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公开(公告)号：US09251587B2
公开(公告)日：2016-02-02
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
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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公开(公告)号：US09250086B1
公开(公告)日：2016-02-02
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：US11698458B2
公开(公告)日：2023-07-11
申请号：US16781765
申请日：2020-02-04
Applicant: Caterpillar Inc.
Inventor： Paul Russell Friend
IPC: G01S17/42 , G01S17/931 , G05D1/02 , G01S7/51
CPC classification number: G01S17/42 , G01S7/51 , G01S17/931 , G05D1/024 , G05D2201/0202
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.
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公开(公告)号：US20190295334A1
公开(公告)日：2019-09-26
申请号：US16439087
申请日：2019-06-12
Applicant: Caterpillar Inc.
Inventor： Nolan Andrew Graves , Paul Russell Friend
Abstract: A vehicle pose sharing diagnostic system includes a first communication module and a first pose module in communication with the first communication module. The first pose module is configured to generate a pose signal corresponding to the first machine. The system further includes a first sensing module configured to generate a pose signal corresponding to at least one of a second machine and an infrastructure. The system includes a control module communicably coupled to the first communication module. The control module is configured to determine an operational error in the first communication module and the first pose module. The control module is also configured to generate diagnosis information corresponding to the determined operational error. Further, the system includes a feedback device communicably coupled to the control module. The feedback device is configured to receive the diagnosis information from the control module and display the diagnosis information thereon.
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公开(公告)号：US20180066413A1
公开(公告)日：2018-03-08
申请号：US15259251
申请日：2016-09-08
Applicant: Caterpillar Inc.
Inventor： Paul Russell Friend , Michael Edward Brandt
Abstract: A swing control assembly for a first machine is provided. The swing control assembly includes a position detection module configured to generate a signal indicative of a relative position of a second machine with respect to the first machine. The swing control assembly includes a controller communicably coupled to the position detection module. The controller is configured to receive the signal indicative of the relative position of the second machine with respect to the first machine. The controller is configured to determine a direction of swing associated with the first machine based on the received signal. The controller is configured to provide an instruction to initiate a swing operation of the first machine based on the determined direction of swing.
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Patent Agency Ranking
16.发明授权Real-time visual odometry system for determining motion of a machine with a range detection unit 有权用于用距离检测单元确定机器的运动的实时视觉测距系统公开(公告)号：US09449397B2
公开(公告)日：2016-09-20
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：US09305364B2
公开(公告)日：2016-04-05
申请号：US13770476
申请日：2013-02-19
Applicant: Caterpillar Inc.
Inventor： Qi Chen , Paul Russell Friend
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。
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公开(公告)号：US09279235B1
公开(公告)日：2016-03-08
申请号：US14476492
申请日：2014-09-03
Applicant: CATERPILLAR INC.
Inventor： Troy Kenneth Becicka , Paul Russell Friend
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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公开(公告)号：US09128183B2
公开(公告)日：2015-09-08
申请号：US13688534
申请日：2012-11-29
Applicant: Caterpillar Inc.
Inventor： Paul Russell Friend , Frank Arthur Willis
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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公开(公告)号：US11270530B2
公开(公告)日：2022-03-08
申请号：US16439087
申请日：2019-06-12
Applicant: Caterpillar Inc.
Inventor： Nolan Andrew Graves , Paul Russell Friend
Abstract: A vehicle pose sharing diagnostic system includes a first communication module and a first pose module in communication with the first communication module. The first pose module is configured to generate a pose signal corresponding to the first machine. The system further includes a first sensing module configured to generate a pose signal corresponding to at least one of a second machine and an infrastructure. The system includes a control module communicably coupled to the first communication module. The control module is configured to determine an operational error in the first communication module and the first pose module. The control module is also configured to generate diagnosis information corresponding to the determined operational error. Further, the system includes a feedback device communicably coupled to the control module. The feedback device is configured to receive the diagnosis information from the control module and display the diagnosis information thereon.
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