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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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