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11. 发明授权

US5640323A System and method for operating an autonomous navigation system 失效
标题翻译：用于操作自主导航系统的系统和方法
公开(公告)号：US5640323A
公开(公告)日：1997-06-17
申请号：US432562
申请日：1995-05-01
申请人： Karl W. Kleimenhagen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck
发明人： Karl W. Kleimenhagen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck
IPC分类号： B60K31/00 , B62D1/28 , G01C21/16 , G01C21/20 , G01S1/00 , G01S5/00 , G01S5/14 , G01S7/481 , G01S17/02 , G01S17/42 , G01S17/93 , G01S19/41 , G01S19/47 , G01S19/48 , G05D1/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G06F17/00
CPC分类号： G05D1/027 , B60K31/0008 , B60K31/04 , B62D1/28 , G01S19/11 , G01S19/46 , G01S19/47 , G05D1/0011 , G05D1/024 , G05D1/0242 , G05D1/0272 , G05D1/0278 , G05D1/0297 , G08G1/202 , G01S17/023 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S19/52 , G01S5/009 , G01S7/4811 , G05D1/0268 , G05D2201/0202
摘要： A system (400) for positioning and navigating an autonomous vehicle (310) allows the vehicle (310) to travel between locations. Position information (432) is derived from global positioning system satellites (200, 202, 204, and 206) or other sources (624) when the satellites (200, 202, 204, and 206) are not in the view of the vehicle (310). Navigation of the vehicle (310) is obtained using the position information (432), route information (414), obstacle detection and avoidance data (416), and on board vehicle data (908 and 910).
摘要翻译：用于定位和导航自主车辆（310）的系统（400）允许车辆（310）在位置之间行进。当卫星（200,202,204和206）不在车辆视野中时，位置信息（432）从全球定位系统卫星（200,202,204和206）或其他源（624）导出（ 310）。使用位置信息（432），路线信息（414），障碍物检测和回避数据（416）以及车载数据（908和910）获得车辆（310）的导航。

12. 发明授权

US5483455A Method and apparatus for determining the location of a vehicle 失效
标题翻译：用于确定车辆位置的方法和装置
公开(公告)号：US5483455A
公开(公告)日：1996-01-09
申请号：US371657
申请日：1995-01-11
申请人： Norman K. Lay , Carl A. Kemner , Joel L. Peterson , William E. Allen , Richard B. League
发明人： Norman K. Lay , Carl A. Kemner , Joel L. Peterson , William E. Allen , Richard B. League
IPC分类号： G01C21/00 , G01S13/34 , G01S13/86 , G01S13/87 , G01S13/88 , G01S13/93 , G01S17/02 , G01S17/87
CPC分类号： G01S17/023 , G01S13/345 , G01S13/86 , G01S13/876 , G01S17/87 , G01S13/881 , G01S2013/9321 , G01S2013/9339
摘要： Vehicle navigation systems typically include devices for determining the location of the vehicle. In many situations it is advantageous to improve the resolution of such devices or to provide a back-up system for determining vehicle location. Simple and efficient systems are also desirable when used as the primary positioning systems. The subject invention provides a simple and efficient system for determining the location of a vehicle in a base reference frame. One or more targets are located at predefined positions with respect to the base reference frame. A target sensing device determines a position of one of the one or more targets with respect to the vehicle. A device determines an estimated vehicle position. A vehicle locating device determines the location of the vehicle with respect to the base reference frame in response to the position of the target with respect to the vehicle and the estimated vehicle position.
摘要翻译：车辆导航系统通常包括用于确定车辆位置的装置。在许多情况下，有利的是提高这种装置的分辨率或提供用于确定车辆位置的备用系统。当用作主要定位系统时，也需要简单而有效的系统。本发明提供了一种用于确定车辆在基准参考系中的位置的简单有效的系统。一个或多个目标位于相对于基准参考系的预定位置。目标感测装置确定一个或多个目标之一相对于车辆的位置。设备确定估计的车辆位置。车辆定位装置响应于目标相对于车辆的位置和估计的车辆位置来确定车辆相对于基准参考系的位置。

13. 发明授权

US5925081A System and method for managing access to a load resource having a loading machine 失效
标题翻译：用于管理对具有加载机器的负载资源的访问的系统和方法
公开(公告)号：US5925081A
公开(公告)日：1999-07-20
申请号：US774942
申请日：1996-12-19
申请人： Mark R. Hawkins , Carl A. Kemner , Craig L. Koehrsen , Joel L. Peterson
发明人： Mark R. Hawkins , Carl A. Kemner , Craig L. Koehrsen , Joel L. Peterson
IPC分类号： B65G63/00 , B65G67/02 , G05D1/02 , G05D1/00 , G01C22/00
CPC分类号： G05D1/0297 , G05D1/0236 , G05D1/027 , G05D1/0278 , G05D2201/021
摘要： A system and method for managing access of at least one mobile machine to a load resource having a loading machine including a queue manager adapted to deliver a queue position request signal, a resource manager adapted to control access to the load resource, and a load manager adapted to determine a load point for a mobile machine.
摘要翻译：一种用于管理至少一个移动机器对具有负载机器的访问的系统和方法，所述负载资源包括适于递送队列位置请求信号的队列管理器，适于控制对所述负载资源的访问的资源管理器，以及负载管理器适于确定移动机器的负载点。

14. 发明授权

US5648901A System and method for generating paths in an autonomous vehicle 失效
标题翻译：用于在自主车辆中生成路径的系统和方法
公开(公告)号：US5648901A
公开(公告)日：1997-07-15
申请号：US432396
申请日：1995-05-01
申请人： Adam J. Gudat , Dong Hun Shin , William L. Whittaker , Karl W. Kleimenhagen , Sanjiv J. Singh , Dana A. Christensen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck , Lonnie J. Devier
发明人： Adam J. Gudat , Dong Hun Shin , William L. Whittaker , Karl W. Kleimenhagen , Sanjiv J. Singh , Dana A. Christensen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck , Lonnie J. Devier
IPC分类号： B60K31/00 , B62D1/28 , G01C21/16 , G01C21/20 , G01S1/00 , G01S5/00 , G01S5/14 , G01S7/481 , G01S17/02 , G01S17/42 , G01S17/93 , G01S19/41 , G01S19/47 , G01S19/48 , G05D1/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G06G7/70
CPC分类号： G05D1/027 , B60K31/0008 , B60K31/04 , B62D1/28 , G01S19/11 , G01S19/46 , G01S19/47 , G05D1/0011 , G05D1/024 , G05D1/0242 , G05D1/0272 , G05D1/0278 , G05D1/0297 , G08G1/202 , G01S17/023 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S19/52 , G01S5/009 , G01S7/4811 , G05D1/0268 , G05D2201/0202
摘要： A system for generating a path allows a vehicle to traverse a predetermined route. The system stores route data for the predetermined route. The route data identifies a series of contiguous path segments that form the predetermined route. The route data also identifies a series of nodes located at the beginning and the end of the predetermined route and between adjacent path segments. Each path segment represents a series of postures along the predetermined route. Each posture identifies a position, a heading, and a curvature for the vehicle at a particular point along the predetermined route. The system stores the path segments and nodes as compressed path data. In one embodiment, the compressed path data is a function that is continuous in posture, i.e., continuous in position, heading and curvature. The system retrieves the compressed path data and generates a series of postures from the retrieved compressed path data to allow the vehicle to traverse the predetermined route.
摘要翻译：用于产生路径的系统允许车辆穿过预定路线。系统存储预定路线的路线数据。路线数据标识形成预定路线的一系列连续路径段。路线数据还标识位于预定路线的开始和结束处以及相邻路径段之间的一系列节点。每个路径段表示沿着预定路线的一系列姿势。每个姿势识别沿着预定路线的特定点处的车辆的位置，航向和曲率。系统将路径段和节点存储为压缩路径数据。在一个实施例中，压缩路径数据是在姿态上连续的功能，即在位置上连续，行程和曲率。系统检索压缩路径数据，并从检索到的压缩路径数据生成一系列姿势，以允许车辆穿过预定路线。

15. 发明授权

US5615116A Apparatus and method for autonomous vehicle navigation using path data 失效
标题翻译：自动车辆导航使用路径数据的装置和方法
公开(公告)号：US5615116A
公开(公告)日：1997-03-25
申请号：US431815
申请日：1995-05-01
申请人： Adam J. Gudat , Prithvi N. Rao , Gary K. Shaffer , WenFan Shi , Dong H. Shin , William L. Whittaker , Karl W. Kleimenhagen , Jay H. West , Richard G. Clow , Sanjiv J. Singh , Dana A. Christensen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck , Lonnie J. Devier
发明人： Adam J. Gudat , Prithvi N. Rao , Gary K. Shaffer , WenFan Shi , Dong H. Shin , William L. Whittaker , Karl W. Kleimenhagen , Jay H. West , Richard G. Clow , Sanjiv J. Singh , Dana A. Christensen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck , Lonnie J. Devier
IPC分类号： B60K31/00 , B62D1/28 , G01C21/16 , G01C21/20 , G01S1/00 , G01S5/00 , G01S5/14 , G01S7/481 , G01S17/02 , G01S17/42 , G01S17/93 , G01S19/41 , G01S19/47 , G01S19/48 , G05D1/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G06F165/00
CPC分类号： G05D1/027 , B60K31/0008 , B60K31/04 , B62D1/28 , G01S19/11 , G01S19/46 , G01S19/47 , G05D1/0011 , G05D1/024 , G05D1/0242 , G05D1/0272 , G05D1/0278 , G05D1/0297 , G08G1/202 , G01S17/023 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S19/52 , G01S5/009 , G01S7/4811 , G05D1/0268 , G05D2201/0202
摘要： An apparatus and method for navigating a vehicle along a predetermined route use route data and path data to define the predetermined route. The route data represents one or more contiguous path segments between adjacent nodes along the predetermined route. The path data includes postures of the vehicle along each of the path segments. The postures define the desired position, heading, curvature and speed of vehicle at various locations along the path segments. The apparatus and method use the posture information to generate and track a path thereby allowing the vehicle to navigate along the predetermined route.
摘要翻译：用于沿着预定路线导航车辆的装置和方法使用路线数据和路径数据来定义预定路线。路线数据表示沿着预定路线的相邻节点之间的一个或多个相邻路段。路径数据包括沿着每个路径段的车辆的姿势。姿势定义沿着路径段的各个位置的车辆的期望位置，航向，曲率和速度。该装置和方法使用姿势信息来产生和跟踪路径，从而允许车辆沿预定路线导航。

16. 发明授权

US5610815A Integrated vehicle positioning and navigation system, apparatus and method 失效
标题翻译：综合车辆定位导航系统，装置及方法
公开(公告)号：US5610815A
公开(公告)日：1997-03-11
申请号：US487980
申请日：1990-02-05
申请人： Adam J. Gudat , Walter J. Bradbury , Dana A. Christensen , Richard G. Clow , Lonnie J. Devier , Carl A. Kemner , Karl W. Kleimenhagen , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Prithvi N. Rao , Larry E. Schmidt , James W. Sennott , Gary K. Shaffer , Wenfan Shi , Dong H. Shin , Sanjiv J. Singh , Darrell E. Stafford , Louis J. Weinbeck , Jay H. West , William L. Whittaker , Baoxin Wu
发明人： Adam J. Gudat , Walter J. Bradbury , Dana A. Christensen , Richard G. Clow , Lonnie J. Devier , Carl A. Kemner , Karl W. Kleimenhagen , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Prithvi N. Rao , Larry E. Schmidt , James W. Sennott , Gary K. Shaffer , Wenfan Shi , Dong H. Shin , Sanjiv J. Singh , Darrell E. Stafford , Louis J. Weinbeck , Jay H. West , William L. Whittaker , Baoxin Wu
IPC分类号： B60K31/00 , B60W30/14 , B60W50/00 , B62D1/28 , G01C21/16 , G01C21/20 , G01S1/00 , G01S5/00 , G01S5/14 , G01S7/481 , G01S17/02 , G01S17/42 , G01S17/93 , G01S19/41 , G01S19/47 , G01S19/48 , G05D1/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G06F165/00
CPC分类号： G01S19/11 , G01S19/46 , G01S19/47 , G05D1/0011 , G05D1/0212 , G05D1/0223 , G05D1/024 , G05D1/0242 , G05D1/027 , G05D1/0272 , G05D1/0278 , G05D1/0297 , G08G1/202 , B60W2050/0077 , B60W2550/402 , B60W30/143 , G01S17/023 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S19/52 , G01S5/009 , G01S7/4811 , G05D1/0257 , G05D1/0259 , G05D1/0268 , G05D2201/0202
摘要： A system (400) for positioning and navigating an autonomous vehicle (310) allows the vehicle (310) to travel between locations. Position information (432) is derived from global positioning system satellites (200, 202, 204, and 206) or other sources (624) when the satellites (200, 202, 204, and 206) are not in the view of the vehicle (310). Navigation of the vehicle (310) is obtained using the position information (432), route information (414), obstacle detection and avoidance data (416), and on board vehicle data (908 and 910).
摘要翻译： PCT No.PCT / US89 / 05580。 371 1990年2月5日第 102（e）1990年2月5日PCT PCT 1989年12月11日PCT公布。公开号WO91 / 09375 日期1991年6月27日用于定位和导航自主车辆（310）的系统（400）允许车辆（310）在位置之间行进。当卫星（200,202,204和206）不在车辆视野中时，位置信息（432）从全球定位系统卫星（200,202,204和206）或其他源（624）导出（ 310）。使用位置信息（432），路线信息（414），障碍物检测和回避数据（416）以及车载数据（908和910）获得车辆（310）的导航。

17. 发明授权

US5931875A System and method for managing a fleet of mobile machines for dumping at a plurality of dump points 失效
标题翻译：用于管理在多个转储点倾倒的移动机器队列的系统和方法
公开(公告)号：US5931875A
公开(公告)日：1999-08-03
申请号：US774941
申请日：1996-12-19
申请人： Carl A. Kemner , Craig L. Koehrsen , Jagannathan Sarangapani
发明人： Carl A. Kemner , Craig L. Koehrsen , Jagannathan Sarangapani
IPC分类号： G05D1/02 , G05D1/00 , G01C22/00
CPC分类号： G05D1/0297 , G05D1/0236 , G05D1/027 , G05D1/0278 , G05D2201/021
摘要： The invention is a system and method for managing a resource having a stop point. Each of at least one mobile machine includes a queue manager adapted to generate a queue position request as the mobile machine approaches the resource. A resource manager is adapted to establish a queue to control access to the resource. After receiving the queue position request from the approaching mobile machine, the resource manager generates a queue position and sends it to the mobile machine. The resource manager then determines the next stop point to be accessed. When the resource is available to receive another mobile machine, the resource manger directs the first mobile machine in the selected queue to proceed to access the stop point.
摘要翻译：本发明是用于管理具有停止点的资源的系统和方法。至少一个移动机器中的每一个包括适于在移动机器接近资源时生成队列位置请求的队列管理器。资源管理器适于建立一个队列来控制对资源的访问。在接收到来自移动机器的队列位置请求之后，资源管理器生成队列位置并将其发送到移动机器。资源管理器然后确定要访问的下一停止点。当资源可用于接收另一个移动机器时，资源管理器将所选队列中的第一移动机器引导以继续访问停止点。

18. 发明授权

US5961560A System and method for managing access of a fleet of mobile machines to a service resource 失效
标题翻译：用于管理移动机器人到服务资源的访问的系统和方法
公开(公告)号：US5961560A
公开(公告)日：1999-10-05
申请号：US781889
申请日：1996-12-19
申请人： Carl A. Kemner
发明人： Carl A. Kemner
IPC分类号： E02F9/20 , G05D1/02 , G06F165/00
CPC分类号： G05D1/0297 , G05D1/0236 , G05D1/027 , G05D1/0278 , G05D2201/021
摘要： The invention is a system and method for managing a service resource by a fleet of mobile machines. Each of the mobile machines has a queue manager adapted to generate a queue position request signal as the mobile machine approaches the service resource. A service manager is on each mobile machine, and is adapted to generate a service request signal in response to a condition of the mobile machine. A resource manager is adapted to establish and control a queue to control access to the resource in response to receiving a queue request position signal. The resource manager is also adapted to receive a service request signal, and responsively determine when to allow the mobile machine to access the service resource based on a condition of each of the mobile machine in the fleet.
摘要翻译：本发明是一种通过移动机器群管理服务资源的系统和方法。每个移动机器具有适于在移动机器接近服务资源时生成队列位置请求信号的队列管理器。服务管理器在每个移动机器上，并且适于响应于移动机器的状况而生成服务请求信号。资源管理器适于建立和控制队列以响应于接收到队列请求位置信号来控制对资源的访问。资源管理器还适于接收服务请求信号，并且响应地确定何时允许移动机器基于车队中的每个移动机器的状况来访问服务资源。

19. 发明授权

US5913914A Method and apparatus for managing simultaneous access to a resource by a fleet of mobile machines 失效
标题翻译：用于管理移动机器队伍同时访问资源的方法和装置
公开(公告)号：US5913914A
公开(公告)日：1999-06-22
申请号：US769295
申请日：1996-12-18
申请人： Carl A. Kemner , Craig L. Koehrsen
发明人： Carl A. Kemner , Craig L. Koehrsen
IPC分类号： G05D1/02 , G06Q10/04 , G08G1/0968 , G08G1/123 , G06F165/00
CPC分类号： G06Q10/047 , G05D1/0297 , G08G1/202 , G05D1/0236 , G05D1/027 , G05D1/0278 , G05D2201/021
摘要： The invention is a system and method for managing a resource having a dump location. A plurality of stop points are located adjacent to the dump location. Each of a plurality of mobile machines includes a queue manager adapted to generate a queue position request signal as each mobile machine approaches the resource. A resource manager is adapted to establish and control a queue to control access to the resource in response to receiving a queue position request signal. The resource manager is also adapted to enable simultaneous access of the dump location by the mobile machines.
摘要翻译：本发明是用于管理具有转储位置的资源的系统和方法。多个停靠点位于倾倒位置附近。多个移动机器中的每一个包括适于在每个移动机器接近资源时生成队列位置请求信号的队列管理器。资源管理器适于建立和控制队列以响应于接收到队列位置请求信号来控制对资源的访问。资源管理器还适于使移动机器能够同时访问转储位置。

20. 发明授权

US5301558A Testing apparatus for a multilayer piezoelectric actuator 失效
标题翻译：用于多层压电致动器的测试装置
公开(公告)号：US5301558A
公开(公告)日：1994-04-12
申请号：US955946
申请日：1992-10-02
申请人： Jeffrey A. Livingston , Carl A. Kemner , Chuong Q. Dam , Jack R. Davis , Larry C. Clemens
发明人： Jeffrey A. Livingston , Carl A. Kemner , Chuong Q. Dam , Jack R. Davis , Larry C. Clemens
IPC分类号： G01L5/00 , G01N3/00 , G01N3/10 , G01N33/38
CPC分类号： G01L5/0061 , G01N3/10 , G01N2203/0019 , G01N2203/0044 , G01N2203/0051 , G01N2203/0075 , G01N33/388
摘要： A testing apparatus determines the piezoelectric properties associated with the performance of a multilayer ceramic actuator. The actuator has a predetermined length, L.sub.1, and a predetermined cross sectional area, A. The actuator includes an axis and a plurality of piezoelectric elements with electrodes interleaved therebetween. The testing apparatus includes a pressure regulator which controllably supplies pressurized air. A pneumatic cylinder receives the pressurized air and responsively applies axial forces to the actuator. A load cell and associated circuitry measures the applied force on the actuator and responsively produces a force signal, F.sub.n. A fiber optic sensor and associated circuitry determines the axial displacement of the actuator and produces a position signal, L.sub.n, in response to the magnitude thereof. A computer receives the force signals, F.sub.n, and the position signals, L.sub.n, and responsively determines the effective modulus of the actuator, Y.sub.eff.
摘要翻译：测试装置确定与多层陶瓷致动器的性能相关联的压电性能。致动器具有预定的长度L1和预定的横截面面积A.致动器包括轴线和多个压电元件，其间具有电极交错。测试装置包括可控地供应加压空气的压力调节器。气动缸接收加压空气并响应于向致动器施加轴向力。称重传感器和相关电路测量施加在致动器上的力，并响应地产生力信号Fn。光纤传感器和相关电路确定致动器的轴向位移，并响应于其大小而产生位置信号Ln。计算机接收力信号Fn和位置信号Ln，并且响应地确定致动器的有效模量Yeff。

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