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1. 发明授权

US10502829B2 Underwater optical metrology system 有权
公开(公告)号：US10502829B2
公开(公告)日：2019-12-10
申请号：US16031867
申请日：2018-07-10
申请人： 3D at Depth, Inc.
发明人： Carl W. Embry , Neil Manning , Derek D. Pierce , Julian Peter Rickards , Cory S. Moore
IPC分类号： G01S15/87 , G01S17/88 , G01S15/02 , G01S17/42 , G01S15/74 , G01S17/02 , G01C13/00 , B63G8/00 , B63G8/38 , G01C21/20 , G01S17/89 , G01S17/93 , G01S17/74
CPC分类号： G01S15/874 , B63G8/001 , B63G8/38 , G01C13/00 , G01C21/20 , G01S15/025 , G01S15/74 , G01S15/87 , G01S17/023 , G01S17/42 , G01S17/88 , G01S17/89 , G01S17/93 , B63G2008/005 , G01S17/74
摘要： Described herein are methods and devices for improved location of any and all underwater structures or equipment installed underwater. In particular, systems are disclosed that combine optical and acoustic metrology for locating objects in underwater environments. The systems allow for relative positions of objects to be determined with great accuracy using optical techniques, and support enhanced location of devices that utilize acoustic location techniques. In addition, location information can be provided by the system even in conditions that make optical metrology techniques impossible or impractical.

2. 发明申请

US20190219692A1 SONAR NAVIGATION SYSTEM AND METHOD 审中-公开
公开(公告)号：US20190219692A1
公开(公告)日：2019-07-18
申请号：US16360807
申请日：2019-03-21
申请人： Garmin Switzerland GmbH
发明人： Louis DePasqua
IPC分类号： G01S15/06 , G01S7/52 , G01S15/89 , G01S15/02 , G01S7/56 , G01S15/96 , G01S15/42
CPC分类号： G01S15/06 , G01C21/005 , G01S7/52 , G01S7/52004 , G01S7/52053 , G01S7/56 , G01S15/02 , G01S15/025 , G01S15/42 , G01S15/89 , G01S15/8902 , G01S15/96
摘要： A method for pre-determining an underwater objects GPS position using a rotatable scan sonar unit linked to a boat, magnetic compass and GPS receiver. This system determines the underwater objects GPS position using the objects distance, compass heading and a GPS receiver/sonar on a boat. This system will provide real time longitude and latitude positions of underwater objects seen with sonar at a distance from a boat, and will allow for precise autopilot navigation or fixed position fishing. The system can also be used to correct for GPS errors when using previously stored waypoints positions of an object. The computer determines an objects underwater GPS position using a sonar transducer and mounted on a 360 degree movable mechanism such as a trolling motor unit, or phased array of transducers and a compass to provide heading information and formulates the objects position based on the distance and heading of the object in relation to the boats current GPS position.

3. 发明申请

US20190101642A1 ADAPTIVE MITIGATION OF ULTRASONIC EMISSION IN VEHICULAR OBJECT DETECTION SYSTEMS 审中-公开
公开(公告)号：US20190101642A1
公开(公告)日：2019-04-04
申请号：US15722307
申请日：2017-10-02
申请人： FORD GLOBAL TECHNOLOGIES, LLC
发明人： Raymond C. Siciak , Kathryn Hamilton , Mahrdad Damsaz , Vivekananda Krishnamurthy
IPC分类号： G01S15/10 , G01S13/93 , G01S7/52
CPC分类号： G01S15/10 , G01S7/52 , G01S7/52004 , G01S13/931 , G01S15/003 , G01S15/025 , G01S15/66 , G01S15/931
摘要： Remote object detection in an automotive vehicle includes an ultrasonic sensor for emitting ultrasonic bursts from an ultrasonic transducer at a standard rate. At least one object is tracked which reflects the ultrasonic bursts to the sensor. The transducer is adaptively set to emit ultrasonic bursts at a reduced rate which is less than the standard rate based on a result of the object tracking. In one embodiment, the ultrasonic bursts are set at the reduced rate when the tracked object is maintaining a stable relative position. The stable relative position may be comprised of the tracked object having a relative velocity less than a threshold. In another embodiment, extrinsic ultrasonic bursts originating from the tracked object and subsequent echoes between the automotive vehicle and the tracked object can be used by the vehicle to monitor the tracked object while emission of bursts from the vehicle are switched off.

4. 发明申请

US20180364717A1 Voxel Based Ground Plane Estimation and Object Segmentation 审中-公开
公开(公告)号：US20180364717A1
公开(公告)日：2018-12-20
申请号：US15622905
申请日：2017-06-14
申请人： Zoox, Inc.
发明人： Bertrand Robert Douillard , Subhasis Das , Zeng Wang , Dragomir Dimitrov Anguelov , Jesse Sol Levinson
IPC分类号： G05D1/02 , G06T7/11 , G06K9/00 , G01S17/89 , G01S17/93
CPC分类号： G05D1/024 , G01S13/726 , G01S13/862 , G01S13/865 , G01S13/867 , G01S13/931 , G01S15/025 , G01S15/931 , G01S17/023 , G01S17/58 , G01S17/66 , G01S17/89 , G01S17/936 , G05D1/0212 , G06K9/00791 , G06T7/11 , G06T7/187 , G06T2207/10028 , G06T2207/30252
摘要： Systems, methods, and apparatuses described herein are directed to performing segmentation on voxels representing three-dimensional data to identify static and dynamic objects. LIDAR data may be captured by a perception system for an autonomous vehicle and represented in a voxel space. Operations may include determining a drivable surface by parsing individual voxels to determine an orientation of a surface normal of a planar approximation of the voxelized data relative to a reference direction. Clustering techniques can be used to grow a ground plane including a plurality of locally flat voxels. Ground plane data can be set aside from the voxel space, and the remaining voxels can be clustered to determine objects. Voxel data can be analyzed over time to determine dynamic objects. Segmentation information associated with ground voxels, static object, and dynamic objects can be provided to a tracker and/or planner in conjunction with operating the autonomous vehicle.

5. 发明申请

US20180329056A1 DEVICES AND METHODS FOR LOCATING AND VISUALIZING UNDERWATER OBJECTS 审中-公开
公开(公告)号：US20180329056A1
公开(公告)日：2018-11-15
申请号：US16048755
申请日：2018-07-30
申请人： NAVICO HOLDING AS
发明人： Michael Smith , Jung Wook Yeum
IPC分类号： G01S15/04 , G01S15/96 , G01S7/62 , G01S7/521 , G01S15/89 , G01S15/87 , G01S7/52 , G01S15/02
CPC分类号： G01S15/04 , G01S7/52003 , G01S7/521 , G01S7/6218 , G01S7/6263 , G01S7/6272 , G01S7/6281 , G01S15/025 , G01S15/87 , G01S15/89 , G01S15/8902 , G01S15/96
摘要： Sonar devices for detecting underwater objects are provided whereby a set of angled ultrasound transducers are employed to sense ultrasound signals from a plurality of different spatial regions. The angled ultrasound transducers may include a first pair of side-viewing ultrasound transducers and a second pair of ultrasound transducers configured for interrogating forward and reverse directions. The ultrasound signals from the set of angled ultrasound transducers may be processed to identify the presence of underwater objects in each spatial region, and the resulting identified underwater objects may be displayed, on a per-region basis, on a user interface. The ultrasound signals may additionally or alternatively be processed to generate a topographical model of the bed surface, and to generate a topographical surface image based on the three-dimensional topographical model. The topographical surface image may be displayed as a fly-over animation.

6. 发明申请

US20180319396A1 OBSTACLE DETECTION SYSTEM FOR A WORK VEHICLE 审中-公开
公开(公告)号：US20180319396A1
公开(公告)日：2018-11-08
申请号：US15585025
申请日：2017-05-02
申请人： CNH Industrial America LLC , Autonomous Solutions, Inc.
发明人： Christopher Alan Foster , Taylor Chad Bybee , Bret Todd Turpin , Chad Brian Jeppesen , Brad Abram Baillio
IPC分类号： B60W30/095 , B62D15/02 , A01B69/04 , G01S15/02 , G01S15/93 , G01S13/34 , G01S13/93 , G01S13/86
CPC分类号： B60W30/0956 , A01B69/001 , B62D15/0265 , G01S13/862 , G01S13/865 , G01S13/931 , G01S15/025 , G01S15/931
摘要： An obstacle detection system for a work vehicle includes a controller having a memory and a processor. The controller is configured to receive a first signal indicative of a position of an obstacle relative to the work vehicle, to determine whether the position of the obstacle corresponds to a position of a movable object coupled to the work vehicle, and to output a second signal indicative of detection of the obstacle in response to determining that the position of the obstacle does not correspond to the position of the movable object.

7. 发明申请

US20180306889A1 OBJECT NOTIFICATION APPARATUS 审中-公开
公开(公告)号：US20180306889A1
公开(公告)日：2018-10-25
申请号：US15769273
申请日：2016-10-19
申请人： DENSO CORPORATION
发明人： Takeshi KOGA
IPC分类号： G01S3/808 , B60W50/14 , B60R1/00
CPC分类号： G01S3/8083 , B60R1/00 , B60R21/00 , B60R2300/30 , B60W50/14 , B60W2420/42 , G01S7/527 , G01S15/025 , G01S15/931 , G08G1/0962 , G08G1/165 , G08G1/166
摘要： An obstacle notification apparatus of the embodiment is mounted in a vehicle, and includes a probing result acquiring section that sequentially acquires reception intensity of a reflected wave corresponding to a probing wave reflected back by an object, the reflected wave being received by a probing wave transmitting and receiving apparatus transmitting the probing wave in a traveling direction of the vehicle and receiving the reflected wave; an obstacle determining section that determines whether or not an obstacle, which is an object presence of which a driver of the vehicle is to be notified of, is present in the traveling direction of the vehicle, by using the reception intensity of the reflected wave acquired by the probing result acquiring section; a notification processing section that performs a notification process for notifying the driver of the presence of the obstacle based on determination of the presence of the obstacle by the obstacle determining section; an image data acquiring section that acquires image data taken by a camera including, within an image taking range, an arrival range of the probing wave transmitted by the probing wave transmitting and receiving apparatus; and a noise element detecting section that detects presence of a noise element by analyzing the image data acquired by the image data acquiring section, the noise element being an element which is able to reflect the probing wave and which is preset as an element of which the driver need not be notified. The obstacle determining section determines whether or not the obstacle is present by using a less easily satisfied condition in a case where the noise element detecting section has detected the noise element than that used in a case where the noise element detecting section has not detected the noise element.

8. 发明申请

US20180255263A1 RUGGEDIZED MODULAR MARINE DISPLAY 审中-公开
公开(公告)号：US20180255263A1
公开(公告)日：2018-09-06
申请号：US15973474
申请日：2018-05-07
申请人： Electronic Technologies, LLC, d/b/a Versa Electronics
发明人： Jon David Marshall , Steven Ronald Hanson , Rocky Joseph Holmes
IPC分类号： H04N5/44 , G01S7/56 , G01S7/521 , G01S15/02 , G01S15/89 , G01S15/96 , G10K11/00 , H04N1/00 , H04N5/225 , H04N5/232 , H04N7/18
CPC分类号： H04N5/44 , G01S7/521 , G01S7/56 , G01S15/025 , G01S15/89 , G01S15/96 , G10K11/00 , H04N1/00 , H04N1/21 , H04N5/2252 , H04N5/23241 , H04N7/183
摘要： An image module comprising: (a) an imaging device that graphically or pictorially captures images of underwater sea life (b) a module housing including one or more components that processing an image generated by the imaging device; wherein the image module is discrete from a marine display and is capable of being connected to the marine display so that the graphic or pictorial images of underwater seal life captured by the imaging device are displayed.

9. 发明申请

US20180233048A1 METHOD, CONTROL UNIT AND SYSTEM FOR AVOIDING COLLISION WITH VULNERABLE ROAD USERS 审中-公开
公开(公告)号：US20180233048A1
公开(公告)日：2018-08-16
申请号：US15750154
申请日：2016-08-16
申请人： Scania CV AB
发明人： Jonny ANDERSSON , Marie BEMLER , Joseph AH-KING , Christian LARSSON
IPC分类号： G08G1/16 , B60R21/34 , G08G1/01
CPC分类号： G08G1/166 , B60Q1/525 , B60Q5/006 , B60Q9/008 , B60R21/34 , B60W30/0956 , B60W40/04 , B60W50/14 , B60W2420/42 , B60W2520/10 , B60W2520/14 , B60W2540/18 , B60W2550/402 , G01S13/86 , G01S13/867 , G01S13/931 , G01S15/025 , G01S15/931 , G01S2013/9357 , G01S2013/936 , G01S2013/9364 , G01S2013/9367 , G06K9/00805 , G08G1/0112
摘要： Method and control unit, for avoiding a potential collision between the vehicle and a Vulnerable Road User, VRU. The method comprises: predicting a future path of the vehicle; detecting the VRU and the position of the VRU; determining velocity of the detected VRU; predicting a future position of the detected VRU, based on the VRU position upon detection and the determined VRU velocity; and performing an action for avoiding a collision, when the predicted future position of the VRU is overlapping the predicted future path of the vehicle.

10. 发明申请

US20180143317A1 POSITIONING DEVICE AND POSITIONING METHOD 有权
公开(公告)号：US20180143317A1
公开(公告)日：2018-05-24
申请号：US15818772
申请日：2017-11-21
申请人： HTC Corporation
发明人： Yuan-Tung Chen
IPC分类号： G01S15/02 , G01S15/08 , G06T7/60 , G06T7/73
CPC分类号： G01S15/025 , G01S15/08 , G01S15/10 , G01S15/42 , G01S15/93 , G01S17/89 , G06T7/60 , G06T7/74 , G06T2207/10028 , G06T2207/30244
摘要： A positioning device includes an optical sensor, an ultrasonic transceiver and a processor. The optical sensor is configured to obtain a depth image. The ultrasonic transceiver is configured to send an ultrasound and receive an ultrasound reflection. The processor is configured to target a reflective surface in the depth image, recognize a salient feature corresponding to the reflective surface in the ultrasound reflection, estimate a distance between the positioning device and reflective the surface according to a first response time of the salient feature in the ultrasound reflection.

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