公开(公告)号：US08151474B2

公开(公告)日：2012-04-10

申请号：US12660497

申请日：2010-02-26

Applicant: Kaoru Kumagai ,  Kunihiro Hayashi ,  Fumihiko Kamizono

Inventor： Kaoru Kumagai ,  Kunihiro Hayashi ,  Fumihiko Kamizono

IPC: G01C1/00 ,  G01C3/08 ,  G01C15/00

CPC classification number: G01C15/004 ,  E02F3/842 ,  E02F3/847 ,  E02F9/261 ,  G05D1/0236 ,  G05D2201/0202

Abstract: The present invention relates to a surveying system, comprising a rotary laser irradiation device 1 installed at a known point and used for projecting two or more fan-shaped laser beams 3 with at least one of the fan-shaped laser beams tilted and for forming a laser reference plane, a photodetection device 4, which is mounted on a mobile support member 9, for receiving the laser beam and for calculating an elevation angle at a photodetecting position, and a monitor photodetection device 11 installed at a known position within the laser reference plane, wherein the monitor photodetection device has a monitor photodetection sensor for sensing and detecting the laser beam, a storage unit for storing a reference value of the laser reference plane, an arithmetic control unit for calculating positional changes over time of the laser reference plane based on the result of photodetection by the monitor photodetection sensor and on the reference value, and a transmitting unit for transmitting the positional changes over time to the photodetection device and/or to the rotary laser irradiation device as compensation information.

Abstract translation: 测量系统技术领域本发明涉及一种测量系统，包括旋转激光照射装置1，该旋转激光照射装置1安装在已知点处，并用于投射两个或更多个扇形激光束3，其中至少一个扇形激光束倾斜并形成 激光参考平面，安装在移动支撑构件9上用于接收激光束并用于计算受光位置的仰角的光检测装置4以及安装在激光参考中的已知位置处的监视器光检测装置11 其特征在于，所述监视光检测装置具有用于检测和检测所述激光束的监视光检测传感器，用于存储所述激光基准面的参考值的存储单元，用于基于所述激光基准平面计算随时间的位置变化的运算控制单元 通过监视光检测传感器的光检测结果和参考值，以及用于发送t的发送单元 随着时间的推移，位置随时间变化到光电检测装置和/或旋转激光照射装置作为补偿信息。

公开(公告)号：US20120081509A1

公开(公告)日：2012-04-05

申请号：US13240015

申请日：2011-09-22

Applicant: Georg Kormann ,  Nico Correns ,  Söldner Dietrich

Inventor： Georg Kormann ,  Nico Correns ,  Söldner Dietrich

IPC: H04N5/225

CPC classification number: G05D1/0248 ,  B60R1/002 ,  B60R2300/101 ,  B60R2300/102 ,  B60R2300/8093 ,  G02B13/06 ,  G02B17/0896 ,  G02B23/08 ,  G03B37/02 ,  G03B37/04 ,  G03B37/06 ,  G05D2201/0201 ,  G05D2201/0202 ,  H04N5/2251 ,  H04N5/23238 ,  H04N13/218

Abstract: An optical instrument system produces and analyzes images of the surrounding area. The system includes an overview lens with a symmetry axis which produces a first circular image of the surrounding area. The system also includes an observation lens which captures a second image of the surrounding area, and which is pivotal over 360° about the symmetry axis, and which is spaced apart a predetermined distance from the overview lens. The observation lens has an optical axis which is perpendicularly to the symmetry axis. The system includes an imaging optics system which reproduces the images of the surrounding area as overview image and observation image on a surface detector. A control unit controls the observation lens. An evaluation unit analyzes the images, and, for selected objects, which are detected both in the overview image and also in the observation image, determines the distance to said objects.

Abstract translation: 光学仪器系统生成和分析周边地区的图像。 该系统包括具有产生周围区域的第一圆形图像的对称轴的概览透镜。 该系统还包括观察透镜，其捕获周围区域的第二图像，并且其围绕对称轴线枢转超过360°，并且与概览透镜间隔开预定距离。 观察透镜具有垂直于对称轴的光轴。 该系统包括成像光学系统，其将周围区域的图像作为概览图像和观察图像再现在表面检测器上。 控制单元控制观察透镜。 评估单元分析图像，并且对于在概览图像中以及在观察图像中都被检测到的所选择的对象，确定到所述对象的距离。

公开(公告)号：US20120059554A1

公开(公告)日：2012-03-08

申请号：US13207469

申请日：2011-08-11

Applicant: Alexander N. Omelchenko ,  Alexey V. Zhdanov

Inventor： Alexander N. Omelchenko ,  Alexey V. Zhdanov

IPC: E02F1/00 ,  E02F3/84 ,  G06F19/00

CPC classification number: G01S19/55 ,  E02F3/845 ,  E02F3/847 ,  G01C21/165 ,  G01S19/14 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0202

Abstract: For precision grading of terrain by a dozer, the dozer blade can be automatically controlled based on measurements from a combination of a global navigation satellite system real-time kinematic mode (GNSS RTK) system and inertial sensors. At least one GNSS sensor and at least one inertial sensor are mounted on the dozer. Control algorithms are based on blade elevation and blade slope angle. During a period of GNSS RTK system outage, control of blade elevation is not available. Blade control is maintained by switching to control algorithms based on blade slope angle and blade pitch angle. Blade slope angle and blade pitch angle are controlled based on extrapolated target values of blade slope angle and blade pitch angle. The extrapolated target values of the angles are extrapolated from target values of the angles prior to the GNSS RTK system outage with the use of a distance travelled by the dozer.

Abstract translation: 为了通过推土机对地形进行精确分级，可以根据全球导航卫星系统实时运动模式（GNSS RTK）系统和惯性传感器的组合进行测量，自动控制推土机叶片。 至少一个GNSS传感器和至少一个惯性传感器安装在推土机上。 控制算法基于叶片高度和叶片倾斜角度。 在GNSS RTK系统中断期间，无法控制叶片高程。 通过切换到基于叶片倾斜角和叶片桨距角的控制算法来维持叶片控制。 叶片倾斜角和叶片桨距角基于叶片倾斜角和叶片桨距角的外推目标值进行控制。 使用推土机行驶的距离，将角度的外推目标值从GNSS RTK系统中断前的角度的目标值外推。

公开(公告)号：US20120016557A1

公开(公告)日：2012-01-19

申请号：US13179398

申请日：2011-07-08

Applicant: Bart Peter Verboomen

Inventor： Bart Peter Verboomen

IPC: G06F19/00

CPC classification number: G05D1/0278 ,  E02F3/907 ,  E02F9/2045 ,  G05D1/0217 ,  G05D2201/0202

Abstract: The invention relates to a method for controlling a mobile ground working device, such as a trailing suction hopper dredger or bulldozer. The method is characterized in that it comprises at least the steps, proceeding under the control of a central computer via a digital network, of A) presetting an optimum criterion; B) collecting information relating to the current state of the ground; C) collecting information relating to the current state of the ground working device, including at least its position; and D) calculating the control of the ground working device at which the optimum criterion is minimized. Using the invented method ground can be worked with an increased efficiency compared to the known method. The invention likewise relates to a computer program comprising program instructions for having a computer perform the method, and to a computer adapted to run the computer program.

Abstract translation: 本发明涉及一种用于控制移动地勤作业装置的方法，例如拖尾吸料斗挖泥船或推土机。 该方法的特征在于至少包括步骤，在中央计算机经由数字网络的控制下进行，A）预设最佳标准; B）收集有关当前地面状况的资料; C）收集与地面工作装置的当前状态有关的信息，至少包括其位置; 和D）计算最佳标准最小化的地面作业装置的控制。 与已知方法相比，使用本发明的方法可以提高效率。 本发明同样涉及包括用于使计算机执行该方法的程序指令和适用于运行计算机程序的计算机的计算机程序。

公开(公告)号：US20110288908A1

公开(公告)日：2011-11-24

申请号：US13192831

申请日：2011-07-28

Applicant: Jonny Ray GREINER ,  Yang Liu ,  Bhavin Jagdishbhai Vyas

Inventor： Jonny Ray GREINER ,  Yang Liu ,  Bhavin Jagdishbhai Vyas

IPC: G06Q10/00

CPC classification number: G06Q10/083 ,  E02F9/2045 ,  E02F9/265 ,  G01S19/42 ,  G05D1/0278 ,  G05D1/0297 ,  G05D2201/0201 ,  G05D2201/0202 ,  G05D2201/021 ,  G06Q10/0637 ,  G06Q10/0639 ,  Y02P90/845

Abstract: A method for improving haul road surface conditions comprises collecting performance data associated with at least one machine operating on a haul route and determining a rolling resistance of each of the at least one machine based on the performance data. An average rolling resistance associated with one or more portions of the haul route is determined based on the rolling resistance of each of the at least one machine. The one or more portions of the haul route are identified as irregular if the average rolling resistance of the one or more portions exceeds a threshold resistance value. A proposed modification to the irregular portion of the haul route is generated, and performance of the at least one machine is simulated based on the proposed modification. The method also includes outputting results of the simulated performance.

Abstract translation: 一种用于改善运输路面状况的方法包括：收集与在运输路线上运行的至少一个机器相关联的性能数据，并且基于所述性能数据确定所述至少一台机器中的每一个的滚动阻力。 基于所述至少一个机器中的每一个的滚动阻力来确定与所述运输路线的一个或多个部分相关联的平均滚动阻力。 如果一个或多个部分的平均滚动阻力超过阈值电阻值，则运输路线的一个或多个部分被识别为不规则的。 产生对运输路线的不规则部分的修改，并且基于所提出的修改来模拟至少一个机器的性能。 该方法还包括输出模拟性能的结果。

公开(公告)号：US20100250023A1

公开(公告)日：2010-09-30

申请号：US12416061

申请日：2009-03-31

Applicant: Adam John Gudat

Inventor： Adam John Gudat

IPC: G06F19/00

CPC classification number: E02F9/2045 ,  E02F9/205 ,  E02F9/2054 ,  E02F9/262 ,  E02F9/265 ,  G05D1/0022 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0202

Abstract: A system and method for operating a machine is disclosed. The system may include an input device configured to select from a plurality of modes of operation for the machine, the plurality of modes of operation comprising a manual mode, a remote mode, and an autonomous mode. The system may further include a controller coupled to the machine, the controller configured to place the machine in the selected mode of operation based on an input at the input device. The system may further include a transmitter configured to transmit a heartbeat signal. The system may further include a receiver configured to receive an acknowledgment signal from a remote system in response to the transmitted heartbeat signal.

Abstract translation: 公开了一种用于操作机器的系统和方法。 系统可以包括被配置为从机器的多种操作模式中选择的输入设备，所述多种操作模式包括手动模式，远程模式和自主模式。 系统还可以包括耦合到机器的控制器，所述控制器被配置为基于输入设备处的输入将机器置于所选择的操作模式中。 该系统还可以包括被配置为发送心跳信号的发射机。 该系统还可以包括被配置为响应于所发送的心跳信号从远程系统接收确认信号的接收器。

公开(公告)号：US20100106344A1

公开(公告)日：2010-04-29

申请号：US12290040

申请日：2008-10-27

Applicant: Dean B. Edwards ,  John R. Canning

Inventor： Dean B. Edwards ,  John R. Canning

IPC: G06F19/00

CPC classification number: G05D1/0038 ,  E02F9/205 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0201 ,  G05D2201/0202

Abstract: An apparatus and method is disclosed for a wireless remotely operable unmanned compact vehicle platform for use in land management comprising a frame and providing a pair of ground engageable endless drive tracks powered by a hydraulic fluid power source. The vehicle supports working attachments on the front end by utilizing a universal working attachment coupling interface carried on a pair of loader boom structures, and the vehicle supports working attachments on the rear end by utilizing a three point hitch apparatus. Working attachments coupled to the vehicle may be powered by the hydraulic fluid power source carried on the frame. A wireless remote control apparatus allows an operator to control the vehicle at a safe distance and a wireless video system allows an operator to control the vehicle accurately. A system of autonomous operation is integrated with the vehicle for travel in complex, unstructured environments. The claimed invention also utilizes a method of operation for the wirelessly operable unmanned vehicle control system which comprises a system wherein one or more mobile transmitters can be used to control one or more vehicles individually.

Abstract translation: 公开了一种用于陆地管理的无线远程可操作的无人小型车辆平台的装置和方法，其包括框架并且提供由液压流体动力源供电的一对地面可接合的环形驱动轨道。 车辆通过利用一对装载臂结构承载的通用工作附件连接接口来支撑前端的工作附件，并且车辆通过利用三点牵引装置来支撑后端的工作附件。 耦合到车辆的工作附件可以由在框架上承载的液压流体动力源来供电。 无线遥控装置允许操作者在安全距离上控制车辆，并且无线视频系统允许操作者准确地控制车辆。 一个自主运行的系统与车辆相结合，在复杂的非结构化环境中行驶。 所要求保护的发明还利用了一种用于无线操作的无人驾驶车辆控制系统的操作方法，该系统包括其中一个或多个移动发射机可以单独控制一个或多个车辆的系统。

公开(公告)号：US20100076640A1

公开(公告)日：2010-03-25

申请号：US12563563

申请日：2009-09-21

Applicant: Takashi MAEKAWA ,  Tetsuya Noda ,  Shigefumi Tamura ,  Tomonori Ozaki

Inventor： Takashi MAEKAWA ,  Tetsuya Noda ,  Shigefumi Tamura ,  Tomonori Ozaki

IPC: G05D1/00

CPC classification number: G05D1/0217 ,  G05D2201/0202 ,  G05D2201/021

Abstract: A travel route generating method for an unmanned vehicle, which includes a condition input step of inputting a vehicle constraint condition including a vehicle width and a minimum turning radius of the unmanned vehicle, and a geometrical constraint condition including a travel route generation range in which the unmanned vehicle is to travel, an obstacle to avoid, and a position and a direction of an entrance point and an exit point; and a travel route generating step of generating a travel route such that the vehicle constraint condition and the geometrical constraint condition are satisfied, and such that a function value of a cost function having at least a magnitude of a curve and/or a rate of change in the curve as a cost element is minimized.

Abstract translation: 一种用于无人驾驶车辆的行驶路线产生方法，包括条件输入步骤，输入包括车辆宽度和无人驾驶车辆的最小转弯半径的车辆约束条件，以及包括行驶路线生成范围的几何约束条件，其中， 无人驾驶的车辆是旅行，避免障碍，以及入口点和出口点的位置和方向; 以及旅行路线生成步骤，生成行驶路线，使得车辆约束条件和几何约束条件得到满足，并且使得具有至少一个曲线幅度和/或变化率的成本函数的函数值 在曲线中作为成本要素被最小化。

公开(公告)号：US20100010703A1

公开(公告)日：2010-01-14

申请号：US12216582

申请日：2008-07-08

Applicant: Robert M. Coats ,  Michael Sean McDaniel ,  David J. Edwards ,  Ramkumar Subramanian ,  Kenneth L. Stratton

Inventor： Robert M. Coats ,  Michael Sean McDaniel ,  David J. Edwards ,  Ramkumar Subramanian ,  Kenneth L. Stratton

IPC: G06F19/00

CPC classification number: G05D1/0278 ,  G05D1/024 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0202

Abstract: A guidance system for a mobile machine is disclosed. The guidance system may have a scanning device configured to generate a signal indicative of a lateral distance from the machine to a roadway marker, a locating device configured to determine a geographical location of the machine, and a controller in communication with the scanning device and the locating device. The controller may be configured to receive a desired lateral distance from the machine to the roadway marker, and to compare the desired lateral distance to the actual lateral distance. The controller may further be configured to implement a response to the comparison based on the geographical location.

Abstract translation: 公开了一种移动机的引导系统。 引导系统可以具有被配置为产生指示从机器到道路标记的横向距离的信号的扫描设备，被配置为确定机器的地理位置的定位设备，以及与扫描设备和 定位装置。 控制器可以被配置为接收从机器到道路标记的期望的横向距离，并且将期望的横向距离与实际横向距离进行比较。 控制器还可以被配置为基于地理位置来实现对比较的响应。

公开(公告)号：US20080208395A1

公开(公告)日：2008-08-28

申请号：US11994034

申请日：2006-06-27

Applicant: Kelvin P. Self ,  Nathan E. Kiner

Inventor： Kelvin P. Self ,  Nathan E. Kiner

IPC: G05D1/02 ,  G06F19/00

CPC classification number: G05D1/0033 ,  E02F9/205 ,  E02F9/24 ,  G05D1/0278 ,  G05D2201/0202

Abstract: A system for controlling a tool carrier and work tool from either a first remote control or a second remote control. The first remote control and the second remote control both transmit respective first and second control signals to a controller system supported on the tool carrier. The controller system is programmed to select either the first control signal or the second control signal to control operation of the tool carrier. The system may include programming to allow autonomous movement of the tool carrier between a first work zone and a second work zone. Further, the controller system may be programmed to avoid obstacles within its path and to reroute its path between the first work zone and the second work zone to avoid such obstacles.

Abstract translation: 一种用于从第一遥控器或第二遥控器控制刀架和工具的系统。 第一遥控器和第二遥控器将相应的第一和第二控制信号发送到支撑在刀架上的控制器系统。 控制器系统被编程为选择第一控制信号或第二控制信号以控制刀架的操作。 该系统可以包括编程以允许刀架在第一工作区和第二工作区之间的自动移动。 此外，控制器系统可以被编程为避免其路径内的障碍物并且在第一工作区域和第二工作区域之间重新路由其路径以避免这种障碍物。