公开(公告)号：US20170146990A1

公开(公告)日：2017-05-25

申请号：US14945659

申请日：2015-11-19

Applicant: CATERPILLAR INC.

Inventor： Qi WANG ,  Paul Edmund RYBSKI

IPC: G05D1/00 ,  G05D1/10 ,  G01S19/42 ,  B64C39/02

CPC classification number: G05D1/0011 ,  B64C39/024 ,  B64C2201/024 ,  B64C2201/108 ,  B64C2201/122 ,  G01S19/03 ,  G01S19/14 ,  G01S19/21 ,  G01S19/43 ,  G05D1/101 ,  G05D1/102 ,  H04B7/18504

Abstract: A system for augmenting wireless communication and satellite positioning for machines at a worksite includes one or more unmanned aerial vehicles (UAV) configured to be remotely operated above an area encompassing the worksite. Each of the UAV includes a real time kinematic (RTK) global positioning system (GPS) onboard the UAV for determining the position of the UAV relative to a base station located at a known location, and a machine vision module for detecting an object on the ground at the worksite. The RTK GPS onboard each UAV determines the global coordinates of the detected object in 3D space using the position of the UAV. A flight control module receives information on current position of one or more machines operating at the worksite, and machine wireless communication and satellite positioning requirements in real-time from the one or more machines, and controls flight of at least one UAV to a position where the at least one UAV can augment wireless communication signal and GPS satellite signal connectivity to meet the machine wireless communication and satellite positioning requirements.

公开(公告)号：US20170109577A1

公开(公告)日：2017-04-20

申请号：US14886192

申请日：2015-10-19

Applicant: Caterpillar Inc.

Inventor： Qi WANG ,  Paul Edmund RYBSKI

IPC: G06K9/00 ,  G06K9/46 ,  G06F17/30 ,  H04N7/18 ,  G06T11/20

CPC classification number: G06K9/00476 ,  G01C11/00 ,  G06F17/30241 ,  G06F17/30268 ,  G06K9/0063 ,  G06K9/3216 ,  G06K9/46 ,  G06K9/629 ,  G06K2009/3225 ,  G06T17/05 ,  H04N7/185

Abstract: A terrain mapping system includes an aerial system including at least one camera configured to capture a plurality of aerial images of an area and transmit the plurality of aerial images to an image database, a plurality of machines each having a ground control point (GCP) disposed thereon, and each being configured to periodically record a global location of the GCP in a location history database, and a mapping unit configured to construct a preliminary three-dimensional (3D) terrain map based on the plurality of aerial images, detect at least one GCP within at least one aerial image, determine an estimated global location and an accurate global location of the at least one GCP, and calibrate the preliminary 3D terrain map based on the estimated global location and the accurate global location of the at least one GCP.

公开(公告)号：US20160150189A1

公开(公告)日：2016-05-26

申请号：US14549003

申请日：2014-11-20

Applicant: CATERPILLAR INC.

Inventor： Bradley Scott KRIEL ,  Paul Edmund RYBSKI

IPC: H04N7/18 ,  H04N5/232 ,  H04N5/262 ,  B60R1/00

CPC classification number: H04N7/181 ,  B60R1/00 ,  B60R2300/105 ,  B60R2300/303 ,  B60R2300/802 ,  E02F9/0841 ,  E02F9/261 ,  G06T3/4038 ,  H04N5/23238 ,  H04N5/2628

Abstract: An image processing system is disclosed for an articulated machine. The system includes a plurality of cameras mounted on the machine for capturing images, and a machine state sensor for obtaining machine state data of machine. The system also includes a processor connected to the plurality of cameras and the machine state sensor, the processor being configured to establish camera extrinsic models for the plurality of cameras based on positions and orientations of the cameras, obtain the machine state data from the machine state sensor, establish a machine geometric model based on the machine state data, and establish image mapping rules for the plurality of cameras based on the machine geometric model and the camera extrinsic models. The processor is further configured to generate a unified image from the images captured by the plurality of cameras based on the image mapping rules, and render the unified image on a display.

Abstract translation: 公开了一种用于铰接机器的图像处理系统。 该系统包括安装在机器上用于捕获图像的多个摄像机和用于获得机器的机器状态数据的机器状态传感器。 该系统还包括连接到多个摄像机的处理器和机器状态传感器，处理器被配置为基于摄像机的位置和取向为多个照相机建立照相机非本征模型，从机器状态获得机器状态数据 传感器，基于机器状态数据建立机器几何模型，并根据机器几何模型和相机外在模型建立多台摄像机的图像映射规则。 处理器还被配置为基于图像映射规则从由多个摄像机捕获的图像生成统一图像，并将统一图像呈现在显示器上。