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公开(公告)号：US10235774B1
公开(公告)日：2019-03-19
申请号：US15812428
申请日：2017-11-14
Applicant: Caterpillar Inc.
Inventor： David Paul Gitz , Paul Russell Friend , Maikel Orlando Torres Pineiro , Qi Chen
Abstract: A method for calibrating an image capturing device mounted on a machine is provided. The image capturing device is configured to capture one or more images of a calibration target. The one or more images include a set of reference points corresponding to the calibration target. The method includes receiving a first positional data and a second positional data associated with the image capturing device and the calibration target respectively. The method includes generating, through the processor, a set of augmented reality points based on the first positional data and the second positional data. The method further includes overlaying, through the processor, the set of augmented reality points on the set of reference points displayed on the display. The method includes iteratively adjusting, through the processor, at least one of a roll, a yaw, or a pitch of the image capturing device until the set of augmented reality points align with the corresponding set of reference points.
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公开(公告)号：US20180284219A1
公开(公告)日：2018-10-04
申请号：US15473059
申请日：2017-03-29
Applicant: Caterpillar Inc.
Inventor： Paul Russell Friend
Abstract: A ranging radio relative machine positioning system for a first mobile machine and a second mobile machine is provided. The first mobile machine includes a platform rotatable relative to ground-engaging elements of the first mobile machine. A first set of ranging radios and at least one sensor are configured for attachment to the first mobile machine, and a second set of ranging radios are configured for attachment to the second mobile machine. The system also includes a controller programmed to identify a ground spotting location relative to the first mobile machine, track movement of the first mobile machine relative to the ground spotting location using the sensor to arrive at an offset, and provide a location, or pose, of the second mobile machine relative to the ground spotting location using the first and second sets of ranging radios and the offset.
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公开(公告)号：US10060097B2
公开(公告)日：2018-08-28
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
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.
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公开(公告)号：US09678210B2
公开(公告)日：2017-06-13
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.
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Patent Agency Ranking
公开(公告)号：US09618348B1
公开(公告)日：2017-04-11
申请号：US14966069
申请日：2015-12-11
Applicant: Caterpillar Inc.
Inventor： Paul Russell Friend , Qi Chen
CPC classification number: G01C21/3407 , E02F3/308 , E02F9/264
Abstract: A loading machine may include a position sensor associated with a bucket. The position sensor may be configured to generate position and orientation data of the bucket. The loading machine may also include a computer including a spotting location module in communication with, at least, the position sensor. The spotting location module may be configured to: receive the position and orientation data of the bucket generated by the position sensor; determine a spot point based on the received position and orientation data of the bucket; store the spot point; and associate the stored spot point with a subsequent location when the loading machine relocates.
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公开(公告)号：US09465113B2
公开(公告)日：2016-10-11
申请号：US14146485
申请日：2014-01-02
Applicant: CATERPILLAR INC.
Inventor： Paul Russell Friend
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。
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公开(公告)号：US09234758B2
公开(公告)日：2016-01-12
申请号：US13721958
申请日：2012-12-20
Applicant: Caterpillar Inc.
Inventor： Paul Russell Friend , Qi Chen , Frank Arthur Willis
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。
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公开(公告)号：US09200904B2
公开(公告)日：2015-12-01
申请号：US13837905
申请日：2013-03-15
Applicant: CATERPILLAR INC.
Inventor： Brad Kenneth Borland , Paul Russell Friend , Mathew Chacko
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。
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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
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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