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1.发明授权公开(公告)号：US11454713B2
公开(公告)日：2022-09-27
申请号：US16781759
申请日：2020-02-04
Applicant: Caterpillar Inc.
Inventor： Paul Russell Friend
Abstract: A light detection and ranging (LIDAR) controller is disclosed. The LIDAR controller may receive cycle segment information identifying a cycle segment of an operation of a machine. The LIDAR controller may determine, based on the cycle segment information, a scan area within a field of view of the LIDAR sensor. The LIDAR controller may cause the LIDAR sensor to capture, with an increased point density relative to a non-scan area within the field of view, LIDAR data associated with the scan area. The LIDAR controller may process the LIDAR data to determine, using the increased point density, a status associated with the operation. The LIDAR controller may perform an action associated with indicating the status associated with the operation.
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公开(公告)号：US20160148421A1
公开(公告)日：2016-05-26
申请号：US14552008
申请日：2014-11-24
Applicant: Caterpillar Inc.
Inventor： Paul Russell Friend
Abstract: A method of integrating a captured view with a mapped view of a mobile machine within a worksite is provided. The method may include generating the captured view based on image data received from one or more image capture devices installed on the mobile machine, generating the mapped view based on mapped data corresponding to the worksite received from one or more tracking devices, overlaying the mapped view onto the captured view, and scaling the mapped view to the captured view.
Abstract translation: 提供了一种将捕获的视图与工作现场内的移动机器的映射视图相集成的方法。 该方法可以包括基于从安装在移动机器上的一个或多个图像捕获设备接收的图像数据生成捕获的视图，基于与从一个或多个跟踪设备接收的工作现场对应的映射数据生成映射视图，覆盖映射视图 到捕获的视图，并将映射的视图缩放到捕获的视图。
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公开(公告)号：US20190149814A1
公开(公告)日：2019-05-16
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
CPC classification number: H04N17/002 , B60R1/06 , B60R2300/402 , H04N5/23296
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：US09593570B2
公开(公告)日：2017-03-14
申请号：US14331989
申请日：2014-07-15
Applicant: CATERPILLAR INC.
Inventor： Paul Russell Friend
IPC: G01V3/00 , E21B47/022 , E21B7/02
CPC classification number: E21B47/022 , E21B7/02
Abstract: A method, system, and non-transitory computer-readable storage medium for estimating pose of a drill are disclosed. The method may include receiving a location signal from a locating device, receiving a first signal indicative of an angular rate of the drill, and receiving a second signal indicative of an acceleration of the drill. The method may further include determining an operation state of the drill. The method may further include determining the pose of the drill based on the received location signal, first signal, second signal, and the determined operation state of the drill.
Abstract translation: 公开了一种用于估计钻头姿态的方法，系统和非暂时的计算机可读存储介质。 该方法可以包括从定位装置接收位置信号，接收指示钻头的角速率的第一信号，以及接收指示钻头加速度的第二信号。 该方法还可以包括确定钻头的操作状态。 该方法还可以包括基于接收到的位置信号，第一信号，第二信号和所确定的钻机的操作状态来确定钻头的姿态。
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公开(公告)号：US09378554B2
公开(公告)日：2016-06-28
申请号：US14510869
申请日：2014-10-09
Applicant: CATERPILLAR INC.
Inventor： Hong Chang , Paul Russell Friend
CPC classification number: H04N13/207 , G01S17/89 , G05D1/0248 , G05D1/0274 , G06T7/33 , G06T7/55 , G06T2207/10024 , G06T2207/10028 , G06T2207/30252
Abstract: A system, method, and non-transitory computer-readable storage medium for range map generation is disclosed. The method may include receiving an image from a camera and receiving a 3D point cloud from a range detection unit. The method may further include transforming the 3D point cloud from range detection unit coordinates to camera coordinates. The method may further include projecting the transformed 3D point cloud into a 2D camera image space corresponding to the camera resolution to yield projected 2D points. The method may further include filtering the projected 2D points based on a range threshold. The method may further include generating a range map based on the filtered 2D points and the image.
Abstract translation: 公开了一种用于范围图生成的系统，方法和非暂时计算机可读存储介质。 该方法可以包括从相机接收图像并从范围检测单元接收3D点云。 该方法还可以包括将3D点云从范围检测单元坐标变换到相机坐标。 该方法还可以包括将经变换的3D点云投影到与相机分辨率相对应的2D相机图像空间中以产生投影2D点。 该方法还可以包括基于范围阈值来过滤投影的2D点。 该方法还可以包括基于滤波的2D点和图像生成范围图。
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Patent Agency Ranking
公开(公告)号：US08773540B2
公开(公告)日：2014-07-08
申请号：US13670333
申请日：2012-11-06
Applicant: Caterpillar Inc.
Inventor： Paul Russell Friend
CPC classification number: H04N17/002 , G01J3/506 , G01J3/524 , H04N17/02 , H04N17/04
Abstract: A method for calibrating a camera and a display monitor is provided. The method includes identifying a parameter for optimization, assigning to a test color a target color relevant to the parameter, repeatedly performing, two or more times, a set of steps, determining a direction and timing of color divergence for the target color from obtained images, and adjusting the parameter based on the direction and rate of color divergence for the target color. The set of steps includes instructing the display monitor to display the test color on a portion of the display monitor, obtaining an image captured by the camera while the display is executing the instruction, and reassigning, to the test color, a color obtained from a portion of the image in which the portion of the display monitor was captured. The obtained image includes the portion of the display monitor.
Abstract translation: 提供了一种用于校准照相机和显示监视器的方法。 该方法包括识别用于优化的参数，向测试颜色分配与参数相关的目标颜色，重复执行两次或更多次一组步骤，从获得的图像确定目标颜色的颜色散度的方向和时间 并且基于目标颜色的颜色分散的方向和速率来调整参数。 所述步骤包括指示所述显示监视器在所述显示监视器的一部分上显示所述测试颜色，在所述显示器正在执行所述指令的同时获得由所述摄像机拍摄的图像，以及从所述测试颜色重新分配从 其中捕获显示监视器的部分的图像的部分。 获得的图像包括显示监视器的一部分。
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公开(公告)号：US20140125818A1
公开(公告)日：2014-05-08
申请号：US13670333
申请日：2012-11-06
Applicant: CATERPILLAR INC.
Inventor： Paul Russell Friend
IPC: H04N17/02
CPC classification number: H04N17/002 , G01J3/506 , G01J3/524 , H04N17/02 , H04N17/04
Abstract: A method for calibrating a camera and a display monitor is provided. The method includes identifying a parameter for optimization, assigning to a test color a target color relevant to the parameter, repeatedly performing, two or more times, a set of steps, determining a direction and timing of color divergence for the target color from obtained images, and adjusting the parameter based on the direction and rate of color divergence for the target color. The set of steps includes instructing the display monitor to display the test color on a portion of the display monitor, obtaining an image captured by the camera while the display is executing the instruction, and reassigning, to the test color, a color obtained from a portion of the image in which the portion of the display monitor was captured. The obtained image includes the portion of the display monitor.
Abstract translation: 提供了一种用于校准照相机和显示监视器的方法。 该方法包括识别用于优化的参数，向测试颜色分配与参数相关的目标颜色，重复执行两次或更多次一组步骤，从获得的图像确定目标颜色的颜色散度的方向和时间 并且基于目标颜色的颜色分散的方向和速率来调整参数。 所述步骤包括指示所述显示监视器在所述显示监视器的一部分上显示所述测试颜色，在所述显示器正在执行所述指令的同时获得由所述摄像机拍摄的图像，以及从所述测试颜色重新分配从 其中捕获显示监视器的部分的图像的部分。 获得的图像包括显示监视器的一部分。
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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：US10267016B2
公开(公告)日：2019-04-23
申请号：US15259251
申请日：2016-09-08
Applicant: Caterpillar Inc.
Inventor： Paul Russell Friend , Michael Edward Brandt
Abstract: A swing control assembly for a first machine is provided. The swing control assembly includes a position detection module configured to generate a signal indicative of a relative position of a second machine with respect to the first machine. The swing control assembly includes a controller communicably coupled to the position detection module. The controller is configured to receive the signal indicative of the relative position of the second machine with respect to the first machine. The controller is configured to determine a direction of swing associated with the first machine based on the received signal. The controller is configured to provide an instruction to initiate a swing operation of the first machine based on the determined direction of swing.
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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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