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公开(公告)号：US08768659B2
公开(公告)日：2014-07-01
申请号：US13119952
申请日：2009-09-18
IPC分类号： G06F7/60
CPC分类号： G06F17/18
摘要： 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.
摘要翻译： 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。
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2.发明授权System and method for autonomous navigation of a tracked or skid-steer vehicle 有权跟踪或滑行转向车辆的自动导航系统和方法公开(公告)号：US08612084B2
公开(公告)日：2013-12-17
申请号：US13496481
申请日：2010-09-15
IPC分类号： G01C22/00
CPC分类号： G05D1/0278 , G05D1/027 , G05D1/0272 , G05D2201/021
摘要： 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 neighboring 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.
摘要翻译： 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。
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公开(公告)号：US5363305A
公开(公告)日：1994-11-08
申请号：US843570
申请日：1992-02-28
申请人： Ingemar Cox , John J. Leonard , Hugh Durrant-Whyte
发明人： Ingemar Cox , John J. Leonard , Hugh Durrant-Whyte
CPC分类号： G01C21/00 , G05D1/0234 , G05D1/0274 , G05D1/0255
摘要： A navigation system for a mobile autonomous robot that includes apparatus for creating and maintaining a map of an environment the mobile autonomous robot is to traverse including provision for storing in a map at an assigned location features representative of geometric beacons located in the environment. Because of the uncertainty in its sensor's operating conditions and changes in the environment, a credibility measure is associated with each map feature stored. This credibility measure is increased or decreased whenever the map feature assigned to a location matches or does not match, respectively, a geometric beacon corresponding to such location. Whenever a geometric beacon is observed for a location that does into match a previously stored map features, an appropriate map feature is added for such location.
摘要翻译： 一种用于移动自主机器人的导航系统，其包括用于创建和维护移动自主机器人将要遍历的环境的地图的装置，包括用于存储位于分配位置的地图中的代表位于环境中的几何信标的特征。 由于其传感器的操作条件和环境变化的不确定性，可信性度量与存储的每个地图特征相关联。 每当分配给位置的地图特征分别匹配或不匹配对应于这样的位置的几何信标时，这种可信性度量被增加或减少。 每当观察到与匹配先前存储的地图特征的位置的几何信标时，为这样的位置添加适当的地图特征。
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公开(公告)号：US08857915B2
公开(公告)日：2014-10-14
申请号：US12398169
申请日：2009-03-04
申请人： Juan Nieto , Hugh Durrant-Whyte , Allan Blair
发明人： Juan Nieto , Hugh Durrant-Whyte , Allan Blair
CPC分类号： E21C39/00 , E21C41/26 , F42D3/04 , H04N1/00827
摘要： A method of mining comprising: using a vehicle fitted with scanning module to scan a bench face of a mine bench for both geometric and geological information; making ore grade assessments of material at the bench face from the information provided by the bench face scan; removing material from the bench; and transporting removed material for processing. At least one of said removing, transporting, and processing is performed at least partially dependent on the ore grade assessments.
摘要翻译： 一种采矿方法，包括：使用装有扫描模块的车辆扫描矿井台的几何和地质信息的台面; 从台面扫描提供的信息中对材料进行矿石级评估; 从板凳上取出材料; 并运送去除的材料进行加工。 所述去除，运输和加工中的至少一个至少部分地取决于矿石等级评估。
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公开(公告)号：US08825456B2
公开(公告)日：2014-09-02
申请号：US13496480
申请日：2010-09-15
IPC分类号： G06F7/60
CPC分类号： G06F17/18 , G01S17/89 , G06T7/521 , G06T2207/10028
摘要： 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.
摘要翻译： 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。
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公开(公告)号：US20120139325A1
公开(公告)日：2012-06-07
申请号：US13223693
申请日：2011-09-01
CPC分类号： E21C41/26 , G01C15/00 , G06K9/0063 , G06N20/00 , G06T7/13 , G06T2207/10028
摘要： 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.
摘要翻译： 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。
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公开(公告)号：US20120053703A1
公开(公告)日：2012-03-01
申请号：US13318464
申请日：2010-04-30
IPC分类号： G05B19/418
CPC分类号： E21C41/26
摘要： 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.
摘要翻译： 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。
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公开(公告)号：US20120046983A1
公开(公告)日：2012-02-23
申请号：US13318469
申请日：2010-04-30
IPC分类号： G06Q10/06
CPC分类号： G06Q10/00 , G05B2219/45004 , G06Q10/0631
摘要： 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.
摘要翻译： 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。
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公开(公告)号：US20120046927A1
公开(公告)日：2012-02-23
申请号：US13318465
申请日：2010-04-30
申请人： Eric Nettleton , Ross Hennessy , Hugh Durrant-Whyte , Ali Haydar Göktogan , Peter James Hatherly , Fabio Tozeto Ramos
发明人： Eric Nettleton , Ross Hennessy , Hugh Durrant-Whyte , Ali Haydar Göktogan , Peter James Hatherly , Fabio Tozeto Ramos
IPC分类号： G06G7/48
CPC分类号： E21C41/26 , A61B34/32 , E02F9/205 , E21F17/00 , G05B2219/45004 , G05D2201/021 , Y02P90/02
摘要： 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 localised caused zones having operation-defined geographical boundaries within the region; receiving heterogeneous data descriptive of the region; associating the received data with respective localised zones; fusing the received data associated with the localised zones into data representations of the localised zones; and integrating the data representations of the localised zones into a common data representation of the geographical region.
摘要翻译： 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。
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公开(公告)号：US20110257949A1
公开(公告)日：2011-10-20
申请号：US13119952
申请日：2009-09-18
CPC分类号： G06F17/18
摘要： 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 neighbour selection step. The method may include generating a model at a selected resolution.
摘要翻译： 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。
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