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公开(公告)号：US20160054131A1
公开(公告)日：2016-02-25
申请号：US14466929
申请日：2014-08-22
Applicant: CATERPILLAR INC.
Inventor： Paul Russell FRIEND , Frank Arthur WILLIS , Troy Kenneth BECICKA
Abstract: A method and system for determining an alignment error between sensors mounted to a machine is disclosed. The method may include calculating a first orientation value based on a signal received from a first sensor. The method may further include calculating a second orientation value based on a signal received from a second sensor. The method may further include calculating an alignment error between the first sensor and the second sensor based on a difference between the first orientation value and the second orientation value.
Abstract translation: 公开了一种用于确定安装到机器的传感器之间的对准误差的方法和系统。 该方法可以包括基于从第一传感器接收的信号来计算第一取向值。 该方法还可以包括基于从第二传感器接收的信号来计算第二取向值。 该方法还可以包括基于第一取向值和第二取向值之间的差来计算第一传感器和第二传感器之间的对准误差。
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公开(公告)号：US20140145876A1
公开(公告)日：2014-05-29
申请号：US13688534
申请日：2012-11-29
Applicant: CATERPILLAR INC.
Inventor： Paul Russell FRIEND , Frank Arthur Willis
IPC: G01S19/52
Abstract: A machine navigation system and method for estimating velocity of a machine is disclosed. The method may include receiving, from an odometer, a first signal indicative of a distance traveled by the machine and calculating a scale factor to compensate for an error associated with the first signal. The method may further include determining whether a second signal indicative of a location of the machine is received by the machine and selectively adjusting the scale factor using machine parameters to generate an adjusted scale factor, where selectively adjusting may be performed based on whether the second signal is received by the machine. The method may further include estimating the velocity of the machine based on the first signal and the adjusted scale factor.
Abstract translation: 公开了一种用于估计机器速度的机器导航系统和方法。 该方法可以包括从里程表接收指示机器行进的距离的第一信号，并且计算比例因子以补偿与第一信号相关联的误差。 该方法还可以包括确定机器是否接收到指示机器的位置的第二信号，并且使用机器参数选择性地调整比例因子以产生调整的比例因子，其中可以基于第二信号 被机器接收。 该方法还可以包括基于第一信号和经调整的比例因子估计机器的速度。
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Patent Agency Ranking
13.发明申请公开(公告)号：US20210239808A1
公开(公告)日：2021-08-05
申请号：US16781759
申请日：2020-02-04
Applicant: Caterpillar Inc.
Inventor： Paul Russell FRIEND
Abstract: A light detection and ranging (LIDAR) controller is disclosed. The LIDAR controller may receive cycle segment information identifying a cycle segment of an operation of a machine. The LIDAR controller may determine, based on the cycle segment information, a scan area within a field of view of the LIDAR sensor. The LIDAR controller may cause the LIDAR sensor to capture, with an increased point density relative to a non-scan area within the field of view, LIDAR data associated with the scan area. The LIDAR controller may process the LIDAR data to determine, using the increased point density, a status associated with the operation. The LIDAR controller may perform an action associated with indicating the status associated with the operation.
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公开(公告)号：US20160180530A1
公开(公告)日：2016-06-23
申请号：US14577440
申请日：2014-12-19
Applicant: Caterpillar Inc.
Inventor： Paul Russell FRIEND , Hong Chang
CPC classification number: G01S17/89 , G01S7/4808 , G01S17/023 , G01S17/58
Abstract: A motion determination system is disclosed. The system may calculate one or more visual-odometry outputs. The system may determine a plurality of figure of merits, wherein each of the plurality of figure of merits is associated with one of a plurality of parameters affecting the calculation of the one or more visual-odometry outputs, and each of the plurality of figure of merits is indicative of an accuracy of the visual-odometry outputs. The system may calculate a combined figure of merit based on the plurality of figure of merits. The system may calculate an error estimate for the one or more visual-odometry outputs based on the combined figure of merit.
Abstract translation: 公开了一种运动判定系统。 系统可以计算一个或多个视觉测量输出。 该系统可以确定多个优点，其中多个优点中的每一个与影响一个或多个视觉测量输出的计算的多个参数中的一个相关联，并且多个图中的每一个 优点表明视觉测量输出的精度。 系统可以基于多个优点来计算组合品质因数。 系统可以基于组合的品质因数来计算一个或多个视觉测量输出的误差估计。
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公开(公告)号：US20160110878A1
公开(公告)日：2016-04-21
申请号：US14515009
申请日：2014-10-15
Applicant: CATERPILLAR INC.
Inventor： Hong CHANG , Paul Russell FRIEND
CPC classification number: G06T7/20 , G06K9/00791 , G06K9/52 , G06T7/73 , G06T2207/10016 , G06T2207/10024 , G06T2207/10028 , G06T2207/20221 , G06T2207/30244 , G06T2207/30252
Abstract: A motion determination system is disclosed. The system may receive a first camera image and a second camera image. The system may receive a first range image corresponding to the first camera image. The system may generate a first range map by fusing the first camera image and the first range image. The system may iteratively process a plurality of first features in the first range map to determine a change in position of the machine. The plurality of second features may correspond to the plurality of first features, and each of the plurality of first and second features is denoted by feature points in an image space of the camera.
Abstract translation: 公开了一种运动判定系统。 系统可以接收第一相机图像和第二相机图像。 系统可以接收对应于第一相机图像的第一范围图像。 系统可以通过融合第一相机图像和第一范围图像来生成第一范围图。 系统可以迭代地处理第一范围图中的多个第一特征以确定机器位置的变化。 多个第二特征可以对应于多个第一特征，并且多个第一和第二特征中的每一个由相机的图像空间中的特征点表示。
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公开(公告)号：US20160060845A1
公开(公告)日：2016-03-03
申请号：US14476492
申请日：2014-09-03
Applicant: CATERPILLAR INC.
Inventor： Troy Kenneth BECICKA , Paul Russell FRIEND
IPC: E02F9/20
CPC classification number: E02F9/2029 , E02F9/264 , G01B21/042 , G01S19/14
Abstract: A method, system, and non-transitory computer-readable storage medium for calibrating an implement actuation sensor of a machine are disclosed. The method may include calculating a first elevation value of an implement of the machine in a gravity reference frame of the machine. The method may further include calculating a second elevation value of a ground-engaging device of the machine in the gravity reference frame of the machine. The method may further include determining a difference between the first elevation value and the second elevation value. The method may further include calibrating the implement actuation sensor based on the determined difference.
Abstract translation: 公开了一种用于校准机器的工具致动传感器的方法，系统和非暂时的计算机可读存储介质。 该方法可以包括在机器的重力参考系中计算机器的工具的第一高度值。 该方法还可以包括计算机器的重力参考系中机器的接地装置的第二高度值。 该方法还可以包括确定第一高程值和第二高程值之间的差。 该方法还可以包括基于所确定的差异来校准器具致动传感器。
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17.发明申请公开(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。
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