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1. 发明申请

US20120139325A1 SYSTEM AND METHOD FOR TERRAIN ANALYSIS 审中-公开
标题翻译： TERRAIN分析系统与方法
公开(公告)号：US20120139325A1
公开(公告)日：2012-06-07
申请号：US13223693
申请日：2011-09-01
申请人： Johan Norberg , Eric Nettleton , Paul Thompson , Hugh Durrant-Whyte
发明人： Johan Norberg , Eric Nettleton , Paul Thompson , Hugh Durrant-Whyte
IPC分类号： E21C41/26 , G06K9/48
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。

2. 发明申请

US20130249909A1 METHOD FOR LARGE SCALE, NON-REVERTING AND DISTRIBUTED SPATIAL ESTIMATION 审中-公开
标题翻译：大规模，非反演和分布式空间估计方法
公开(公告)号：US20130249909A1
公开(公告)日：2013-09-26
申请号：US13824327
申请日：2011-10-21
申请人： Paul Thompson , Eric Nettleton , Hugh Durrant-Whyte
发明人： Paul Thompson , Eric Nettleton , Hugh Durrant-Whyte
IPC分类号： G06T17/05
CPC分类号： G06T17/05 , G06T17/20
摘要： Described herein is a system and a method of spatial field estimation from input data from a domain of interest. The method comprises defining a spatial mesh of positions over the domain of interest (802) and defining a smoothness information model (804) which is defined with respect to the spatial mesh to form an information matrix Y1 and vector y1. The method further comprises defining an information representation of the input data, the information representation comprising an information matrix Yobs and vector y, both defined relative to the spatial mesh. The method further comprises through an additive function fusing (806) the smoothness information model with the information representation of the input data to form an information matrix Y and vector y. The method then comprises, in a computational system, solving for x in Yx=y (808), wherein x represents the spatial field estimation.
摘要翻译：这里描述的是从感兴趣域的输入数据中进行空间场估计的系统和方法。该方法包括定义感兴趣域（802）上的位置的空间网格，并且定义相对于空间网格定义的平滑信息模型（804）以形成信息矩阵Y1和向量y1。该方法还包括定义输入数据的信息表示，信息表示包括相对于空间网格定义的信息矩阵Yobs和向量y。该方法还包括通过加和函数将平滑信息模型与输入数据的信息表示融合（806）以形成信息矩阵Y和向量y。该方法然后包括在计算系统中求解Y x = y（808）中的x，其中x表示空间场估计。

3. 发明授权

US08768659B2 Method and system of data modelling 有权
标题翻译：数据建模方法与系统
公开(公告)号：US08768659B2
公开(公告)日：2014-07-01
申请号：US13119952
申请日：2009-09-18
申请人： Shrihari Vasudevan , Fabio Tozeto Ramos , Eric Nettleton , Hugh Durrant-Whyte
发明人： Shrihari Vasudevan , Fabio Tozeto Ramos , Eric Nettleton , Hugh Durrant-Whyte
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。

4. 发明授权

US09805316B2 Planning system for autonomous operation 有权
公开(公告)号：US09805316B2
公开(公告)日：2017-10-31
申请号：US13318469
申请日：2010-04-30
申请人： Eric Nettleton , Ross Hennessy , Hugh Durrant-Whyte , Ali Haydar Göktogan
发明人： Eric Nettleton , Ross Hennessy , Hugh Durrant-Whyte , Ali Haydar Göktogan
IPC分类号： G06Q10/00 , 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 localized 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.

5. 发明授权

US09678052B2 Method and system for tracking material 有权
公开(公告)号：US09678052B2
公开(公告)日：2017-06-13
申请号：US13824313
申请日：2011-10-28
申请人： Chris Innes , Eric Nettleton , Hugh Durrant-Whyte , Arman Melkumyan
发明人： Chris Innes , Eric Nettleton , Hugh Durrant-Whyte , Arman Melkumyan
IPC分类号： G06F17/50 , G01N33/24 , G01G19/08 , B65G67/04
CPC分类号： G01N33/24 , B65G67/04 , G01G19/08
摘要： Methods and systems are described for tracking material through a production chain or operational process chain in which the material is transferred via a plurality of spatially distinct lumped masses of material (12, 14, 16, 18). A dynamic state space (430) is maintained descriptive of the plurality of spatially distinct lumped masses of material, wherein a quantity of entries in the dynamic state space is augmented or diminished dependent on a quantity of spatially distinct lumped masses being tracked. Measurements relating to an observed lumped mass of material are fused into the dynamic state space and a dynamic covariance matrix to provide an updated estimate of material in the plurality of spatially distinct lumped masses of material.

6. 发明授权

US09146553B2 Control system for autonomous operation 有权
标题翻译：自主操作控制系统
公开(公告)号：US09146553B2
公开(公告)日：2015-09-29
申请号：US13318478
申请日：2010-04-30
申请人： Eric Nettleton , Ross Hennessy , Hugh Durrant-Whyte , Ali Haydar Göktogan , Surya P N Singh
发明人： Eric Nettleton , Ross Hennessy , Hugh Durrant-Whyte , Ali Haydar Göktogan , Surya P N Singh
IPC分类号： G05B23/02 , G05B19/414 , E21C41/26
CPC分类号： G05B19/4148 , E21C41/26 , G05B2219/33342
摘要： A hierarchical control system (203) for supervising operations of an autonomous operator located within a defined geographical region containing a localized zone having an operation-defined boundary. The control system (203) has a primary controller (604) associated with the defined geographical region and a secondary controller (605) associated with the localized zone. The secondary controller (605) is responsive to the supervisory control of the primary controller (604). The autonomous operator, if located within the localized zone, is responsive to the supervisory control of the secondary controller (605).
摘要翻译：一种分层控制系统（203），用于监视位于限定的地理区域内的自治运营商的运营，该地理区域包含具有操作界定的边界的局部区域。控制系统（203）具有与所定义的地理区域相关联的主控制器（604）和与该局部区域相关联的辅助控制器（605）。次级控制器（605）响应于主控制器（604）的监控。如果位于本地化区域内的自主操作者响应于二级控制器（605）的监督控制。

7. 发明申请

US20120046818A1 INTEGRATED AUTOMATION SYSTEM FOR REGIONS WITH VARIABLE GEOGRAPHICAL BOUNDARIES 有权
标题翻译：具有可变地理边界的区域综合自动化系统
公开(公告)号：US20120046818A1
公开(公告)日：2012-02-23
申请号：US13318468
申请日：2010-04-30
申请人： Eric Nettleton , Ross Hennessy , Hugh Durrant-Whyte , Ali Haydar Göktogan
发明人： Eric Nettleton , Ross Hennessy , Hugh Durrant-Whyte , Ali Haydar Göktogan
IPC分类号： G05B19/418 , G05D1/00
CPC分类号： E21F17/00
摘要： Methods and systems are described for effecting autonomous operations within a defined geographical region (1110). A plurality of localised zones (1102, 1104, 1106, 1108) having operation-defined geographical boundaries are specified within the region. A plurality of control modules are established associated with respective ones of the localised zones and autonomous operations are effected under the supervisory control of the control module associated with the localised zone in which the autonomous operation occurs. The geographical disposition of the boundary of at least one of the localised zones is varied within the defined geographical region.
摘要翻译：描述了用于在定义的地理区域内实现自主操作的方法和系统（1110）。在该区域内指定具有操作定义的地理边界的多个局部区域（1102,1104,1106,1108）。建立与相应的局部区域相关联的多个控制模块，并且在与发生自主操作的局部区域相关联的控制模块的监督控制下实现自主操作。至少一个局部区域的边界的地理位置在限定的地理区域内变化。

8. 发明授权

US08825456B2 Method and system for multiple dataset gaussian process modeling 有权
标题翻译：多元数据集高斯过程建模的方法与系统
公开(公告)号：US08825456B2
公开(公告)日：2014-09-02
申请号：US13496480
申请日：2010-09-15
申请人： Shrihari Vasudevan , Fabio Tozeto Ramos , Eric Nettleton , Hugh Durrant-Whyte
发明人： Shrihari Vasudevan , Fabio Tozeto Ramos , Eric Nettleton , Hugh Durrant-Whyte
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。

9. 发明申请

US20120053703A1 INTEGRATED AUTOMATION SYSTEM 有权
标题翻译：综合自动化系统
公开(公告)号：US20120053703A1
公开(公告)日：2012-03-01
申请号：US13318464
申请日：2010-04-30
申请人： Eric Nettleton , Ross Hennessy , Hugh Durrant-Whyte , Ali Haydar Göktogan
发明人： Eric Nettleton , Ross Hennessy , Hugh Durrant-Whyte , Ali Haydar Göktogan
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。

10. 发明申请

US20120046983A1 PLANNING SYSTEM FOR AUTONOMOUS OPERATION 有权
标题翻译：自动运行规划系统
公开(公告)号：US20120046983A1
公开(公告)日：2012-02-23
申请号：US13318469
申请日：2010-04-30
申请人： Eric Nettleton , Ross Hennessy , Hugh Durrant-Whyte , Ali Haydar Göktogan
发明人： Eric Nettleton , Ross Hennessy , Hugh Durrant-Whyte , Ali Haydar Göktogan
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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