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1. 发明授权

US06363632B1 System for autonomous excavation and truck loading 有权
标题翻译：自动挖掘和装载货物系统
公开(公告)号：US06363632B1
公开(公告)日：2002-04-02
申请号：US09392935
申请日：1999-09-09
申请人： Anthony Stentz , John Bares , Sanjiv Singh , Patrick Rowe , Patrick C. Leger , Norman Keith Lay
发明人： Anthony Stentz , John Bares , Sanjiv Singh , Patrick Rowe , Patrick C. Leger , Norman Keith Lay
IPC分类号： E02F304
CPC分类号： E02F9/2045 , E02F3/437 , E02F9/24 , E02F9/261 , G01S7/411 , G01S13/931 , G01S17/42 , G01S17/87 , G01S17/88 , G01S17/936 , G01S2013/936 , G01S2013/9364 , G01S2013/9367 , G01S2013/9375 , G01S2013/9378 , G01S2013/9385
摘要： In accordance with the present invention, a system to organize and coordinate components associated with earthmoving machinery capable of performing excavating and loading tasks autonomously is disclosed. The system comprises an earthmoving machine equipped with a scanning sensor system operable to provide data regarding regions within an earthmoving environment including an excavation region and a loading region and a planning and control module operable to receive data from the scanning sensor system to plan a task associated with the control of the earthmoving machine while concurrently performing another task associated with control of the earthmoving machine. Any number and type of sensor systems, such as a laser rangefinder or a radar rangefinder, may be incorporated in the system depending on requirements and the capabilities of the system. The sensor systems have independently controllable fields of view, with each sensor system being capable of providing data pertaining to a different portion of the earthmoving environment.
摘要翻译：根据本发明，公开了一种组织和协调能够自主执行挖掘和装载任务的移土机械相关的部件的系统。该系统包括配备有扫描传感器系统的移土机，该扫描传感器系统可操作以提供关于包括挖掘区域和装载区域在内的挖掘环境中的区域的数据，以及可操作以从扫描传感器系统接收数据以规划相关任务的计划和控制模块同时进行与移土机的控制相关的另一项任务，同时控制土方机。任何数量和类型的传感器系统，例如激光测距仪或雷达测距仪，可以根据系统的要求和能力而并入系统中。传感器系统具有独立的可控视野，每个传感器系统能够提供与移土环境的不同部分有关的数据。

2. 发明授权

US09844730B1 Method and apparatus for an interactive dancing video game 有权
公开(公告)号：US09844730B1
公开(公告)日：2017-12-19
申请号：US12187119
申请日：2008-08-06
申请人： C. Matthew Dawson , Emily Tyndall , Kristin Mae Yee , David Neil Christenson , Edward Gilmore Martin , James Patrick Rowe , Casey Shane Nelson , Jamison R. Titera , Paul Mombourquette , Rich Reagan
发明人： C. Matthew Dawson , Emily Tyndall , Kristin Mae Yee , David Neil Christenson , Edward Gilmore Martin , James Patrick Rowe , Casey Shane Nelson , Jamison R. Titera , Paul Mombourquette , Rich Reagan
IPC分类号： A63F13/00 , A63F13/814
CPC分类号： A63F13/814 , A63F13/211 , A63F13/212
摘要： One particular implementation of the present invention may take the form of a method and apparatus for providing various dance movements as input to a dancing video game. The method and apparatus may detect the hand and arm movements of a video game player and interpret those movements as inputs to the video game. The video game may then compare the dancing movements of the user to expected dance movements to determine if the correct dance movement was performed by the user. The video game may also display a video game environment that instructs and interacts with the user to perform several dance movements of the video game. In this manner, the method and apparatus may provide a more realistic and dynamic dancing video game experience than previous dancing video games that only allowed the player to press buttons as inputs to the game.

3. 发明授权

US06223110B1 Software architecture for autonomous earthmoving machinery 有权
标题翻译：自主移土机械的软件架构
公开(公告)号：US06223110B1
公开(公告)日：2001-04-24
申请号：US09172420
申请日：1998-10-14
申请人： Patrick Rowe , Jorgen Pedersen , Anthony Stentz
发明人： Patrick Rowe , Jorgen Pedersen , Anthony Stentz
IPC分类号： G06F770
CPC分类号： E02F9/2045 , E02F3/435
摘要： In accordance with the present invention, a modular architecture to organize and coordinate components that are needed to automate earthmoving tasks, and to coordinate the flow of data between the components is disclosed. The architecture includes three main subdivisions: a sensor pipeline, sensor data consumers, and motion planners and executors. The sensor pipeline receives raw sensor data from perceptual sensors such as a laser rangefinder or radar system, and converts the data into a form which is usable by the other system components. Sensor data can also be represented in the form of an elevation map of the surrounding terrain for other software components to use. Any number and types of sensor systems may be added to the software architecture depending on requirements and the capabilities of the system. The sensor data consumers use the sensor data as input to specific algorithms to produce information regarding the machine's environment for use by other system components. A motion planner receives information provided by the sensor data consumers, and delivers output commands go to controllers on the machine. The motion planner also computes and delivers commands to the sensor systems on the machine. Additional planners may be added at this level to coordinate other system behaviors and actions.
摘要翻译：根据本发明，公开了一种用于组织和协调自动执行挖掘任务所需的组件和协调组件之间的数据流的模块化架构。该架构包括三个主要细分：传感器管道，传感器数据消费者，运动规划者和执行者。传感器管道从诸如激光测距仪或雷达系统的感知传感器接收原始传感器数据，并将数据转换成可由其他系统组件使用的形式。传感器数据也可以以其他软件组件使用的周围地形的高程图的形式表示。可以根据系统的要求和能力将任何数量和类型的传感器系统添加到软件体系结构中。传感器数据消费者使用传感器数据作为特定算法的输入，以产生关于机器环境的信息，供其他系统组件使用。运动计划器接收由传感器数据使用者提供的信息，并将输出命令传送到机器上的控制器。运动计划器还可以计算并将命令传递给机器上的传感器系统。可以在此级别添加其他计划者来协调其他系统的行为和行为。

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