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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：US20220185271A1
公开(公告)日：2022-06-16
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：US20200240792A1
公开(公告)日：2020-07-30
申请号：US16677327
申请日：2019-11-07
Inventor： Xinjing Cheng , Ruigang Yang , Feixiang Lu , Hao Xu , Yajue Yang
Abstract: Embodiments of the present disclosure relate to a method and apparatus for generating a driving path. The method includes acquiring a two-dimensional image of a driving site obtained by a camera provided on an unmanned aerial vehicle through aerial photography, and a two-dimensional image of a site in front of a vehicle photographed by a camera provided on the vehicle; generating a global map based on the two-dimensional image of the driving site, and generating a local map based on the two-dimensional image of the site in front of the vehicle; and performing path planning based on the global map and the local map, to generate a global path and a local path, the local path following a direction of the global path.
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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：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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Patent Agency Ranking
公开(公告)号：US20200241537A1
公开(公告)日：2020-07-30
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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公开(公告)号：US11313685B2
公开(公告)日：2022-04-26
申请号：US16677327
申请日：2019-11-07
Inventor： Xinjing Cheng , Ruigang Yang , Feixiang Lu , Hao Xu , Yajue Yang
IPC: G06T7/70 , G06T7/55 , G06T17/05 , G01C21/32 , G05D1/02 , E02F9/26 , B64C39/02 , H04N5/247 , G05D1/00
Abstract: Embodiments of the present disclosure relate to a method and apparatus for generating a driving path. The method includes acquiring a two-dimensional image of a driving site obtained by a camera provided on an unmanned aerial vehicle through aerial photography, and a two-dimensional image of a site in front of a vehicle photographed by a camera provided on the vehicle; generating a global map based on the two-dimensional image of the driving site, and generating a local map based on the two-dimensional image of the site in front of the vehicle; and performing path planning based on the global map and the local map, to generate a global path and a local path, the local path following a direction of the global path.
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公开(公告)号：US11182928B2
公开(公告)日：2021-11-23
申请号：US16675827
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, apparatus for determining a rotation angle of an engineering mechanical device, an electronic device and a computer readable medium. The method may include: acquiring a depth image sequence acquired by a binocular camera disposed at a rotating portion of the engineering mechanical device during rotation of the rotating portion of the engineering mechanical device; converting the depth image sequence into a three-dimensional point cloud sequence; and determining a matching point between three-dimensional point cloud frames in the three-dimensional point cloud sequence, determining a rotation angle of the binocular camera during the rotation of the rotating portion of the engineering mechanical device based on the matching point between the three-dimensional point cloud frames as the rotation angle of the engineering mechanical device.
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公开(公告)号：US11131084B2
公开(公告)日：2021-09-28
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：US20200240117A1
公开(公告)日：2020-07-30
申请号：US16677308
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 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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