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公开(公告)号：US20210004744A1
公开(公告)日：2021-01-07
申请号：US16459381
申请日：2019-07-01
Applicant: Caterpillar Inc.
Inventor： Peter Joseph Petrany , Jeremy Lee Vogel
Abstract: A method receiving image information with one or more processor(s) and from a sensor disposed at a worksite and determining an identity of a work tool disposed at the worksite based at least partly on the image information. The method further includes receiving location information with the one or more processor(s), the location information indicating a first location of the sensor at the worksite. Additionally, the method includes determining a second location of the work tool at the worksite based at least partly on the location information. In some instances, the method includes generating a worksite map with the one or more processor(s), the worksite map identifying the work tool and indicating the second location of the work tool at the worksite, and at least one of providing the worksite map to an additional processor and causing the worksite map to be rendered via a display.
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公开(公告)号：US09871968B2
公开(公告)日：2018-01-16
申请号：US14719766
申请日：2015-05-22
Applicant: Caterpillar Inc.
Inventor： Douglas Jay Husted , Peter Joseph Petrany , Simon Richard Conway
CPC classification number: H04N5/23238 , E02F9/261 , G06T7/30 , G06T7/74 , G06T2200/32 , G06T2207/20212 , G06T2207/20221 , G06T2207/30252 , H04N5/247 , H04N7/181
Abstract: An imaging system for a machine having an implement includes at least two cameras mounted on the machine at opposing sides of the implement and configured to generate at least two camera views of an environment of the machine, and a processing device in communication with the at least two cameras. The processing device is configured to obtain the at least two camera views, obtain at least one of a position or an angle of the implement, determine at least one of a position or an angle of a stitching line according to the at least one of the position or the angle of the implement, and generate a stitched surround view based on the at least two camera views and the stitching line.
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公开(公告)号：US20160137125A1
公开(公告)日：2016-05-19
申请号：US14543141
申请日：2014-11-17
Applicant: Caterpillar Inc.
Inventor： Peter Joseph Petrany , Bradley Scott Kriel , Paul Edmund Rybski , Douglas Jay Husted , Tod Andrew Oblak
CPC classification number: B60R1/00 , B60R2300/105 , B60R2300/301 , B60R2300/307 , H04N7/181
Abstract: An imaging system is disclosed for use with a mobile machine. The imaging system may have at least one onboard camera configured to generate image data for an actual environment of the mobile machine, and an onboard sensor configured to generate object data regarding detection and ranging of an object in the actual environment. The imaging system may also have a display mounted on the machine, and a processor in communication with the at least one camera, the sensor, and the display. The processor may be configured to generate a virtual geometry, and generate a virtual object within the virtual geometry based on the object data. The processor may further be configured to generate a unified image of the actual environment based on the image data, to map a projection of the unified image onto the virtual geometry and the virtual object, and to render a selected portion of the projection on the display.
Abstract translation: 公开了一种与移动机器一起使用的成像系统。 成像系统可以具有至少一个板载摄像机，其被配置为生成移动机器的实际环境的图像数据，以及车载传感器，被配置为生成关于在实际环境中的对象的检测和测距的对象数据。 成像系统还可以具有安装在机器上的显示器，以及与至少一个相机，传感器和显示器通信的处理器。 处理器可以被配置为生成虚拟几何，并且基于对象数据在虚拟几何中生成虚拟对象。 处理器还可以被配置为基于图像数据生成实际环境的统一图像，将统一图像的投影映射到虚拟几何图形和虚拟对象上，并且将投影的选定部分呈现在显示器上 。
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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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Patent Agency Ranking
公开(公告)号：US11361543B2
公开(公告)日：2022-06-14
申请号：US16709150
申请日：2019-12-10
Applicant: Caterpillar Inc.
Inventor： Jacob Charles Maley , Pranay Kumar Reddy Kontham , Robert Scott McFarland , Vamsi Krishna Pannala , Peter Joseph Petrany
Abstract: An object detection system may include an imager configured to generate image data indicative of an environment in which a machine is present, and a sensor configured to generate sensor data indicative of the environment in which the machine is present. The object detection system may further include an object detection controller including one or more object detection processors configured to receive an image signal indicative of the image data, identify an object associated with the image data, and determine a first location of the object relative to the position of the imager. The one or more object detection processors may also be configured to receive a sensor signal indicative of the sensor data, and determine, based at least in part on the sensor signal, the presence or absence of the object at the first location.
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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：US11200523B2
公开(公告)日：2021-12-14
申请号：US16459381
申请日：2019-07-01
Applicant: Caterpillar Inc.
Inventor： Peter Joseph Petrany , Jeremy Lee Vogel
Abstract: A method receiving image information with one or more processor(s) and from a sensor disposed at a worksite and determining an identity of a work tool disposed at the worksite based at least partly on the image information. The method further includes receiving location information with the one or more processor(s), the location information indicating a first location of the sensor at the worksite. Additionally, the method includes determining a second location of the work tool at the worksite based at least partly on the location information. In some instances, the method includes generating a worksite map with the one or more processor(s), the worksite map identifying the work tool and indicating the second location of the work tool at the worksite, and at least one of providing the worksite map to an additional processor and causing the worksite map to be rendered via a display.
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公开(公告)号：US20210174088A1
公开(公告)日：2021-06-10
申请号：US16709150
申请日：2019-12-10
Applicant: Caterpillar Inc.
Inventor： Jacob Charles Maley , Pranay Kumar Reddy Kontham , Robert Scott McFarland , Vamsi Krishna Pannala , Peter Joseph Petrany
Abstract: An object detection system may include an imager configured to generate image data indicative of an environment in which a machine is present, and a sensor configured to generate sensor data indicative of the environment in which the machine is present. The object detection system may further include an object detection controller including one or more object detection processors configured to receive an image signal indicative of the image data, identify an object associated with the image data, and determine a first location of the object relative to the position of the imager. The one or more object detection processors may also be configured to receive a sensor signal indicative of the sensor data, and determine, based at least in part on the sensor signal, the presence or absence of the object at the first location.
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