公开(公告)号：US08768659B2

公开(公告)日：2014-07-01

申请号：US13119952

申请日：2009-09-18

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

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

IPC: G06F7/60

CPC classification number: G06F17/18

Abstract: A method for modelling a dataset includes a training phase, wherein the dataset is applied to a non-stationary Gaussian process kernel in order to optimize the values of a set of hyperparameters associated with the Gaussian process kernel, and an evaluation phase in which the dataset and Gaussian process kernel with optimized hyperparameters are used to generate model data. The evaluation phase includes a nearest neighbor selection step. The method may include generating a model at a selected resolution.

Abstract translation: 用于对数据集进行建模的方法包括训练阶段，其中将数据集应用于非平稳高斯过程核，以便优化与高斯过程核相关联的一组超参数的值，以及评估阶段，其中数据集 并且使用具有优化超参数的高斯过程内核来生成模型数据。 评估阶段包括最近邻选择步骤。 该方法可以包括以选定的分辨率生成模型。

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：US20130261873A1

公开(公告)日：2013-10-03

申请号：US13989646

申请日：2011-11-25

Applicant: Annette Bronwyn Pal ,  Eric Nettleton

Inventor： Annette Bronwyn Pal ,  Eric Nettleton

IPC: E21B47/00 ,  G01V3/38 ,  G01V1/40

CPC classification number: E21B47/00 ,  E21B47/042 ,  G01V1/40 ,  G01V3/38

Abstract: Apparatus and method for obtaining information from drilled holes for mining A mobile vehicle (11) is operated autonomously to approach a hole (13a) from which information is to be obtained. An onboard perception system (17) detects the exact location of the hole and an onboard sensor (26) is deployed from the vehicle into the hole. Perception system (17) comprises a number of scanners (23) carried by a mounting (24) fitted to the rear of the vehicle. A downhole sensor unit (18) movable along a swinging arm (19) carries downhole sensors selectively lowerable into the hole by operation of cable reels within the unit (18).

Abstract translation: 用于从挖掘钻孔获得信息的装置和方法移动车辆（11）自主地操作以接近将要从其获得信息的孔（13a）。 机载感知系统（17）检测孔的确切位置，并且车载传感器（26）从车辆展开到孔中。 感知系统（17）包括由安装在车辆后部的安装件（24）承载的多个扫描器（23）。 沿着摆臂（19）可移动的井下传感器单元（18）承载通过在单元（18）内操作缆索卷轴可选择性地可下降到孔中的井下传感器。

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：US08825456B2

公开(公告)日：2014-09-02

申请号：US13496480

申请日：2010-09-15

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

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

IPC: G06F7/60

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

Abstract: A method of computerized 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：US20120139325A1

公开(公告)日：2012-06-07

申请号：US13223693

申请日：2011-09-01

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

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

IPC: E21C41/26 ,  G06K9/48

CPC classification number: E21C41/26 ,  G01C15/00 ,  G06K9/0063 ,  G06N20/00 ,  G06T7/13 ,  G06T2207/10028

Abstract: Described herein is a computerised method for identifying and classifying edges in a dataset representative of an open-pit mine terrain. The method includes the step of identifying one or more surfaces of the terrain having common topological attributes (306). Then, for each surface identified, edges of the identified surface are detected (308) and each of the detected edges are classified (316) as one of a toe, crest, or other than a crest or a toe. The method also includes the step of updating the dataset (208) with the edges classified as toes or crests.

Abstract translation: 这里描述了一种用于识别和分类表示露天矿地形的数据集中的边缘的计算机化方法。 该方法包括识别具有共同拓扑属性的地形的一个或多个表面的步骤（306）。 然后，对于识别的每个表面，检测到所识别的表面的边缘（308），并且将每个检测到的边缘分类为（316）作为趾部，顶部之一或除了顶部或趾部之外的其中之一。 该方法还包括更新数据集（208）的步骤，边缘被分类为脚趾或峰顶。

公开(公告)号：US20120053703A1

公开(公告)日：2012-03-01

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: G05B19/418

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 localised 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 localised 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：US20120046983A1

公开(公告)日：2012-02-23

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: G06Q10/06

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 localised 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.

Abstract translation: 一种用于调度所定义的地理区域内的自主实体的操作的规划系统（201）。 规划系统在区域规划层面（301）运行，用于在地理区域的战略规划，操作计划层面（302），用于由具有操作定义的地理边界的本地化区域中的自主实体执行的操作，以及任务 计划等级（303），对自主实体执行的具体任务进行处理。