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公开(公告)号：US20210141384A1
公开(公告)日：2021-05-13
申请号：US16678244
申请日：2019-11-08
摘要： Backing up and aligning tractor trailers to a loading dock is one of the most complicated tasks performed by a truck driver. The present invention provides aids, and/or autonomy, to the driver in both conditions: the warehouse, and the less structured origin/destination. The invention is designed to aid the driver with facilities to simplify the parking and loading dock alignment process. The invention controls the drive-by-wire system in the truck, controlling the steering, gearbox, acceleration, and break, to automatically back up the truck into the desired location. This is possible if the truck is equipped with a drive-by-wire kit. The invention controls one or more control signals to the drive-by-wire system while the driver controls the others. In the present invention, a system is developed that is designed to autonomously or semi-autonomously guide a driver to a dock or parking location which is comprised of a sensor or sensors that collect a map of the dock or desired parking area, a user interface that allows the operator to select a doc k, or a feature in the map and determine the final pose of the tractor and trailer, a planner that creates a kinematically correct and obstacle free trajectory from the current location to the desired location and a set of user aids, including a ground guide avatar or avatars that provide the distance to the dock, speed and turning direction, or other guidance.
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公开(公告)号：US20200225675A1
公开(公告)日：2020-07-16
申请号：US16679376
申请日：2019-11-11
摘要： The invention simplifies the process of utilizing mmmg or construction trucks to automatically carry ore, dirt, or other matter from one location to another. Transportation of the dirt, ore, or matter is usually performed using trucks with loaders or excavators. The trucks then take the loads and deposit them in piles, which are then used for the next step of the mining or construction process. The invention uses a teach-and-follow process to establish the trajectories that these paths must follow. The present invention describes a system to record and execute trajectories for autonomous mining and construction trucks. This system comprises one or more sensors that can detect road features, a drive-by-wire kit installed onto the truck(s), a user interface that allows the operator to learn trajectories and “replay trajectories”, and a planning algorithm that creates trajectories which take the vehicle from a starting location to an ending location (final destination), while maintaining the vehicle inside of the allowed driving envelope. The invention allows the user to drive the truck along the desired route and have the truck automatically learn the route using features in the environment to localize. In future runs, the truck is able to automatically follow the learned route.
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公开(公告)号：US11188100B2
公开(公告)日：2021-11-30
申请号：US15700080
申请日：2017-09-09
摘要： A system for localizing a swarm of robotic platforms utilizing ranging sensors. The swarm is localized by purposely leaving some of the platforms of the swarm stationary, providing localization to the moving ones. The platforms in the swarm can alternate between a stationary and moving state.
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公开(公告)号：US20210363715A1
公开(公告)日：2021-11-25
申请号：US17329040
申请日：2021-05-24
摘要： Systems and methods for autonomous, modular, and/or multi-segment vehicle barriers, such as portable vehicle barriers that may be automatically anchored to the ground in response to threat detection.
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公开(公告)号：US20210107523A1
公开(公告)日：2021-04-15
申请号：US16597893
申请日：2019-10-10
摘要： The present invention pertains to the development of a ground autonomous ambulance that is designed to follow routes that is comprised of an autonomous vehicle that includes a drive by wire kit, a database storing the collection routes, a database of rules of the road and/or other legal allowable behavior, sensors for detecting the pedestrians, cars, and other road obstacles, and a control system that controls the vehicle to follow routes and which is capable of carrying and securing a stretcher or wheelchair. The autonomous ambulance also has a robotic stretcher which is used for transporting patients from their residences or other emergency locations to the ambulance.
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公开(公告)号：US20210072749A1
公开(公告)日：2021-03-11
申请号：US16563157
申请日：2019-09-06
IPC分类号： G05D1/00
摘要： The invention involves the development of an autonomous street sweeper vehicle which can detect the presence of obstacles and pedestrians and is used to perform a variety of sweeping functions such as sweeping, vacuuming, blowing, scraping, and such types of functions on roads and a variety of different surfaces. This invention pertains to an autonomous street sweeper vehicle designed to follow routes comprising an autonomous vehicle that includes a drive by wire kit, a database storing the collection routes, a mechanism for detecting the curb, pedestrians, cars, and other road obstacles, a control system that controls the truck to follow routes while maintaining the truck at serviceable distances to the curb that improve the efficiency of the sweeper. The autonomous street sweeper convoy communicates with each other via radios or other methods and a lead vehicle which could be functional or non-functional accompanies several autonomous street sweeper vehicles as part of a convey. Each of the autonomous street sweeper vehicles performs a specific function. The vehicle speed and settings of the cleaning equipment are adjusted based on road hazards that come across the path of the autonomous street sweeper vehicles.
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公开(公告)号：US20200150668A1
公开(公告)日：2020-05-14
申请号：US16676666
申请日：2019-11-07
摘要： Trucks in a mine or construction site move dirt, ore, or other matter from one location to another. The ore is usually loaded using an excavator or loader. Once at the unloading destination, the truck needs to determine where to unload the ore, dirt, or matter. Different applications require the load to be dumped in different manners. The present invention encodes this knowledge into a database of preferred behaviors and creates a set of automated maneuvers that accomplish these actions. The invention assumes that the truck has a drive-by-wire kit, and that its capable of moving under computer control. The present invention comprises a system to increase the safety of mining and construction autonomous trucks in which there are one or more sensors that can detect road features, a drive-by-wire kit installed on an autonomous truck, a planning algorithm that creates trajectories which take the autonomous vehicle from a starting location to a final location, while at the same time implementing randomizing the trajectory within the traversable road to minimize the ruts or purposely driving over the “high” points of the support surface to flatten the ruts or purposely avoiding (or stopping the vehicle) if a sharp object is detected on the route that can possibly puncture the tires or detecting debris that has been dropped from the truck, to alert other vehicles or itself when driven along the same route or detecting and historically tracking features in the road to determine road movement, and therefore alert to possible collapses or landslides or stopping the vehicle, or avoiding deep water puddles, detected by comparing the water surface and the pre-recorded support surface from a previous pass.
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公开(公告)号：US20200150656A1
公开(公告)日：2020-05-14
申请号：US16601775
申请日：2019-10-15
摘要： The system in this invention is autonomous control for these trucks covering a variety of behaviors specific to mining applications. The invention uses these behaviors to increase the efficiency and safety of running a mining operation, while also reducing cost. This invention involves the development of a system that is designed to increase the safely of mining and construction autonomous trucks. This system is comprised of one or more sensors that can detect road features, a drive-by-wire kit installed on a truck, an autonomous driver that creates the trajectories which take the vehicle from a starting location to an ending location (final destination), while at the same time implementing one or more of the behaviors mentioned below. One behavior implemented by the system is varying the trajectory within the traversable road to minimize the ruts. Another behavior is purposely driving over the “high” points of the support surface to flatten the ruts. Also, the system can purposely avoid (or stop the vehicle) if a sharp object is detected on the route that can possibly puncture the tire. It can detect debris that has been dropped from the truck, to alert other vehicles or itself when driven along the same route. The system can also detect and historically track features in the road to determine road movement, and therefore alert to possible collapses or landslides. Finally, the system can also implement stopping the vehicle, or avoiding deep water puddles, detected by comparing the water surface and the pre-recorded support surface from a previous pass.
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9.发明申请公开(公告)号：US20220175455A1
公开(公告)日：2022-06-09
申请号：US17541965
申请日：2021-12-03
发明人： Tamas Ungi , Paul St. John
摘要： A system for providing surgical planning and guidance with three-dimensional visualization is disclosed. In particular, the system obtains an image set of an anatomy of interest of a subject, and renders the image set on a user interface using volume rendering. Notably, the system accomplishes the foregoing without generating surface models or conducting bone contouring. The system may, during generation of an implant plan for implanting an implant onto the anatomy of interest, suggest landmark points in the volume rendered image set. Once the landmark points are confirmed, the system may facilitate implant positioning via implant controls. The system conducts a registration process to confirm a match between the physical anatomy of interest and the information contained in volume-rendered image set in the plan. If there is a match, the system may facilitate performance of a surgical procedure for implanting the implant onto the anatomy of interest of the subject.
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公开(公告)号：US11170106B2
公开(公告)日：2021-11-09
申请号：US15976538
申请日：2018-05-10
发明人： Alberto Lacaze , Karl Murphy
摘要： The system for detecting hardware trojans in integrated circuits by analyzing the substrate noise generated by the unique physical properties of such an integrated circuit disclosed herein may compare the substrate noise signatures of a subject IC against the noise signature from one or more known good ICs to detect such trojans, and may measure the electromagnetic, current, or voltage noise of an IC as a function of time synchronized with the test sequence. The system may allow for the testing of such substrate noise at multiple points around the IC, and may further comprise a Cypher Block Chain (CBC) technique to incorporate the noise measurements over time into a signature unique to the IC.
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