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1. 发明授权

US11454713B2 Configuration of a LIDAR sensor scan area according to a cycle segment of an operation of a machine 有权
公开(公告)号：US11454713B2
公开(公告)日：2022-09-27
申请号：US16781759
申请日：2020-02-04
申请人： Caterpillar Inc.
发明人： Paul Russell Friend
IPC分类号： G01S17/00 , G01S7/497 , G01S17/42 , G07C5/08 , E02F9/26 , E02F9/20 , E02F3/43
摘要： 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.

2. 发明申请

US20160148421A1 Integrated Bird's Eye View with Situational Awareness 审中-公开
标题翻译：综合鸟瞰视野与情感意识
公开(公告)号：US20160148421A1
公开(公告)日：2016-05-26
申请号：US14552008
申请日：2014-11-24
申请人： Caterpillar Inc.
发明人： Paul Russell Friend
IPC分类号： G06T17/05 , G06T3/40
CPC分类号： G06T3/40 , G06T11/00
摘要： 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.
摘要翻译：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。

3. 发明申请

US20190149814A1 CALIBRATION JIG 审中-公开
公开(公告)号：US20190149814A1
公开(公告)日：2019-05-16
申请号：US15812372
申请日：2017-11-14
申请人： Caterpillar Inc.
发明人： Paul Russell Friend , David Paul Gitz , Maikel Orlando Torres Pineiro , Matthew Daniel Fike , Qi Chen , Jeffrey Walter Earleson
IPC分类号： H04N17/00 , H04N5/232
CPC分类号： H04N17/002 , B60R1/06 , B60R2300/402 , H04N5/23296
摘要： 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.

4. 发明授权

US09593570B2 Drill positioning system utilizing drill operation state 有权
标题翻译：钻孔定位系统采用钻孔操作状态
公开(公告)号：US09593570B2
公开(公告)日：2017-03-14
申请号：US14331989
申请日：2014-07-15
申请人： CATERPILLAR INC.
发明人： Paul Russell Friend
IPC分类号： G01V3/00 , E21B47/022 , E21B7/02
CPC分类号： E21B47/022 , E21B7/02
摘要： 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.
摘要翻译：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。

5. 发明授权

US09378554B2 Real-time range map generation 有权
标题翻译：实时范围图生成
公开(公告)号：US09378554B2
公开(公告)日：2016-06-28
申请号：US14510869
申请日：2014-10-09
申请人： CATERPILLAR INC.
发明人： Hong Chang , Paul Russell Friend
IPC分类号： G06K9/32 , G06T7/00 , G01S17/89 , H04N13/02 , G05D1/02 , G06T7/20
CPC分类号： H04N13/207 , G01S17/89 , G05D1/0248 , G05D1/0274 , G06T7/33 , G06T7/55 , G06T2207/10024 , G06T2207/10028 , G06T2207/30252
摘要： 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.
摘要翻译：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。

6. 发明授权

US08773540B2 Automated camera and monitor color calibration 有权
标题翻译：自动相机和显示器颜色校准
公开(公告)号：US08773540B2
公开(公告)日：2014-07-08
申请号：US13670333
申请日：2012-11-06
申请人： Caterpillar Inc.
发明人： Paul Russell Friend
IPC分类号： H04N17/02 , H04N9/28
CPC分类号： H04N17/002 , G01J3/506 , G01J3/524 , H04N17/02 , H04N17/04
摘要： 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.
摘要翻译：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。

7. 发明申请

US20140125818A1 Automated Camera and Monitor Color Calibration 有权
标题翻译：自动相机和显示器颜色校准
公开(公告)号：US20140125818A1
公开(公告)日：2014-05-08
申请号：US13670333
申请日：2012-11-06
申请人： CATERPILLAR INC.
发明人： Paul Russell Friend
IPC分类号： H04N17/02
CPC分类号： H04N17/002 , G01J3/506 , G01J3/524 , H04N17/02 , H04N17/04
摘要： 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.
摘要翻译：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。

8. 发明申请

US20190295334A1 VEHICLE POSE SHARING DIAGNOSTIC SYSTEM 审中-公开
公开(公告)号：US20190295334A1
公开(公告)日：2019-09-26
申请号：US16439087
申请日：2019-06-12
申请人： Caterpillar Inc.
发明人： Nolan Andrew Graves , Paul Russell Friend
IPC分类号： G07C5/00 , G07C5/08
摘要： A vehicle pose sharing diagnostic system includes a first communication module and a first pose module in communication with the first communication module. The first pose module is configured to generate a pose signal corresponding to the first machine. The system further includes a first sensing module configured to generate a pose signal corresponding to at least one of a second machine and an infrastructure. The system includes a control module communicably coupled to the first communication module. The control module is configured to determine an operational error in the first communication module and the first pose module. The control module is also configured to generate diagnosis information corresponding to the determined operational error. Further, the system includes a feedback device communicably coupled to the control module. The feedback device is configured to receive the diagnosis information from the control module and display the diagnosis information thereon.

9. 发明申请

US20180066413A1 SYSTEM AND METHOD FOR SWING CONTROL 审中-公开
公开(公告)号：US20180066413A1
公开(公告)日：2018-03-08
申请号：US15259251
申请日：2016-09-08
申请人： Caterpillar Inc.
发明人： Paul Russell Friend , Michael Edward Brandt
IPC分类号： E02F9/12 , G01B21/16
CPC分类号： E02F9/123 , E02F3/308 , E02F3/46 , E02F9/2033 , E02F9/262 , G01B21/16
摘要： 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.

10. 发明授权

US09449397B2 Real-time visual odometry system for determining motion of a machine with a range detection unit 有权
标题翻译：用于用距离检测单元确定机器的运动的实时视觉测距系统
公开(公告)号：US09449397B2
公开(公告)日：2016-09-20
申请号：US14515009
申请日：2014-10-15
申请人： Caterpillar Inc.
发明人： Hong Chang , Paul Russell Friend
IPC分类号： G06K9/00 , G06T7/20 , G06K9/52
CPC分类号： G06T7/20 , G06K9/00791 , G06K9/52 , G06T7/73 , G06T2207/10016 , G06T2207/10024 , G06T2207/10028 , G06T2207/20221 , G06T2207/30244 , G06T2207/30252
摘要： A motion determination system is disclosed. The system may receive a first camera image and a second camera image. The system may receive a first range image corresponding to the first camera image. The system may generate a first range map by fusing the first camera image and the first range image. The system may iteratively process a plurality of first features in the first range map to determine a change in position of the machine. The plurality of second features may correspond to the plurality of first features, and each of the plurality of first and second features is denoted by feature points in an image space of the camera.
摘要翻译：公开了一种运动判定系统。系统可以接收第一相机图像和第二相机图像。系统可以接收对应于第一相机图像的第一范围图像。系统可以通过融合第一相机图像和第一范围图像来生成第一范围图。系统可以迭代地处理第一范围图中的多个第一特征以确定机器位置的变化。多个第二特征可以对应于多个第一特征，并且多个第一和第二特征中的每一个由相机的图像空间中的特征点表示。

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