公开(公告)号：US20170314381A1

公开(公告)日：2017-11-02

申请号：US15142809

申请日：2016-04-29

Applicant: Caterpillar Inc.

Inventor： Nicolas François-Xavier Christophe Vandapel ,  Nicholas Chan ,  Michael Karl Wilhelm Happold ,  Syed Waqas Hassan Tirmizi

IPC: E21B44/00 ,  G01S17/02 ,  G01S15/02 ,  G01S13/02 ,  G01B21/00 ,  G05D1/00 ,  E21B7/02

CPC classification number: G05D1/0088 ,  G01C11/12 ,  G01S13/931 ,  G01S2013/9332 ,  G01S2013/9364 ,  G01S2013/9367 ,  G05D1/0246 ,  G05D2201/021

Abstract: A control system for a machine including a perception system comprising at least one sensor disposed on the machine and generating data signals pertaining to the machine and an environment associated with the machine and a controller communicably coupled to the perception system for receiving the data signals from the at least one sensor and determining from the data signals terrain features associated with the work site and presence of one or more objects on the work site or the machine, determining geometry of the at least one sensor, location of the at least one sensor on the machine, generating a field of view for the at least one sensor, estimating cast shadow for at least one object of the one or more objects based on the geometry and location of the at least one sensor and comparing the field of view with the cast shadow to determine sensor blockage.

公开(公告)号：US20170307362A1

公开(公告)日：2017-10-26

申请号：US15136305

申请日：2016-04-22

Applicant: Caterpillar Inc.

Inventor： Nicolas François-Xavier Christophe Vandapel ,  Michael Karl Wilhelm Happold ,  Nicholas Chan

IPC: G01B11/24

CPC classification number: G01C15/00 ,  G01B11/24 ,  G01S13/89 ,  G01S15/89 ,  G01S17/89 ,  G06K9/00

Abstract: An environment recognition system for a machine operating at a worksite is provided. A processing device of the environment recognition system receives a plurality of data points from at least one perception sensor. The processing device generates an environment map and detects a plurality of objects. Further, the processing device extracts a geometry and computes an expected shadow of each of the plurality of detected objects. The processing device detects one or more missing data points indicative of a casted shadow of the respective detected object. The processing device computes a geometry of the casted shadow and compares the casted shadow with the expected shadow of the respective detected object. The processing device determines whether the geometry of any of the plurality of detected objects has been misestimated based on the comparison of the casted shadow with the expected shadow of the respective detected object.

公开(公告)号：US09703290B1

公开(公告)日：2017-07-11

申请号：US15043520

申请日：2016-02-13

Applicant: Caterpillar Inc.

Inventor： Nicolas François-Xavier Christophe Vandapel ,  Nicholas Chan ,  Michael Karl Wilhelm Happold ,  Andrew James Capodieci ,  Meenal Patel

IPC: G05D1/00 ,  G05D1/02 ,  E21B3/00

CPC classification number: G05D1/0088 ,  E21B7/02 ,  E21B44/00 ,  E21C1/00 ,  G05D1/0246 ,  G05D1/0248 ,  G05D2201/021

Abstract: A method for operating a machine on a worksite is disclosed. The method includes detecting a forward worksite condition and a rearward worksite condition relative to the machine, respectively by a first image capturing module and a second image capturing module. Thereafter, the method includes determination of a measure of effect of the machine on the worksite by comparing the rearward worksite condition with the forward worksite condition. The measure of effect is one of a deviation of an actual machine path with a baseline operational path or an impression left by the machine on the worksite. Finally, controlling one or more parameters related to a movement of the machine over the worksite, based on the measure of effect, is carried out.