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公开(公告)号：US11668076B2
公开(公告)日：2023-06-06
申请号：US16677308
申请日：2019-11-07
Inventor： Xinjing Cheng , Ruigang Yang , Yajue Yang , Feixiang Lu , Hao Xu
CPC classification number: E02F9/262 , E02F9/265 , G06T3/0031 , G06T7/593 , G06T2207/10012
Abstract: Embodiments of the present disclosure relate to a method and apparatus for controlling an excavator to excavate. The method includes: acquiring a two-dimensional image of a material pile; generating a three-dimensional model of the material pile based on the two-dimensional image; analyzing the three-dimensional model to determine a target excavating point and a target excavating trajectory of the material pile; and controlling an excavator to excavate a material at the target excavating point along the target excavating trajectory.
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公开(公告)号：US11568593B2
公开(公告)日：2023-01-31
申请号：US16676281
申请日：2019-11-06
Inventor： Xinjing Cheng , Ruigang Yang , Feixiang Lu , Yajue Yang , Hao Xu
Abstract: Embodiments of the present disclosure relate to a three-dimensional reconstruction method and apparatus for a material pile, an electronic device, and a computer-readable medium. The method may include: acquiring, in response to an instruction for controlling an excavator body of an excavator to rotate to transport materials being detected, a sequence of depth images of an excavated material pile collected by a binocular camera provided on a side of the excavator; and performing three-dimensional reconstruction based on the sequence of depth images of the material pile, to generate a three-dimensional model of the material pile.
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公开(公告)号：US11463606B2
公开(公告)日：2022-10-04
申请号：US16723650
申请日：2019-12-20
Inventor： Xinjing Cheng , Ruigang Yang , Hao Xu , Feixiang Lu , Yajue Yang
Abstract: Embodiments of the present disclosure disclose an apparatus and method for fixing a sensing system to an unmanned construction machinery. The fixing apparatus includes an internal fixing module and an external fixing module, in which, the internal fixing module is configured to fix a sensing device in a sensing system of an unmanned construction machinery to the external fixing module in a predetermined fixing manner; and the external fixing module is configured to control the sensing device in the sensing system to perform an environment sensing on a target area of the unmanned construction machinery in a predetermined control manner.
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公开(公告)号：US11378957B1
公开(公告)日：2022-07-05
申请号：US16677321
申请日：2019-11-07
Inventor： Xinjing Cheng , Ruigang Yang , Yajue Yang , Feixiang Lu , Hao Xu
Abstract: Embodiments of the present disclosure relate to a method and apparatus for controlling vehicle driving. The method includes: generating a global path of a driving site of a vehicle; executing following controlling: generating a local path of a site in front of a current position of the vehicle based on the global path, the local path following a direction of the global path, controlling the vehicle to drive along the local path until reaching an end point of the local path, determining whether the vehicle reaches an end point of the global path, and terminating the controlling if the vehicle reaches the endpoint of the global path; and continuing, in response to determining the vehicle failing to reach the end point of the global path, executing the controlling.
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公开(公告)号：US11372413B2
公开(公告)日：2022-06-28
申请号：US16677413
申请日：2019-11-07
Inventor： Xinjing Cheng , Ruigang Yang , Yajue Yang , Feixiang Lu , Hao Xu
Abstract: Embodiments of the present disclosure relate to a method and apparatus for outputting information. The method includes: acquiring a target excavating trajectory, the target excavating trajectory including at least two sub-trajectories; determining trajectory parameters of the at least two sub-trajectories; determining, based on the trajectory parameters, positions of a plurality of control points; and outputting the positions of the plurality of control points.
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Patent Agency Ranking
公开(公告)号：US20200240118A1
公开(公告)日：2020-07-30
申请号：US16677337
申请日：2019-11-07
Inventor： Xinjing Cheng , Ruigang Yang , Yajue Yang , Feixiang Lu , Hao Xu
Abstract: Embodiments of the present disclosure relate to a method and apparatus for selecting a target excavating point. The method includes: acquiring a height map of a material pile; discretizing the height map to obtain an excavating point set; acquiring an excavating trajectory set of an excavating point in the excavating point set; and selecting a target excavating point based on the excavating trajectory set of the excavating point in the excavating point set.
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公开(公告)号：US11236493B2
公开(公告)日：2022-02-01
申请号：US16674983
申请日：2019-11-05
Inventor： Xinjing Cheng , Ruigang Yang , Yajue Yang , Feixiang Lu , Hao Xu
Abstract: Embodiments of the present disclosure relate to a method and apparatus for controlling equipment. The method includes: acquiring an electrical signal collected by a displacement sensor; determining a displacement of a movable rod of a hydraulic cylinder relative to a cylinder tube of the hydraulic cylinder according to the electrical signal; determining, according to the displacement, a rotating angle of a mechanical arm connected to the movable rod relative to a mechanical arm connected to the cylinder tube; and controlling equipment according to the rotating angle.
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公开(公告)号：US11356510B2
公开(公告)日：2022-06-07
申请号：US16726549
申请日：2019-12-24
Inventor： Xinjing Cheng , Ruigang Yang , Hao Xu , Feixiang Lu , Yajue Yang
IPC: H04L67/12 , G05B19/4155
Abstract: Embodiments of the present disclosure disclose a control system and a control method of an unmanned engineering machinery. The system includes at least a slave computer, a master computer and an execution device. The slave computer is configured to receive a current sensing value fed back by a sensing device in the unmanned engineering machinery, and to send the current sensing value to the master computer. The master computer is configured to generate a control instruction according to the current sensing value and a predetermined target sensing value of the sensing device, and to send the control instruction to the execution device through the slave computer.
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公开(公告)号：US11288492B2
公开(公告)日：2022-03-29
申请号：US16773286
申请日：2020-01-27
Inventor： Xibin Song , Ruigang Yang
Abstract: The present disclosure provides a method and device for acquiring 3D information of an object. The method includes: extracting two-dimensional (2D) key points of the object based on the image, and determining a candidate 3D model set matching the image; determining a plurality of first reference attitudes and positions of each candidate 3D model according to the 3D key points and the 2D key points; acquiring a plurality of reprojection error values between each candidate 3D model and the object at the plurality of first reference attitudes and positions; determining a first target attitude and position and a first target 3D model corresponding to a minimum reprojection error value in the first reprojection error value set; and acquiring the 3D information of the object based on the first target attitude and position and the first target 3D model.
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公开(公告)号：US11004235B2
公开(公告)日：2021-05-11
申请号：US16675825
申请日：2019-11-06
Inventor： Xinjing Cheng , Ruigang Yang , Feixiang Lu , Yajue Yang , Hao Xu
Abstract: Embodiments of the present disclosure provide a method and apparatus for determining position and orientation of a bucket of an excavator, an electronic device and a computer readable medium. The method may include: acquiring an image of a bucket of an excavator collected by a camera provided on an excavator body, the image of the bucket including a preset marker provided on the bucket; determining position and orientation information of the camera relative to the bucket on the basis of the image of the bucket and pre-acquired three-dimensional feature information of the preset marker; and converting the position and orientation information of the camera relative to the bucket into position and orientation information of the bucket relative to the excavator body.
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