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1. 发明申请

US20120024605A1 DRILL HOLE PLANNING 有权
标题翻译：钻孔规划
公开(公告)号：US20120024605A1
公开(公告)日：2012-02-02
申请号：US13264740
申请日：2010-04-16
申请人： Pantelis Elinas , Surya P.N. Singh
发明人： Pantelis Elinas , Surya P.N. Singh
IPC分类号： E21B7/00 , G06N3/12 , G06N5/02
CPC分类号： G06Q10/06 , E21B44/00
摘要： Forming a sequence plan for a machine to travel to a series of specified locations is described. An initial cost table (414) and a pattern of locations (412) is inputted to a Sequential Ordering Problem (SOP) solver (402). The resulting sequence (410) is processed by a motion planner (404) to derive by a motion planning procedure a plan of machine motions through the sequence. A cost table update (408) is performed based on the motion plan, which is then used for another iteration of the SOP solver (402).
摘要翻译：描述了形成机器行进到一系列指定位置的顺序计划。初始成本表（414）和位置模式（412）被输入到顺序排序问题（SOP）求解器（402）。所得到的序列（410）由运动计划器（404）处理，以通过运动规划程序导出通过该序列的机器运动的计划。基于运动计划执行成本表更新（408），该运动计划然后用于SOP求解器（402）的另一次迭代。

2. 发明授权

US09224050B2 Vehicle localization in open-pit mining using GPS and monocular camera 有权
标题翻译：使用GPS和单目相机的露天采矿车辆定位
公开(公告)号：US09224050B2
公开(公告)日：2015-12-29
申请号：US13049822
申请日：2011-03-16
申请人： Pantelis Elinas , Linthotage Dushantha Lochana Perera , Eric Nettleton , Hugh Durrant-Whyte
发明人： Pantelis Elinas , Linthotage Dushantha Lochana Perera , Eric Nettleton , Hugh Durrant-Whyte
IPC分类号： G06K9/00 , G06T7/00
CPC分类号： G06K9/00791 , G06K2209/23 , G06T7/73 , G06T2207/10016 , G06T2207/30236
摘要： Described herein is a method and system for vehicle localization in an open pit mining environment having intermittent or incomplete GPS coverage. The system comprises GPS receivers associated with the vehicles and providing GPS measurements when available, as well as one or more cameras 50,55 overlooking the mine region 10. The cameras 50,55 are at a known location and are used for generating a sequence of images in a field of view with predetermined calibration in a fixed coordinate system. The system further comprises a vehicle recognition processor 120 for analyzing individual images from the camera to identify and locate within an image a vehicle in the mine region, as well as a vehicle tracking processor 130 for analyzing a sequence of images from the camera to track the identified vehicle location in the sequence of images. A data fusion processor 160 is coupled to receive GPS measurements, when available, from the vehicle GPS receivers, to fuse the received GPS measurement and corresponding vehicle image location, and to output a vehicle localization output 125.
摘要翻译：这里描述了一种在具有间歇或不完整的GPS覆盖的露天采矿环境中的车辆定位的方法和系统。该系统包括与车辆相关联的GPS接收器，并且当可用时提供GPS测量，以及一个或多个俯瞰矿区10的照相机50,55。照相机50,55位于已知位置，并用于产生一系列在固定坐标系中具有预定校准的视场中的图像。该系统还包括车辆识别处理器120，用于分析来自照相机的各个图像以识别和定位矿区内的车辆的图像，以及车辆跟踪处理器130，用于分析来自相机的图像序列以跟踪在图像序列中识别车辆位置。数据融合处理器160被耦合以在可用时从车载GPS接收机接收GPS测量值，以便熔接接收到的GPS测量值和对应的车辆图像位置，并输出车辆定位输出125。

3. 发明授权

US09129236B2 Drill hole planning 有权
标题翻译：钻孔规划
公开(公告)号：US09129236B2
公开(公告)日：2015-09-08
申请号：US13264740
申请日：2010-04-16
申请人： Pantelis Elinas , Surya P. N. Singh
发明人： Pantelis Elinas , Surya P. N. Singh
IPC分类号： E21B3/06 , G06Q10/06 , E21B44/00
CPC分类号： G06Q10/06 , E21B44/00
摘要： Forming a sequence plan for a machine to travel to a series of specified locations is described. An initial cost table (414) and a pattern of locations (412) is inputted to a Sequential Ordering Problem (SOP) solver (402). The resulting sequence (410) is processed by a motion planner (404) to derive by a motion planning procedure a plan of machine motions through the sequence. A cost table update (408) is performed based on the motion plan, which is then used for another iteration of the SOP solver (402).
摘要翻译：描述了形成机器行进到一系列指定位置的顺序计划。初始成本表（414）和位置模式（412）被输入到顺序排序问题（SOP）求解器（402）。所得到的序列（410）由运动计划器（404）处理，以通过运动规划程序导出通过该序列的机器运动的计划。基于运动计划执行成本表更新（408），该运动计划然后用于SOP求解器（402）的另一次迭代。

4. 发明申请

US20110299730A1 VEHICLE LOCALIZATION IN OPEN-PIT MINING USING GPS AND MONOCULAR CAMERA 有权
标题翻译：使用GPS和单相摄像机进行开采矿车的车辆本地化
公开(公告)号：US20110299730A1
公开(公告)日：2011-12-08
申请号：US13049822
申请日：2011-03-16
申请人： Pantelis ELINAS , Linthotage Dushantha Lochana PERERA , Eric NETTLETON , Hugh DURRANT-WHYTE
发明人： Pantelis ELINAS , Linthotage Dushantha Lochana PERERA , Eric NETTLETON , Hugh DURRANT-WHYTE
IPC分类号： G06K9/00
CPC分类号： G06K9/00791 , G06K2209/23 , G06T7/73 , G06T2207/10016 , G06T2207/30236
摘要： Described herein is a method and system for vehicle localization in an open pit mining environment having intermittent or incomplete GPS coverage. The system comprises GPS receivers associated with the vehicles and providing GPS measurements when available, as well as one or more cameras 50,55 overlooking the mine region 10. The cameras 50,55 are at a known location and are used for generating a sequence of images in a field of view with predetermined calibration in a fixed coordinate system. The system further comprises a vehicle recognition processor 120 for analysing individual images from the camera to identify and locate within an image a vehicle in the mine region, as well as a vehicle tracking processor 130 for analysing a sequence of images from the camera to track the identified vehicle location in the sequence of images. A data fusion processor 160 is coupled to receive GPS measurements, when available, from the vehicle GPS receivers, to fuse the received GPS measurement and corresponding vehicle image location, and to output a vehicle localization output 125.
摘要翻译：这里描述了一种在具有间歇或不完整的GPS覆盖的露天采矿环境中的车辆定位的方法和系统。该系统包括与车辆相关联的GPS接收器，并且当可用时提供GPS测量，以及一个或多个俯瞰矿区10的照相机50,55。照相机50,55位于已知位置，并用于产生一系列在固定坐标系中具有预定校准的视场中的图像。该系统还包括车辆识别处理器120，用于分析来自照相机的各个图像以识别和定位矿区内的车辆的图像，以及车辆跟踪处理器130，用于分析来自相机的图像序列以跟踪在图像序列中识别车辆位置。数据融合处理器160被耦合以在可用时从车载GPS接收机接收GPS测量值，以便熔接接收到的GPS测量值和对应的车辆图像位置，并输出车辆定位输出125。

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