公开(公告)号：US20170300038A1

公开(公告)日：2017-10-19

申请号：US15131715

申请日：2016-04-18

Applicant: Caterpillar Inc.

Inventor： Qi CHEN ,  Eric Alan REINERS

IPC: G05B19/4099 ,  G01S17/88 ,  B33Y50/02

CPC classification number: G01S17/88 ,  B29C64/106 ,  B29C64/393 ,  B33Y50/02 ,  G05B2219/35134 ,  G05B2219/49007

Abstract: A 3D construction system for creating an object includes, among other components, an online 3D blueprint model for the object and a 3D print head. An online control plan for controlling operation of the 3D print head to create the object according to the online 3D blueprint model is also provided. At least one 3D perception sensor scans a constructed portion of the object to generate sensor readings. A processing device, which is part of a computer system, creates an online 3D replica model of the constructed portion of the object using the sensor readings, and compares the online 3D replica model to the online 3D blueprint model or an ideal printed 3D model to identify a difference. The online control plan is modified responsive to the difference.

公开(公告)号：US20140180579A1

公开(公告)日：2014-06-26

申请号：US13721958

申请日：2012-12-20

Applicant: CATERPILLAR INC.

Inventor： Paul Russell FRIEND ,  Qi CHEN ,  Frank Arthur WILLIS

IPC: G01C21/20

CPC classification number: G01C21/165 ,  E02F9/264 ,  G01B11/00 ,  G01S17/023 ,  G01S17/89

Abstract: A system and method for estimating position of a machine is disclosed. The method may include receiving, from a perception sensor, scene data describing an environment in a vicinity of the machine and estimating a first position of the machine based on the scene data. The method may include determining whether a first signal indicative of a location of the machine is received by the machine and estimating a second position of the machine when it is determined that the first signal is received. The method may include comparing the second position with the first position and estimating a third position of the machine using at least one of the first position and the second position.

Abstract translation: 公开了一种用于估计机器位置的系统和方法。 该方法可以包括从感知传感器接收描述机器附近的环境的场景数据，并基于场景数据估计机器的第一位置。 该方法可以包括确定机器是否接收到指示机器的位置的第一信号，并且当确定接收到第一信号时，估计机器的第二位置。 该方法可以包括将第二位置与第一位置进行比较，并且使用第一位置和第二位置中的至少一个来估计机器的第三位置。

公开(公告)号：US20140300732A1

公开(公告)日：2014-10-09

申请号：US13857670

申请日：2013-04-05

Applicant: Caterpillar Inc.

Inventor： Paul Russell FRIEND ,  Qi CHEN ,  Hong CHANG ,  Daniel Dale MORRIS ,  Jodi Seaborn GRAF

IPC: G06T7/00

CPC classification number: G06T7/0042 ,  G06T7/73 ,  G06T2200/04 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/30244 ,  G06T2207/30252

Abstract: A motion determination system is disclosed. The system may receive a first and a second camera image from a camera, the first camera image received earlier than the second camera image. The system may identify corresponding features in the first and second camera images. The system may receive range data comprising at least one of a first and a second range data from a range detection unit, corresponding to the first and second camera images, respectively. The system may determine first positions and the second positions of the corresponding features using the first camera image and the second camera image. The first positions or the second positions may be determined by also using the range data. The system may determine a change in position of the machine based on differences between the first and second positions, and a VO-based velocity of the machine based on the determined change in position.

Abstract translation: 公开了一种运动判定系统。 系统可以从相机接收第一和第二相机图像，第一相机图像比第二相机图像更早地接收。 该系统可以识别第一和第二相机图像中的对应特征。 系统可以分别接收来自范围检测单元的第一和第二范围数据中的至少一个的范围数据，对应于第一和第二摄像机图像。 系统可以使用第一相机图像和第二相机图像来确定相应特征的第一位置和第二位置。 第一位置或第二位置可以通过使用范围数据来确定。 该系统可以基于第一和第二位置之间的差异以及基于所确定的位置变化的机器的基于VO的速度来确定机器的位置的变化。

公开(公告)号：US20160116289A1

公开(公告)日：2016-04-28

申请号：US14524727

申请日：2014-10-27

Applicant: Caterpillar Inc.

Inventor： Paul Russell FRIEND ,  Qi CHEN ,  Nicholas Robert VOGEL ,  Andrew Thomas WHITTEN

IPC: G01C21/16

CPC classification number: G01C21/165 ,  G01S5/0247 ,  G01S5/0263 ,  G01S19/39 ,  G01S19/48 ,  G01S19/49 ,  G01S19/53

Abstract: A system for determining the position of a mobile machine is disclosed. The system may include a first sensor configured to generate a first signal indicative of a pose of the mobile machine, a second sensor configured to generate a second signal indicative of a parameter of the mobile machine, and a controller in communication with the first and second sensors. The controller may be configured to generate a measured pose of the mobile machine based on the first signal, to generate an estimated pose of the mobile machine based on the second signal, and to determine uncertainty values associated with each of the measured and estimated poses. The controller may be further configured to determine overlap of the uncertainty values, to selectively adjust the measured pose based on the overlap, and to determine a pose solution based on the estimated pose and adjustment of the measured pose.

Abstract translation: 公开了一种用于确定移动机器的位置的系统。 该系统可以包括被配置为产生指示移动机器姿态的第一信号的第一传感器，被配置为产生指示移动机器的参数的第二信号的第二传感器，以及与第一和第二传感器通信的控制器 传感器。 控制器可以被配置为基于第一信号生成移动机器的测量姿态，以基于第二信号生成移动机器的估计姿势，并且确定与测量和估计姿势中的每一个相关联的不确定性值。 控制器还可以被配置为确定不确定性值的重叠，以基于重叠来选择性地调整所测量的姿态，并且基于所估计的姿势和所测量的姿态的调整来确定姿态解。

公开(公告)号：US20140334685A1

公开(公告)日：2014-11-13

申请号：US13889855

申请日：2013-05-08

Applicant: CATERPILLAR INC.

Inventor： Qi CHEN

IPC: G06T7/20 ,  G06T5/00

CPC classification number: G06T7/2033 ,  G06T7/246 ,  G06T2207/10016 ,  G06T2207/10028

Abstract: A system and method of estimation motion of a machine is disclosed. The method may include determining a first point cloud and a second point cloud corresponding to an environment in a vicinity of the machine. The method may further include generating a first extended gaussian image (EGI) for the first point cloud and a second EGI for the second point cloud. The method may further include determining a first EGI segment based on the first EGI and a second EGI segment based on the second EGI. The method may further include determining a first two dimensional distribution for points in the first EGI segment and a second two dimensional distribution for points in the second EGI segment. The method may further include estimating motion of the machine based on the first and second two dimensional distributions.

Abstract translation: 公开了一种估计机器运动的系统和方法。 该方法可以包括确定对应于机器附近的环境的第一点云和第二点云。 该方法还可以包括生成用于第一点云的第一扩展高斯图像（EGI）和用于第二点云的第二EGI。 该方法还可以包括基于第一EGI和基于第二EGI的第二EGI片段来确定第一EGI片段。 该方法还可以包括确定第一EGI段中的点的第一二维分布和第二EGI段中的点的第二二维分布。 该方法还可以包括基于第一和第二二维分布来估计机器的运动。

公开(公告)号：US20140233790A1

公开(公告)日：2014-08-21

申请号：US13770476

申请日：2013-02-19

Applicant: CATERPILLAR INC.

Inventor： Qi CHEN ,  Paul Russell Friend

IPC: G06T7/20 ,  G01B11/00

CPC classification number: G06T7/204 ,  G01S7/4808 ,  G01S15/89 ,  G01S17/023 ,  G01S17/42 ,  G01S17/89 ,  G06T7/248 ,  G06T2207/10016 ,  G06T2207/10028

Abstract: A motion estimation system is disclosed. The motion estimation system may include one or more memories storing instructions, and one or more processors configured to execute the instructions to receive, from a scanning device, scan data representing at least one object obtained by a scan over at least one of the plurality of sub-scanning regions, and generate, from the scan data, a sub-pointcloud for one of the sub-scanning regions. The sub-pointcloud includes a plurality of surface points of the at least one object in the sub-scanning region. The one or more processors may be further configured to execute the instructions to estimate the motion of the machine relative to the at least one object by comparing the sub-pointcloud with a reference sub-pointcloud.

Abstract translation: 公开了一种运动估计系统。 运动估计系统可以包括一个或多个存储指令的存储器，以及一个或多个处理器，其被配置为执行指令以从扫描设备接收表示通过多个扫描仪中的至少一个扫描得到的至少一个对象的扫描数据 并且从扫描数据生成子扫描区域之一的子点云。 子点云包括副扫描区域中的至少一个对象的多个表面点。 一个或多个处理器可以被进一步配置为执行指令以通过将子点云与参考子点云进行比较来估计机器相对于至少一个对象的运动。