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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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Patent Agency Ranking
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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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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