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公开(公告)号：US20200279402A1
公开(公告)日：2020-09-03
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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2.发明申请公开(公告)号：US20200242829A1
公开(公告)日：2020-07-30
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：US20200242331A1
公开(公告)日：2020-07-30
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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Patent Agency Ranking
公开(公告)号：US20200240119A1
公开(公告)日：2020-07-30
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：US20200279397A1
公开(公告)日：2020-09-03
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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公开(公告)号：US20200240116A1
公开(公告)日：2020-07-30
申请号：US16674989
申请日：2019-11-05
Inventor： Xinjing CHENG , Ruigang YANG , Yajue YANG , Feixiang LU , Hao XU
Abstract: A method and an apparatus for controlling an excavator are provided according to the embodiments. The method includes: determining, according to preset value ranges of trajectory parameters in at least two trajectory parameters, trajectory parameter value combinations, to obtain a first trajectory parameter value combination set; determining, from the first trajectory parameter value combination set, trajectory parameter value combinations for moving from a preset starting position to a preset end position, to obtain a second trajectory parameter value combination set; determining, in the second trajectory parameter value combination set, a trajectory parameter value combination that satisfies a preset excavation condition, to obtain a third trajectory parameter value combination set; determining a target excavation trajectory from the third trajectory parameter value combination set; and sending a control instruction to the excavator to enable the excavator to excavate material according to the target excavation trajectory.
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公开(公告)号：US20200213483A1
公开(公告)日：2020-07-02
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 a fixing apparatus of a sensing system and a fixing method of a sensing system. 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：US20200213396A1
公开(公告)日：2020-07-02
申请号：US16726549
申请日：2019-12-24
Inventor： Xinjing CHENG , Ruigang YANG , Hao XU , Feixiang LU , Yajue YANG
IPC: H04L29/08 , 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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