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1. 发明授权

US08090491B2 Guidance, navigation, and control system for a vehicle 有权
标题翻译：车辆指导，导航和控制系统
公开(公告)号：US08090491B2
公开(公告)日：2012-01-03
申请号：US11922706
申请日：2006-07-26
申请人： Timothy D. Barfoot , Joshua A. Marshall , Raja Mukherji , Robert Ward
发明人： Timothy D. Barfoot , Joshua A. Marshall , Raja Mukherji , Robert Ward
IPC分类号： G01C22/00
CPC分类号： G08G1/20 , B60W10/04 , B60W10/20 , B60W2050/0028 , B60W2550/14 , B60W2550/402 , G05B2219/40555 , G05B2219/45004 , G05D1/024 , G05D1/0261 , G05D1/027 , G05D1/0274 , G05D1/0297 , G05D2201/021 , G08G1/202
摘要： A guidance, navigation, and control method and system for an underground mining vehicle wherein an operator directly or indirectly guides the vehicle along a route as vehicle-mounted sensors including odometric sensors and rangefinders log motion data to a file which data is processed into a route profile including a vehicle path, a sequence of submaps along the path, and a profile of desired speed as a function of distance along the path. Thereafter the vehicle automatically repeats the route as represented by the route profile without an operator using the sensors and the maps to determine vehicle location.
摘要翻译：一种用于地下采矿车辆的引导，导航和控制方法和系统，其中操作员直接或间接地沿着路线引导车辆，作为包括测距传感器和测距仪的车载传感器将运动数据记录到数据被处理成路线的文件轮廓，包括车辆路径，沿着路径的子图的序列，以及作为沿着路径的距离的函数的期望速度的轮廓。此后，车辆自动地重复路线，如路线轮廓所示，而操作人员不用传感器和地图来确定车辆位置。

2. 发明授权

US08260483B2 Guidance, navigation, and control system for a vehicle 有权
标题翻译：车辆指导，导航和控制系统
公开(公告)号：US08260483B2
公开(公告)日：2012-09-04
申请号：US13209247
申请日：2011-08-12
申请人： Timothy D. Barfoot , Joshua A. Marshall , Raja Mukherji , Robert Ward
发明人： Timothy D. Barfoot , Joshua A. Marshall , Raja Mukherji , Robert Ward
IPC分类号： G01C22/00
CPC分类号： G08G1/20 , B60W10/04 , B60W10/20 , B60W2050/0028 , B60W2550/14 , B60W2550/402 , G05B2219/40555 , G05B2219/45004 , G05D1/024 , G05D1/0261 , G05D1/027 , G05D1/0274 , G05D1/0297 , G05D2201/021 , G08G1/202
摘要： The present invention provides a guidance, navigation, and control method and system for an underground mining vehicle that allow said vehicle to be taught a route by a human operator and then have it automatically drive the route with no human intervention. The method works in three steps: teaching, route profiling, and playback. In the teaching step the vehicle is manually driven by a operator along a route which can consist of an arbitrary sequence of maneuvers including tramming forwards, switching directions, tramming backwards, turning, or pausing movement. During this phase raw data from vehicle-mounted sensors including odometric sensors and rangefinders are logged to a file throughout teaching for later processing. During the (offline) route profiling step, the raw data in the log file are processed into a route profile, and a profile of desired speed as a function of distance along the path.
摘要翻译：本发明提供了一种用于地下采矿车辆的引导，导航和控制方法和系统，其允许所述车辆由人操作者教导路线，然后使其无需人为干预地自动地驱动路线。该方法分为三个步骤：教学，路线分析和播放。在教学步骤中，车辆由操作人员沿着可以由任意一系列操纵组成的路线手动驾驶，包括向前行驶，切换方向，往返行驶，转弯或暂停运动。在此阶段，来自车载传感器（包括测向传感器和测距仪）的原始数据将记录到整个教学中，以备后续处理。在（离线）路线分析步骤中，日志文件中的原始数据被处理为路线简档，以及作为沿路径的距离的函数的期望速度的轮廓。

3. 发明申请

US20120035798A1 GUIDANCE, NAVIGATION, AND CONTROL SYSTEM FOR A VEHICLE 有权
标题翻译：车辆指导，导航和控制系统
公开(公告)号：US20120035798A1
公开(公告)日：2012-02-09
申请号：US13209247
申请日：2011-08-12
申请人： Timothy D. Barfoot , Joshua A. Marshall , Raja Mukherji , Robert Ward
发明人： Timothy D. Barfoot , Joshua A. Marshall , Raja Mukherji , Robert Ward
IPC分类号： G05D1/02
CPC分类号： G08G1/20 , B60W10/04 , B60W10/20 , B60W2050/0028 , B60W2550/14 , B60W2550/402 , G05B2219/40555 , G05B2219/45004 , G05D1/024 , G05D1/0261 , G05D1/027 , G05D1/0274 , G05D1/0297 , G05D2201/021 , G08G1/202
摘要： The present invention provides a guidance, navigation, and control method and system for an underground mining vehicle that allow said vehicle to be taught a route by a human operator and then have it automatically drive the route with no human intervention. The method works in three steps: teaching, route profiling, and playback. In the teaching step the vehicle is manually driven by a operator (or using tele-operation whereby the operator views a screen displaying live views from vehicle-mounted cameras and using remote controls) along a route which can consist of an arbitrary sequence of maneuvers including tramming forwards, switching directions, tramming backwards, turning, or pausing movement. During this phase raw data from vehicle-mounted sensors including odometric sensors and rangefinders are logged to a file throughout teaching for later processing. During the (offline) route profiling step, the raw data in the log file are processed into a route profile including a vehicle path, a sequence of local metric submaps located along the path, and a profile of desired speed as a function of distance along the path. During the playback step, the vehicle automatically repeats the route that was taught during the teaching phase, as represented by the route profile. This is accomplished by first determining where the vehicle is on the route using a localization method which uses the odometric and laser rangefinder sensors and the local metric maps to determine the vehicle location. A steering control method adjusts the vehicle's steering to ensure it tracks the intended path. A drive control method adjusts the vehicle's speed accordingly and safety method ensures the vehicle stops in the event that an obstruction is on the vehicle's intended path.
摘要翻译：本发明提供了一种用于地下采矿车辆的引导，导航和控制方法和系统，其允许所述车辆由人操作者教导路线，然后使其无需人为干预地自动地驱动路线。该方法分为三个步骤：教学，路线分析和播放。在教学步骤中，车辆由操作者手动驾驶（或使用遥控操作，其中操作者从车载摄像机观看显示实时视图的屏幕并使用遥控器）沿着可以包括任意操纵序列的路线，包括向前行驶，转车方向，向后行驶，转弯或暂停运动。在此阶段，来自车载传感器（包括测向传感器和测距仪）的原始数据将记录到整个教学中，以备后续处理。在（离线）路线分析步骤期间，日志文件中的原始数据被处理为包括车辆路径，沿着路径定位的局部度量子图的序列以及作为距离的函数的期望速度的轮廓的路线简档路径。在回放步骤期间，车辆自动重复在教学阶段中教导的路线，如路线轮廓所示。这是通过首先使用定位方法来确定车辆在路线上的位置来实现的，该定位方法使用计量和激光测距仪传感器以及本地度量图来确定车辆位置。转向控制方法调整车辆的转向，以确保其跟踪预期路径。驱动控制方法相应地调整车辆的速度，并且在障碍物在车辆的预期路径上的情况下，安全方法确保车辆停止。

4. 发明申请

US20090043439A1 Guidance, Navigation, and Control System for a Vehicle 有权
标题翻译：车辆指导，导航和控制系统
公开(公告)号：US20090043439A1
公开(公告)日：2009-02-12
申请号：US11922706
申请日：2006-07-26
申请人： Timothy D. Barfoot , Joshua A. Marshall , Raja Mukherji , Robret Ward
发明人： Timothy D. Barfoot , Joshua A. Marshall , Raja Mukherji , Robret Ward
IPC分类号： B60W30/10
CPC分类号： G08G1/20 , B60W10/04 , B60W10/20 , B60W2050/0028 , B60W2550/14 , B60W2550/402 , G05B2219/40555 , G05B2219/45004 , G05D1/024 , G05D1/0261 , G05D1/027 , G05D1/0274 , G05D1/0297 , G05D2201/021 , G08G1/202
摘要： The present invention provides a guidance, navigation, and control method and system for an underground mining vehicle that allow said vehicle to be taught a route by a human operator and then have it automatically drive the route with no human intervention. The method works in three steps: teaching, route profiling, and playback. In the teaching step the vehicle is manually driven by a operator (or using tele-operation whereby the operator views a screen displaying live views from vehicle-mounted cameras and using remote controls) along a route which can consist of an arbitrary sequence of maneuvers including tramming forwards, switching directions, tramming backwards, turning, or pausing movement. During this phase raw data from vehicle-mounted sensors including odometric sensors and rangefinders are logged to a file throughout teaching for later processing. During the (offline) route profiling step, the raw data in the log file are processed into a route profile including a vehicle path, a sequence of local metric submaps located along the path, and a profile of desired speed as a function of distance along the path. During the playback step, the vehicle automatically repeats the route that was taught during the teaching phase, as represented by the route profile. This is accomplished by first determining where the vehicle is on the route using a localization method which uses the odometric and laser rangefinder sensors and the local metric maps to determine the vehicle location. A steering control method adjusts the vehicle's steering to ensure it tracks the intended path. A drive control method adjusts the vehicle's speed accordingly and safety method ensures the vehicle stops in the event that an obstruction is on the vehicle's intended path.
摘要翻译：本发明提供了一种用于地下采矿车辆的引导，导航和控制方法和系统，其允许所述车辆由人操作者教导路线，然后使其无需人为干预地自动地驱动路线。该方法分为三个步骤：教学，路线分析和播放。在教学步骤中，车辆由操作者手动驾驶（或使用遥控操作，其中操作者从车载摄像机观看显示实时视图的屏幕并使用遥控器）沿着可以包括任意操纵序列的路线，包括向前行驶，转车方向，向后行驶，转弯或暂停运动。在此阶段，来自车载传感器（包括测向传感器和测距仪）的原始数据将记录到整个教学中，以备后续处理。在（离线）路线分析步骤期间，日志文件中的原始数据被处理为包括车辆路径，沿着路径定位的局部度量子图的序列以及作为距离的函数的期望速度的轮廓的路线简档路径。在回放步骤期间，车辆自动重复在教学阶段中教导的路线，如路线轮廓所示。这是通过首先使用定位方法来确定车辆在路线上的位置来实现的，该定位方法使用计量和激光测距仪传感器以及本地度量图来确定车辆位置。转向控制方法调整车辆的转向，以确保其跟踪预期路径。驱动控制方法相应地调整车辆的速度，并且在障碍物在车辆的预期路径上的情况下，安全方法确保车辆停止。

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