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公开(公告)号：US10567746B2
公开(公告)日：2020-02-18
申请号：US15812372
申请日：2017-11-14
Applicant: Caterpillar Inc.
Inventor： Paul Russell Friend , David Paul Gitz , Maikel Orlando Torres Pineiro , Matthew Daniel Fike , Qi Chen , Jeffrey Walter Earleson
Abstract: A calibration jig for calibrating an image capturing device mounted on a machine is provided. A second rope is connected to a first rope at a first connection point. A third rope is connected to the first rope and the second rope at a second connection point and a third connection point respectively. The first, second, and third ropes, when taut, define the calibration triangle with the first, second, and the third connection points as vertices of the calibration triangle. A center rope is connected to the first connection point with a first anchor point associated with the machine. A first tether rope is connected to the second connection point of the calibration triangle with a second anchor point associated with the machine. A second tether rope is connected to the third connection point of the calibration triangle with a third anchor point associated with the machine.
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公开(公告)号：US09494430B2
公开(公告)日：2016-11-15
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
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的测量姿态，以基于第二信号生成移动机的估计姿态，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。
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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：US09142063B2
公开(公告)日：2015-09-22
申请号：US13768471
申请日：2013-02-15
Applicant: Caterpillar Inc.
Inventor： Qi Chen , Michael D. Braunstein , Satish Yadav , Eric Alan Reiners , Kenneth Lee Stratton
CPC classification number: G07C5/008 , B60W2300/17 , G01S13/865 , G01S13/867 , G01S2013/9332 , G05D1/024 , G05D1/0246 , G05D1/0257 , G05D1/0278 , G05D2201/02 , G05D2201/0202 , G05D2201/021 , G07C5/085 , G08G1/16
Abstract: A positioning system and method for determining a position of a machine on a worksite are disclosed. The method may store a map of the worksite which includes one or more known objects in the worksite. The method may determine whether a locating device associated with the machine is accurately providing the position of the machine. The method may also include detecting one or more objects in the worksite. The method may further determine an unmatched object from among the detected objects that does not match the one or more known objects stored in the map. The method may also store the unmatched object in the map as a known object of the worksite.
Abstract translation: 公开了一种用于确定机器在工地上的位置的定位系统和方法。 该方法可以存储在工地中包括一个或多个已知对象的工地的地图。 该方法可以确定与机器相关联的定位装置是否准确地提供机器的位置。 该方法还可以包括检测工地中的一个或多个对象。 该方法还可以从检测到的对象中确定与映射中存储的一个或多个已知对象不匹配的不匹配对象。 该方法还可以将不匹配的对象存储在地图中作为工地的已知对象。
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5.发明授权公开(公告)号：US10377125B2
公开(公告)日：2019-08-13
申请号：US15373600
申请日：2016-12-09
Applicant: Caterpillar Inc.
Inventor： Paul Friend , Qi Chen , Jean-Jacques Clar
IPC: B29C64/386 , B33Y30/00 , B33Y50/02 , G05B13/02 , G05B19/402 , G05D1/00
Abstract: A control system for a machine, operating on a worksite is associated with an implement, which perform additive construction operations in accordance with a pre-determined implement control plan. The system includes a positioning system, one or more implement control actuators, and a controller. The positioning system is configured to determine positioning signals associated with, at least, a terrain of the worksite and any worksite objects existing thereon. The controller determine an available zone, in which the machine and implement are capable of executing the additive construction operations within the available zone, based on the positioning signals and the pre-determined implement control plan, and determine an operation zone, relative to a desired additive construction site on the worksite, within the available zone, wherein parameters of the operation zone are based, at least in part, on the available zone, the machine configuration, and the pre-determined implement control plan.
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Patent Agency Ranking
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：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：US20160281309A1
公开(公告)日：2016-09-29
申请号：US14670699
申请日：2015-03-27
Applicant: Caterpillar Inc.
Inventor： Qi Wang , Brad L. Holsapple , Qi Chen
CPC classification number: E01H3/02 , B05B12/12 , B05B13/005 , E21F5/02
Abstract: System and methods for determining and controlling appropriate fluid delivery are disclosed. One method includes determining a first electrical conductivity value associated with soil at a first location of a worksite, determining a first global position associated with the first location, comparing the first electrical conductivity value to a first predetermined threshold associated with the first global position, and if the first electrical conductivity value is less than the first predetermined threshold, triggering a sprayer to spray the soil at the first location with fluid.
Abstract translation: 公开了用于确定和控制适当流体输送的系统和方法。 一种方法包括确定在工地的第一位置处与土壤相关联的第一电导率值，确定与第一位置相关联的第一全局位置，将第一电导率值与与第一全局位置相关联的第一预定阈值进行比较，以及 如果第一导电率值小于第一预定阈值，则触发喷雾器在第一位置用流体喷洒土壤。
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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：US20140236477A1
公开(公告)日：2014-08-21
申请号：US13768471
申请日：2013-02-15
Applicant: CATERPILLAR INC.
Inventor： Qi Chen , Michael D. Braunstein , Satish Yadav , Eric Alan Reiners , Kenneth Lee Stratton
IPC: G06F17/00
CPC classification number: G07C5/008 , B60W2300/17 , G01S13/865 , G01S13/867 , G01S2013/9332 , G05D1/024 , G05D1/0246 , G05D1/0257 , G05D1/0278 , G05D2201/02 , G05D2201/0202 , G05D2201/021 , G07C5/085 , G08G1/16
Abstract: A positioning system and method for determining a position of a machine on a worksite are disclosed. The method may store a map of the worksite which includes one or more known objects in the worksite. The method may determine whether a locating device associated with the machine is accurately providing the position of the machine. The method may also include detecting one or more objects in the worksite. The method may further determine an unmatched object from among the detected objects that does not match the one or more known objects stored in the map. The method may also store the unmatched object in the map as a known object of the worksite.
Abstract translation: 公开了一种用于确定机器在工地上的位置的定位系统和方法。 该方法可以存储在工地中包括一个或多个已知对象的工地的地图。 该方法可以确定与机器相关联的定位装置是否准确地提供机器的位置。 该方法还可以包括检测工地中的一个或多个对象。 该方法还可以从检测到的对象中确定与映射中存储的一个或多个已知对象不匹配的不匹配对象。 该方法还可以将不匹配的对象存储在地图中作为工地的已知对象。
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