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1. 发明申请

WO2022173586A1 GROUND ENGAGING TOOL WEAR AND LOSS DETECTION SYSTEM AND METHOD 审中-公开
公开(公告)号：WO2022173586A1
公开(公告)日：2022-08-18
申请号：PCT/US2022/013639
申请日：2022-01-25
申请人： CATERPILLAR INC.
发明人： MIANZO, Lawrence A. , OBLAK, Tod A. , PLOUZEK, John M. , MATHEW, Shawn Nainan , WISE, Raymond Alan
IPC分类号： G06V10/25 , G06V10/44 , G06V10/70 , G06V10/82 , G06V10/764 , G06V20/64 , E02F9/00 , E02F9/28 , G06V10/40
摘要： An example wear detection system (110) receives a left image (510) and a right image (520) of a bucket (120) of a work machine (100) having at least one ground engaging tool (GET) (125). The example system identifies a first region of interest (550) from the left image corresponding to the GET and a second region of interest (560) from the right image corresponding to the GET. The example system also generates a left-edge digital image (740) corresponding to the first region of interest and a right-edge digital image (750) corresponding to the second region of interest. Further, the example system determines a sparse stereo disparity (760) between the left- edge digital image and the right-edge digital image, determines measurement data related to the GET and also determines a wear level or loss for the at least one GET based on the measurement data.

2. 发明申请

WO2022203929A1 SYSTEMS, METHODS, AND APPARATUSES FOR REAL-TIME CHARACTERIZATION OF ROCK CUTTINGS DURING ROCK DRILL CUTTING 审中-公开
公开(公告)号：WO2022203929A1
公开(公告)日：2022-09-29
申请号：PCT/US2022/020698
申请日：2022-03-17
申请人： CATERPILLAR INC.
发明人： OBLAK, Tod A. , TAYLOR, Lyle , PETERSON, James , HENDRICKS, Carl , HALTERMAN, John F. , MIANZO, Lawrence A. , NADUKURU, Narayana G.
IPC分类号： G01V8/10 , G01V99/00 , G01J3/28 , G01N21/3563 , E21B49/00
摘要： A system, method, and apparatus for real-time characterization of drilled particles (50) during a drilling operation can be comprised of a light illumination source (260) to output short-wave-infrared (SWIR) light toward the drilled particles (50) as the drilled particles (50) exit a drill hole (100) being drilled by a drilling machine (200); a sensor (270) to sense reflected short-wave-infrared (SWIR) light reflected from the drilled particles (50) exiting the drill hole (100); and processing circuitry (250, 252, 255) operatively coupled to at least the sensor (270). The processing circuitry (250, 252, 255) can be configured to determine a spectrum of the reflected short-wave-infrared light sensed by the sensor (270), and determine particle characterization for a portion of the drilled particles (50) by performing hyperspectral analysis on the determined spectrum and based on predetermined candidate particle characterizations.

3. 发明申请

WO2023018540A1 WORK MACHINE GROUND ENGAGING TOOL WEAR AND LOSS DETECTION SYSTEM AND METHOD 审中-公开
公开(公告)号：WO2023018540A1
公开(公告)日：2023-02-16
申请号：PCT/US2022/038292
申请日：2022-07-26
申请人： CATERPILLAR INC.
发明人： MIANZO, Lawrence A. , OBLAK, Tod A. , PLOUZEK, John M. , WISE, Raymond A. , MATHEW, Shawn N. , ADLER, Daniel P.
IPC分类号： E02F9/28 , G01S17/894 , G06T15/00
摘要： An example wear detection system (110) receives a plurality of images from a plurality of sensors (126, 128) associated with a work machine (100). Individual sensors of the plurality of sensors have respective fields-of-view (127, 129) different from other sensors of the plurality of sensors. The wear detection system identifies a first region of interest(550) and second region of interest (550) associated with the at least one GET. The wear detection system determines a first set of image points (920) and a second set of images points (920) for the at least one GET based on geometric parameters (535) 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.

4. 发明申请

WO2023018535A1 SYSTEM AND COMPUTER-IMPLEMENTED METHOD FOR DETERMINING WEAR LEVELS OF A GROUND ENGAGING TOOL OF A WORK MACHINE INDICATIVE OF A TOOL REPLACEMENT CONDITION 审中-公开
公开(公告)号：WO2023018535A1
公开(公告)日：2023-02-16
申请号：PCT/US2022/037977
申请日：2022-07-22
申请人： CATERPILLAR INC.
发明人： MIANZO, Lawrence A. , OBLAK, Tod A. , MATHEW, Shawn Nainan , PLOUZEK, John M. , WISE, Raymond Alan , ADLER, Daniel Paul
IPC分类号： E02F9/26 , E02F9/28 , G06Q10/00
摘要： An example wear detection system (110) receives first image data related to at least one ground engaging tool (GET) of a work machine (100) 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.

5. 发明申请

WO2019032289A1 SYSTEMS AND METHODS FOR TESTING AN AUTOMATIC PERCEPTION SYSTEM 审中-公开
公开(公告)号：WO2019032289A1
公开(公告)日：2019-02-14
申请号：PCT/US2018/043590
申请日：2018-07-25
申请人： CATERPILLAR INC.
发明人： MIANZO, Lawrence A. , FORCASH, Joseph , OBLAK, Tod A. , STRINGER, Jeffrey T. , HARTMAN, Mark , CARTER Jr., Jeffrey J.
IPC分类号： G06K9/00 , G06K9/62
摘要： A method for testing a perception system is disclosed. The method includes detecting, by a processor, one or more objects in a composite image, the composite image including a first image and at least a portion of a second image. A first set of objects are detected in the first image. Further, the method includes comparing, by the processor, a second set of objects of the one or more objects detected in the portion of the second image with a set of previously detected objects in the portion of the second image. Furthermore, the method includes validating, the performance of the processor in the detection of the first set of objects in the first image by ensuring the second set of objects detected in the at least a portion of a second image matches the set of previously detected objects in the portion of the second image.

6. 发明申请

WO2022256163A1 GROUND ENGAGING TOOL WEAR AND LOSS DETECTION SYSTEM AND METHOD 审中-公开
公开(公告)号：WO2022256163A1
公开(公告)日：2022-12-08
申请号：PCT/US2022/029386
申请日：2022-05-16
申请人： CATERPILLAR INC.
发明人： MIANZO, Lawrence A. , OBLAK, Tod A. , PLOUZEK, John M. , WISE, Raymond A. , MATHEW, Shawn N.
IPC分类号： E02F9/26 , E02F9/28
摘要： An example wear detection system (110) receives first imaging data from one or more sensors (126, 128) associated with a work machine (100). The first imaging data comprises data related to at least one ground engaging tool (GET) (125) 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 (126) 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.

7. 发明申请

WO2019108363A1 OPERATOR ASSISTANCE VISION SYSTEM 审中-公开
公开(公告)号：WO2019108363A1
公开(公告)日：2019-06-06
申请号：PCT/US2018/059842
申请日：2018-11-08
申请人： CATERPILLAR INC.
发明人： MIANZO, Lawrence A. , HOFFELDER, Michael
IPC分类号： B60R1/00 , E02F9/26 , E02F9/20
摘要： A vision system (200) for assisting an operator of a machine (100) is provided. An image capturing device (120), mounted on the machine (100), is configured to capture an image (302) of an environment of the machine (100). The vision system (200) includes a controller (202) configured to apply an object detection process to detect an object (122) in the image (302). The controller (202) determines a bounding box (402) comprising one or more pixels associated with the object (122). The controller (202) determines a height and a range associated with the object (122) based on the bounding box (402). The controller (202) extracts the one or more pixels within the bounding box (402). The controller (202) is further configured to generate a three-dimensional (3D) view (500, 600) comprising the object (122) based on the image captured by the image capturing device (120). The controller (202) reinserts the one or more pixels as a vertical pop-up element with respect to a ground plane in the 3D view (500, 600). A display (118) is provided to display the 3D view (500, 600) to the operator of the machine (100).

8. 发明申请

WO2019070368A1 SYSTEM AND METHOD FOR OBJECT DETECTION 审中-公开
公开(公告)号：WO2019070368A1
公开(公告)日：2019-04-11
申请号：PCT/US2018/050154
申请日：2018-09-10
申请人： CATERPILLAR INC.
发明人： MIANZO, Lawrence A. , HOFFELDER, Michael , STRINGER, Jeffrey, T.
IPC分类号： G06T7/11 , G06T7/70 , G06T7/60
摘要： A method (1400) for detecting an object (122) in an environment of a machine (100) is provided. The method (1400) includes determining a first height (602) of the object (122) by applying sliding window detection process on an image (302). The method (1400) determines a score (304) indicating a probability that the object (122) detected in the image (302) matches a predefined set of characteristics. The method (1400) further includes determining a minimum and a maximum vertical pixel (706, 704) associated with the object (122). The method (1400) includes determining a second height (1202) of the object (122) based on a range (906) of the object (122), the minimum vertical pixel (706), the maximum vertical pixel (704), intrinsic and extrinsic calibration parameters (902, 904) of the image capturing device (120). The method (1400) includes comparing the first height (602) with the second height (1202) and, accordingly, modifying the score (304) regarding the detection of the object (122) in the image (302) based on whether a difference (1302) between the first height (602) and the second height (1202) meets a predetermined criterion.

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