公开(公告)号：US20190360169A1

公开(公告)日：2019-11-28

申请号：US15987721

申请日：2018-05-23

Applicant: Caterpillar Inc.

Inventor： Matthew M. TINKER ,  Michael A. SPIELMAN ,  Eric CLER ,  Aaron R. SHATTERS ,  Austin J. SCOTT ,  Jeffrey K. BERRY ,  Sairam G. VELAMAKANNI

IPC: E02F3/43 ,  E02F9/20 ,  E02F3/28 ,  E02F9/22

Abstract: A system for controlling an earth moving machine may comprise: a speed sensor configured to communicate a speed signal indicative of a speed of the machine; an operator bucket lift command input configured to communicate an operator-input bucket lift command; and a controller configured to: receive the speed signal and the operator-input bucket lift command; determine a torque of the machine; using the speed signal and the determined torque, determine a controller-generated bucket lift command; and provide a bucket lift command which is the larger of the operator-input bucket lift command and the controller-generated bucket lift command.

公开(公告)号：US20240017672A1

公开(公告)日：2024-01-18

申请号：US17867469

申请日：2022-07-18

Applicant: Caterpillar Inc.

Inventor： Aaron R. SHATTERS

IPC: B60R1/28

CPC classification number: B60R1/28 ,  B60R2300/102 ,  B60R2300/105

Abstract: In mobile equipment that is configured for remote operation there are the competing interests of minimizing the number and complexity of cameras by using wide-angle cameras, while avoiding the fisheye distortion inherent in wide-angle cameras, which can be disorienting to remote operators. Thus, a method is disclosed that switches between video processing configurations depending on a machine state of the mobile equipment. For example, a first machine state may represent that the mobile equipment is immobile, whereas a second machine state may represent that the mobile equipment is mobile. In the first machine state, the video configuration does not correct for fisheye distortion, so as to maximize the field of view in the video while the mobile equipment is immobile. In the second machine state, the video configuration does correct for fisheye distortion, so as to prevent disorientation of the remote operator while the mobile equipment is mobile.

公开(公告)号：US20230350412A1

公开(公告)日：2023-11-02

申请号：US17732270

申请日：2022-04-28

Applicant: Caterpillar Inc.

Inventor： Aaron R. SHATTERS ,  Eric W. CLER ,  Michael Anthony SPIELMAN ,  Jeffrey K. BERRY

IPC: G05D1/00 ,  G06T3/00 ,  G06T3/40

CPC classification number: G05D1/0094 ,  G06T3/0018 ,  G06T3/4038 ,  G05D1/0038 ,  G05D2201/0202

Abstract: In a mobile equipment with an articulated front portion having a worktool, a fisheye camera with a wide field of view, containing the front portion, is often mounted in a fixed direction on a rear portion of the mobile equipment. Thus, when the front portion moves (e.g., rotates) relative to the rear portion, a view around the front portion may be compromised due to inherent cropping in fisheye-distortion correction. Digital panning of panoramic video is disclosed that rotates a projection surface, in accordance with movement of the front portion, and generates a projected video on the projection surface, utilizing information that may have otherwise been cropped, to expand the visible area around the worktool. The digital panning in the projected video may mimic an operator turning their head to look down the longitudinal axis of the front portion while using the worktool.

公开(公告)号：US20250043546A1

公开(公告)日：2025-02-06

申请号：US18362841

申请日：2023-07-31

Applicant: Caterpillar Inc.

Inventor： Eric W. CLER ,  Aaron R. SHATTERS

IPC: E02F9/26

Abstract: In some implementations, a controller of a machine may receive an indication of performance, by the machine, of a loading operation associated with a material. The controller may determine, based on the indication, a physical location associated with the loading operation. The controller may identify, based on the physical location, prior loading operation data. The controller may determine, based on the prior loading operation data, estimated identification information associated with the material. The controller may cause, based on the estimated identification information, one or more actions to be performed.

公开(公告)号：US20240020801A1

公开(公告)日：2024-01-18

申请号：US17867474

申请日：2022-07-18

Applicant: Caterpillar Inc.

Inventor： Aaron R. SHATTERS

IPC: G06T5/00 ,  G06T5/50 ,  H04N5/232

CPC classification number: G06T5/006 ,  G06T5/50 ,  H04N5/23238 ,  G06T2207/30252 ,  H04N7/18

Abstract: In panoramic video captured by a fisheye camera (e.g., for use in the remote operation of mobile equipment), there is a trade-off between the field of view and the level of distortion correction. In particular, to avoid the video from be disorienting, distortion correction is required. However, distortion correction applied to a very wide field of view results in an unnatural appearance of objects in edge regions, such that the image frames of the video must be cropped. A method is disclosed that varies the level of distortion correction that is applied to pixels in each image frame based on a position of those pixels in the image frame, such that less distortion correction is applied to pixels closer to edges of the image frame. This enables a very wild field of view, while preventing the unnatural appearance of objects near the edges of the image frame.

公开(公告)号：US20210182753A1

公开(公告)日：2021-06-17

申请号：US16710974

申请日：2019-12-11

Applicant: Caterpillar Inc.

Inventor： Aaron R. SHATTERS ,  Donald M. WEINHOLD ,  Gautham SUBRAMANIAN ,  Michael A. SPIELMAN, JR. ,  Sucheta CHITGOPEKAR

IPC: G06Q10/06

Abstract: A work machine control device including a memory and a processor is disclosed. The processor may be configured to receive work order data associated with a haul machine. The work order data may identify the haul machine, a material requested for the haul machine, an amount of the material requested for the haul machine, and/or a work machine associated with the material. The processor may be configured to set an operating parameter of the work machine to perform an operation according to the work order data, and receive payload data associated with a payload of the work machine. The payload data may relate to a weight of the payload, a volume of the payload, and/or an operating state of the work machine. The processor may be configured to determine productivity data associated with the operation, and cause an action to be performed in connection with the productivity data.

公开(公告)号：US20200064130A1

公开(公告)日：2020-02-27

申请号：US16109274

申请日：2018-08-22

Applicant: Caterpillar Inc.

Inventor： Matthew M. TINKER ,  Jeffrey K. BERRY ,  Austin J. SCOTT ,  Aaron R. SHATTERS

IPC: G01B21/16 ,  G01C1/00

Abstract: A method for retrofitting a plurality of position sensors on a machine includes installing the plurality of position sensors on the machine, wherein the position sensors include at least two inertial measurement units (IMUs). The method further includes calibrating orientation of the IMUs, obtaining measurements from the IMUs, determining relative differences between the measurements obtained from the IMUs, and processing the relative differences using a Kalman filter procedure to determine positional data of the machine.