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公开(公告)号：US09043016B2
公开(公告)日：2015-05-26
申请号：US11584084
申请日：2006-10-20
申请人： Mikhail O. Filippov , Osa Fitch , Scott P. Keller , John O'Connor , David S. Zendzian , Nadim El Fata , Kevin Larsen , Arlen Eugene Meuchel , Mark David Schmaltz , James Allard , Chris A. De Roo , William Robert Norris , Andrew Julian Norby , Christopher David Glenn Turner
发明人： Mikhail O. Filippov , Osa Fitch , Scott P. Keller , John O'Connor , David S. Zendzian , Nadim El Fata , Kevin Larsen , Arlen Eugene Meuchel , Mark David Schmaltz , James Allard , Chris A. De Roo , William Robert Norris , Andrew Julian Norby , Christopher David Glenn Turner
IPC分类号： G06F19/00 , G05B19/414 , B60T7/22 , B62D1/28 , G05D1/00 , G05D1/02 , B60W30/09 , B60W30/095
CPC分类号： G05D1/0088 , B60T7/22 , B60W30/09 , B60W30/095 , B62D1/286 , G05B19/414 , G05D1/0061 , G05D1/021 , G05D1/024 , G05D1/0246 , G05D1/0251 , G05D1/0259 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G05D1/028 , G05D2201/0201 , G05D2201/0202 , G05D2201/0209 , G05D2201/0213 , G05D2201/0216 , H04L67/12 , Y10S901/01 , Y10S901/47
摘要： Certain embodiments of the present invention provide robotic control modules for use in a robotic control system of a vehicle, including structures, systems and methods, that can provide (i) a robotic control module that has multiple functional circuits, such as a processor and accompanying circuits, an actuator controller, an actuator amplifier, a packet network switch, and a power supply integrated into a mountable and/or stackable package/housing; (ii) a robotic control module with the noted complement of circuits that is configured to reduce heat, reduce space, shield sensitive components from electro-magnetic noise; (iii) a robotic control system utilizing robotic control modules that include the sufficiently interchangeable functionality allowing for interchangeability of modules; and (iv) a robotic control system that distributes the functionality and processing among a plurality of robotic control modules in a vehicle.
摘要翻译： 本发明的某些实施例提供了用于车辆的机器人控制系统的机器人控制模块，包括结构，系统和方法，其可以提供（i）具有多个功能电路的机器人控制模块，例如处理器和伴随 电路，致动器控制器，致动器放大器，分组网络开关和集成到可安装和/或可堆叠的封装/壳体中的电源; （ii）具有所述补充电路的机器人控制模块，其被配置为减少热量，减少空间，屏蔽敏感部件免受电磁噪声; （iii）利用机器人控制模块的机器人控制系统，其包括足够可互换的功能，允许模块的可互换性; 以及（iv）在车辆中的多个机器人控制模块之间分配功能和处理的机器人控制系统。
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公开(公告)号：US08107318B2
公开(公告)日：2012-01-31
申请号：US12750506
申请日：2010-03-30
申请人： Mark Chiappetta , James Allard
发明人： Mark Chiappetta , James Allard
IPC分类号： G01S15/00
CPC分类号： B25J13/006 , B60G2300/45 , B62D61/10 , B62D61/12 , G01S7/52004 , G01S7/527 , G01S15/108 , G01S15/88
摘要： Detecting an object using sound waves includes outputting a sound wave from a transducer, receiving an echo after outputting the sound wave, obtaining a threshold value based on the echo and plural other echoes that are within a predetermined range of the echo, and determining if the echo is a result of the sound wave based on the threshold value.
摘要翻译： 使用声波检测对象包括从换能器输出声波，在输出声波之后接收回声，基于回波和在回波的预定范围内的多个其它回波获得阈值，以及确定是否 回波是基于阈值的声波的结果。
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公开(公告)号：US07892437B2
公开(公告)日：2011-02-22
申请号：US12058505
申请日：2008-03-28
申请人： Barry Allard , James Allard
发明人： Barry Allard , James Allard
IPC分类号： C02F1/52
CPC分类号： C02F1/38 , C02F1/5245 , C02F2103/12 , C02F2303/24
摘要： A method of managing water is provided, in which the water is discharged from an aggregate plant, and therefore contains a large number of fines. The water is first passed through a mesh screen to remove large particles and then collected in a sump. From the sump the water is pumped to a centrifugal cyclone, where some of the fines are separated from the water. Flocculent is then applied to the water, before the water is collected in a pond.
摘要翻译： 提供了一种管理水的方法，其中水从集料厂排出，因此含有大量的细粉。 首先将水通过筛网以除去大颗粒，然后收集在贮槽中。 从水槽中将水泵送到离心旋风器中，其中一些细粒与水分离。 然后在将水收集在池塘中之前将絮状物施加到水上。
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公开(公告)号：US20100256813A1
公开(公告)日：2010-10-07
申请号：US12750506
申请日：2010-03-30
申请人： Mark Chiappetta , James Allard
发明人： Mark Chiappetta , James Allard
IPC分类号： G05B15/00
CPC分类号： B25J13/006 , B60G2300/45 , B62D61/10 , B62D61/12 , G01S7/52004 , G01S7/527 , G01S15/108 , G01S15/88
摘要： Detecting an object using sound waves includes outputting a sound wave from a transducer, receiving an echo after outputting the sound wave, obtaining a threshold value based on the echo and plural other echoes that are within a predetermined range of the echo, and determining if the echo is a result of the sound wave based on the threshold value.
摘要翻译： 使用声波检测对象包括从换能器输出声波，在输出声波之后接收回声，基于回波和在回波的预定范围内的多个其它回波获得阈值，以及确定是否 回波是基于阈值的声波的结果。
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公开(公告)号：US07499776B2
公开(公告)日：2009-03-03
申请号：US10972082
申请日：2004-10-22
CPC分类号： G05D1/0061 , G05D1/024 , G05D1/0242 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278
摘要： Systems and methods for interruptible autonomous control of a vehicle. Autonomous control is achieved by using actuators that interact with input devices in the vehicle. The actuators (e.g., linkages) manipulate the input devices (e.g., articulation controls and drive controls, such as a throttle, brake, tie rods, steering gear, throttle lever, or accelerator) to direct the operation of the vehicle. Although operating autonomously, manual operation of the vehicle is possible following the detection of events that suggest manual control is desired. Subsequent autonomous control may be permitted, permitted after a prescribed delay, or prevented.
摘要翻译： 车辆可中断自主控制的系统和方法。 通过使用与车辆中的输入装置相互作用的致动器来实现自主控制。 致动器（例如，连杆）操纵输入装置（例如，关节运动控制和驱动控制，例如节气门，制动器，拉杆，转向装置，节流杆或加速器）以引导车辆的操作。 虽然自动操作，但是在检测到希望手动控制的事件之后，可以手动操作车辆。 随后的自主控制可以被允许，在规定的延迟之后允许或被阻止。
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公开(公告)号：US07499775B2
公开(公告)日：2009-03-03
申请号：US10971725
申请日：2004-10-22
CPC分类号： G05D1/027 , G01S13/726 , G01S13/931 , G01S2013/9321 , G01S2013/9342 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/0272
摘要： System and method for tracking obstacles by an autonomous vehicle. Localization sensors (i.e., sensors to measure pitch, roll, and yaw, and systems including an inertial navigation system, a compass, a global positioning system, or an odometer) detect the position of the vehicle. Perception sensors (e.g., LIDAR, stereo vision, infrared vision, radar, or sonar) assess the environment about the vehicle. Using these sensors, locations of terrain features relative to the vehicle are computed and kept up-to-date. The vehicle trajectory is adjusted to avoid terrain features that are obstacles in the path of the vehicle.
摘要翻译： 用于跟踪自主车辆的障碍物的系统和方法。 本地化传感器（即，用于测量俯仰，滚动和偏航的传感器以及包括惯性导航系统，罗盘，全球定位系统或里程表的系统）检测车辆的位置。 感知传感器（例如LIDAR，立体视觉，红外视觉，雷达或声纳）评估车辆的环境。 使用这些传感器，计算相对于车辆的地形特征的位置并保持最新。 调整车辆轨迹以避免作为车辆路径中的障碍物的地形特征。
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公开(公告)号：US07369460B2
公开(公告)日：2008-05-06
申请号：US11085832
申请日：2005-03-21
申请人： Mark Chiappetta , James Allard
发明人： Mark Chiappetta , James Allard
IPC分类号： G01S15/00
CPC分类号： B25J13/006 , B60G2300/45 , B62D61/10 , B62D61/12 , G01S7/52004 , G01S7/527 , G01S15/108 , G01S15/88
摘要： Detecting an object using sound waves includes outputting a sound wave from a transducer, receiving an echo after outputting the sound wave, obtaining a threshold value based on the echo and plural other echoes that are within a predetermined range of the echo, and determining if the echo is a result of the sound wave based on the threshold value.
摘要翻译： 使用声波检测对象包括从换能器输出声波，在输出声波之后接收回声，基于回波和在回波的预定范围内的多个其它回波获得阈值，以及确定是否 回波是基于阈值的声波的结果。
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公开(公告)号：US20060089763A1
公开(公告)日：2006-04-27
申请号：US10971724
申请日：2004-10-22
申请人： David Barrett , James Allard , Misha Filippov , Robert Pack , Selma Svendsen
发明人： David Barrett , James Allard , Misha Filippov , Robert Pack , Selma Svendsen
IPC分类号： G06F17/00
CPC分类号： G05D1/0061
摘要： System and method for processing a safety signal in an autonomous vehicle. Safety signals are typically generated in response to the detection of unsafe conditions or are sent by the vehicle operator. In either case, the safety signals are conveyed using redundant communication paths. The paths include a computer network and a current loop. The safety signals are processed, thereby causing actuators (e.g., linkages) to manipulate input devices (e.g., articulation controls and drive controls, such as a throttle, brake, tie rods, steering gear, throttle lever, accelerator, or transmission shifter). The manipulation ensures the vehicle responds appropriately to the safety signals, for example, by shutting down the vehicle.
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公开(公告)号：US07979175B2
公开(公告)日：2011-07-12
申请号：US12357151
申请日：2009-01-21
CPC分类号： G05D1/0061 , G05D1/024 , G05D1/0242 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278
摘要： Systems and methods for interruptible autonomous control of a vehicle. Autonomous control is achieved by using actuators that interact with input devices in the vehicle. The actuators (e.g., linkages) manipulate the input devices (e.g., articulation controls and drive controls, such as a throttle, brake, tie rods, steering gear, throttle lever, or accelerator) to direct the operation of the vehicle. Although operating autonomously, manual operation of the vehicle is possible following the detection of events that suggest manual control is desired. Subsequent autonomous control may be permitted, permitted after a prescribed delay, or prevented.
摘要翻译： 车辆可中断自主控制的系统和方法。 通过使用与车辆中的输入装置相互作用的致动器来实现自主控制。 致动器（例如，连杆）操纵输入装置（例如，关节运动控制和驱动控制，例如节气门，制动器，拉杆，转向装置，节流杆或加速器）以引导车辆的操作。 虽然自动操作，但是在检测到希望手动控制的事件之后，可以手动操作车辆。 随后的自主控制可以被允许，在规定的延迟之后允许或被阻止。
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公开(公告)号：US07499804B2
公开(公告)日：2009-03-03
申请号：US10971718
申请日：2004-10-22
CPC分类号： G05D1/027 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/0272 , G05D1/0278
摘要： System and method for multi-modal control of a vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle, brake, accelerator, throttle lever, steering gear, tie rods, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. After receipt of a mode select command that dictates the operational mode of the vehicle (e.g., manned operation, remote unmanned tele-operation, assisted remote tele-operation, and autonomous unmanned operation), the actuators manipulate the operator input devices, in accordance with the behaviors, to affect the desired operational mode.
摘要翻译： 一种车辆多模态控制系统和方法。 致动器（例如，连杆）操纵输入装置（例如，关节运动控制和驱动控制，例如节气门，制动器，加速器，节流杆，转向装置，拉杆或变速器换档器）以引导车辆的操作。 表征车辆操作模式的行为与致动器相关联。 在接收到指示车辆的操作模式的模式选择命令（例如，有人操作，远程无人遥控，辅助远程远程操作和自主无人操作）之后，执行器根据操作者输入设备 行为，影响所需的操作模式。
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