公开(公告)号：US11669956B2

公开(公告)日：2023-06-06

申请号：US17335835

申请日：2021-06-01

Applicant: Caterpillar Inc.

Inventor： Lawrence A Mianzo ,  Tod A Oblak ,  John M Plouzek ,  Raymond Alan Wise ,  Shawn Nainan Mathew

IPC: G06T7/00 ,  G06T7/521 ,  G06T7/11 ,  G06T7/174 ,  G06V10/44 ,  G06V20/64

CPC classification number: G06T7/001 ,  G06T7/11 ,  G06T7/174 ,  G06T7/521 ,  G06V10/44 ,  G06V20/647 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/30164

Abstract: An example wear detection system receives first imaging data from one or more sensors associated with a work machine. The first imaging data comprises data related to at least one ground engaging tool (GET) of the work machine. The example system identifies a region of interest including data of the at least one GET within the first imaging data. Based on the identified region of interest, the example system controls a LiDAR sensor to capture second imaging data capturing the at least one GET that is of higher resolution than the first imaging data. The example system generates a three-dimensional point cloud of the at least one GET based on the second imaging data and determines a wear level or loss for the at least one GET based on the three-dimensional point cloud.

公开(公告)号：US11869331B2

公开(公告)日：2024-01-09

申请号：US17399199

申请日：2021-08-11

Applicant: Caterpillar Inc.

Inventor： Lawrence A Mianzo ,  Tod A Oblak ,  Shawn Nainan Mathew ,  John M Plouzek ,  Raymond Alan Wise ,  Daniel Paul Adler

IPC: G08B21/18 ,  G06T7/593 ,  H04N13/239 ,  G06T7/00 ,  G08B31/00

CPC classification number: G08B21/182 ,  G06T7/001 ,  G06T7/593 ,  G08B31/00 ,  H04N13/239 ,  G06T2207/20081 ,  G06T2207/20228 ,  G06T2207/30164 ,  G06V2201/06

Abstract: An example wear detection system receives first image data related to at least one ground engaging tool (GET) of a work machine from one or more sensors at a first time instance in a dig-dump cycle of the work machine. The wear detection system processes the first image data to determine a first wear measurement and first wear level for the at least one GET. The wear detection system determines whether the first wear level is indicative of a GET replacement condition. The wear detection system generates an alert when the first wear level is indicative of the GET replacement condition. The wear detection system receives second image data related to the at least one GET a second time instance different from the first time instance when the first wear level is not indicative of the GET replacement condition and determines a second wear measurement and second wear level for the at least one GET. The wear detection system generates an alert indicative of the first wear level and the second wear level based on determining that the first wear level and the second wear level are indicative of the GET replacement condition.

公开(公告)号：US20230053154A1

公开(公告)日：2023-02-16

申请号：US17399433

申请日：2021-08-11

Applicant: Caterpillar Inc.

Inventor： Lawrence A. Mianzo ,  Tod A. Oblak ,  John M. Plouzek ,  Raymond Alan Wise ,  Shawn Nainan Mathew ,  Daniel Paul Adler

IPC: G06T7/00 ,  G06T7/12 ,  G06T7/60 ,  G06T7/174 ,  G06K9/32 ,  G06T7/593

Abstract: An example wear detection system receives a plurality of images from a plurality of sensors associated with a work machine. Individual sensors of the plurality of sensors have respective fields-of-view different from other sensors of the plurality of sensors. The wear detection system identifies a first region of interest and second region of interest associated with the at least one GET. The wear detection system determines a first set of image points and a second set of images points for the at least one GET based on geometric parameters associated with the GET. The wear detection system determines a wear level or loss for the at least one GET based on the GET measurement.

公开(公告)号：US20230051843A1

公开(公告)日：2023-02-16

申请号：US17399199

申请日：2021-08-11

Applicant: Caterpillar Inc.

Inventor： Lawrence A. Mianzo ,  Tod A. Oblak ,  Shawn Nainan Mathew ,  John M. Plouzek ,  Raymond Alan Wise ,  Daniel Paul Adler

IPC: G08B21/18 ,  G06T7/00 ,  G06T7/593 ,  G08B31/00 ,  H04N13/239

Abstract: An example wear detection system receives first image data related to at least one ground engaging tool (GET) of a work machine from one or more sensors at a first time instance in a dig-dump cycle of the work machine. The wear detection system processes the first image data to determine a first wear measurement and first wear level for the at least one GET. The wear detection system determines whether the first wear level is indicative of a GET replacement condition. The wear detection system generates an alert when the first wear level is indicative of the GET replacement condition. The wear detection system receives second image data related to the at least one GET a second time instance different from the first time instance when the first wear level is not indicative of the GET replacement condition and determines a second wear measurement and second wear level for the at least one GET. The wear detection system generates an alert indicative of the first wear level and the second wear level based on determining that the first wear level and the second wear level are indicative of the GET replacement condition.

公开(公告)号：US20220251807A1

公开(公告)日：2022-08-11

申请号：US17171569

申请日：2021-02-09

Applicant: Caterpillar Inc.

Inventor： Lawrence A. Mianzo ,  Tod A. Oblak ,  John M. Plouzek ,  Shawn Nainan Mathew ,  Raymond Alan Wise

IPC: E02F9/26 ,  E02F9/28

Abstract: An example wear detection system receives a left image and a right image of a bucket of a work machine having at least one ground engaging tool (GET). The example system identifies a first region of interest from the left image corresponding to the GET and a second region of interest from the right image corresponding to the GET. The example system also generates a left-edge digital image corresponding to the first region of interest and a right-edge digital image corresponding to the second region of interest. Further, the example system determines a sparse stereo disparity between the left-edge digital image and the right-edge digital image, and also determines a wear level or loss for the at least one GET based on the sparse stereo disparity.

公开(公告)号：US12020419B2

公开(公告)日：2024-06-25

申请号：US17399433

申请日：2021-08-11

Applicant: Caterpillar Inc.

Inventor： Lawrence A Mianzo ,  Tod A Oblak ,  John M Plouzek ,  Raymond Alan Wise ,  Shawn Nainan Mathew ,  Daniel Paul Adler

IPC: G06T7/00 ,  G06T7/12 ,  G06T7/174 ,  G06T7/593 ,  G06T7/60 ,  G06V10/25

CPC classification number: G06T7/001 ,  G06T7/12 ,  G06T7/174 ,  G06T7/593 ,  G06T7/60 ,  G06V10/25 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/30164

Abstract: An example wear detection system receives a plurality of images from a plurality of sensors associated with a work machine. Individual sensors of the plurality of sensors have respective fields-of-view different from other sensors of the plurality of sensors. The wear detection system identifies a first region of interest and second region of interest associated with the at least one GET. The wear detection system determines a first set of image points and a second set of images points for the at least one GET based on geometric parameters associated with the GET. The wear detection system determines a wear level or loss for the at least one GET based on the GET measurement.

公开(公告)号：US11821177B2

公开(公告)日：2023-11-21

申请号：US17171569

申请日：2021-02-09

Applicant: Caterpillar Inc.

Inventor： Lawrence A Mianzo ,  Tod A Oblak ,  John M Plouzek ,  Shawn Nainan Mathew ,  Raymond Alan Wise

IPC: E02F9/00 ,  E02F9/26 ,  E02F9/28 ,  G06V10/44 ,  G06V10/70 ,  G06V10/25

CPC classification number: E02F9/267 ,  E02F9/2808 ,  G06V10/25 ,  G06V10/443 ,  G06V10/70 ,  G06V2201/07

Abstract: An example wear detection system receives a left image and a right image of a bucket of a work machine having at least one ground engaging tool (GET). The example system identifies a first region of interest from the left image corresponding to the GET and a second region of interest from the right image corresponding to the GET. The example system also generates a left-edge digital image corresponding to the first region of interest and a right-edge digital image corresponding to the second region of interest. Further, the example system determines a sparse stereo disparity between the left-edge digital image and the right-edge digital image, and also determines a wear level or loss for the at least one GET based on the sparse stereo disparity.

公开(公告)号：US20220383469A1

公开(公告)日：2022-12-01

申请号：US17335835

申请日：2021-06-01

Applicant: Caterpillar Inc.

Inventor： Lawrence A. Mianzo ,  Tod A. Oblak ,  John M. Plouzek ,  Raymond Alan Wise ,  Shawn Nainan Mathew

IPC: G06T7/00 ,  G06T7/11 ,  G06T7/521 ,  G06K9/00 ,  G06T7/174 ,  G06K9/46

Abstract: An example wear detection system receives first imaging data from one or more sensors associated with a work machine. The first imaging data comprises data related to at least one ground engaging tool (GET) of the work machine. The example system identifies a region of interest including data of the at least one GET within the first imaging data. Based on the identified region of interest, the example system controls a LiDAR sensor to capture second imaging data capturing the at least one GET that is of higher resolution than the first imaging data. The example system generates a three-dimensional point cloud of the at least one GET based on the second imaging data and determines a wear level or loss for the at least one GET based on the three-dimensional point cloud.