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51. 发明授权

US06321147B1 Unmanned vehicle running system 有权
标题翻译：无人车运行系统
公开(公告)号：US06321147B1
公开(公告)日：2001-11-20
申请号：US09574005
申请日：2000-05-19
申请人： Shu Takeda , Masanori Tojima , Koji Takeda
发明人： Shu Takeda , Masanori Tojima , Koji Takeda
IPC分类号： G05D100
CPC分类号： G05D1/0038 , G05D2201/021
摘要： An unmanned vehicle running system, capable of reducing a stop time of a vehicle by immediately judging whether or not an obstacle blocks the passage when detecting the obstacle. For this purpose, the unmanned vehicle running system has a plurality of vehicles (1) running without a driver in a predetermined course (3) while detecting the current position and a central monitor station (2) for monitoring operations of the plurality of vehicles, wherein each of said vehicles is provided with a phototaking device (24) for taking a photo of the course, with a vehicle communication unit (23) for transmitting the taken image to the central monitor station, and with an obstacle detecting unit (5) for detecting an obstacle (4) which blocks the passage, wherein the central monitor station is provided with a central communication unit (8) for receiving the image and with a monitor (9) for displaying the image, and wherein the phototaking device takes a photo when the obstacle detecting unit detects an obstacle.
摘要翻译：一种无人驾驶车辆行驶系统，能够通过立即判断障碍物在检测到障碍物时是否堵塞通道，能够减少车辆的停车时间。为此，无人驾驶车辆行驶系统在检测到当前位置的同时，在预定行程（3）中没有驾驶员的多个车辆（1），以及用于监视多个车辆的操作的中央监视站（2）其特征在于，所述车辆中的每一个设置有用于拍摄所述路线的照片的摄影装置（24），其具有用于将拍摄图像发送到中央监视台的车辆通信单元（23），以及障碍物检测单元（5）用于检测阻挡通道的障碍物（4），其中中央监测站设置有用于接收图像的中央通信单元（8）和用于显示图像的监视器（9），并且其中拍摄装置取出当障碍物检测单元检测到障碍物时，照相。

52. 发明授权

US06314341B1 Method of recording trajectory data and sensor data for a manually-driven vehicle 有权
标题翻译：记录手动驾驶车辆的轨迹数据和传感器数据的方法
公开(公告)号：US06314341B1
公开(公告)日：2001-11-06
申请号：US09449797
申请日：1999-11-26
申请人： Yutaka John Kanayama
发明人： Yutaka John Kanayama
IPC分类号： G05D100
CPC分类号： G05D1/0274 , G05D1/0221 , G05D1/0255
摘要： A method of recording trajectory data and sensor data for a vehicle while it is manually driven. The trajectory data comprises of the trajectory length and vehicle frame (position and orientation) that are calculated at each motion execution interval. The sensor data comprises of the trajectory length, vehicle frame, sensor frame, and sensor data that are obtained at each sensor execution interval. In particular, if the sensor is a range-finder, an estimated frame of the object that the range finder detects will be added to said sensor data. One objective of this invention is to play back the same motion the vehicle was taught by a human operator. Another objective is to generate a world map for the vehicle. Still further objective is, in the play-back mode, to correct vehicle's positional errors using the sensor data.
摘要翻译：一种在手动驱动时记录车辆的轨迹数据和传感器数据的方法。轨迹数据包括在每个运动执行间隔处计算的轨迹长度和车辆框架（位置和方向）。传感器数据包括在每个传感器执行间隔处获得的轨迹长度，车辆框架，传感器框架和传感器数据。特别地，如果传感器是测距仪，则测距仪检测到的物体的估计帧将被添加到所述传感器数据。本发明的一个目的是播放车辆由人操作者教导的相同的动作。另一个目的是为车辆生成世界地图。更进一步的目的是在回放模式下，使用传感器数据来校正车辆的位置误差。

53. 发明授权

US06289332B1 Integrated message display system for a vehicle 有权
公开(公告)号：US06289332B1
公开(公告)日：2001-09-11
申请号：US09272878
申请日：1999-03-18
申请人： Paul M. Menig , Richard A. Bishel , Goetz Renner , Nicolae Ghitea, Jr. , Chris Kirn , Jared A. Powell , Peter Charles Brandt
发明人： Paul M. Menig , Richard A. Bishel , Goetz Renner , Nicolae Ghitea, Jr. , Chris Kirn , Jared A. Powell , Peter Charles Brandt
IPC分类号： G05D100
摘要： An integrated message system for a vehicle provides an extendable, prioritized message scheme. Using this scheme, the message system acts as a centralized message provider for variety of alerts and operating data originating throughout the vehicle. The message system defines a hierarchy of message levels, each having a unique output protocol. The protocol defines attributes associated with messages at a particular level such as textual or graphical message, an auditory alert, as well as the scheme for playing these messages and alerts. The system integrates a variety of subsystems that conventionally have separate driver interfaces such as a collision warning system and an adaptive cruise control system.

54. 发明授权

US06285954B1 Compensation system 有权
标题翻译：补偿制度
公开(公告)号：US06285954B1
公开(公告)日：2001-09-04
申请号：US09358630
申请日：1999-07-21
申请人： John G. Mark , Daniel A. Tazartes
发明人： John G. Mark , Daniel A. Tazartes
IPC分类号： G05D100
CPC分类号： G05D1/0825
摘要： The invention is a method and apparatus for obtaining an accurate value x1c of a variable x1 based on an estimate x1e that is a function of K variables x1, x2, . . . , xk, . . . , xK. The method comprises the steps of (a) obtaining a plurality of estimates x1e, x2e, . . . , xke, . . . , xKe of the variables x1, x2, . . . , xk, . . . , xK over a method-execution time period, the values of the variables x1, x2, . . . , xk, . . . , xK changing or being changed during the method-execution time period; (b) obtaining from an external source the actual values x1a of x1 during the method-execution time period; (c) defining a compensation model &dgr;x1 that is a function of one or more of the estimates x1e, x2e, . . . , xke, . . . xKe of the variables x1, x2, . . . , xk, . . . , xK, the compensation model being further defined by I unknown constants a1, a2, . . . , ai, . . . , aI; (d) applying an operator G to the values of x1e−x1a and &dgr;x1; (e) determining the values of a1, a2, . . . , ai, . . . , aI; and (f) determining the value of x1c.
摘要翻译：本发明是一种基于作为K个变量x1，x2的函数的估计值x1e获得变量x1的精确值x1c的方法和装置。。。，xk，。。。，xK。该方法包括以下步骤：（a）获得多个估计值x1e，x2e，...。。。，xke，。。。，xKe的变量x1，x2，...。。。，xk，。。。，xK在方法执行时间段内，变量x1，x2，...的值。。。，xk，。。。，xK在方法执行时间段内改变或改变; （b）从外部来源获得方法执行期间x1的实际值x1a; （c）定义作为估计值x1e，x2e，...中的一个或多个的函数的补偿模型deltax1。。。，xke，。。。 xKe的变量x1，x2，...。。。，xk，。。。，xK，补偿模型由I未知常数a1，a2，...进一步定义。。。，ai，。。。，aI; （d）将运算符G应用于x1e-x1a和deltax1的值; （e）确定a1，a2，...的值。。。，ai，。。。，aI; 和（f）确定x1c的值。

55. 发明授权

US06285929B1 Processional travel control apparatus 失效
标题翻译：流程旅行控制装置
公开(公告)号：US06285929B1
公开(公告)日：2001-09-04
申请号：US09559944
申请日：2000-04-27
申请人： Hideki Hashimoto
发明人： Hideki Hashimoto
IPC分类号： G05D100
CPC分类号： G05D1/0295 , G05D1/024 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278
摘要： A processional travel control apparatus that allows processional travel with a leading vehicle driven by a driver and a plurality of succeeding vehicles automatically following the leading vehicle, each of the vehicles 1-1 is provided with: an input device 1-2 for entering the total number of vehicles in a procession and the sequence number of each vehicle in the procession; a vehicle setting device 1-3 for setting each vehicle 1-1 as either a leading vehicle or a succeeding vehicle according to the sequence number of each vehicle 1-1 in the procession set by the input device 1-2; and a vehicle travelling control device 1-4 for instructing each vehicle 1-1 to travel in a procession according to the set sequence number in the procession. Hence a procession or the like can be formed essentially anywhere, including outside of conventional parking ports.
摘要翻译：一种行进行驶控制装置，其允许由驾驶员驾驶的前方车辆和多个后续车辆自动跟随前方车辆进行行驶，每个车辆1-1设置有：输入装置1-2，用于输入总计游行中的车辆数量和游行中每辆车辆的序列号; 车辆设定装置1-3，用于根据由输入装置1-2设定的行程中的每个车辆1-1的顺序号将各车辆1-1设定为前方车辆或后方车辆; 以及车辆行驶控制装置1-4，用于指示每个车辆1-1按照游戏中设定的序列号在游行中行进。因此，流程等可以基本上在任何地方形成，包括在常规停车端口外部。

56. 发明授权

US06285926B1 Selected hover altitude deviation display and method 有权
标题翻译：选择悬停高度偏差显示和方法
公开(公告)号：US06285926B1
公开(公告)日：2001-09-04
申请号：US09561478
申请日：2000-04-28
申请人： David J. Weiler , Michael J. Marks
发明人： David J. Weiler , Michael J. Marks
IPC分类号： G05D100
CPC分类号： G05D1/042
摘要： A selected hover altitude deviation display and method for displaying the difference between the current altitude of an aircraft and a selected hover altitude on a multi-functional display unit that includes a compass rose and an aircraft symbol. An altitude sensor generates current altitude data, which is transmitted to a computer processing unit together with a selected hover altitude. The selected hover altitude is determined by the pilot of the aircraft. The selected hover altitude is displayed as a static, analog symbolic representation on the multi-functional display unit. The hover altitude deviation is displayed as a dynamic, analog symbolic representation of the difference between the current altitude of the aircraft and the selected hover altitude. With the selected hover altitude deviation display, the pilot can readily see if his aircraft is above or below a selected hover altitude without relying on external visual reference cues.
摘要翻译：所选择的悬停高度偏差显示和方法，用于在包括罗盘玫瑰和飞机符号的多功能显示单元上显示飞行器的当前高度与所选悬停高度之间的差异。高度传感器产生当前高度数据，并将其与选定的悬停高度一起传输到计算机处理单元。所选的悬停高度由飞机的飞行员确定。所选的悬停高度在多功能显示单元上显示为静态的模拟符号表示。悬停高度偏差显示为飞行器当前高度与所选悬停高度之间差异的动态模拟符号表示。通过选择的悬停高度偏差显示，飞行员可以很容易地看到他的飞机是否高于或低于选定的悬停高度，而不依赖于外部视觉参考线索。

57. 发明授权

US06263263B1 Altitude correction for aircraft under non-ISA temperature conditions 失效
标题翻译：在非ISA温度条件下飞机的高度校正
公开(公告)号：US06263263B1
公开(公告)日：2001-07-17
申请号：US09481967
申请日：2000-01-12
申请人： Christopher John Shehi , Kara Maureen Thiede
发明人： Christopher John Shehi , Kara Maureen Thiede
IPC分类号： G05D100
CPC分类号： G01C5/005 , G05D1/0676
摘要： A new and useful apparatus for automatically correcting for the actual altitude of an aircraft, under non-ISA temperature conditions is provided. An apparatus according to the present invention can be particularly useful in automatically providing altitude correction output to a navigation and control system for an aircraft at selected points along an aircraft flight path where terrain clearance under non-ISA temperature conditions is an important operational parameter. An altitude correction device according to the invention is configured to provide altitude correction output with respect to a predetermined landing site as a function of the following formula to compute the aircraft's relation to the computed path relative to the predetermined landing site: Hact = Tm · std ′ Tm · act ′ * Hind Where grad=0.00198 deg/ft to=Taer+grad*Haer (Taer being the temperature at the landing site and Haer being the landing site elevation) Tm.act′=273+to−0.5*grad*Hind Tm.std′=288−0.5*grad*Hind Additionally, an altitude correction device according to the present invention is further configured to provide altitude correction output with respect to a predetermined landing site as a function of the following calculation to correct altitude targets: Hind = Tm · act Tm · std * Hact Where grad=0.00198 deg/ft to=Taer+grad*Haer (Taer being the temperature at the landing site and Haer being the landing site elevation) Tm.act=273+to−0.5*grad*Hact Tm.std=288−0.5*grad*Hact
摘要翻译：提供了一种新的有用的装置，用于在非ISA温度条件下自动校正飞机的实际高度。根据本发明的装置可以特别适用于在沿着飞行器飞行路径的选定点处为航空器的导航和控制系统自动提供高度校正输出，其中在非ISA温度条件下的地形清除是重要的操作参数。根据本发明的高度校正装置被配置为根据以下公式提供相对于预定着陆点的高度校正输出，以计算飞机相对于预定着陆点的计算路径的关系：其中= 0.00198度/ ftto = Taer + grad * Haer（Taer是着陆点的温度，Haer是着陆点高程）Tm.act'= 273 + to-0.5 * grad * HindTm.std'= 288-0.5 * grad * Hind另外，根据本发明的高度校正装置还被配置为根据以下计算来提供关于预定着陆点的高度校正输出，以校正高度目标：Wheregrad = 0.00198 deg / ftto = Taer + grad * Haer（Taer 是着陆点的温度，Haer是着陆点的高程）Tm.act = 273 + to-0.5 * grad * HactTm.std = 288-0.5 * grad * Hact

58. 发明授权

US06259978B1 Programmable relay driver 有权
标题翻译：可编程继电器驱动器
公开(公告)号：US06259978B1
公开(公告)日：2001-07-10
申请号：US09351535
申请日：1999-07-12
申请人： Bennett R. Feely
发明人： Bennett R. Feely
IPC分类号： G05D100
CPC分类号： B61L19/06
摘要： A programmable device driver and system thereof are provided for segregating functions and hardware in a railway signaling environment The device driver includes a central processor with a memory and a timebase which is programmable to perform a function. The central processor may be detachable from the device driver. The central processor may be encapsulated in resin or potted to provide resistance to the environment. The device driver may be provided with voltage and current sensing inputs, a power input connected to a power conditioning circuit, one or more outputs, a conditional power supply, and mounting brackets. Each input may be provided with surge protection. The device driver may be provided with terminals for the inputs and outputs or pigtail leads for increased moisture resistance. The device driver also may be provided with a serial port for communicating with other programmable device drivers, a multifunction central processor, or other external device. The system includes multiple programmable device drivers, each one programmed to perform a certain function. Each device driver may be provided with a serial port and interconnected to form a local area network. The LAN may be additionally connected to a multifunction processor for remote control and monitoring.
摘要翻译：提供了一种用于在铁路信号环境中分离功能和硬件的可编程设备驱动器及其系统。设备驱动器包括具有可编程以执行功能的存储器和时基的中央处理器。中央处理器可以从设备驱动器拆卸。中央处理器可以封装在树脂或盆中以提供对环境的抵抗力。设备驱动器可以设置有电压和电流感测输入，连接到功率调节电路的电力输入，一个或多个输出，条件电源和安装支架。每个输入可以提供浪涌保护。设备驱动器可以设置有用于输入和输出或引线的端子，以提高防潮性。设备驱动器还可以设置有用于与其他可编程设备驱动器，多功能中央处理器或其他外部设备通信的串行端口。该系统包括多个可编程设备驱动器，每个可编程设备驱动器被编程为执行一定功能每个设备驱动器可以设置有串行端口并互连以形成局域网。 LAN可以另外连接到用于远程控制和监视的多功能处理器。

59. 发明授权

US06255793B1 Navigation method and system for autonomous machines with markers defining the working area 失效
标题翻译：具有定义工作区域的标记的自动机器的导航方法和系统
公开(公告)号：US06255793B1
公开(公告)日：2001-07-03
申请号：US08554691
申请日：1995-11-07
申请人： Ehud Peless , Shai Abramson , Gideon Dror
发明人： Ehud Peless , Shai Abramson , Gideon Dror
IPC分类号： G05D100
CPC分类号： A01D34/008 , A01D2101/00 , G01C22/00 , G05D1/0219 , G05D1/0227 , G05D1/0234 , G05D1/0261 , G05D1/0263 , G05D1/0265 , G05D1/0274 , G05D2201/0208 , G05D2201/0216
摘要： A method for automatically operating a robot, attached to a lawnmower or other unmanned machine, within an enclosed area is disclosed. The method includes the steps of: 1) providing the following elements: a proximity sensor positioned on the robot, a boundary along the perimeter of the working area and along the perimeter of each area enclosed in the working area in which the robot should not operate, the boundaries being detectable by the proximity sensor, a processing unit connected to the proximity sensor and receiving an input therefrom, a navigation unit on the robot to determine the coordinates of the robot relative to an arbitrary origin, a direction finder, and a memory to store values generated by the processing unit; and 2) causing the robot to move along each of the boundaries provided around or within the working area, to detect the boundaries and to memorize their shape, and to store in the memory values representative of the coordinates of the boundaries, thereby to generate a basic map of the working area. When the robot is to operate within the area, the method includes the steps of: (a) causing the robot to start from a starting point having known coordinates within the basic map of the working area; (b) continuously determining the coordinates of the robot by analyzing data obtained from the navigation unit and by detecting the vicinity of a boundary; and (c) correcting the actual position of the robot on the basic map by comparing the calculated and the actual coordinates of each detected boundary.
摘要翻译：公开了一种在封闭区域内自动操作连接到割草机或其他无人机器的机器人的方法。该方法包括以下步骤：1）提供以下元件：定位在机器人上的接近传感器，沿着工作区域的周边的边界，以及围绕在机器人不应该操作的工作区域中的每个区域的周边边界可由接近传感器检测，处理单元连接到接近传感器并从其接收输入;机器人上的导航单元，用于确定机器人相对于任意原点的坐标，方向取景器和存储器存储由处理单元生成的值; 和2）使机器人沿着设置在工作区域周围或内部的每个边界移动，以检测边界并记住它们的形状，并将存储在存储器中的值代表边界的坐标，从而产生工作区基本图。当机器人在该区域内操作时，该方法包括以下步骤：（a）使机器人从工作区域的基本图中具有已知坐标的起点开始; （b）通过分析从导航单元得到的数据和检测边界附近，连续地确定机器人的坐标; 和（c）通过比较计算出的每个检测到的边界的实际坐标来校正机器人在基本地图上的实际位置。

60. 发明授权

US06249725B1 Method of controlling at least one station display and a central control station 有权
标题翻译：控制至少一个车站显示和中央控制站的方法
公开(公告)号：US06249725B1
公开(公告)日：2001-06-19
申请号：US09181527
申请日：1998-10-28
申请人： Werner Dziedzioch , Helmut Kauer
发明人： Werner Dziedzioch , Helmut Kauer
IPC分类号： G05D100
CPC分类号： G08G1/123
摘要： In a method of controlling at least one station display (1), where a vehicle (2) transmits its actual location (x1) to a central control station which calculates the estimated waiting time (tw) until the vehicle (2) reaches the station (x2), and controls the station display (1) to visually signal this waiting time (tw) to improve the accuracy of the indicated waiting time (tw), it is provided that the waiting time (tw) of a number (n) of immediately preceding vehicles (3, 4, . . . ) is calculated as a function of the trend line of the actual travel times (t1, t2, . . . tm, tm+1. . . tn).
摘要翻译：在控制至少一个站显示（1）的方法中，其中车辆（2）将其实际位置（x1）发送到中央控制站，所述中央控制站计算估计的等待时间（tw），直到车辆（2）到达车站（x2），并且控制站显示（1）以可视化的方式通知该等待时间（tw）以提高所指示的等待时间（tw）的精度，只要数字（n）的等待时间（tw）作为实际行驶时间（t1，t2，...，tm，tm + 1 ... tn）的趋势线的函数计算紧接在前的车辆（3,4等）的车辆。

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