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1. 发明授权

US5410325A Antenna mounting apparatus 失效
标题翻译：天线安装装置
公开(公告)号：US5410325A
公开(公告)日：1995-04-25
申请号：US103369
申请日：1993-08-09
申请人： Douglas W. Friedrich , Carl A. Kemner , N. Keith Lay , Joel L. Peterson
发明人： Douglas W. Friedrich , Carl A. Kemner , N. Keith Lay , Joel L. Peterson
IPC分类号： H01Q1/00 , H01Q1/18 , H01Q1/32
CPC分类号： H01Q1/18 , H01Q1/005 , H01Q1/3283
摘要： An apparatus for mounting an antenna assembly to an elevationally movable portion of a vehicle dump bed includes a mountable support member having first and second end portions. The first end portion is fixed to the vehicle bed. The antenna assembly has an active element connected to a first end of a mounting element and a counterweight element connected to a second end of a mounting element. An intermediate portion of the mounting element is connected to the second end portion of the mountable support member. The antenna assembly is therefore free to rotate about at least one axis parallel to the axis of rotation of the elevationally movable dump bed.
摘要翻译：一种用于将天线组件安装到车辆倾卸床的可升高的部分的装置包括具有第一和第二端部的可安装的支撑构件。第一端部固定在车床上。天线组件具有连接到安装元件的第一端的有源元件和连接到安装元件的第二端的配重元件。安装元件的中间部分连接到可安装的支撑构件的第二端部。因此，天线组件可以围绕平行于可升降转台的旋转轴线的至少一个轴线自由旋转。

2. 发明授权

US06990390B2 Method and apparatus to detect change in work tool 失效
标题翻译：检测工作工具变化的方法和装置
公开(公告)号：US06990390B2
公开(公告)日：2006-01-24
申请号：US10849102
申请日：2004-05-19
申请人： Ronald O. Groth , Carl A. Kemner , N. Keith Lay
发明人： Ronald O. Groth , Carl A. Kemner , N. Keith Lay
IPC分类号： G06F19/00
CPC分类号： E02F3/435
摘要： Method and apparatus to detect a change in a work tool with an engaging portion. A control system senses a change in the relationship between the engaging portion of the work tool and at least one of the work tool and another engaging portion of the work tool. If the change is greater than a predetermined value, the control system produces an error signal.
摘要翻译：用接合部检测作业工具的变化的方法和装置。控制系统检测作业工具的啮合部分与作业工具与作业工具的另一啮合部分中的至少一个之间的关系的变化。如果变化大于预定值，则控制系统产生误差信号。

3. 发明授权

US5684696A System and method for enabling an autonomous vehicle to track a desired path 失效
标题翻译：用于使自主车辆跟踪期望路径的系统和方法
公开(公告)号：US5684696A
公开(公告)日：1997-11-04
申请号：US432563
申请日：1995-05-01
申请人： Prithvi N. Rao , Dong Hun Shin , William L. Whittaker , Karl W. Kleimenhagen , Sanjiv J. Singh , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Joel L. Peterson , Larry E. Schmidt , Lonnie J. Devier
发明人： Prithvi N. Rao , Dong Hun Shin , William L. Whittaker , Karl W. Kleimenhagen , Sanjiv J. Singh , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Joel L. Peterson , Larry E. Schmidt , 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 , G06F165/00
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 enabling an autonomous vehicle to track a desired path plans a continuous path to return to the desired path when the vehicle deviates from the desired path. The continuous path is determined based on the vehicle's position, the desired path, and a lookahead distance. The lookahead distance is the distance on the desired path within which the continuous path and the desired path converge. The lookahead distance may vary as a function of vehicle speed. In one embodiment of the present invention, the continuous path is determined as a quintic polynomial.
摘要翻译：一种用于使自主车辆跟踪期望路径的系统和方法可以计划在车辆偏离所需路径时返回所需路径的连续路径。基于车辆的位置，期望的路径和前瞻距离来确定连续路径。前瞻距离是在所需路径上的距离，连续路径和期望路径在该距离下收敛。前视距离可随车速的变化而变化。在本发明的一个实施例中，将连续路径确定为五次多项式。

4. 发明授权

US5586030A System and method for managing access to a resource in an autonomous vehicle system 失效
标题翻译：用于管理对自主车辆系统中的资源的访问的系统和方法
公开(公告)号：US5586030A
公开(公告)日：1996-12-17
申请号：US328329
申请日：1994-10-24
申请人： Carl A. Kemner , Craig L. Koehrsen , Joel L. Peterson
发明人： Carl A. Kemner , Craig L. Koehrsen , Joel L. Peterson
IPC分类号： G01C21/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G06F165/00
CPC分类号： G08G1/096827 , G05D1/0257 , G05D1/0278 , G05D1/0297 , G08G1/202 , G05D1/0272 , G05D2201/021
摘要： The invention is a system and method for managing a resource shared by a plurality of autonomous vehicles. Each vehicle includes a navigator for causing the vehicle to travel a specified route to the resource and for generating a queue position request upon approach to the resource. A queue or fleet manager establishes a queue to control access to the resource. The queue manager generates a queue position in response to receipt of the queue position request from an approaching vehicle. Under control of the queue manager, autonomous vehicles are passed through the queue and allowed to access the resource in a first-in, first-out manner.
摘要翻译：本发明是用于管理由多个自主车辆共享的资源的系统和方法。每个车辆包括导航器，用于使车辆行驶到资源的指定路线，并且在接近资源时产生队列位置请求。队列或队列管理器建立一个队列来控制对资源的访问。队列管理器响应于从接近的车辆接收到队列位置请求而产生队列位置。在队列管理器的控制下，自动车辆通过队列，并允许以先入先出的方式访问资源。

5. 发明授权

US5838562A System and a method for enabling a vehicle to track a preset path 失效
标题翻译：系统和用于使车辆跟踪预设路径的方法
公开(公告)号：US5838562A
公开(公告)日：1998-11-17
申请号：US432248
申请日：1995-05-01
申请人： Adam J. Gudat , Walter J. Bradbury , Dana A. Christensen , Carl A. Kemner , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck , Lonnie J. Devier , Prithvi N. Rao , Gary K. Shaffer , Wenfan Shi , Dong Hun Shin , James W. Sennott , William L. Whittaker , Jay H. West , Karl W. Kleimenhagen , Richard G. Clow , Baoxin Wu , Sanjiv J. Singh
发明人： Adam J. Gudat , Walter J. Bradbury , Dana A. Christensen , Carl A. Kemner , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck , Lonnie J. Devier , Prithvi N. Rao , Gary K. Shaffer , Wenfan Shi , Dong Hun Shin , James W. Sennott , William L. Whittaker , Jay H. West , Karl W. Kleimenhagen , Richard G. Clow , Baoxin Wu , Sanjiv J. Singh
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 , G06F165/00
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 (400) for positioning and navigating an autonomous vehicle (310) allows the vehicle (310) to travel between locations. Position information (432) is derived from global positioning system satellites (200, 202, 204, and 206) or other sources (624) when the satellites (200, 202, 204, and 206) are not in the view of the vehicle (310). Navigation of the vehicle (310) is obtained using the position information (432), route information (414), obstacle detection and avoidance data (416), and on board vehicle data (908 and 910).
摘要翻译：用于定位和导航自主车辆（310）的系统（400）允许车辆（310）在位置之间行进。当卫星（200,202,204和206）不在车辆视野中时，位置信息（432）从全球定位系统卫星（200,202,204和206）或其他源（624）导出（ 310）。使用位置信息（432），路线信息（414），障碍物检测和回避数据（416）以及车载数据（908和910）获得车辆（310）的导航。

6. 发明授权

US5548516A Multi-tasked navigation system and method for an autonomous land based vehicle 失效
标题翻译：一种基于自主地面车辆的多任务导航系统和方法
公开(公告)号：US5548516A
公开(公告)日：1996-08-20
申请号：US432247
申请日：1995-05-01
申请人： Adam J. Gudat , Prithvi N. Rao , Gary K. Shaffer , Wenfan Shi , Dong H. Shin , James W. Sennott , William L. Whittaker , Karl W. Kleimenhagen , Jay H. West , Richard G. Clow , Baoxin Wu , 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 , Prithvi N. Rao , Gary K. Shaffer , Wenfan Shi , Dong H. Shin , James W. Sennott , William L. Whittaker , Karl W. Kleimenhagen , Jay H. West , Richard G. Clow , Baoxin Wu , 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： G01S5/14 , G01S19/48 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G06F165/00
CPC分类号： G08G1/202 , G01S19/11 , G01S19/46 , G01S19/47 , G05D1/024 , G05D1/0272 , G05D1/0276 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S5/009
摘要： A system (400) for positioning and navigating an autonomous vehicle (310) allows the vehicle (310) to travel between locations. Position information (432) is derived from global positioning system satellites (200, 202, 204, and 206) or other sources (624) when the satellites (200, 202, 204, and 206) are not in the view of the vehicle (310). Navigation of the vehicle (310) is obtained using the position information (432), route information (414), obstacle detection and avoidance data (416), and on board vehicle data (908 and 910).
摘要翻译：用于定位和导航自主车辆（310）的系统（400）允许车辆（310）在位置之间行进。当卫星（200,202,204和206）不在车辆视野中时，位置信息（432）从全球定位系统卫星（200,202,204和206）或其他源（624）导出（ 310）。使用位置信息（432），路线信息（414），障碍物检测和回避数据（416）以及车载数据（908和910）获得车辆（310）的导航。

7. 发明授权

US5448479A Remote control system and method for an autonomous vehicle 失效
标题翻译：一种自主车辆的遥控系统和方法
公开(公告)号：US5448479A
公开(公告)日：1995-09-05
申请号：US299448
申请日：1994-09-01
申请人： Carl A. Kemner , Joel L. Peterson
发明人： Carl A. Kemner , Joel L. Peterson
IPC分类号： B62D1/28 , G05D1/00 , G05D1/02 , H04B7/26 , H04Q9/00 , G06F165/00
CPC分类号： G05D1/0022 , B62D1/28 , G05D1/0061 , G05D2201/021
摘要： A system and method for remotely controlling an autonomous vehicle uses a tele-panel to interrupt autonomous operation. Radio communications established between the tele-panel and the vehicle ceases autonomous operation of the vehicle and places the vehicle in a tele-ready mode in which the vehicle will not respond to commands from other tele-panels. Upon communication of a tele-operation request signal to the vehicle, the vehicle enters tele-operation mode. In this mode, the vehicle is responsive only to speed and steering angle requests from the transmitting tele-panel. A unique tele-panel identifier transmitted to the vehicle prevents other tele-panels from gaining control of the vehicle. If communications between the vehicle and the tele-panel identified by the tele-panel identifier are interrupted while the vehicle is in tele-operation mode, the vehicle is locked and will not respond to commands from other tele-panels and will not enter autonomous operation. If communications between the vehicle and the tele-panel identified by the tele-panel identifier are interrupted while the vehicle is in the tele-ready mode, autonomous operation or control by other tele-panels is not prevented.
摘要翻译：用于远程控制自主车辆的系统和方法使用远程面板来中断自主操作。远程面板和车辆之间建立的无线电通信停止车辆的自主运行，并将车辆置于远程就绪模式，其中车辆将不会响应来自其他远程面板的命令。在将电视请求信号通信给车辆时，车辆进入远程操作模式。在该模式中，车辆只响应来自发射远程面板的速度和转向角请求。传输到车辆的独特的远程面板标识防止其他远程面板获得对车辆的控制。如果在车辆处于远程操作模式时，由远程面板标识符识别的车辆和远程面板之间的通信中断，则车辆被锁定，并且不会响应来自其他远程面板的命令，并且不会进入自主操作。如果在车辆处于远程就绪模式时，由远程面板标识符识别的车辆和远程面板之间的通信中断，则不能防止其他远程面板的自主操作或控制。

8. 发明授权

US5646845A System and method for controlling an autonomously navigated vehicle 失效
标题翻译：用于控制自主导航车辆的系统和方法
公开(公告)号：US5646845A
公开(公告)日：1997-07-08
申请号：US432561
申请日：1995-05-01
申请人： Adam J. Gudat , William L. Whittaker , Karl W. Kleimenhagen , Dana A. Christensen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Christos T. Kyrtsos , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck
发明人： Adam J. Gudat , William L. Whittaker , Karl W. Kleimenhagen , Dana A. Christensen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Christos T. Kyrtsos , 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 , 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 an autonomously navigated vehicle uses a vehicle manager to control vehicle subsystems and to respond to commands from either a vehicle navigation system or a remote control panel. The vehicle manager controls vehicle subsystems including a speed control subsystem, a steering control subsystem, an auxiliary control subsystem, and a monitor subsystem. The speed control subsystem controls the speed of the vehicle in response to a speed command from the vehicle manager. The steering control subsystem controls the steering angle of the vehicle in response to a steering command from the vehicle manager. The auxiliary control subsystem controls auxiliary functions of the vehicle in response to an auxiliary command from the vehicle manager. The monitor subsystem monitors the status of each of the other subsystems and provides the status to the vehicle manager.
摘要翻译：用于控制自主导航车辆的系统和方法使用车辆管理器来控制车辆子系统并响应来自车辆导航系统或遥控面板的命令。车辆管理员控制车辆子系统，包括速度控制子系统，转向控制子系统，辅助控制子系统和监控子系统。速度控制子系统响应于来自车辆管理器的速度指令来控制车辆的速度。转向控制子系统响应于来自车辆管理器的转向指令来控制车辆的转向角。辅助控制子系统响应来自车辆管理器的辅助命令控制车辆的辅助功能。监视器子系统监视每个其他子系统的状态，并向车辆管理器提供状态。

9. 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。

10. 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。

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