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：US20140122016A1

公开(公告)日：2014-05-01

申请号：US13665737

申请日：2012-10-31

Applicant: CATERPILLAR INC.

Inventor： Paul Russell FRIEND

IPC: G01C19/58 ,  G06F17/00

CPC classification number: G01C21/16 ,  E02F3/842 ,  E02F9/205 ,  E02F9/264

Abstract: A system and method for estimating orientation of a machine is disclosed. The method may include receiving, from a first sensor, a first angular rate of the machine measured in a body reference frame of the machine, and determining an estimated bias for a second sensor of the machine and an uncertainty measure for the estimated bias. The method may further include determining a scale factor based on the uncertainty measure and converting the first angular rate of the machine in the body reference frame to a first angular rate of the machine in a gravity reference frame by utilizing a rotation matrix including the scale factor. The method may further include estimating the orientation of the machine based on the first angular rate of the machine in the gravity reference frame.

Abstract translation: 公开了一种用于估计机器取向的系统和方法。 该方法可以包括从第一传感器接收在机器的身体参考系中测量的机器的第一角速度，以及确定机器的第二传感器的估计偏差和所估计的偏差的不确定性度量。 该方法还可以包括基于不确定性度量来确定比例因子，并且通过利用包括比例因子的旋转矩阵将身体参考系中的机器的第一角速率转换为重力参考系中机器的第一角速率 。 该方法还可以包括基于重力参考系中的机器的第一角速率估计机器的取向。

公开(公告)号：US20240360633A1

公开(公告)日：2024-10-31

申请号：US18141161

申请日：2023-04-28

Applicant: Caterpillar Inc.

Inventor： Paul Russell FRIEND ,  Mark Andrew Tarvin ,  Nathaniel Steven Doy ,  Robert Jason McGee ,  Joel Case Miller

IPC: E01C19/00 ,  E01C19/28

CPC classification number: E01C19/004 ,  E01C19/282 ,  E02F9/2045

Abstract: A control system for a construction machine is disclosed. The control system may comprise a controller configured to: receive work parameters associated with working of the worksite surface by a surface-working member; generate an edge-to-edge work plan of the worksite surface, the edge-to-edge work plan comprising a plurality of paths each having a center-line-of-travel, wherein one of the plurality of paths includes a first outer edge defined by a first boundary side and another includes a second outer edge defined by a second boundary side; and activate the construction machine to traverse the center-line-of travel of each of the plurality of paths. The plurality of paths may comprise a first path and a second path that includes a second path overlap-section that overlaps the first path, wherein a width of the second path overlap-section varies along a length of the second path.

公开(公告)号：US20170191246A1

公开(公告)日：2017-07-06

申请号：US14987415

申请日：2016-01-04

Applicant: Caterpillar Inc.

Inventor： Paul Russell FRIEND ,  Kenneth L. STRATTON ,  Michael Edward BRANDT ,  James D. HUMPHREY ,  James William RYAN

IPC: E02F9/26 ,  E02F9/24 ,  E02F9/20 ,  E02F1/00

CPC classification number: E02F9/26 ,  E02F1/00 ,  E02F3/308 ,  E02F3/434 ,  E02F3/437 ,  E02F9/2033 ,  E02F9/24 ,  E02F9/265

Abstract: An excavation system is disclosed for use with an excavation machine having a work tool and with an IPCC. The excavation system may have a location device configured to generate a first signal indicative of a location of the excavation machine, a display, and at least one controller in communication with the location device and the display. The controller may be configured to receive a second signal indicative of a location of the IPCC, and to cause representations of the excavation machine and the IPCC to be simultaneously shown on the display based on the first and second signals. The at least one controller may also be configured to determine a swing radius of the work tool, and to selectively cause an indication of alignment between the IPCC and the swing radius to be shown on the display based on the first signal, the second signal, and the swing radius.

公开(公告)号：US20150185024A1

公开(公告)日：2015-07-02

申请号：US14146485

申请日：2014-01-02

Applicant: CATERPILLAR INC.

Inventor： Paul Russell FRIEND

IPC: G01C21/26 ,  G01S19/13 ,  G01B21/16

CPC classification number: G01S19/13 ,  G01S19/51 ,  G05D1/0291 ,  G05D2201/0202

Abstract: A system and method for estimating a position of a machine is disclosed. The method may include determining a first position estimate and a first uncertainty measure of the first machine. The method may further include receiving, from a second machine, relative pose information determined by the second machine and a second uncertainty measure of the second machine. The method may further include determining that the first uncertainty measure is higher than the second uncertainty measure. The method may further include, in response to determining that the first uncertainty measure is higher than the second uncertainty measure, determining a second position estimate of the first machine based on the first position estimate and the relative pose information.

Abstract translation: 公开了一种用于估计机器位置的系统和方法。 该方法可以包括确定第一机器的第一位置估计和第一不确定性度量。 该方法还可以包括从第二机器接收由第二机器确定的相对姿势信息和第二机器的第二不确定性度量。 该方法还可以包括确定第一不确定性测量值高于第二不确定性度量。 该方法可以进一步包括响应于确定第一不确定性度量高于第二不确定性度量，基于第一位置估计和相对姿态信息来确定第一机器的第二位置估计。

公开(公告)号：US20210239837A1

公开(公告)日：2021-08-05

申请号：US16781765

申请日：2020-02-04

Applicant: Caterpillar Inc.

Inventor： Paul Russell FRIEND

IPC: G01S17/42 ,  G01S7/51 ,  G05D1/02 ,  G01S17/931

Abstract: A light detection and ranging (LIDAR) controller is disclosed. The LIDAR controller may determine, based on a position of an implement, a scan area of the LIDAR sensor, wherein the scan area has an increased point density relative to another area of a field of view, of the LIDAR sensor, that includes the implement. The LIDAR controller may cause the LIDAR sensor to capture, with the increased point density, LIDAR data associated with the scan area. The LIDAR controller may process the LIDAR data to determine whether an object of interest is in an environment of the machine that is associated with the scan area. The LIDAR controller may perform an action based on the environment of the machine.

公开(公告)号：US20160017703A1

公开(公告)日：2016-01-21

申请号：US14331989

申请日：2014-07-15

Applicant: CATERPILLAR INC.

Inventor： Paul Russell FRIEND

IPC: E21B47/022

CPC classification number: E21B47/022 ,  E21B7/02

Abstract: A method, system, and non-transitory computer-readable storage medium for estimating pose of a drill are disclosed. The method may include receiving a location signal from a locating device, receiving a first signal indicative of an angular rate of the drill, and receiving a second signal indicative of an acceleration of the drill. The method may further include determining an operation state of the drill. The method may further include determining the pose of the drill based on the received location signal, first signal, second signal, and the determined operation state of the drill.

Abstract translation: 公开了一种用于估计钻头姿态的方法，系统和非暂时的计算机可读存储介质。 该方法可以包括从定位装置接收位置信号，接收指示钻头的角速率的第一信号，以及接收指示钻头加速度的第二信号。 该方法还可以包括确定钻头的操作状态。 该方法还可以包括基于接收到的位置信号，第一信号，第二信号和所确定的钻机的操作状态来确定钻头的姿态。

公开(公告)号：US20140278043A1

公开(公告)日：2014-09-18

申请号：US13837905

申请日：2013-03-15

Applicant: CATERPILLAR INC.

Inventor： Brad Kenneth BORLAND ,  Paul Russell FRIEND ,  Mathew CHACKO

IPC: G01C21/00

CPC classification number: G01C21/00 ,  B60W30/08 ,  G05D1/02 ,  G05D1/0289 ,  G05D2201/0202 ,  G08G1/22

Abstract: A system and method of analyzing traffic in a vicinity of a first machine is disclosed. The method may include determining, by one or more computer processors, a projected position of the first machine based on a yaw rate and velocity of the first machine. The method may further include determining, by the one or more computer processors, a predicted zone in the vicinity of the first machine based on the projected position of the first machine. The method may further include determining whether a second machine is present in the predicted zone. In response to determining that the second machine is present in the predicted zone, the method may further include determining whether an unsafe condition exists between the first machine and the second machine.

Abstract translation: 公开了分析第一机器附近的交通的系统和方法。 该方法可以包括由一个或多个计算机处理器基于第一机器的偏航率和速度来确定第一机器的投影位置。 该方法还可以包括基于第一机器的投影位置，由一个或多个计算机处理器确定第一机器附近的预测区域。 该方法还可以包括确定第二机器是否存在于预测区域中。 响应于确定第二机器存在于预测区域中，该方法还可以包括确定在第一机器和第二机器之间是否存在不安全状态。

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：US20160104289A1

公开(公告)日：2016-04-14

申请号：US14510869

申请日：2014-10-09

Applicant: CATERPILLAR INC.

Inventor： Hong CHANG ,  Paul Russell FRIEND

IPC: G06T7/00 ,  G06T7/20 ,  G05D1/02 ,  G01S17/89 ,  H04N13/02

CPC classification number: H04N13/207 ,  G01S17/89 ,  G05D1/0248 ,  G05D1/0274 ,  G06T7/33 ,  G06T7/55 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/30252

Abstract: A system, method, and non-transitory computer-readable storage medium for range map generation is disclosed. The method may include receiving an image from a camera and receiving a 3D point cloud from a range detection unit. The method may further include transforming the 3D point cloud from range detection unit coordinates to camera coordinates. The method may further include projecting the transformed 3D point cloud into a 2D camera image space corresponding to the camera resolution to yield projected 2D points. The method may further include filtering the projected 2D points based on a range threshold. The method may further include generating a range map based on the filtered 2D points and the image.

Abstract translation: 公开了一种用于范围图生成的系统，方法和非暂时的计算机可读存储介质。 该方法可以包括从相机接收图像并从范围检测单元接收3D点云。 该方法还可以包括将3D点云从范围检测单元坐标变换为相机坐标。 该方法还可以包括将经变换的3D点云投影到与相机分辨率相对应的2D相机图像空间中以产生投影2D点。 该方法还可以包括基于范围阈值来过滤投影的2D点。 该方法还可以包括基于滤波的2D点和图像生成范围图。