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公开(公告)号：US20240018743A1
公开(公告)日：2024-01-18
申请号：US18223474
申请日：2023-07-18
Applicant: LEICA GEOSYSTEMS TECHNOLOGY A/S
Inventor： Lars KJAERGAARD , Sean COSTELLO , Pierluigi MICARELLI
CPC classification number: E02F3/439 , E02F3/32 , E02F9/262 , E02F9/265 , E02F3/3681
Abstract: A controller for an excavating machine, comprising a tool, an arm, a set of sensors and a chassis. The sensors being configured to provide data regarding a pose of the tool. The controller comprising an input interface and a computing unit. The input interface is configured to receive operator steering commands. The computing unit is configured to read a design model, comprising two interconnected polygons defining a breakline and to reference the pose of the tool to the design model. The controller is configured for performing a semi-automatic breakline-transition. The semi-automatic breakline-transition function including identifying a breakline-transition move based on the operator steering commands and the pose of the tool with respect to the breakline and generating operator steering command adjustment commands, based on the pose of the tool and the operator steering commands, in order to align the tool to the breakline.
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公开(公告)号：US20230407605A1
公开(公告)日：2023-12-21
申请号：US18212077
申请日：2023-06-20
Applicant: LEICA GEOSYSTEMS TECHNOLOGY A/S
Inventor： Michael Goulet KEAN
IPC: E02F9/26 , E02F5/14 , G05B17/02 , G06F3/04883 , G06F3/04842 , H04N7/18 , G06T17/05 , G06F3/04845 , G06T7/70
CPC classification number: E02F9/262 , E02F5/145 , G05B17/02 , G06F3/04883 , G06F3/04842 , G06T2207/20092 , G06T17/05 , G06F3/04845 , G06T7/70 , G06T2200/24 , G06T2200/04 , H04N7/183
Abstract: A system for planning an earth-moving operation to be performed by a construction machine having a tool for performing the earth-moving operation and a machine control unit for at least partially controlling the earth-moving operation, the system comprising a measuring system configured for capturing 3D measuring data of an uneven terrain in a surrounding of the construction machine, a context camera having a known position relative to the measuring system and/or the 3D measuring data and being configured for capturing context image data of the terrain, a user interface configured for displaying at least one context image to an operator of the construction machine and for receiving user input from the operator, and a computing unit operatively coupled at least with the measuring system and the user interface.
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公开(公告)号：US12018457B2
公开(公告)日：2024-06-25
申请号：US17177786
申请日：2021-02-17
Inventor： Magnus Thibblin , Tommi Juhani Kauppinen , Burkhard Böckem , Matthias Wieser , Roman Steffen , Pascal Gohl
IPC: G01S7/481 , B60R11/00 , E02F9/20 , E02F9/26 , G01B21/22 , G01S17/89 , G01S17/931 , E02F3/32 , E02F3/43 , E02F3/76 , E02F3/84
CPC classification number: E02F9/2087 , B60R11/00 , E02F9/2033 , E02F9/2079 , E02F9/262 , E02F9/265 , G01B21/22 , G01S7/4817 , G01S17/89 , G01S17/931 , B60R2011/004 , E02F3/32 , E02F3/435 , E02F3/7609 , E02F3/7636 , E02F3/841 , E02F3/844 , E02F9/205
Abstract: A construction machine comprising a chassis, a steering, and a powertrain for driving the construction machine by the chassis, an earth-moving tool for working a terrain, and a measuring system having a first measuring unit configured for generating first measuring data in a first detection range and comprising at least a first camera and a first LiDAR scanner configured for rotating a first measuring beam around a first axis and around a second axis non-parallel to the first axis with a rotating speed of at least 0.5 Hz with respect to each axis, an interface connecting the first measuring unit to a computer configured for, based on the first measuring data, at least one of generating a three-dimensional model of the terrain within the first detection range, identifying an obstacle or a person within the first detection range, and controlling the steering, the powertrain, and/or the earth-moving tool.
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公开(公告)号：US20240135554A1
公开(公告)日：2024-04-25
申请号：US18383438
申请日：2023-10-23
Applicant: LEICA GEOSYSTEMS TECHNOLOGY A/S
Inventor： Michael Goulet KEAN , Tommi Juhani KAUPPINEN , Morten NISSEN
CPC classification number: G06T7/251 , E02F9/261 , E02F9/264 , G06T7/75 , G06T7/80 , G06T2207/30244 , G06T2207/30252
Abstract: A method for tracking a movable implement of a work vehicle. The method comprises the steps of 1.) accessing images during movement of the work vehicle providing a view onto an environment and at least part of the implement, 2.) providing by a feature tracking algorithm a 3D environment model and referencing of the sensor pose to the 3D environment model, 3.) tracking implement features at different poses of the implement and, determining implement tracking data providing positional and arrangement information for the implement features, 4.) accessing benchmark information providing a real distance between two benchmark points, 5.) using the benchmark information to provide the implement tracking data with absolute scale information, and 6.) using the implement tracking data for the tracking of the implement.
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公开(公告)号：US20240309614A1
公开(公告)日：2024-09-19
申请号：US18604298
申请日：2024-03-13
Applicant: LEICA GEOSYSTEMS TECHNOLOGY A/S
Inventor： Michael Goulet KEAN
CPC classification number: E02F9/264 , E02F9/267 , G01C21/165 , E02F9/2004
Abstract: A computer program product for deriving a heading of an implement of a work vehicle. The work vehicle comprises, as independently tracked components, the implement, a chassis, and an arm connecting the two. For each of the independently tracked components a respective IMU is correspondingly associated, wherein the IMU provides an IMU reference frame of the component. The computer program product derives, on the basis of the IMU reference frames, internal and external constraints consistent component reference frames. The heading of the implement is derived utilizing the consistent component reference frames.
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Patent Agency Ranking
公开(公告)号：US20240247467A1
公开(公告)日：2024-07-25
申请号：US18418054
申请日：2024-01-19
Applicant: LEICA GEOSYSTEMS TECHNOLOGY A/S
Inventor： Michael Goulet KEAN , Tommi Juhani KAUPPINEN , Morten NISSEN
CPC classification number: E02F9/26 , E02F9/2029 , G01V20/00 , G06T7/001 , E02F3/844 , G06T2200/04 , G06T2207/30164
Abstract: A method for deriving a wear state of a soil interaction component of a soil processing implement of a construction vehicle. The method comprises steps of 1.) providing a geometry model regarding an assumed shape of the soil interaction component, 2.) engaging the soil by using the soil interaction component and tracking a motion for deriving tracking data of the soil interaction component, 3.) using the tracking data and the geometry model to derive an expected 3D surface model, 4.) providing visual 3D perception data of a soil area affected by the engaging, such that the visual 3D perception data and the expected 3D surface model can be referenced to one another, and 5.) comparing the visual 3D perception data with the expected 3D surface model and, based thereof, determining a deviation of an effective shape of the soil interaction component from the assumed shape.
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公开(公告)号：US20210254308A1
公开(公告)日：2021-08-19
申请号：US17177786
申请日：2021-02-17
Inventor： Magnus THIBBLIN , Tommi Juhani KAUPPINEN , Burkhard BÖCKEM , Matthias WIESER , Roman STEFFEN , Pascal GOHL
Abstract: A construction machine comprising a chassis, a steering, and a powertrain for driving the construction machine by the chassis, an earth-moving tool for working a terrain, and a measuring system having a first measuring unit configured for generating first measuring data in a first detection range and comprising at least a first camera and a first LiDAR scanner configured for rotating a first measuring beam around a first axis and around a second axis non-parallel to the first axis with a rotating speed of at least 0.5 Hz with respect to each axis, an interface connecting the first measuring unit to a computer configured for, based on the first measuring data, at least one of generating a three-dimensional model of the terrain within the first detection range, identifying an obstacle or a person within the first detection range, and controlling the steering, the powertrain, and/or the earth-moving tool.
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公开(公告)号：US20240233142A9
公开(公告)日：2024-07-11
申请号：US18383438
申请日：2023-10-24
Applicant: LEICA GEOSYSTEMS TECHNOLOGY A/S
Inventor： Michael Goulet KEAN , Tommi Juhani KAUPPINEN , Morten NISSEN
CPC classification number: G06T7/251 , E02F9/261 , E02F9/264 , G06T7/75 , G06T7/80 , G06T2207/30244 , G06T2207/30252
Abstract: A method for tracking a movable implement of a work vehicle. The method comprises the steps of 1.) accessing images during movement of the work vehicle providing a view onto an environment and at least part of the implement, 2.) providing by a feature tracking algorithm a 3D environment model and referencing of the sensor pose to the 3D environment model, 3.) tracking implement features at different poses of the implement and, determining implement tracking data providing positional and arrangement information for the implement features, 4.) accessing benchmark information providing a real distance between two benchmark points, 5.) using the benchmark information to provide the implement tracking data with absolute scale information, and 6.) using the implement tracking data for the tracking of the implement.
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公开(公告)号：US20240200302A1
公开(公告)日：2024-06-20
申请号：US18525527
申请日：2023-11-30
Applicant: LEICA GEOSYSTEMS TECHNOLOGY A/S
Inventor： Michael Goulet KEAN , Adnan KANAAN , Sean COSTELLO , Tommi Juhani KAUPPINEN
IPC: E02F3/43
CPC classification number: E02F3/437
Abstract: Automation and/or operator assistance in an excavation operation to obtain a design surface that makes use of resistance data indicative of a resistance exerted on an end effector of the excavator when it engages material to be moved. Control commands for maneuvering the end effector are mapped to movement commands for the end effector according to a first and a second conversion rule. Digging under the first conversion rule causes the end effector to move according to a target path derived from the design surface, whereas digging under the second conversion rule causes the end effector to move as a function of the resistance data and a digging efficiency criterion, which allows to move the end effector independently from the target path. The automation and/or operator assistance automatically transitions from the first conversion rule to the second conversion rule as a function of the resistance data.
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公开(公告)号：US20240310408A1
公开(公告)日：2024-09-19
申请号：US18590890
申请日：2024-02-28
Applicant: LEICA GEOSYSTEMS TECHNOLOGY A/S
Inventor： Micheal Goulet KEAN
Abstract: A computer program product comprising a program code, wherein the program code is configured for calibrating mounting alignments of a set of inertial measurement units (IMUs) on a construction vehicle, wherein the set of IMUs comprises at least two IMUs each being mounted on different parts of the construction vehicle, and provides an at least partially automatically executing calibration routine for the mounting alignments of the set of IMUs on the construction vehicle, wherein for the calibration routine the following is defined: a sequence of N calibration measurements, with N greater than or equal to three, is to be carried out by the set of IMUs, and for each I-th of the N calibration measurements, with I consecutively from one to N, an I-th pose of the construction vehicle is to be adopted.
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