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公开(公告)号：US11519737B2
公开(公告)日：2022-12-06
申请号：US16631244
申请日：2018-07-31
Applicant: ELTA SYSTEMS LTD.
Inventor： Dina Appelman , Ofir Cohen , Roman Bronstein
Abstract: The disclosure relates to real-time autonomous path planning for a vehicle, and to the steering of the vehicle in accordance with the path. The path is planned in accordance with a given map of the area, and the path accuracy depends, inter alia, on the resolution and accuracy of the map.
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公开(公告)号：US11513526B2
公开(公告)日：2022-11-29
申请号：US16973843
申请日：2018-08-30
Applicant: Elta Systems LTD.
Inventor： Dina Appelman , Ofir Cohen
Abstract: A system and method of navigating a vehicle, the vehicle comprising a scanning device and a self-contained navigation system (SCNS) operatively connected to a computer, the method comprising: operating the scanning device for repeatedly executing a scanning operation, each operation includes scanning an area surrounding the vehicle, thereby generating respective scanning output data; operating the computer for generating, based on the scanning output data, a relative map representing at least a part of the area, the map having known dimensions and being relative to a position of the vehicle, wherein the map comprises cells, each cell classified to a class from at least two classes, comprising traversable and non-traversable, and characterized by dimensions equal or larger than an accumulated drift value of the SCNS; wherein non-traversable cells correspond to identified obstacles; receiving SCNS data and updating a position of the vehicle relative to the cells based on the SCNS data.
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公开(公告)号：US20210025143A1
公开(公告)日：2021-01-28
申请号：US16967301
申请日：2019-01-10
Applicant: ELTA SYSTEMS LTD.
Inventor： Ofir Cohen , Dina Appelman
Abstract: A computer-implemented method for controlling an excavation task by an autonomous excavation vehicle comprising a scanning device, the excavation task being described by a target map, the method comprising using an excavation vehicle control system for: a) according to data from the scanning device, maintaining a map representing current terrain; b) moving a sensor-equipped digging implement for executing an excavation operation; c) receiving data indicative of current terrain topography from the sensor; d) updating the maintained map according to the data indicative of current terrain topography; and e) calculating an excavation operation according to the difference between the maintained map and the target map.
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公开(公告)号：US11512975B2
公开(公告)日：2022-11-29
申请号：US16482625
申请日：2018-02-22
Applicant: ELTA SYSTEMS LTD.
Inventor： Dina Appelman , Ofir Cohen
Abstract: The presently disclosed subject matter includes a system and a method of navigating an unmanned ground vehicle (UGV) vehicle comprising a scanning device and an Inertial Navigation System (INS) being operatively connected to at least one processor. Operating the scanning device for scanning an area surrounding the UGV, and generate scanning output data; Generating, based on the scanning output data, a map representing at least a part of the area, the map being relative to a location of the UGV and comprising cells, each cell is classified to a class selected from at least two classes, comprising traversable and non-traversable, and characterized by dimensions larger than an accumulated drift value of the INS over a predefined distance; receiving INS data indicative of a current location of the UGV and updating a location of the UGV relative to cells in the map based on the INS data.
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公开(公告)号：US11320823B2
公开(公告)日：2022-05-03
申请号：US16619173
申请日：2018-06-07
Applicant: ELTA SYSTEMS LTD.
Inventor： Ofir Cohen , Dina Appelman , Arnon Degani
Abstract: The disclosed subject matter includes a method and system for navigating an unmanned ground vehicle (UGV), that include: generating, based on the scanning output data, a first map comprising a first group of cells and characterized by a first size; generating, based on the scanning output data, a second map representing an area smaller than that of the first map comprising a second group of cells, which are characterized by a second size being smaller than the first size; wherein each cell in the first group of cells and the second group of cells is classified to a class selected from at least two classes, comprising traversable and non-traversable, wherein the second part at least partly overlaps the first part; navigating the UGV based on data deduced from crossing between cells in the first map and second map.
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Patent Agency Ranking
公开(公告)号：US11919510B2
公开(公告)日：2024-03-05
申请号：US17258114
申请日：2019-06-30
Applicant: ELTA SYSTEMS LTD.
Inventor： Ofir Cohen , Dina Appelman
CPC classification number: B60W30/09 , B60W30/18009 , B60W50/06 , B60W60/0015 , B60W2420/42 , B60W2420/62
Abstract: The presently disclosed subject matter includes a computerized method and a control system mountable on a vehicle for autonomously controlling the vehicle and enabling to execute a point-turn while avoiding collision with nearby obstacles. More specifically, the proposed technique enables an autonomous vehicle, characterized by an asymmetric contour, to execute a collision free point-turn, in an area crowded with obstacles. The disclosed method enables execution of a point turn quickly, without requiring the vehicle to stop.
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公开(公告)号：US11714416B2
公开(公告)日：2023-08-01
申请号：US17719689
申请日：2022-04-13
Applicant: ELTA SYSTEMS LTD.
Inventor： Ofir Cohen , Dina Appelman , Arnon Degani
CPC classification number: G05D1/0212 , B60W60/001 , G01C21/188 , G01C21/30 , G05D1/0088 , B60W2420/42 , B60W2420/52 , B60W2420/54 , G05D1/0248 , G05D1/0255 , G05D1/0257
Abstract: The disclosed subject matter includes a method and system for navigating an unmanned ground vehicle (UGV), that include:
generating, based on the scanning output data, a first map comprising a first group of cells and characterized by a first size;
generating, based on the scanning output data, a second map representing an area smaller than that of the first map comprising a second group of cells, which are characterized by a second size being smaller than the first size; wherein each cell in the first group of cells and the second group of cells is classified to a class selected from at least two classes, comprising traversable and non-traversable, wherein the second part at least partly overlaps the first part; navigating the UGV based on data deduced from crossing between cells in the first map and second map.-
公开(公告)号：US11530527B2
公开(公告)日：2022-12-20
申请号：US16967301
申请日：2019-01-10
Applicant: ELTA SYSTEMS LTD.
Inventor： Ofir Cohen , Dina Appelman
Abstract: A computer-implemented method for controlling an excavation task by an autonomous excavation vehicle comprising a scanning device, the excavation task being described by a target map, the method comprising using an excavation vehicle control system for: a) according to data from the scanning device, maintaining a map representing current terrain; b) moving a sensor-equipped digging implement for executing an excavation operation; c) receiving data indicative of current terrain topography from the sensor; d) updating the maintained map according to the data indicative of current terrain topography; and e) calculating an excavation operation according to the difference between the maintained map and the target map.
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公开(公告)号：US11370115B2
公开(公告)日：2022-06-28
申请号：US16753909
申请日：2018-10-15
Applicant: ELTA SYSTEMS LTD.
Inventor： Ofir Cohen , Dina Appelman
Abstract: Thus, according to some examples of the presently disclosed subject matter, in order to reduce path planning time, information that has previously been calculated during planning of a path is reused during planning of other subsequent paths. Using the stored indication reduces time required for planning the path and thus enables to evaluate a greater number of optional paths within a given period of time. This can assist in increasing speed and smoothness of vehicle maneuverability.
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公开(公告)号：US20210181752A1
公开(公告)日：2021-06-17
申请号：US16973843
申请日：2018-08-30
Applicant: Elta Systems LTD.
Inventor： Dina Appelman , Ofir Cohen
Abstract: A system and method of navigating a vehicle, the vehicle comprising a scanning device and a self-contained navigation system (SCNS) operatively connected to a computer, the method comprising: operating the scanning device for repeatedly executing a scanning operation, each operation includes scanning an area surrounding the vehicle, thereby generating respective scanning output data; operating the computer for generating, based on the scanning output data, a relative map representing at least a part of the area, the map having known dimensions and being relative to a position of the vehicle, wherein the map comprises cells, each cell classified to a class from at least two classes, comprising traversable and non-traversable, and characterized by dimensions equal or larger than an accumulated drift value of the SCNS; wherein non-traversable cells correspond to identified obstacles; receiving SCNS data and updating a position of the vehicle relative to the cells based on the SCNS data.
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