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41. 发明授权

US5956250A Apparatus and method for autonomous vehicle navigation using absolute data 失效
标题翻译：使用绝对数据的自动车辆导航的装置和方法
公开(公告)号：US5956250A
公开(公告)日：1999-09-21
申请号：US431594
申请日：1995-05-01
申请人： Adam J. Gudat , Dong Hun Shin , William L. Whittaker , Karl W. Kleimenhagen , 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 , Dong Hun Shin , William L. Whittaker , Karl W. Kleimenhagen , 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 , G06F19/00
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 and method for controlling the navigation of surface based vehicle uses a route that is obtained by manually driving the vehicle over the route to collect data defining the absolute position of the vehicle at various positions along the route. The collected data is smoothed to provide a consistent route to be followed. The smoothed data is subsequently used to automatically guide the vehicle over the route.
摘要翻译：用于控制基于表面的车辆的导航的系统和方法使用通过在路线上手动驾驶车辆而获得的路线，以收集在沿着路线的各个位置处定义车辆的绝对位置的数据。收集的数据被平滑以提供要遵循的一致的路线。平滑的数据随后用于自动地引导车辆在路线上。

42. 发明授权

US5646843A Apparatus and method for surface based vehicle control system 失效
标题翻译：基于表面的车辆控制系统的装置和方法
公开(公告)号：US5646843A
公开(公告)日：1997-07-08
申请号：US432041
申请日：1995-05-01
申请人： Adam J. Gudat , Karl W. Kleimenhagen , 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
发明人： Adam J. Gudat , Karl W. Kleimenhagen , 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
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： An apparatus and method for controlling a surface-based vehicle provides three operational modes: a manual operation, a tele-operation, and an autonomous operation. In manual operation, an operator directly manipulates vehicle controls on the vehicle. In tele-operation, the operator controls the vehicle from a remote position. In autonomous operation, the vehicle controls itself based on its position and a predetermined path. The apparatus and method of the present invention provides an orderly transition between manual operation, tele-operation, and autonomous operation of the vehicle.
摘要翻译：用于控制基于表面的车辆的装置和方法提供三种操作模式：手动操作，远程操作和自主操作。在手动操作中，操作者直接操纵车辆上的车辆控制。在远程操作中，操作员从远程位置控制车辆。在自主操作中，车辆基于其位置和预定路径来控制自身。本发明的装置和方法提供了手动操作，远程操作和车辆的自主操作之间的有序转变。

43. 发明授权

US5631658A Method and apparatus for operating geography-altering machinery relative to a work site 失效
标题翻译：用于相对于工作现场操作改变地理位置的机器的方法和装置
公开(公告)号：US5631658A
公开(公告)日：1997-05-20
申请号：US607542
申请日：1996-02-27
申请人： Adam J. Gudat , Daniel E. Henderson , Gregory R. Harrod , Karl W. Kleimenhagen
发明人： Adam J. Gudat , Daniel E. Henderson , Gregory R. Harrod , Karl W. Kleimenhagen
IPC分类号： A01B79/00 , E01C19/00 , E02F9/20 , G01C7/04 , G01C15/00 , G01S19/48 , G05D1/02 , G06F19/00 , G01S3/02 , G01S5/02
CPC分类号： E02F9/2045 , A01B79/005 , E01C19/004 , G05D1/0278 , G05D1/0236 , G05D1/0255 , G05D1/0257 , G05D1/0274 , G05D2201/0202
摘要： A method and apparatus for operating geography-altering machinery such as a track-type tractor, road grader, paver or the like relative to a work site to alter the geography of the site toward a desired condition. A first digital three-dimensional model of the desired site geography, and a second digital three-dimensional model of the actual site geography are stored in a digital data storage facility. The machine is equipped with a position receiver to determine in three-dimensional space the location of the machine relative to the site. A dynamic database receives the machine position information, determines the difference between the first and second site models and generates representational signals of that difference for directing the operation of the machine to bring the actual site geography into conformity with the desired site geography. In one embodiment, the signals representing the machine position and the difference between the first and second site models used to generate an operator display which is updated in real time. Alternately, the signals representing the difference between the first and second site models can be supplied to automatic machine controls for autonomous or semi-autonomous operation of the machine.
摘要翻译：用于相对于工作现场操作诸如轨道式拖拉机，道路平地机，摊铺机等的地理变化机械的方法和装置，以将站点的地理位置改变到期望的状态。所需位置地理学的第一数字三维模型和实际站点地理学的第二数字三维模型被存储在数字数据存储设施中。该机器配备有位置接收器，用于在三维空间中确定机器相对于现场的位置。动态数据库接收机器位置信息，确定第一和第二站点模型之间的差异，并产生该差异的表示信号，用于指导机器的操作，以使实际站点地理位置与期望的站点地理位置一致。在一个实施例中，表示机器位置的信号和用于生成实时更新的操作者显示器的第一和第二站点模型之间的差异。或者，表示第一和第二站点模型之间的差异的信号可以被提供给机器的自动或半自主操作的自动机器控制。

44. 发明授权

US5607205A Object responsive implement control system 失效
标题翻译：对象响应实施控制系统
公开(公告)号：US5607205A
公开(公告)日：1997-03-04
申请号：US469556
申请日：1995-06-06
申请人： Jon S. Burdick , Robert A. Herold , Paul T. Corcoran , John F. Szentes , Adam J. Gudat
发明人： Jon S. Burdick , Robert A. Herold , Paul T. Corcoran , John F. Szentes , Adam J. Gudat
IPC分类号： E02F3/00 , E01C19/00 , E01C23/088 , E02F9/24 , G01S13/88 , G01V3/12 , G01V3/17 , E01C23/07
CPC分类号： G01V3/17 , E01C19/00 , E01C23/088 , E02F9/245
摘要： An automatic object responsive control system for a work implement has a ground penetrating device mounted for sensing subsurface objects, an object detecting device for determining the undesirability of the object, and an implement control system for automatically elevationally raising the implement in response to an undesirable object being located elevationally between the implement and the ground penetrating device. The automatic object responsive control system is particularly suited for use on a geographic surface altering machine.
摘要翻译：一种用于工作装置的自动对象响应控制系统具有安装用于感测地下物体的地面穿透装置，用于确定物体的不合宜性的物体检测装置，以及响应于不期望的物体而自动升高工具的工具控制系统位于工具和地面穿透装置之间的高处。自动对象响应控制系统特别适用于地理表面改装机。

45. 发明授权

US5600436A Apparatus and system for determining terrestrial position 失效
标题翻译：用于确定地面位置的装置和系统
公开(公告)号：US5600436A
公开(公告)日：1997-02-04
申请号：US177364
申请日：1994-01-05
申请人： Adam J. Gudat
发明人： Adam J. Gudat
IPC分类号： G01C15/00 , G01S1/70 , G01S5/14 , G01S5/16 , G01S19/48 , G01B11/26 , E02F3/76 , G01B11/14 , G01B11/24
CPC分类号： G01C15/002 , E02F3/842 , G01S1/70 , G01S5/16 , G01S19/41
摘要： The present invention provides a spatial positioning and measurement system and a reference station for determining the instantaneous position of a dynamic reference point. The reference station emits a primary laser beam, determines the terrestrial position of a local reference point located on the reference station using a satellite based global positioning system and transmits the terrestrial position. The system detects the primary laser beam and the terrestrial position of the local reference point and responsively determining the terrestrial position of the dynamic reference point.
摘要翻译：本发明提供了一种用于确定动态参考点的瞬时位置的空间定位和测量系统和参考站。参考站发射主激光束，使用基于卫星的全球定位系统确定位于参考站上的本地参考点的地面位置，并发射地面位置。该系统检测主激光束和本地参考点的地面位置，并响应地确定动态参考点的地面位置。

46. 发明授权

US5404661A Method and apparatus for determining the location of a work implement 失效
标题翻译：用于确定工作工具的位置的方法和装置
公开(公告)号：US5404661A
公开(公告)日：1995-04-11
申请号：US240348
申请日：1994-05-10
申请人： William C. Sahm , Adam J. Gudat , Daniel E. Henderson
发明人： William C. Sahm , Adam J. Gudat , Daniel E. Henderson
IPC分类号： E02F3/42 , E02F3/43 , E21B21/06
CPC分类号： E02F3/427 , E02F3/435 , Y10S37/905
摘要： An apparatus for determining the location of a work implement at a work site is provided. The apparatus includes an undercarriage, a car body rotatably connected to the undercarriage, a boom connected to the car body, a stick connected to the boom, a work implement connected to the stick, and a positioning system including a receiver connected to the stick and a processor for determining the location of the receiver in three dimensional space at a plurality of points as the car body is rotated and for determining the location and orientation of the work implement.
摘要翻译：提供了一种用于在工作现场确定工作工具的位置的装置。该装置包括底架，可旋转地连接到底架的车体，连接到车体的吊杆，连接到起重臂的杆，连接到杆的作业工具以及包括连接到杆的接收器的定位系统，以及处理器，用于在车身旋转时在多个点处确定接收器在三维空间中的位置，并确定作业工具的位置和方位。

47. 发明授权

US4355364A Velocity sensing system 失效
标题翻译：速度感应系统
公开(公告)号：US4355364A
公开(公告)日：1982-10-19
申请号：US150252
申请日：1980-02-04
申请人： Adam J. Gudat
发明人： Adam J. Gudat
IPC分类号： G01P3/488 , G01P13/04 , G01P3/48 , G06F15/20
CPC分类号： G01P3/488 , G01P13/045
摘要： A gear speed measuring system which is capable of measuring speeds down to zero, which is capable of use in a rugged environment, and which is relatively insensitive to gear-sensor spacing. The system comprises an electromagnetic sensor (20) connected into the tank circuit of an oscillator (58) to produce an FM signal in which the frequency shifts occur in synchronism with the rotation of a gear (12) or the like. A detector (66) having a reference frequency input (68) converts the FM signal to a digital signal. A microprocessor (48) adjusts the reference frequency (68) as necessary to keep it between the high and low limits of the sensor output. The speed measuring system is applied to the control of the drive unit for a heavy off road vehicle (10) such as a tractor or earth mover.
摘要翻译： PCT No.PCT / US80 / 00115 Sec。 371日期1980年2月4日 102（e）日期1980年2月4日PCT提交1980年2月4日PCT公布。公开号WO81 / 02345 日期：1981年8月20日。一种齿轮速度测量系统，其能够测量低至零的速度，其能够在恶劣的环境中使用，并且对齿轮传感器间距相对不敏感。该系统包括连接到振荡器（58）的振荡电路中的电磁传感器（20），以产生与齿轮（12）等的旋转同步地发生频移的FM信号。具有参考频率输入（68）的检测器（66）将FM信号转换成数字信号。微处理器（48）根据需要调整参考频率（68）以将其保持在传感器输出的高低限之间。速度测量系统适用于拖拉机或土方机等重型越野车（10）的驱动单元的控制。

48. 发明授权

US08527155B2 Worksite avoidance system 有权
标题翻译：工地回避制度
公开(公告)号：US08527155B2
公开(公告)日：2013-09-03
申请号：US12163652
申请日：2008-06-27
申请人： Adam J. Gudat
发明人： Adam J. Gudat
IPC分类号： G05D1/00 , G08G1/16
CPC分类号： E21F17/18 , E02F9/2054 , E02F9/24 , E02F9/26 , E02F9/262 , E21D9/12
摘要： An avoidance system is disclosed for operating a vehicle on a pile of material on a worksite, the material being released through an opening at the worksite and causing a disturbance zone to form on a surface of the pile. The system has a sensor positioned at the worksite and configured to sense the surface of the pile, and a processor in communication with the sensor and the vehicle. The processor is configured to identify the disturbance zone based on the sensed surface and a known location of the opening, and to transmit a signal indicative of the disturbance zone to the vehicle.
摘要翻译：公开了一种用于在工地上的一堆材料上操作车辆的回避系统，该材料通过工地上的开口释放并且在桩的表面上形成扰动区域。该系统具有位于工地的传感器，并且构造成感测桩的表面，以及与传感器和车辆通信的处理器。处理器被配置为基于感测的表面和开口的已知位置来识别干扰区域，并将指示干扰区域的信号发送到车辆。

49. 发明授权

US5924493A Cycle planner for an earthmoving machine 失效
标题翻译：挖土机的循环计划
公开(公告)号：US5924493A
公开(公告)日：1999-07-20
申请号：US76246
申请日：1998-05-12
申请人： Matthew A. Hartman , Adam J. Gudat
发明人： Matthew A. Hartman , Adam J. Gudat
IPC分类号： E02F3/43 , E02F3/84 , E02F9/20 , E02F3/76 , A01B63/112
CPC分类号： E02F3/84 , E02F3/431 , E02F9/2025
摘要： A method for determining a series of work cycles for an earthmoving machine is disclosed. The method includes the steps of determining a plurality of parameters, modeling a volume of material to be moved, planning a series of work cycles to move the volume of material, and determining a level of productivity of the series of work cycles. The method also includes the steps of repeating the above steps a predetermined number of times and choosing an optimal series of work cycles to move the volume of material.
摘要翻译：公开了一种用于确定土方机械的一系列工作循环的方法。该方法包括以下步骤：确定多个参数，对要移动的材料的体积进行建模，计划一系列工作周期以移动材料体积，以及确定一系列工作循环的生产率水平。该方法还包括以下步骤：重复上述步骤预定次数，并选择最佳的一系列工作循环来移动材料的体积。

50. 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。

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