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公开(公告)号：US20210350114A1
公开(公告)日：2021-11-11
申请号：US16871419
申请日：2020-05-11
Applicant: Caterpillar Inc.
Inventor： Shastri Ram
Abstract: A system and a method for detecting a pile of material by an autonomous machine. A 3D point cloud method includes obtaining a 3D point cloud indicative of an environment having a material pile, performing a ground surface estimation on the point cloud to identify non-ground points, grouping the non-ground points into clusters based on a proximity metric, creating a normalized height histogram for each of the clusters, comparing the normalized height histogram of each cluster to a generalized pile histogram, and identifying a cluster as a pile based on the similarity between the normalized height histogram and the generalized pile histogram. A 2D image method includes obtaining a 2D image from an imaging device, calibrating the imaging device with respect to a coordinate frame of the machine, and autonomously detecting an image of a material pile in the two-dimensional image using a trained deep-learning neural network.
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公开(公告)号：US11595618B2
公开(公告)日：2023-02-28
申请号：US16842164
申请日：2020-04-07
Applicant: Caterpillar Inc.
Inventor： Bradley P. Krone , Joseph L. Faivre , Michael W. Bridenbaugh , Brad R. Van De Veer , Shastri Ram
Abstract: An enhanced visibility system for a work machine includes an image capture device, a sensor, one or more control circuits, and a display. The image capture device is configured to obtain image data of an area surrounding the work machine. The sensor is configured to obtain data regarding physical properties of the area surrounding the work machine. The control circuits are configured to receive the image data and the data regarding the physical properties, and augment the image data with the data regarding the physical properties to generate augmented image data. The display is configured to display the augmented image data to provide an enhanced view of the area surrounding the work machine.
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公开(公告)号：US11995157B2
公开(公告)日：2024-05-28
申请号：US17112932
申请日：2020-12-04
Applicant: CATERPILLAR INC.
Inventor： Tod Andrew Oblak , Shastri Ram , Jeff T. Stringer , Sri Sekharan , Lawrence Andrew Mianzo , Mark Edward Hartman
CPC classification number: G06F18/251 , G01S7/4817 , G01S7/497 , G01S13/89 , G01S17/89 , G06F18/214 , G06V10/22 , G06V20/56
Abstract: An intelligent three dimensional scanner system mountable on a movable machine, including three dimensional scanner, a camera, and control circuitry. The control circuitry is configured to receive three dimensional point data from the three dimensional scanner, receive two dimensional image data from the camera, input the two dimensional image data to a machine learning model, which identifies objects in the two dimensional image data, fuse the three dimensional point data with the identified objects in the two dimensional image data in order to identify the objects in the three dimensional point data, and control a scan pattern to direct scanning resolution of the three dimensional scanner based on the identified objects.
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公开(公告)号：US11462030B2
公开(公告)日：2022-10-04
申请号：US16871419
申请日：2020-05-11
Applicant: Caterpillar Inc.
Inventor： Shastri Ram
IPC: G06V20/64 , G06T7/80 , G06T7/60 , G06K9/62 , G06T7/50 , G01S17/42 , G01S7/48 , G01S17/931 , G06V10/75 , G06V20/56
Abstract: A system and a method for detecting a pile of material by an autonomous machine. A 3D point cloud method includes obtaining a 3D point cloud indicative of an environment having a material pile, performing a ground surface estimation on the point cloud to identify non-ground points, grouping the non-ground points into clusters based on a proximity metric, creating a normalized height histogram for each of the clusters, comparing the normalized height histogram of each cluster to a generalized pile histogram, and identifying a cluster as a pile based on the similarity between the normalized height histogram and the generalized pile histogram. A 2D image method includes obtaining a 2D image from an imaging device, calibrating the imaging device with respect to a coordinate frame of the machine, and autonomously detecting an image of a material pile in the two-dimensional image using a trained deep-learning neural network.
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Patent Agency Ranking
公开(公告)号：US20220180131A1
公开(公告)日：2022-06-09
申请号：US17112932
申请日：2020-12-04
Applicant: CATERPILLAR INC.
Inventor： Tod Andrew Oblak , Shastri Ram , Jeff T. Stringer , Sri Sekharan , Lawrence Andrew Mianzo , Mark Edward Hartman
Abstract: An intelligent three dimensional scanner system mountable on a movable machine, including three dimensional scanner, a camera, and control circuitry. The control circuitry is configured to receive three dimensional point data from the three dimensional scanner, receive two dimensional image data from the camera, input the two dimensional image data to a machine learning model, which identifies objects in the two dimensional image data, fuse the three dimensional point data with the identified objects in the two dimensional image data in order to identify the objects in the three dimensional point data, and control a scan pattern to direct scanning resolution of the three dimensional scanner based on the identified objects.
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公开(公告)号：US12252870B2
公开(公告)日：2025-03-18
申请号：US17086081
申请日：2020-10-30
Applicant: Caterpillar Inc.
Inventor： Peter Joseph Petrany , Shastri Ram
IPC: E02F9/26 , B60Q9/00 , E02F3/32 , G06T7/00 , G06T7/11 , G06T7/174 , G06T7/70 , G06V20/40 , G08B21/18
Abstract: A wear detection system can be configured to receive a video stream including a plurality of images of a bucket of the work machine from a camera associated with the work machine. The bucket has one or more ground engaging tools (GET). The wear detection system can also be configured to identify a plurality of tool images from the video stream over a period of time. The plurality of tool images depict the GET at a plurality of instances over a period of time. The wear detection system can also be configured to determine a plurality of tool pixel counts from the plurality of tool image and determine a wear level for the GET based on the plurality of tool pixel counts.
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公开(公告)号：US20220136218A1
公开(公告)日：2022-05-05
申请号：US17086117
申请日：2020-10-30
Applicant: Caterpillar Inc.
Inventor： Shastri Ram , Peter Joseph Petrany
Abstract: A wear detection system can be configured to capture a video stream from a camera associated with a work machine. The video stream includes a plurality of images associated with a bucket with a plurality of teeth of the work machine. The system can also be configured to segment the plurality of images using a bucket-tool template including a template image of the bucket having a plurality of unworn tools and select an image for wear detection based on the segmenting. The system is also configured to identify the plurality of teeth in the selected image based at least in part on locations of the plurality of unworn tools in the bucket-tool template. The system is also configured to determine a wear level for the plurality of teeth by comparing the plurality of teeth from the selected image with the plurality of unworn tools from the bucket-tool template.
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公开(公告)号：US20220136217A1
公开(公告)日：2022-05-05
申请号：US17086081
申请日：2020-10-30
Applicant: Caterpillar Inc.
Inventor： Peter Joseph Petrany , Shastri Ram
Abstract: A wear detection system can be configured to receive a video stream including a plurality of images of a bucket of the work machine from a camera associated with the work machine. The bucket has one or more ground engaging tools (GET). The wear detection system can also be configured to identify a plurality of tool images from the video stream over a period of time. The plurality of tool images depict the GET at a plurality of instances over a period of time. The wear detection system can also be configured to determine a plurality of tool pixel counts from the plurality of tool image and determine a wear level for the GET based on the plurality of tool pixel counts.
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公开(公告)号：US20210314528A1
公开(公告)日：2021-10-07
申请号：US16842164
申请日：2020-04-07
Applicant: Caterpillar Inc.
Inventor： Bradley P. Krone , Joseph L. Faivre , Michael W. Bridenbaugh , Brad R. Van De Veer , Shastri Ram
Abstract: An enhanced visibility system for a work machine includes an image capture device, a sensor, one or more control circuits, and a display. The image capture device is configured to obtain image data of an area surrounding the work machine. The sensor is configured to obtain data regarding physical properties of the area surrounding the work machine. The control circuits are configured to receive the image data and the data regarding the physical properties, and augment the image data with the data regarding the physical properties to generate augmented image data. The display is configured to display the augmented image data to provide an enhanced view of the area surrounding the work machine.
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