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1. 发明授权

US06203111B1 Miner guidance using laser and image analysis 有权
标题翻译：使用激光和图像分析的矿工指导
公开(公告)号：US06203111B1
公开(公告)日：2001-03-20
申请号：US09430567
申请日：1999-10-29
申请人： Mark Ollis , Steven John Scheding , Christopher C. Fromme , Jorgen Pederson , John Bares , Herman Herman , Anthony J. Stentz , David K. Herdle , Frank Higgins , Bryan G. Campbell
发明人： Mark Ollis , Steven John Scheding , Christopher C. Fromme , Jorgen Pederson , John Bares , Herman Herman , Anthony J. Stentz , David K. Herdle , Frank Higgins , Bryan G. Campbell
IPC分类号： E21C3508
CPC分类号： E21C27/24 , E21C35/24 , E21D9/004
摘要： A mining machine comprising a vehicle body having forward and rearward ends, the vehicle body being movable along a mine floor, a cutter head mounted on the forward end of the vehicle body, and a position sensing and control apparatus including first and second generally vertical, generally parallel surfaces on the vehicle body, an off-board light source emitting a light beam that strikes the surfaces, an imaging device for imaging both of the plates in a single image, and a computer receiving the single image from the camera, the computer using the single image to determine at least one of the roll, yaw and lateral offset of the machine.
摘要翻译：一种采矿机，包括具有前端和后端的车体，所述车身可沿矿井移动，安装在所述车身前端的刀头，以及包括第一和第二大致垂直的位置检测和控制装置，车身上的大体上平行的表面，发射表面光束的板外光源，用于在单个图像中成像两个板的成像装置和从相机接收单个图像的计算机，计算机使用单个图像来确定机器的滚动，偏航和横向偏移中的至少一个。

2. 发明授权

US07995837B2 System and method for generating a terrain model for autonomous navigation in vegetation 有权
标题翻译：用于生成植被自主导航的地形模型的系统和方法
公开(公告)号：US07995837B2
公开(公告)日：2011-08-09
申请号：US12573459
申请日：2009-10-05
申请人： Carl K. Wellington , Aaron C. Courville , Anthony J. Stentz
发明人： Carl K. Wellington , Aaron C. Courville , Anthony J. Stentz
IPC分类号： G06K9/00
CPC分类号： G06K9/00201 , G05D1/024 , G05D1/0242 , G05D1/0251 , G05D1/0274 , G05D2201/0201 , G05D2201/0207 , G05D2201/021 , G06K9/00664 , G06K9/00697 , G06K9/4638 , G06T17/05
摘要： The disclosed terrain model is a generative, probabilistic approach to modeling terrain that exploits the 3D spatial structure inherent in outdoor domains and an array of noisy but abundant sensor data to simultaneously estimate ground height, vegetation height and classify obstacles and other areas of interest, even in dense non-penetrable vegetation. Joint inference of ground height, class height and class identity over the whole model results in more accurate estimation of each quantity. Vertical spatial constraints are imposed on voxels within a column via a hidden semi-Markov model. Horizontal spatial constraints are enforced on neighboring columns of voxels via two interacting Markov random fields and a latent variable. Because of the rules governing abstracts, this abstract should not be used to construe the claims.
摘要翻译：所公开的地形模型是一种生成性的概率方法，它利用户外域内固有的3D空间结构和一系列噪声丰富的传感器数据来模拟地形，同时估计地面高度，植被高度，分类障碍物和其他感兴趣的领域，甚至密集不可渗透的植被。对整个模型的地面高度，班级身高和班级身份的联合推断可以更准确地估算每个数量。垂直空间约束通过隐藏的半马尔可夫模型施加在列内的体素上。水平空间约束通过两个相互作用的马尔科夫随机场和潜在变量在相邻列的体素上实现。由于管理摘要的规则，本摘要不应用于解释索赔。

3. 发明申请

US20100021052A1 System and method for generating a terrain model for autonomous navigation in vegetation 有权
公开(公告)号：US20100021052A1
公开(公告)日：2010-01-28
申请号：US12573459
申请日：2009-10-05
申请人： Carl K. Wellington , Aaron C. Courville , Anthony J. Stentz
发明人： Carl K. Wellington , Aaron C. Courville , Anthony J. Stentz
IPC分类号： G06K9/00
CPC分类号： G06K9/00201 , G05D1/024 , G05D1/0242 , G05D1/0251 , G05D1/0274 , G05D2201/0201 , G05D2201/0207 , G05D2201/021 , G06K9/00664 , G06K9/00697 , G06K9/4638 , G06T17/05
摘要： The disclosed terrain model is a generative, probabilistic approach to modeling terrain that exploits the 3D spatial structure inherent in outdoor domains and an array of noisy but abundant sensor data to simultaneously estimate ground height, vegetation height and classify obstacles and other areas of interest, even in dense non-penetrable vegetation. Joint inference of ground height, class height and class identity over the whole model results in more accurate estimation of each quantity. Vertical spatial constraints are imposed on voxels within a column via a hidden semi-Markov model. Horizontal spatial constraints are enforced on neighboring columns of voxels via two interacting Markov random fields and a latent variable. Because of the rules governing abstracts, this abstract should not be used to construe the claims.

4. 发明授权

US6058344A Automated system and method for control of movement using parameterized scripts 失效
标题翻译：使用参数化脚本控制运动的自动化系统和方法
公开(公告)号：US6058344A
公开(公告)日：2000-05-02
申请号：US322849
申请日：1999-05-28
申请人： Patrick S. Rowe , Anthony J. Stentz
发明人： Patrick S. Rowe , Anthony J. Stentz
IPC分类号： E02F9/20 , B25J9/16 , B25J9/18 , B25J9/22 , G05D3/10 , B05B9/06
CPC分类号： B25J9/1658 , E02F3/437 , E02F9/2041 , G05B2219/35263
摘要： Robotic machines, such as mobile manipulators, are controlled by a relatively high-level script while changes in the environment are accommodated by including parameters in the script. Sensors, manual inputs, and other software can be used as sources of data for setting the values of the parameters. The high-level script includes sets of instructions with each set defining movement of one portion of the robotic machine, such as a joint of the manipulator. The several sets of instructions are executed concurrently in a primary script. One or more secondary scripts, each containing concurrently executed sets of instructions may be executed when an abnormal condition is detected. The movements performed by the robotic machine are generally defined by the instructions, but precisely how the movements are performed is determined by the values of the parameters. By using parameterized scripts, it is unnecessary to compute and track trajectories.
摘要翻译：诸如移动操纵器的机器人机器由相对高级的脚本控制，同时通过在脚本中包括参数来适应环境的变化。传感器，手动输入和其他软件可用作设置参数值的数据源。高级脚本包括指令集，每组指令定义机器人机器的一部分的运动，例如操纵器的关节。几组指令在主脚本中同时执行。当检测到异常情况时，可以执行一个或多个辅助脚本，每个副脚本包含并发执行的指令集。由机器人机器执行的动作通常由指令定义，但精确地如何执行移动由参数的值确定。通过使用参数化脚本，无需计算和跟踪轨迹。

5. 发明授权

US5908458A Automated system and method for control of movement using parameterized scripts 失效
公开(公告)号：US5908458A
公开(公告)日：1999-06-01
申请号：US796824
申请日：1997-02-06
申请人： Patrick S. Rowe , Anthony J. Stentz
发明人： Patrick S. Rowe , Anthony J. Stentz
IPC分类号： E02F9/20 , B25J9/16 , B25J9/18 , B25J9/22 , G05D3/10 , B05B9/06
CPC分类号： B25J9/1658 , E02F3/437 , E02F9/2041 , G05B2219/35263
摘要： Robotic machines, such as mobile manipulators, are controlled by a relatively high-level script while changes in the environment are accommodated by including parameters in the script. Sensors, manual inputs, and other software can be used as sources of data for setting the values of the parameters. The high-level script includes sets of instructions with each set defining movement of one portion of the robotic machine, such as a joint of the manipulator. The several sets of instructions are executed concurrently in a primary script. One or more secondary scripts, each containing concurrently executed sets of instructions may be executed when an abnormal condition is detected. The movements performed by the robotic machine are generally defined by the instructions, but precisely how the movements are performed is determined by the values of the parameters. By using parameterized scripts, it is unnecessary to compute and track trajectories.

6. 发明授权

US06296317B1 Vision-based motion sensor for mining machine control 有权
标题翻译：基于视觉的矿山机械控制运动传感器
公开(公告)号：US06296317B1
公开(公告)日：2001-10-02
申请号：US09430102
申请日：1999-10-29
申请人： Mark Ollis , Christopher C. Fromme , Timothy Ennis Hegadorn , Alonzo James Kelly , John Bares , Herman Herman , Anthony J. Stentz , Richard McCargo Moore, Jr. , David K. Herdle , Frank Higgins , Bryan G. Campbell
发明人： Mark Ollis , Christopher C. Fromme , Timothy Ennis Hegadorn , Alonzo James Kelly , John Bares , Herman Herman , Anthony J. Stentz , Richard McCargo Moore, Jr. , David K. Herdle , Frank Higgins , Bryan G. Campbell
IPC分类号： E21C3508
CPC分类号： G05D1/0251 , G05D2201/021
摘要： A mining machine having a position sensing and control apparatus is claimed. The mining machine has a vehicle body having forward and rearward ends and movable along a mine floor. A cutter head is mounted on the forward end of the mining machine for upward and downward movement relative to the vehicle body. A conveyor mounted on the vehicle body conveys material cut by the cutter head. The position sensing and control apparatus has at least one light source and at least one imaging device mounted on the machine. The position sensing and control apparatus captures images of natural features of an interior surface of a mine, digitizes the images and determines the distance between the imaging device and the natural feature to determine positional change of the machine.
摘要翻译：要求具有位置感测和控制装置的采矿机。采矿机具有前后端的车体，沿矿井可移动。刀头安装在采矿机的前端，以相对于车身上下移动。安装在车身上的输送机输送由切割头切割的材料。位置检测和控制装置具有安装在机器上的至少一个光源和至少一个成像装置。位置检测和控制装置捕获矿山内表面的自然特征的图像，数字化图像并确定成像装置与自然特征之间的距离，以确定机器的位置变化。

7. 发明授权

US07822266B2 System and method for generating a terrain model for autonomous navigation in vegetation 有权
标题翻译：用于生成植被自主导航的地形模型的系统和方法
公开(公告)号：US07822266B2
公开(公告)日：2010-10-26
申请号：US11446089
申请日：2006-06-02
申请人： Carl K. Wellington , Aaron C. Courville , Anthony J. Stentz
发明人： Carl K. Wellington , Aaron C. Courville , Anthony J. Stentz
IPC分类号： G06K9/00
CPC分类号： G06K9/00201 , G05D1/024 , G05D1/0242 , G05D1/0251 , G05D1/0274 , G05D2201/0201 , G05D2201/0207 , G05D2201/021 , G06K9/00664 , G06K9/00697 , G06K9/4638 , G06T17/05
摘要： The disclosed terrain model is a generative, probabilistic approach to modeling terrain that exploits the 3D spatial structure inherent in outdoor domains and an array of noisy but abundant sensor data to simultaneously estimate ground height, vegetation height and classify obstacles and other areas of interest, even in dense non-penetrable vegetation. Joint inference of ground height, class height and class identity over the whole model results in more accurate estimation of each quantity. Vertical spatial constraints are imposed on voxels within a column via a hidden semi-Markov model. Horizontal spatial constraints are enforced on neighboring columns of voxels via two interacting Markov random fields and a latent variable. Because of the rules governing abstracts, this abstract should not be used to construe the claims.
摘要翻译：所公开的地形模型是一种生成性的概率方法，它利用户外域内固有的3D空间结构和一系列噪声丰富的传感器数据来模拟地形，同时估计地面高度，植被高度，分类障碍物和其他感兴趣的领域，甚至密集不可渗透的植被。对整个模型的地面高度，班级身高和班级身份的联合推断可以更准确地估算每个数量。垂直空间约束通过隐藏的半马尔可夫模型施加在列内的体素上。水平空间约束通过两个相互作用的马尔科夫随机场和潜在变量在相邻列的体素上实现。由于管理摘要的规则，本摘要不应用于解释索赔。

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