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    • 专利摘要:
    A method for controlling an autonomous vehicle includes: receiving data relating to a plurality of proposed vehicle locations; generate a simulated vehicle route based on the data received, determine a simulated vehicle orientation for at least one point on the simulated vehicle route; present at least the simulated vehicle orientation in a user-discernable way; receive a user verification of the simulated vehicle guidance for at least one point on the simulated vehicle route; and produce approved vehicle control commands from the simulated vehicle route and simulated vehicle guidance, the approved vehicle control commands controlling the autonomous vehicle to follow the simulated vehicle route and the simulated vehicle guidance.
    公开号:BR112012011674B1
    申请号:R112012011674-6
    申请日:2010-11-08
    公开日:2020-11-24
    发明作者:Jarrid Cima
    申请人:Flanders Electric Motor Service, Inc.；
    IPC主号:
    专利说明:

    [0001] This invention refers to autonomous vehicles in general and, more specifically, to autonomous vehicle control systems. Background of the Invention
    [0002] Numerous types of autonomous vehicles are known in the state of the art and are used in a wide variety of applications, from land vehicles, air vehicles, spaceship, just to name a few. Autonomous vehicles are designed to perform some or all of the necessary functions autonomously, that is, without contemporary user input, and several systems and methods have been developed to allow these vehicles to perform these functions autonomously. However, the systems and methods used to control autonomous vehicles are highly dependent on the type of vehicle, as well as the particular mission that will be performed. In general, there is no “one size fits all” approach to designing an autonomous control system. That is, systems and methods developed for one type of autonomous vehicle and mission cannot often be used in other types of vehicles or for other missions. Typically, then, new autonomous control systems and methods must often be developed for each new type of autonomous vehicle and mission. Disclosure of the Invention
    [0003] A method for controlling an autonomous vehicle according to one embodiment of the present invention can involve the steps of: receiving data relating to a plurality of proposed vehicle locations; generate a simulated vehicle route based on the data received, determine a simulated vehicle orientation for at least one point on the simulated vehicle route; present, at least, the simulated vehicle orientation, in a form that is discernible by the user; receive a user verification of the simulated vehicle guidance for at least one point on the simulated vehicle route, and produce approved vehicle control commands from the simulated vehicle route and simulated vehicle guidance, the approved vehicle control commands controlling the autonomous vehicle to follow the simulated vehicle route and the simulated vehicle orientation.
    [0004] Also disclosed is a method for producing vehicle control commands for an autonomous vehicle that includes the steps of: receiving data relating to a plurality of proposed vehicle locations; generate a simulated vehicle route based on the data received regarding the proposed vehicle locations; determining a simulated vehicle orientation at a plurality of points along the simulated vehicle route; present the simulated vehicle guidance in a form that is discernible by the user; receive a user verification of the simulated vehicle guidance for at least one point on the simulated vehicle route, and produce vehicle control commands for the autonomous vehicle from the user verified simulated vehicle route and simulated vehicle guidance.
    [0005] The present invention also relates to a system for producing vehicle control commands for an autonomous vehicle that includes an input device, a display device, and a computer system. The computer system receives and stores data from the input device, displays data on the display device, stores program steps for controlling the program and processes data. The computer system, via the input device, receives data relating to a plurality of proposed vehicle locations. The computer system processes the received data to generate a simulated vehicle route and to determine a simulated vehicle orientation for at least one point on the simulated vehicle route. The computer system has at least the vehicle orientation simulated on the display device. In addition, the computer system, via the input device, receives a user verification of the simulated vehicle orientation for at least one point on the simulated vehicle route, and produces vehicle control commands for the autonomous vehicle from the route. simulated vehicle and simulated vehicle guidance, vehicle control commands control the autonomous vehicle to follow the simulated vehicle route and simulated vehicle guidance.
    [0006] Another method for producing vehicle control commands for an autonomous vehicle includes the steps of: determining a plurality of proposed vehicle locations; enter the proposed vehicle locations on a computer; instructing the computer to generate a vehicle route and a simulated vehicle guidance for at least one point on the simulated vehicle route and to present the simulated vehicle guidance in a user-discernable way; check the simulated vehicle orientation for at least one point on the simulated vehicle route; and instruct the computer to produce the vehicle control commands, based on the simulated vehicle route and simulated vehicle guidance.
    [0007] Also disclosed is a computer-readable medium readable by a computer that incorporates an instruction program executable by the computer to make the computer produce the vehicle control commands for an autonomous vehicle, performing the actions of: receiving data related to a plurality of proposed vehicle locations; generate a simulated vehicle route based on the data received regarding the proposed vehicle locations; determining a simulated vehicle orientation for at least one point on the simulated vehicle route; present, at least, the simulated vehicle guidance in a form that is discernible by the user; receive a user verification of the simulated vehicle guidance for at least one point on the simulated vehicle route, and produce vehicle control commands for the autonomous vehicle from the simulated vehicle route and simulated vehicle guidance. Brief Description of Drawings
    [0008] Illustrative and presently preferred embodiments of the invention are shown in the accompanying drawings, in which: Figure 1 is a pictorial representation of an embodiment of the present invention, when it can be used on an autonomous drilling rig to drill wells in a plurality of proposed hole locations. Figure 2 is a block diagram of a modality of a system for controlling the autonomous drilling rig illustrated in Figure 1. Figure 3 is a flow chart of an embodiment of a method for producing approved vehicle controls for controlling the autonomous drilling rig. Figure 4 is a flow chart of an embodiment of a method for generating a simulated vehicle route; and Figures 5 (aj) are illustrations of visual representations that can be displayed to show the position and orientation of the autonomous drill rig at various proposed hole locations and crossing points. Best Mode for Carrying Out the Invention
    [0009] A modality of a system 10 for controlling the position and orientation of an autonomous vehicle is shown and described here as it could be implemented in an explosion hole drilling rig 12 of the type commonly used in mining and quarrying operations. In such an application, the blast hole drilling rig 12 is used to drill or form a large number of blast holes in a drilling field or area 16 in the mine or quarry. The blast holes can then be filled with an explosive that, when detonated, breaks or fragments the surrounding rock. The fragmented material can subsequently be removed and processed in a manner consistent with the particular operation.
    [0010] In the particular embodiment, shown and described here, the blast hole drilling probe 12 is capable of both autonomous movement and autonomous drilling. That is, the drilling rig 12 will move autonomously within the drilling field 16 to each location 14, where an explosion well will be drilled. Thereafter, the drilling rig 12 will autonomously drill or form each explosion well. The present invention relates to the autonomous movement function of the blast hole drilling probe 12, as opposed to the autonomous hole drilling function.
    [0011] With reference now to Figures 1 and 2, a system embodiment 10 can comprise a computer system 18, an input device 20, and a display device 22. The input and display devices 20 and 22 can be operably connected to the computer system 18. Computer system 18 is in turn operatively connected to the autonomous drilling rig 12. As will be described in more detail here, computer system 18 can be physically located on the autonomous drilling rig 12. Alternatively , computer system 18 may be provided elsewhere, such as a stand-alone drill rig command center (not shown).
    [0012] Input device 20 allows computer system 18 to receive data relating to a plurality of proposed vehicle locations 24, such as one or more proposed hole locations 14 and passageway points 26. Display device 22 is also operatively connected to computer system 18 and allows computer system 18 to present various information and data in a form that is readable by the user or discernible by the user. Computer system 18 processes data relating to proposed hole locations to generate a simulated vehicle route 32 and to determine a simulated vehicle orientation 38 for at least one point on the simulated vehicle route. The computer system 18 has at least simulated vehicle guidance 38 on the display device 22 for user verification. After the user has verified the simulated vehicle orientation 38, the computer system 18 produces approved vehicle control commands which are then used to control the autonomous drill rig 12.
    [0013] With reference now to Figures 1 to 3, computer system 18 can apply a method 28 to control the autonomous vehicle or blast hole drilling probe 12. A first step 30 in method 28 involves entering computer system 18 ( for example, via input device 20) from a plurality of proposed vehicle locations 24 (Figure 1). In the embodiment shown and described here, the plurality of proposed vehicle locations 24 may comprise proposed hole locations 14 or crossing points 26. The computer system 18 then uses the input data in relation to the plurality of vehicle locations 24 to generate a simulated vehicle route 32, in step 34. Proceeding to step 36, computer system 18 also determines a simulated vehicle orientation 38 for at least one point along the simulated vehicle route 32. As will be described in more detail later, in one embodiment, the computer system 18 determines a simulated vehicle orientation 38 at each of the proposed vehicle locations 24, such as, for example, at each proposed pit location 14 and at each crossing point 26. Then, in step 40, the computer system 18 displays at least the simulated vehicle orientation 38 in a form discernible by the user on the display device 22. The u The user can then check the simulated vehicle orientation 38 in step 42.
    [0014] If the user concludes that the simulated vehicle guidance 38 is acceptable, computer system 18 will then produce vehicle controls approved in step 44. Thereafter, computer system 18 can transmit or send approved vehicle control commands for autonomous drill rig 12. The approved vehicle control commands then cause the autonomous drill rig 12 to follow simulated vehicle route 32 and simulated vehicle orientations 38 as drill rig 12 moves through drilling field or area 16.
    [0015] Alternatively, if the user does not conclude that the simulated vehicle guidance 38 is acceptable, method 28 will allow the user to modify the user's input data in step 46. Briefly, and in one mode, the user can modify the relative data to the proposed vehicle locations 24 by providing one or more additional crossing points 26 to change the simulated vehicle orientation 38 at any desired location along the simulated vehicle route 32. Thereafter, method 28 can be repeated to produce routes revised simulated vehicle models 32 and guidelines 38 and present them to the user in a discernible form (for example, on display device 22). Method 28 can be repeated, if necessary, until the user has verified that the revised simulated vehicle guidelines are suitable for the particular application. Once the user verifies the revised simulated vehicle guidance, method 28 will, in step 44, produce approved vehicle commands based on the revised simulated vehicle route and revised simulated vehicle guidance.
    [0016] In the embodiment shown and described here, the system 10 and method 28 of the present invention are used to generate or produce the control commands that control the position and orientation of the autonomous drilling rig 12 that moves over the drilling field or area 16 In this particular application, it is important to ensure that the drilling rig 12 avoids some orientations when it moves across the entire drilling area 16, as some orientations will be undesirable or even deleterious for the smooth progression of the autonomous drilling operation.
    [0017] For example, in certain situations, the orientation of the blast hole drilling probe 12 may cause tracks 48 thereof to pass over a hole or holes that have already been drilled. Such an event increases the likelihood that the hole will undergo partial or complete collapse, particularly where the geological structure (eg, soil) is unstable or contains numerous fractures. In another example, improper orientation of the autonomous drill rig 12 can cause drill rig 12 to approach very close to an end 50 that bypasses the drill area 16. In general, the soil structure near the end 50 is substantially weakened and cannot safely support drill rig 12. Thus, if the tracks 48 of drill rig 12 are too close to the end 50, the weakened structure of the end may begin to sag. In an extreme case, the drilling rig 12 can slide completely over the end 50 when it tries to position the drilling tower 52 over the proposed hole location 14 or later during the drilling operation. In another example, improper vehicle orientation can cause the drill rig 12 to contact a “high wall” 54, shoe 55, or another border structure with other regions of the drill area 16. Contact with a high wall 54 or a shoe 55 can damage the drill rig 12 and will almost certainly prevent the drill rig 12 from positioning the drill tower 52 over the desired or proposed hole location 14.
    [0018] The system 10 and method 28 of the present invention can be used as follows to control the position and orientation of the autonomous drill rig 12 when it moves within the drilling field or area 16. Assuming a suitable drill hole pattern for the drilling area 16 has been worked on, data relating to the plurality of proposed vehicle locations 24 would be provided or entered into the computer system 18, for example, via input device 20. In this regard it should be noted that in this particular application , many of the proposed vehicle locations 24 will correspond to hole locations 14, in which blast holes will be formed. However, data relating to the plurality of proposed vehicle locations 24 may also comprise one or more waypoints 26. The drill rig 12 will not drill an explosion hole at a waypoint 26. Furthermore, if the various hole locations 14 will be drilled in a certain sequence or order, so the data relating to the proposed vehicle locations 24 can also comprise the sequence or order for movement between the various hole locations 14 and crossing points 26.
    [0019] Once the user has established the data for the proposed vehicle locations 24 the user then enters that data into system 10, that is, in step 30 of method 28. See Figure 3. After that, the computer system 18 generates a simulated vehicle route 32, in step 34. In the exemplary embodiment shown and described here, the simulated vehicle route 32 is the route that will be followed by the drilling rig 12 (after having been verified by the user) to move between the various hole locations 14 and crossing points 26. The computer system 18 also determines a simulated vehicle orientation 38 for the simulated routes 32, in step 36. In the particular embodiment shown and described here, the computer system 18 determines a simulated vehicle orientation 38 for each of the hole locations 14 and crossing points 26 that comprise the proposed vehicle locations 24. Computer system 18 then presents the orientations simulated vehicle s 38 in a user-discernable way for user verification in step 40.
    [0020] Referring now mainly to Figures 5a-j, the shape or presentation discernible by the user may comprise a visual representation 56 of the drilling rig 12 and the drilling area 16. The visual representation 56 may include at least a portion of the locations of proposed vehicle 24, as well as a vehicle icon 58. More specifically, and in the particular visual representations 56, shown in Figures 5a-j, the proposed vehicle locations 24 comprise the proposed hole locations 14 (represented by boxes), as well as crossing points 26 (represented by triangles). In addition, the order in which the drill rig 12 moves between the proposed vehicle locations 24 (i.e., the proposed hole locations 14 and via points 26) is indicated by numbered boxes. In the particular example illustrated in Figures 5a-j, the drill rig 12 moves between thirteen (13) proposed vehicle locations 24 (i.e., positions “1-13”), eight (8) of which are hole locations drilling holes 14 (positions “2-5” and “08-11”) and five (5) of which are waypoints 26 (positions “1”, “6”, “7”, “12” and “13” ). Figure 5a illustrates an initial condition, in which the drilling rig 12 is positioned, so that the drilling tower 52 is located at a certain distance from the first desired vehicle location 24. In this case, the first desired vehicle location it is a crossing point 26 and is designated as the “1” position. The simulated orientation 38 of the drilling rig 12 is configured by the special orientation of the vehicle icon 58 in visual representation 56. In the representation shown in Figure 5a, the longitudinal axis 60 of the drilling rig 12 is substantially vertically oriented, which, for For the purposes of the present description, it can be considered to coincide with an appropriate north "N" orientation 62. The route required to move the drilling rig 12, so that the drilling tower 52 is aligned over the first location of vehicle 24 (for example, crossing point 26, or position “1”), is aligned with the longitudinal axis 60 of drill rig 12. That is, an appropriate north “N” movement of drill rig 12 will position the drilling tower 52 on the first proposed vehicle location 24 (ie position “1”).
    [0021] Figure 5a illustrates an initial condition, in which the drilling rig 12 is positioned, so that the drilling tower 52 is located at a certain distance from the first desired vehicle location 24. In this case, the first desired vehicle location it is a crossing point 26 and is designated as the “1” position. The simulated orientation 38 of the drilling rig 12 is configured by the special orientation of the vehicle icon 58 in visual representation 56. In the representation shown in Figure 5a, the longitudinal axis 60 of the drilling rig 12 is substantially vertically oriented, which, for For the purposes of the present description, it can be considered to coincide with an appropriate north "N" orientation 62. The route required to move the drilling rig 12, so that the drilling tower 52 is aligned over the first location of vehicle 24 (for example, crossing point 26, or position “1”), is aligned with the longitudinal axis 60 of drill rig 12. That is, an appropriate north “N” movement of drill rig 12 will position the drilling tower 52 on the first proposed vehicle location 24 (ie position “1”).
    [0022] The next proposed vehicle location 24 (that is, position “2”) is a drilling location 14. The simulated vehicle route segment 64 required to move the drill rig from position “1” to position “2” is illustrated in Figure 5b. Moving the drill rig 12 along a route segment 64 will position the drill tower 52 over the proposed hole location 14 (i.e., the “2” position). The simulated vehicle orientation 38 is incorporated into the orientation of the punch icon 58 in the visual representation 56 and is east “E” from the north “N” in this example.
    [0023] Figure 5c shows the drilling icon 58 in position “5” (positions of “3” and “4” are not shown here for brevity). In this visual representation 56, the drilling tower 52 of the drilling icon 58 is positioned over a drilling hole location 14, designated as the “5” position. The next step will be position “6”, which in this example is a crossing point 26. The movement to position “6” is illustrated in Figure 5d and now shows the drilling tower 52 of the drilling icon 58 positioned on the point pass 26, which is position “6”. As this proposed vehicle location 24 (ie position “6”) is a via point 26, no holes will be drilled at this location. Instead, the movement of the drill rig 12 to this position “6” is performed to change the simulated vehicle orientation 38. More specifically, and as can be seen by comparing Figures 5c and 5d, the longitudinal axis 60 of the drill rig perforation 12 is now oriented further north “N” in Figure 5d than in Figure 5c. This change in orientation is made to allow the drill rig 12 to be better oriented or positioned in preparation for movement through the adjacent row of proposed drill hole locations 14 (i.e., “8-11” positions).
    [0024] Referring now to Figure 5e, the drilling rig 12 has been moved to position “7”, which is also a via point 26. The movement of the drilling rig 12 to this via point 26 (ie, the “ 7 ”) is performed to further change the simulated vehicle orientation 38 of drill rig 12 in preparation for moving through the adjacent row of proposed drill hole locations (i.e.,“ 8-11 ”positions). More specifically, the simulated orientation 38 of the drill rig 12 now shows the longitudinal axis 60 tilted to a position slightly west "W" from the north "N". Then, the drill icon 58 is shown in motion by the adjacent row of proposed drill hole locations 14, (i.e., positions 8-11) in Figures 5F-h. Note that the drilling rig 12 moves along the adjacent row in the opposite or reverse direction.
    [0025] Referring now to Figures 5i and 5j, the last two positions “12” and “13” are crossing points 26 and are used to change the simulated orientation 38 of drill rig 12 to prepare it to proceed through the next adjacent row of proposed drill hole locations 14. As illustrated in Figure 5j, the simulated orientation 38 of drill rig 12 is such that the longitudinal axis 60 of drill rig 12 is south "S" from west "W." As will be described in detail later, in one embodiment, the various visual representations 56 (for example, shown in Figures 5a-j), can be animated by sequentially displaying simulated vehicle orientations 38 in several of the proposed vehicle locations.
    [0026] Regardless of the fact that the various visual representations 56 are animated, the user (not shown) checks the various simulated orientations 38 before system 10 produces the approved vehicle controls. If the user determines that any of the simulated orientations is not suitable or can create other problems, the user can change the simulated vehicle orientation 38 by modifying the data related to the proposed vehicle locations 24. In the example mode shown and described here, the user can modify the data by providing one or more additional waypoints 26 at appropriate locations or positions within field 16. The user can then instruct system 10 to re-execute method 28 to produce revised simulated vehicle routes and directions and present them through new visual representations 56. This process can be repeated as necessary until the user is satisfied that the revised simulated vehicle guidelines 38 are suitable for the special autonomous drilling sequence. After the user verifies the revised simulated vehicle guidance, method 28 will produce approved vehicle commands based on the revised simulated vehicle route and revised simulated vehicle guidance in step 44. Thereafter, the approved vehicle control commands will be used to control the autonomous drill rig 12 to follow the simulated vehicle route 32 to reach the simulated vehicle directions 38.
    [0027] A significant advantage of the present invention is that it can be used to readily determine whether the autonomous vehicle will move to an undesirable position or reach an undesirable orientation. When applied to an autonomous drilling rig 12, the present invention can be used to advantage to program the autonomous movement of the drilling rig 12, to avoid movement over holes that have already been drilled, thus eliminating the possibility of hole collapse due to drilling trails 48 passing over drilled blast holes. The present invention can also be used to advantage to avoid extremities 50, high walls 54 or other features or obstructions that may limit the drilling area 16. Thus, once the autonomous mission has been fully planned and verified, it can subsequently be conducted with a high degree of confidence that the drill rig 12 will not move to an unwanted location or orientation.
    [0028] Having briefly described the system and method of the present invention, as well as some of its most important features and advantages, several exemplary embodiments of the invention will now be described in detail. However, before proceeding with the description, it should be noted that the various modalities of the present invention are shown and described here as they can be implemented in a blast hole drilling rig of the type commonly used in mining operations or quarries to drill wells suitable for explosion.
    [0029] However, it should be understood that the present invention can also be used in other applications, in addition to mining and quarrying operations. Indeed, the present invention could be used in any application, where it would be desirable to plan an autonomous mission to avoid undesirable vehicle positions or orientations. Therefore, the present invention should not be considered as limited to the particular devices, systems and applications shown and described here.
    [0030] Turning now to Figures 1 and 2, a modality of a system 10 for controlling the position and orientation of an autonomous vehicle is shown and described here, as it can be applied to an explosion hole drill rig 12 of the type commonly used in operations mining and quarries, as already described. The blast hole drill rig 12 can be mounted on a pair of caterpillar tracks 48 that allow drill rig 12 to be moved or "transported" from place to place. The drill rig 12 can also be provided with a drill tower 52 to support a drill string (not shown) suitable for drilling or forming the blast holes.
    [0031] The drilling rig 12 can also be provided with various other components and systems, such as one or more power plants, electrical systems, hydraulic systems, pneumatic systems, etc. (not shown), which may be necessary or desired for the operation of the drilling rig 12. However, as these other components and systems which may comprise the drilling rig 12 are well known in the art, and as a detailed description of these other systems and components it is not necessary to understand or practice the systems and methods of the present invention, the various other components and systems of the drill rig 12, which are not directly related to the systems and methods of the present invention, will not be described herein in more detail.
    [0032] In addition, the drill rig 12 can also be provided with one or more autonomous control systems to allow the drill rig 12 to move autonomously within the drill field 16, as well as to allow the drill rig 12 drill or form the various blast holes in an autonomous manner. As mentioned above, as the present invention relates to the autonomous movement function of the blast hole drilling probe 12, as opposed to the autonomous hole drilling function, only those aspects of the autonomous control system for moving the drilling probe 12 necessary to understand and appreciate the context of the present invention will be described herein.
    [0033] Referring now to Figure 2, system 10 can comprise a computer system 18, an input device 20 and a display device 22. Input and display devices 20 and 22 are operably connected to computer system 18. The system computer 18 is also operatively associated with the autonomous drill rig 12, so that the approved vehicle control commands generated by the computer system 18 can be used to control the autonomous drill rig 12. More specifically, and in the particular mode shown and described here, computer system 18 can interact with a suitable autonomous control (not shown) provided on drilling rig 12. Then, after receiving the approved vehicle control commands generated by computer system 18, the system autonomous control unit can apply approved vehicle control commands to control the movement of the autonomous drill rig 12.
    [0034] Computer system 18 can comprise any of a wide range of computer systems that are now known in the art or that can be developed in the future that are or would be suitable for carrying out the various functions and operations described herein. Therefore, the present invention should not be considered as limited to any particular type of computer system. However, as an example, in one embodiment, computer system 18 comprises a programmable general purpose computer, such as the generalized "PC". Computer system 18 can be physically located in any convenient position. For example, in one embodiment, computer system 18 can be physically located on drilling rig 12. Alternatively, computer system 18 can be provided at another location, such as an autonomous vehicle command center (not shown).
    [0035] Regardless of the location of the computer system 18, it must be operatively associated with the autonomous drill rig 12, so that the approved vehicle control commands can be communicated to the drill rig 12. Such communication can be, for example, via wireless data file transfer if the computer is not physically connected to the autonomous control system on the drilling rig 12. Alternatively, the computer system 18 can be connected directly to the autonomous control system of the drilling rig 12, if where data files can be transferred via a wired or optical connection. In yet another variation, the computer system 18 may comprise a portion of the autonomous control system on the drilling rig 12, in which case no separate connection or communication connection would be required. Still other arrangements and system architectures are possible, as would be evident to technicians versed in the subject, after having become familiar with the teachings provided here. Therefore, the present invention should not be considered as limited to any particular system architecture, to implement the approved vehicle control commands in the autonomous operation of the drilling rig 12.
    [0036] Regardless of the particular system architecture that can be used, the input device 20 is operatively connected to the computer system 18, so that the data from the input device 20 can be transferred or entered into the computer system 18. In this regard, It will be noted that the input device 20 may comprise more than one device or system, as may be necessary or desired in any particular embodiment. For example, in a mode where computer system 18 comprises a programmable general purpose computer, input device 20 may comprise a keyboard and an indicator system (for example, a "mouse"). In addition, the input device 20 can also comprise a data file or any other suitable device or system to provide the necessary input data to the computer system 18.
    [0037] The display device 22 is also operatively connected to the computer system 18 and allows the computer system 18 to display data and information in a way that is discernible by the user. In one embodiment, the display device comprises a color liquid crystal display (LCD), although other devices are known and can also be used. Finally, as the input devices and display devices suitable for use with the present invention are well known in the art and can be readily provided by those skilled in the art, the particular input and display devices 20 and 22 that can be used with the present invention will not be described in more detail here.
    [0038] As has been briefly described, computer system 18 can be programmed to perform the various functions and methods described herein. Such functions and methods can be implemented through any of a wide variety of programming systems and languages that are now known in the art or that can be developed in the future that are suitable for controlling the operations of such computer systems. However, as such programming systems and languages are well known in the art and can be easily used by those skilled in the art to program computer system 18 to operate, in accordance with the teachings provided herein, programming systems and particular languages that can be used in an embodiment of the present invention will not be described in more detail here.
    [0039] Referring now mainly to Figure 3, computer system 18 can be programmed to implement a method 28 to control the autonomous vehicle or drill rig 12. In one embodiment, method 28 results in the production of approved vehicle control commands that then they can be used by the autonomous control system (not shown) associated with the drilling rig 12 to control the movement of the drilling rig 12. Alternatively, in another embodiment, method 28 may involve additional steps or processes that would result in direct control drilling rig 12, which would be evident to technicians versed in the subject, after having become familiar with the teachings provided here.
    [0040] A first step 30 of method 28 involves entering into the computer system 18 (for example, via input device 20) a plurality of proposed vehicle locations 24 (Figure 1). In the embodiment shown and described here, the plurality of proposed vehicle locations 24 comprise proposed hole locations 14 and crossing points 26. A proposed hole location 14 is where the drill rig 12 will drill an explosion hole, while a point pass-through 26 is merely a position or location where the drill rig 12 will move, typically to change the orientation of the drill rig 12, although it may be for other purposes. The computer system 18 processes the input data in relation to the plurality of vehicle locations 24 and generates a simulated vehicle route 32 in step 34.
    [0041] In one embodiment, the simulated vehicle route 32 actually comprises a plurality of simulated vehicle route segments 64 (shown in Figures 5a-j). Each simulated vehicle route segment 64 represents that route required to move between two desired vehicle locations 24. Referring now to Figure 4, an embodiment of step 34 may involve a step 66 of comparing simulated vehicle route segment 64 with an allowed vehicle movement parameter. If the simulated vehicle route segment 64 is compatible with the permitted vehicle movement parameter, as determined in step 68, process 34 retrieves the next proposed vehicle location 24, that is, in step 70, and generates the next segment simulated vehicle route in step 72. Computer system 18 then repeats steps 66 and 68 to determine whether the next simulated vehicle route segment 64 is compatible with the allowed vehicle movement parameter.
    [0042] If the simulated vehicle route segment 64 does not conform to the permitted vehicle movement parameter, as determined by step 68, then the computer system notifies the user in step 74. Optionally, system 18 can disallow the location proposed vehicle. The computer system 18 can then allow the user to modify the vehicle location proposed in step 76. The previous process is repeated until the simulated route segments 64 have generated it for all the proposed vehicle locations 24.
    [0043] In the particular mode, shown and described here, the permitted vehicle movement parameter represents a maximum change in orientation (or the degree of rotation), which is advisable for any particular simulated vehicle route segment 64. For example, vehicles with trails, such as the drilling rig 12, are often limited in their ability to effect a major change of course over a short distance. Limiting change of course can be imposed by the vehicle manufacturer to reduce stress on the vehicle's track system. Alternatively, a vehicle operator may wish to impose a permitted vehicle movement parameter due to operational considerations, such as vehicle maintenance issues or other reasons. For example, depending on the ground conditions, it may be advisable to limit the maximum course change associated with any particular simulated vehicle route segment 64 to prevent vehicle tracks 48 from “jamming” or otherwise becoming stuck in the ground. . Consequently, process 34 provides an additional guarantee that the subsequent autonomous operation of the vehicle will be carried out as planned and without incident.
    [0044] Now returning to Figure 3, in the next step 36 of method 28, computer system 18 determines a simulated vehicle orientation 38 for at least one point along the simulated vehicle route 32. In one embodiment, computer system 18 determines a simulated vehicle orientation 38 at each of the proposed vehicle locations 24, such as, for example, at each proposed hole location 14 and at each via point 26. In one embodiment, computer system 18 determines the orientation of simulated vehicle 38 based on angle or simulated vehicle route segment orientation 64. That is, simulated vehicle orientation 38 is the same as simulated vehicle route segment orientation 64. Alternatively, other methods can be used to determine the simulated vehicle orientation 38. For example, in another embodiment, the simulated vehicle orientation 38 can be determined with the aid of a kinematic vehicle model that models the change the heading of the vehicle in response to a known guidance entry.
    [0045] Regardless of the particular method that is used to determine the simulated vehicle orientation 38, the computer system 18 will thereafter present at least the simulated vehicle orientation 38 in a user-discernible way on the display device 22. See step 40 The user can then check the simulated vehicle orientation 38 in step 42.
    [0046] If the user concludes that simulated vehicle guidance 38 is acceptable, computer system 18 will then produce approved vehicle commands in step 44. Thereafter, computer system 18 can transmit or send vehicle control commands approved for autonomous drilling rig 12, as described above. The approved vehicle control commands then cause the autonomous drill rig 12 to follow simulated vehicle route 32 and simulated vehicle orientations 38 when drill rig 12 moves through the drilling field or area 16.
    [0047] If the user does not conclude that the simulated vehicle guidance 38 is acceptable (that is, in step 42), method 28 allows the user to modify the user input data in step 46. In the particular mode shown and described here, the The user can modify the data for the proposed vehicle locations 24 by providing one or more additional waypoints 26 to change the simulated vehicle orientation 38 at any desired location along the simulated vehicle route 32. After the additional ticket or ticket points 26 are added, method 28 can be repeated to produce revised simulated vehicle routes and directions and present them to the user in discernible form (for example, on display device 22). This modification process can be repeated, if necessary, until the user has verified that the revised simulated vehicle guidance is suitable for the particular application. Once the user verifies the revised simulated vehicle guidance, method 28 goes to step 44, produces approved vehicle commands based on the revised simulated vehicle route and revised simulated vehicle guidance.
    [0048] The present invention can be operated as follows to control the position and orientation of the autonomous drill rig 12 moving within the drilling field or area 16. Once a drill hole pattern suitable for the drilling area 16 has been established, data relating to the plurality of proposed vehicle locations 24 are provided or entered into the computer system 18, for example, via input device 20, in step 30. As noted above, in the particular embodiment, shown and described here, many of the proposed vehicle locations 24 will correspond to hole locations 14 in which the blast holes are being drilled. However, data relating to the plurality of proposed vehicle locations 24 may also comprise one or more waypoints 26. See Figure 1. Drill rig 12 will not drill an explosion hole at a waypoint 26. In addition , if the various hole locations 14 are to be drilled in a certain sequence or order, then the data relating to the proposed vehicle locations 24 may also comprise the sequence or order to move between the various hole locations 14 and crossing points 26. Alternatively, system 10 can be configured to establish the sequence or order of movement between the various proposed vehicle locations 24.
    [0049] After data on the proposed vehicle locations 24 has been entered in step 30, computer system 18 generates a simulated vehicle route 32, in step 34. In the example mode shown and described here, the simulated vehicle route 32 comprises a plurality of simulated vehicle route segments 64 (Figures 5a-j) connecting each pair of proposed vehicle locations 24, for example, proposed hole locations 14 or crossing points 26, as the case may be. Each simulated vehicle route segment 64 defines the route that will be followed by an autonomous drill rig 12 between two locations 24. Taken together, then, the simulated vehicle route segments 64 define the simulated vehicle route 32, that is, the route that will be followed by the autonomous drilling rig 12 to move between all the various locations of holes 14 and waypoints 26. See also Figure 1.
    [0050] Then, in step 36, computer system 18 determines a simulated vehicle orientation 38 for points on the simulated route 32. In the particular embodiment shown and described here, computer system 18 determines a simulated vehicle orientation 38 for each segment of simulated vehicle route 64. Thus, the simulated vehicle orientation 38 will be known for each of the hole locations 14 and crossing points 26 comprising the proposed vehicle locations 24. Computer system 18 then presents the guidelines simulated vehicle numbers 38 in a user-discernable way for user verification in step 40.
    [0051] With reference now to Figures 5a-j, the user-discernable form or presentation used by the computer system 18 may comprise a visual representation 56 of the drilling rig 12 and the drilling area 16. The various visual representations 56 can be displayed on the device display 22. In one embodiment, the process of displaying the various visual representations 56 can be initiated by activating an appropriate icon in the initial visual representation 56, such as the “View Route” 78 icon illustrated in Figure 5a.
    [0052] The visual representation 56 can include at least a portion of the proposed vehicle locations 24, as well as a vehicle icon 56. More specifically, the proposed vehicle locations 24 comprise the proposed hole locations 14, as well as crossing points 26 In the particular visual representation 56 illustrated in Figures 5a-j, the proposed hole locations 14 are represented by boxes, while the various crossing points 26 are represented by triangles. In addition, the order in which the drill rig 12 moves between the proposed vehicle locations 24 (i.e., the proposed hole locations 14 and crossing points 26) is indicated by numbered boxes. In this exemplary illustration, then, the drill rig 12 moves between thirteen (13) proposed vehicle locations 24 (i.e., positions “1 through 13”). Eight (8) of the proposed vehicle locations 24 (that is, positions “2 to 5” and “8 to 11”) correspond to drilling hole locations 14, while the five (5) remaining proposed vehicle locations 24 (ie, positions “1”, “6”, “7”, “12” and “13”) correspond to crossing points 26.
    [0053] Figure 5a shows an initial condition in which the drilling rig 12 is positioned so that the drilling tower 52 is located at a distance from the first desired vehicle location 24. In this example, the first desired vehicle location is a via point 26 and is designated as position “1”. The simulated orientation 38 of the drill rig 12 is configured by the special orientation of the vehicle icon 58 in the visual representation 56. As shown in Figure 5a, the longitudinal axis 60 of the drill rig icon 58 is substantially oriented vertically and coincides with an orientation north compass “N” due 62. Therefore, no change in direction of the drilling rig 12 will be necessary for this first stage. That is, a north “N” movement due to the drill rig 12 along the simulated vehicle route segment 64 will position the drill rig 52 over the first proposed vehicle location 24 (i.e., the “1” position). The user can view the subsequent positions and orientations of the drilling rig 12 by activating the icon 78 “Route View” provided in the visual representation 56.
    [0054] Referring now to Figure 5b, the next proposed vehicle location 24 (i.e., position “2”) is a drilling location 14. The simulated vehicle route segment 64 required to move the drilling rig from position “1 ”For position“ 2 ”is illustrated in Figure 5b. The drill rig 12 moves along the simulated vehicle route segment 64, which will position the drill tower 52 over the proposed hole location 14 (i.e., position "2"). The simulated orientation 36 is incorporated into the orientation of the perforation icon 58 in the visual representation 56 and is such that the longitudinal axis 60 is east "E" from north "N", in this example.
    [0055] Figure 5c shows the drilling icon 58 in position “5” (positions “3” and “4” are not shown here). In this visual representation 56, the drilling tower 52 of the drilling probe icon 58 is positioned over a drilling hole location 14 (i.e., the "5" position). The next step will be position “6”, which in this example is a crossing point 26. The movement to position “6” is illustrated in Figure 5d and now shows the drilling tower 52 of the drill rig 58 icon positioned over the crossing point 26 (that is, the “6” position). As this proposed vehicle location 24 is a crossing point 26, no holes will be drilled at this location. Instead, the drilling rig 12 moves to this “6” position in order to change the simulated vehicle orientation 38. More specifically, and as can be seen by comparing Figures 5c and 5d, the longitudinal axis 60 of drilling rig 12 is now oriented further north “N” in Figure 5d than in Figure 5c. This change of orientation is made to allow the drill rig 12 to be better oriented or positioned in preparation for movement through the adjacent row of proposed drill hole locations 14 (i.e., positions “8 to 11”).
    [0056] Referring now to Figure 5e, the drilling rig 12 has been moved to position “7” which is also a via point 26. The movement of the drilling rig 12 to this via point 26 (ie, the “7 ”) Is performed to further change the orientation of the drill rig 12 in preparation for movement through the adjacent row of proposed drill hole locations (ie, positions“ 8 to 11 ”). More specifically, the simulated orientation 38 of the drill rig 12 now shows the longitudinal axis 60 inclined to a west "W" position from the north "N".
    [0057] Figures 5f at 5h show the drill rig icon 58 moving through the adjacent row of proposed drill hole locations 14, (ie, positions “8 to 11”). Note that the drill rig 12 moves along the adjacent row of proposed drill hole locations 14 in the opposite or reverse direction. As the proposed hole locations 14 that correspond to positions “8 to 11” are substantially aligned, no significant change of course is required for the drilling rig 12. The drilling rig 12 simply proceeds through the row of proposed drill hole locations 14. Also note that, as the drilling sequence and vehicle orientation was well planned, the tracks 48 of the drilling rig 12 will not move over the holes drilled in positions “2-5”, that is, when the drilling rig 12 drill holes in positions “8 to 11”.
    [0058] Referring now to Figures 5i and 5j, the last two positions “12” and “13” are crossing points 26. The user has placed crossing points 26 at the locations determined to change the simulated orientation 38 of drill rig 12 to prepare it to proceed through the next adjacent row of proposed drill hole locations 14. As illustrated in Figure 5j, the simulated orientation 38 of drill rig 12 is such that the longitudinal axis 60 of drill rig 12 is slightly south "S" from the west "W". Drill rig 12 will now be properly oriented to drill the first hole in the next row.
    [0059] Figures 5a-j represent successive visual representations 56 or “screenshots” of simulated vehicle orientations 38 at various points along the simulated vehicle route 32. In one embodiment, a unique visual representation 56 can be presented for each location of individual vehicle 24. Each of these visual representations 56 can be selected manually by the user. The user can manually approve the vehicle guidance on each visual representation 56 until the user verifies that all simulated vehicle guidance 38 is satisfactory. Optionally, computer system 18 can be programmed to animate the various visual representations 56 (for example, shown in Figures 5a-j), sequentially, displaying simulated vehicle orientations 38 in several of the proposed plurality of vehicle locations 14. This animation could also represent the position of the drill rig 12 at various intermediate positions between adjacent vehicle locations 14 to provide smooth animation.
    [0060] Regardless of whether the various visual representations 56 are animated, the user checks the various simulated orientations 38 before the system 10 produces approved vehicle commands. If the user determines that any of the simulated vehicle orientations 38 is not suitable or can create other problems, the user can change the simulated vehicle orientation 38, modifying the data related to the proposed vehicle locations 24.
    [0061] In the example modality shown and described here, the user can modify the data by providing one or more supplementary crossing points 26 at appropriate locations or positions within field 16. The user can then instruct system 10 to re-execute the method 28 to produce revised simulated vehicle directions and routes and present them through new visual representations 56. This process can be repeated as needed until the user is satisfied that the revised simulated vehicle directions 38 are suitable for the drilling sequence special autonomous.
    [0062] After the user has verified the revised simulated vehicle guidance, method 28 will produce approved vehicle commands based on the revised simulated vehicle route and revised simulated vehicle guidance in step 44. Thereafter, the approved vehicle control commands will be used to control the autonomous drill rig 12 to follow the simulated vehicle route 32 to reach the simulated vehicle directions 38.
    [0063] Having stated here preferred embodiments of the present invention, it is envisaged that suitable modifications can be made to it that, however, remain within the scope of the invention. The invention should therefore only be interpreted in accordance with the following claims.
    权利要求:
    Claims (31)
    [0001]
    Method (28) for controlling an autonomous vehicle, comprising: receiving (30) data relating to a plurality of proposed vehicle locations (22); CHARACTERIZED by the fact that it also comprises: generate (34) a simulated vehicle route (32) based on the received data, the simulated vehicle route (32) comprising a simulated route segment (64) between a first proposed vehicle location (24) and a second vehicle location proposed vehicle (24); determining (36) an autonomous vehicle orientation for at least one point on the simulated vehicle route (32); displaying (40) a visual representation (56) of at least the simulated vehicle orientation (38) in a form that is discernible by the user; receiving (42) a user verification of the simulated vehicle guidance (38) for at least one point on the simulated vehicle route (32), resulting in a simulated vehicle guidance (38) verified by the user and a simulated route (32) verified by the user; and produce (44) approved vehicle control commands from the simulated vehicle route (32) verified by the user and the simulated vehicle guidance (38) verified by the user, the approved vehicle control commands controlling the autonomous vehicle to follow the simulated vehicle route (32) verified by the user and reach the simulated vehicle guidance (38) verified by the user.
    [0002]
    Method (28) according to claim 1, CHARACTERIZED by the fact that it further comprises determining a simulated vehicle orientation (38) for at least the first and second points of vehicle locations on the simulated vehicle route (32).
    [0003]
    Method (28), according to claim 1, CHARACTERIZED by the fact that displaying a visual representation (56) of at least the simulated vehicle orientation (38) in a form discernible by the user comprises: displaying at least a portion of the plurality of proposed vehicle locations (22); and displaying a vehicle icon (58) in the simulated vehicle orientation (38) with respect to the display of the proposed vehicle locations (22).
    [0004]
    Method (28), according to claim 3, CHARACTERIZED by the fact that it further comprises animating said display, sequentially displaying the simulated vehicle orientation (38) in several of the plurality of proposed vehicle locations (22).
    [0005]
    Method (28), according to claim 4, CHARACTERIZED by the fact that it also comprises displaying the simulated vehicle route (32).
    [0006]
    Method (28), according to claim 5, CHARACTERIZED by the fact that it further comprises animating said display, sequentially displaying the simulated vehicle orientation (38) at sequential points along the simulated vehicle route (32).
    [0007]
    Method (28) according to claim 1, CHARACTERIZED by the fact that receiving data relating to a plurality of proposed vehicle locations (22) comprises receiving data for a proposed hole location (14) and a crossing point (26 ).
    [0008]
    Method (28), according to claim 1, CHARACTERIZED by the fact that data relating to a plurality of proposed vehicle locations (22) further comprise sequential data relating to a sequence to move between the plurality of proposed vehicle locations (22).
    [0009]
    Method (28), according to claim 1, CHARACTERIZED by the fact that it further comprises receiving a user modification of the data relating to a plurality of proposed vehicle locations (22) prior to said production of approved vehicle controls.
    [0010]
    Method (28), according to claim 9, CHARACTERIZED by the fact that receiving a user modification of data relating to a plurality of proposed vehicle locations (22) comprises receiving one or more additional crossing points.
    [0011]
    Method (28), according to claim 1, CHARACTERIZED by the fact that it further comprises: comparing the simulated vehicle route (32) with a maximum change of orientation for the autonomous vehicle; and notify the user if the simulated vehicle route (32) violates the maximum orientation change.
    [0012]
    Method (28), according to claim 11, CHARACTERIZED by the fact that it still does not allow a proposed vehicle location (24) that would result in a violation of the maximum orientation change.
    [0013]
    Method (28), according to claim 1, CHARACTERIZED by the fact that it also comprises using the approved vehicle control commands to produce a vehicle control data file, the vehicle control data file being used by the vehicle autonomous to control the route and vehicle orientation of the autonomous vehicle.
    [0014]
    Method for producing vehicle control commands for an autonomous vehicle, comprising: receiving data relating to a plurality of proposed vehicle locations (22); CHARACTERIZED by the fact that it also comprises: generate a simulated vehicle route (32) based on the data received regarding the proposed vehicle locations (22); determining a simulated vehicle orientation (38) with respect to an autonomous vehicle axis at a plurality of points along the simulated vehicle route (32); present the simulated vehicle guidance (38) in a way that can be discerned by the user; receiving a user verification of the simulated vehicle guidance (38) for at least one point on the simulated vehicle route (32); and produce vehicle control commands for the autonomous vehicle from the simulated vehicle route (32) verified by the user and the simulated vehicle orientation (38).
    [0015]
    Method, according to claim 14, CHARACTERIZED by the fact that it also comprises applying the vehicle control commands produced to the autonomous vehicle to make the autonomous vehicle follow the simulated vehicle route (32) verified by the user and reach guidance simulated vehicle (38).
    [0016]
    Method, according to claim 14, CHARACTERIZED by the fact that presenting the simulated vehicle guidance (38) in a way discernible by the user comprises: The. displaying at least a portion of the plurality of proposed vehicle locations (22); and B. displaying a vehicle icon (58) in the simulated vehicle orientation (38) with respect to the display of the proposed vehicle locations (22).
    [0017]
    Method according to claim 16, CHARACTERIZED by the fact that it further comprises animating said display, sequentially displaying the simulated vehicle orientation (38) in several of the plurality of proposed vehicle locations (22).
    [0018]
    Method, according to claim 16, CHARACTERIZED by the fact that it also comprises displaying the simulated vehicle route (32).
    [0019]
    Method according to claim 18, CHARACTERIZED by the fact that it further comprises animating said display, sequentially displaying the simulated vehicle orientation (38) at sequential points along the simulated vehicle route (32).
    [0020]
    System (10) for producing vehicle control commands for an autonomous vehicle, by executing the method as defined in claim 14, the system FEATURED by the fact that it comprises: an input device (20); a display device (22); and a computer system (18) operatively associated with said input device (20) and said display device (22), said computer system (18) receiving and storing data from said input device (20), displaying data on said display device (22), storing program control steps, and processing data; said computer system, via said input device (20), receiving data relating to a plurality of proposed vehicle locations (22), said computer system (18) processing the received data relating to the proposed vehicle locations (22) to generate a simulated vehicle route (32) and to determine a simulated vehicle orientation (38) with respect to an autonomous vehicle axis for at least one point on the simulated vehicle route (32), said computer system (18) showing at least the simulated vehicle orientation (38) on said display device (22); said computer system (18), via the input device (20), receiving a user verification of the simulated vehicle orientation (38) for at least one point on the simulated vehicle route (32); and said computer system (18) producing vehicle control commands for the autonomous vehicle from the simulated vehicle route (32) and simulated vehicle guidance (38), said vehicle control commands controlling the autonomous vehicle to follow the simulated vehicle route (32) and reach the simulated vehicle orientation (38).
    [0021]
    Computer-readable media, comprising instructions executable by a computer to cause the computer to produce vehicle control commands for an autonomous vehicle to perform the actions of: receiving data relating to a plurality of proposed vehicle locations (22); FEATURED by: generate a simulated vehicle route (32) based on the data received regarding the proposed vehicle locations (22); determining a simulated vehicle orientation (38) for the autonomous vehicle for at least one point on the simulated vehicle route (32); display at least the simulated vehicle guidance (38) in a form that is discernible by the user; receiving a user verification of the simulated vehicle guidance (38) for at least one point on the simulated vehicle route (32); and produce vehicle control commands for the autonomous vehicle from the simulated vehicle route (32) and the simulated vehicle orientation (38).
    [0022]
    Method for producing vehicle control commands for an autonomous vehicle, the method comprising: determining a plurality of proposed vehicle locations (22); entering the proposed vehicle locations (22) on a computer; CHARACTERIZED by the fact that it also comprises: instruct the computer to generate a simulated vehicle route (32) based on the plurality of proposed vehicle locations (22) and a simulated vehicle orientation (38) for at least one point on the simulated vehicle route (32) and to display the simulated vehicle orientation (38) in a form discernible by the user, the simulated vehicle orientation being with reference to an autonomous vehicle axis; check the simulated vehicle orientation (38) for at least one point on the simulated vehicle route (32); and instruct the computer to produce vehicle control commands based on the simulated vehicle route (32) and the simulated vehicle orientation (38).
    [0023]
    Method according to claim 22, CHARACTERIZED by the fact that it further comprises editing, on the computer, the proposed vehicle locations (22) to change the simulated vehicle orientation (38) along the simulated vehicle route (32).
    [0024]
    Method, according to claim 23, CHARACTERIZED by the fact that it also comprises, after said edition: The. instruct the computer to generate a revised simulated vehicle route and a revised simulated vehicle guidance for at least one point on the revised simulated vehicle route and display the revised simulated vehicle guidance in a manner discernible by the user; B. check the revised simulated vehicle orientation for at least one point on the revised simulated vehicle route; and ç. instruct the computer to produce vehicle control commands based on the revised simulated vehicle route and the revised simulated vehicle guidance.
    [0025]
    Method according to claim 22, CHARACTERIZED by the fact that entering the proposed vehicle locations (22) into the computer comprises entering data from a proposed hole location (14) and a crossing point (26).
    [0026]
    Method according to claim 25, CHARACTERIZED by the fact that it further comprises editing, on the computer, the proposed vehicle locations (22) to change the simulated vehicle orientation (38) along the simulated vehicle route (32).
    [0027]
    Method according to claim 26, CHARACTERIZED by the fact that said editing step comprises introducing at least one waypoint (26) to change the simulated vehicle orientation (38) at a point along the simulated vehicle route (32).
    [0028]
    Method, according to claim 22, CHARACTERIZED by the fact that said step of instructing the computer to produce vehicle control commands is automatically performed after said verification without additional input from the user.
    [0029]
    Method according to claim 22, CHARACTERIZED by the fact that the simulated vehicle route (32) comprises a plurality of segments of simulated vehicle routes (64).
    [0030]
    Method according to claim 29, CHARACTERIZED by the fact that instructing the computer to generate a simulated vehicle route (32) based on the plurality of proposed vehicle locations (22) comprises comparing (66) at least one route segment simulated vehicle (64) with an allowed vehicle movement parameter.
    [0031]
    Method according to claim 29, CHARACTERIZED by the fact that the simulated vehicle guidance (38) is based on an orientation of at least one simulated vehicle route segment (64).
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    法律状态:
    2018-01-30| B25A| Requested transfer of rights approved|Owner name: FLANDERS ELECTRIC MOTOR SERVICE, INC. (US) |
    2019-01-08| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-07-16| B06T| Formal requirements before examination [chapter 6.20 patent gazette]|
    2020-02-18| B07A| Technical examination (opinion): publication of technical examination (opinion) [chapter 7.1 patent gazette]|
    2020-08-18| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2020-11-24| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 10 (DEZ) ANOS CONTADOS A PARTIR DE 24/11/2020, OBSERVADAS AS CONDICOES LEGAIS. |
    2021-07-27| B25D| Requested change of name of applicant approved|Owner name: FLANDERS ELECTRIC MOTOR SERVICE, LLC (US) |
    优先权:
    申请号 | 申请日 | 专利标题
    US12/619,367|US9678508B2|2009-11-16|2009-11-16|Systems and methods for controlling positions and orientations of autonomous vehicles|
    US12/619,367|2009-11-16|
    PCT/US2010/055817|WO2011059914A1|2009-11-16|2010-11-08|Systems and methods for controlling positions and orientations of autonomous vehicles|
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