车。 安装在车辆上并且连接到控制器的GNSS接收器相对于将喷射区域与喷射排除区域分开的场边界的存储位置坐标跟踪其位置。 通过控制器激活和停用罐，以将材料喷射在喷雾区域内，并且通过处理喷嘴与接收器的偏移，喷嘴的喷射范围，防止材料在排除区域中喷射， 喷雾开启和关闭滞后时间以及喷雾车辆的速度，全部与场界相关。 一个替代实施例通过使用与控制器相连接的相关阀独立地控制来自喷嘴的喷雾。

    VEHICLE GUIDANCE AND SENSOR BIAS DETERMINATION
    37.
    发明申请
    VEHICLE GUIDANCE AND SENSOR BIAS DETERMINATION 有权
    车辆指导和传感器偏差确定

    公开(公告)号：US20120095679A1

    公开(公告)日：2012-04-19

    申请号：US13338114

    申请日：2011-12-27

    申请人： Peter James Roberts ,  William James Keller

    发明人： Peter James Roberts ,  William James Keller

    IPC分类号： G01C21/00

    CPC分类号： G01C21/00 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0201 ,  G05D2201/0202

    摘要： Systems and methods for guiding a vehicle and vehicle sensor bias determination methods are disclosed. A method for guiding a vehicle includes a primary antenna of a primary survey-grade GNSS-receiver and a secondary antenna of a secondary GNSS-receiver mounted to the vehicle, which are at least temporarily receiving GNSS-signals of a global positioning system. A plurality of physical sensors mounted to the vehicle generate physical data indicative of respective measured physical parameters of at least part of the vehicle. The method includes de-biasing the physical data and applying a recursive statistical estimator, such as a Kalman filter, to the de-biased physical data and an output of the primary and secondary GNSS-receivers to determine a position and velocity of the vehicle.

    摘要翻译： 公开了用于引导车辆和车辆传感器偏置确定方法的系统和方法。 一种用于引导车辆的方法包括主要测量级GNSS接收机的主天线和安装到车辆的辅助GNSS接收机的辅助天线，其至少暂时接收全球定位系统的GNSS信号。 安装到车辆的多个物理传感器产生指示车辆的至少一部分的相应测量物理参数的物理数据。 该方法包括对物理数据进行去偏置并将递归统计估计器（例如卡尔曼滤波器）应用于去偏置物理数据和主GNSS和接收机的输出以确定车辆的位置和速度。