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公开(公告)号：US09139977B2
公开(公告)日：2015-09-22
申请号：US12685855
申请日：2010-01-12
Applicant: Steven Daniel McCain , Vernon Joseph Brabec , Alexander Omelchenko
Inventor： Steven Daniel McCain , Vernon Joseph Brabec , Alexander Omelchenko
CPC classification number: E02F3/847 , G01B11/022
Abstract: A system for determining an orientation of an implement on a vehicle is provided. The system includes a camera mounted to the vehicle, and a target object within a field of vision of the camera and mounted to the implement. The target object includes markings to enable a determination of the orientation of the implement with respect to the camera. A method of determining an orientation of an implement on a vehicle is provided. A system of orienting an implement is provided. A method of installing an implement orientation system is provided. A computer-readable medium having stored thereon computer-executable instructions is provided. The computer-executable instructions cause a processor to perform a method of determining an orientation of an implement when executed.
Abstract translation: 提供了一种用于确定车辆上的工具的定向的系统。 该系统包括安装到车辆的照相机，以及相机视野内的目标物体，并安装在该工具上。 目标对象包括能够确定工具相对于照相机的取向的标记。 提供了一种确定车辆上的工具的取向的方法。 提供了一种定向工具的系统。 提供了一种安装工具取向系统的方法。 提供了其上存储有计算机可执行指令的计算机可读介质。 计算机可执行指令使处理器执行在执行时确定实现方向的方法。
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公开(公告)号：US20110169949A1
公开(公告)日：2011-07-14
申请号：US12685855
申请日：2010-01-12
Applicant: Steven Daniel McCain , Vernon Joseph Brabec , Alexander Omelchenko
Inventor： Steven Daniel McCain , Vernon Joseph Brabec , Alexander Omelchenko
CPC classification number: E02F3/847 , G01B11/022
Abstract: A system for determining an orientation of an implement on a vehicle is provided. The system includes a camera mounted to the vehicle, and a target object within a field of vision of the camera and mounted to the implement. The target object includes markings to enable a determination of the orientation of the implement with respect to the camera. A method of determining an orientation of an implement on a vehicle is provided. A system of orienting an implement is provided. A method of installing an implement orientation system is provided. A computer-readable medium having stored thereon computer-executable instructions is provided. The computer-executable instructions cause a processor to perform a method of determining an orientation of an implement when executed.
Abstract translation: 提供了一种用于确定车辆上的工具的定向的系统。 该系统包括安装到车辆的照相机，以及相机视野内的目标物体，并安装在该工具上。 目标对象包括能够确定工具相对于照相机的取向的标记。 提供了一种确定车辆上的工具的取向的方法。 提供了一种定向工具的系统。 提供了一种安装工具取向系统的方法。 提供了其上存储有计算机可执行指令的计算机可读介质。 计算机可执行指令使处理器执行在执行时确定实现方向的方法。
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公开(公告)号：US20090076673A1
公开(公告)日：2009-03-19
申请号：US11901933
申请日：2007-09-19
Applicant: Vernon Joseph Brabec
Inventor： Vernon Joseph Brabec
IPC: G05D1/00
CPC classification number: A01B69/008 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/10 , B60W2300/152 , B60W2550/402 , G05D1/0061 , G05D1/0278 , G05D2201/0201
Abstract: Disclosed are methods and apparatuses for automated control of a moving vehicle. An alarm condition is detected, and in response to the alarm condition, the current radius of curvature of the vehicle is maintained. The radius of curvature may be calculated by using data received from sensors. The alarm condition may be a result of the vehicle becoming unstable or the automated navigation system malfunctioning. In response to operator control input, the vehicle is placed into a manual control state.
Abstract translation: 公开了用于移动车辆的自动控制的方法和装置。 检测到报警状态，并且响应于报警状态，保持车辆的当前曲率半径。 可以通过使用从传感器接收的数据来计算曲率半径。 报警状态可能是车辆变得不稳定或自动导航系统发生故障的结果。 响应于操作员控制输入，车辆被置于手动控制状态。
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公开(公告)号：US20120239258A1
公开(公告)日：2012-09-20
申请号：US13187831
申请日：2011-07-21
Applicant: Hiroyuki Konno , Vernon Joseph Brabec , Renard Tomas Graham
Inventor： Hiroyuki Konno , Vernon Joseph Brabec , Renard Tomas Graham
IPC: E02F3/84
CPC classification number: E02F3/845 , E01C19/004
Abstract: The slope angle of a blade on an earthmoving machine is automatically controlled based on measurements from a three-axis gyroscope, a blade slope angle tilt sensor, and a blade tip angle tilt sensor mounted on the blade. A three-axis gyroscope has high dynamic response and high resistance to mechanical disturbances but is subject to potentially unbounded errors. A tilt sensor has bounded errors but has a slow dynamic response and a high sensitivity to mechanical disturbances. The combination of a three-axis gyroscope and two tilt sensors provides an advantageous measurement system. Algorithms for performing proper fusion of the measurements account for the lack of synchronization between the three-axis gyroscope and the tilt sensors and also screen out invalid measurements from the tilt sensors. The blade slope angle is controlled based on a reference blade slope angle and an estimate of the blade slope angle computed from properly fused measurements.
Abstract translation: 基于三轴陀螺仪，叶片倾斜角度倾斜传感器和安装在叶片上的叶片倾角传感器的测量值，自动控制土方机上的叶片的倾斜角度。 三轴陀螺仪具有高动态响应和高抗机械扰动，但会受到潜在的无界误差。 倾斜传感器具有有界误差，但具有较慢的动态响应和对机械扰动的高灵敏度。 三轴陀螺仪和两个倾斜传感器的组合提供了有利的测量系统。 用于执行测量的适当融合的算法考虑到三轴陀螺仪和倾斜传感器之间缺乏同步，并且还从倾斜传感器屏蔽无效测量。 叶片倾斜角度基于参考叶片倾斜角度和从适当融合的测量计算的叶片倾斜角度的估计来控制。
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5.发明授权Estimation and resolution of carrier wave ambiguities in a position navigation system 有权位置导航系统中载波模糊度的估计和解析
公开(公告)号：US07221314B2
公开(公告)日：2007-05-22
申请号：US11180507
申请日：2005-07-13
Applicant: Vernon Joseph Brabec , Clyde C. Goad , Alexander A. Khvalkov , Lev Borisovich Rapoport
CPC classification number: G01S3/782 , G01C15/002 , G01S19/44
Abstract: A method and apparatus for resolving floating point and integer ambiguities in a satellite position navigation system is disclosed. A rover station is periodically positioned at unknown locations and has a satellite receiver capable of receiving the navigation signals. By calculating relative position coordinates between a base station in a known location and the rover station, and by calculating other position parameters relative to the satellite position, a geometric constraint based on a measured elevation angle between the rover and base station can be incorporated into data computations and processing to help resolve carrier phase ambiguities. The elevation angle is measured by transmitting multiple laser beams to an optical sensor on the rover station. This technique results in greater precision in determining the location of the rover.
Abstract translation: 公开了一种用于解决卫星位置导航系统中的浮点和整数模糊度的方法和装置。 漫游车站周期性定位在未知位置，并具有能够接收导航信号的卫星接收机。 通过计算已知位置的基站和流动站之间的相对位置坐标，并且通过计算相对于卫星位置的其他位置参数，可以将基于流动站和基站之间的测量仰角的几何约束并入数据 计算和处理，以帮助解决载波相位模糊。 通过将多个激光束传输到流动站上的光学传感器来测量仰角。 这种技术在确定流动站的位置方面具有更高的精度。
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公开(公告)号：US08560157B2
公开(公告)日：2013-10-15
申请号：US11901933
申请日：2007-09-19
Applicant: Vernon Joseph Brabec
Inventor： Vernon Joseph Brabec
CPC classification number: A01B69/008 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/10 , B60W2300/152 , B60W2550/402 , G05D1/0061 , G05D1/0278 , G05D2201/0201
Abstract: Disclosed are methods and apparatuses for automated control of a moving vehicle. An alarm condition is detected, and in response to the alarm condition, the current radius of curvature of the vehicle is maintained. The radius of curvature may be calculated by using data received from sensors. The alarm condition may be a result of the vehicle becoming unstable or the automated navigation system malfunctioning. In response to operator control input, the vehicle is placed into a manual control state.
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7.发明授权
公开(公告)号：US08473166B2
公开(公告)日：2013-06-25
申请号：US12757302
申请日：2010-04-09
Applicant: Alexey Zhdanov , Atsushi Tanahashi , Vernon Joseph Brabec
Inventor： Alexey Zhdanov , Atsushi Tanahashi , Vernon Joseph Brabec
IPC: G06F7/00
CPC classification number: E02F3/845
Abstract: The blade on an earthmoving machine is controlled by a semiautomatic method comprising a combination of a manual operational mode and an automatic operational mode. An operator first enters the manual operational mode and manually sets the height of the blade. The operator then enters the automatic mode and sets a reference pitch angle and an initial control point. The height of the blade is automatically controlled based on pitch angle measurements received from pitch angle sensors. Automatic control is effective over a particular range of soil conditions. When the automatic control range is exceeded, the operator manually shifts the control point, and automatic control resumes about the new control point. Blade slope is automatically controlled based on roll angle measurements received from roll angle sensors.
Abstract translation: 移土机上的刀片由包括手动操作模式和自动操作模式的组合的半自动方法控制。 操作员首先进入手动操作模式并手动设置刀片的高度。 然后操作员进入自动模式并设置参考俯仰角和初始控制点。 基于从俯仰角传感器接收到的俯仰角测量值自动控制叶片的高度。 自动控制在一定范围的土壤条件下有效。 当超过自动控制范围时，操作员手动移动控制点，并且对新的控制点进行自动控制。 基于从侧倾角度传感器接收到的滚动角度测量自动控制叶片坡度。
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8.发明申请
公开(公告)号：US20100299031A1
公开(公告)日：2010-11-25
申请号：US12757302
申请日：2010-04-09
Applicant: Alexey Zhdanov , Atsushi Tanahashi , Vernon Joseph Brabec
Inventor： Alexey Zhdanov , Atsushi Tanahashi , Vernon Joseph Brabec
CPC classification number: E02F3/845
Abstract: The blade on an earthmoving machine is controlled by a semiautomatic method comprising a combination of a manual operational mode and an automatic operational mode. An operator first enters the manual operational mode and manually sets the height of the blade. The operator then enters the automatic mode and sets a reference pitch angle and an initial control point. The height of the blade is automatically controlled based on pitch angle measurements received from pitch angle sensors. Automatic control is effective over a particular range of soil conditions. When the automatic control range is exceeded, the operator manually shifts the control point, and automatic control resumes about the new control point. Blade slope is automatically controlled based on roll angle measurements received from roll angle sensors.
Abstract translation: 移土机上的刀片由包括手动操作模式和自动操作模式的组合的半自动方法控制。 操作员首先进入手动操作模式并手动设置刀片的高度。 然后操作员进入自动模式并设置参考俯仰角和初始控制点。 基于从俯仰角传感器接收到的俯仰角测量值自动控制叶片的高度。 自动控制在一定范围的土壤条件下有效。 当超过自动控制范围时，操作员手动移动控制点，并且对新的控制点进行自动控制。 基于从侧倾角度传感器接收到的滚动角度测量自动控制叶片坡度。
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9.发明授权
公开(公告)号：US07123186B2
公开(公告)日：2006-10-17
申请号：US10810293
申请日：2004-03-26
Applicant: Vernon Joseph Brabec , Sergei B. Yudanov , Alexey Vladislavovich Zhdanov
IPC: H04B7/19
CPC classification number: G01S19/10 , G01C15/002 , G01S19/14 , G01S19/23
Abstract: A satellite positioning device is disclosed for determining position based on received satellite navigation signals and a received non-satellite signal. A local clock controls the epoch period of a satellite signal processor. Correction signals are applied to the local clock in order to improve the synchronization between the satellite signal processor and the non-satellite signal processor.
Abstract translation: 公开了一种用于基于接收到的卫星导航信号和接收的非卫星信号来确定位置的卫星定位装置。 本地时钟控制卫星信号处理器的时代周期。 校正信号被施加到本地时钟，以便改善卫星信号处理器和非卫星信号处理器之间的同步。
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10.发明授权Estimation and resolution of carrier wave ambiguities in a position navigation system 有权位置导航系统中载波模糊度的估计和解析
公开(公告)号：US07002513B2
公开(公告)日：2006-02-21
申请号：US10810247
申请日：2004-03-26
Applicant: Vernon Joseph Brabec , Clyde C. Goad , Alexander A. Khvalkov , Lev Borisovich Rapoport
CPC classification number: G01S3/782 , G01C15/002 , G01S19/44
Abstract: A method and apparatus for resolving floating point and integer ambiguities in a satellite position navigation system is disclosed. A rover station is periodically positioned at unknown locations and has a satellite receiver capable of receiving the navigation signals. By calculating relative position coordinates between a base station in a known location and the rover station, and by calculating other position parameters relative to the satellite position, a geometric constraint based on a measured elevation angle between the rover and base station can be incorporated into data computations and processing to help resolve carrier phase ambiguities. The elevation angle is measured by transmitting multiple laser beams to an optical sensor on the rover station. This technique results in greater precision in determining the location of the rover.
Abstract translation: 公开了一种用于解决卫星位置导航系统中的浮点和整数模糊度的方法和装置。 漫游车站周期性定位在未知位置，并具有能够接收导航信号的卫星接收机。 通过计算已知位置的基站和流动站之间的相对位置坐标，并且通过计算相对于卫星位置的其他位置参数，可以将基于流动站和基站之间的测量仰角的几何约束并入数据 计算和处理，以帮助解决载波相位模糊。 通过将多个激光束传输到流动站上的光学传感器来测量仰角。 这种技术在确定流动站的位置方面具有更高的精度。
