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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：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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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：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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Patent Agency Ranking
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：US20240060275A1
公开(公告)日：2024-02-22
申请号：US18234868
申请日：2023-08-16
Applicant: LEICA GEOSYSTEMS TECHNOLOGY A/S
Inventor： Michael Goulet KEAN
Abstract: A system and method for configuring a machine control unit of a construction machine for performing an earth-moving operation, the earth-moving operation comprising a multitude of phases that are to be performed consecutively, the method comprising, by a computing unit: receiving three-dimensional measuring data of a terrain in a surrounding of the construction machine in at least a first detection range, detecting elements of a previous phase of the earth-moving operation based on the three-dimensional measuring data, and configuring, based at least on the detected elements, the machine control unit to at least partially perform the next phase of the earth-moving operation automatically.
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公开(公告)号：US20240052605A1
公开(公告)日：2024-02-15
申请号：US18233147
申请日：2023-08-11
Applicant: LEICA GEOSYSTEMS TECHNOLOGY A/S
Inventor： Michael Goulet KEAN , Tommi Juhani KAUPPINEN
Abstract: An improved controlling of a dumping of a load of an earth moving machine, which has a conveying container configured for carrying the load. Control data for maneuvering the conveying container according to a selected dumping mode are generated by analyzing perception data and/or machine sensing data to determine a material parameter providing information on an adhesive property of a current load of the conveying container. Based on the material parameter, an appropriate dumping mode is selected, e.g. to improve efficiency of the unloading sequence and to reduce wear of the earth moving machine.
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公开(公告)号：US20230417548A1
公开(公告)日：2023-12-28
申请号：US18212393
申请日：2023-06-21
Applicant: LEICA GEOSYSTEMS TECHNOLOGY A/S
Inventor： Michael Goulet KEAN
CPC classification number: G01C19/00 , G01C25/005 , E02F9/264
Abstract: A system for determining a swing boom angle of an excavator including a vehicle frame including a cabin, a swing boom arranged on the vehicle frame and configured to be rotated relative to the vehicle frame about a first rotation axis and a pneumatic or hydraulic cylinder. A first end of the pneumatic or hydraulic cylinder is coupled to the vehicle frame and a second end is coupled to the swing boom, wherein the cylinder is configured to be rotated relative to the vehicle frame about a second rotation axis at the first end, wherein the cylinder is configured to rotate the swing boom. The system comprises a first inertial measurement unit (IMU), configured to be mounted on the swing boom and to generate first IMU data, a second IMU configured to be mounted on the cylinder and to generate second IMU data and a processing unit.
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10.发明公开公开(公告)号：US20230417026A1
公开(公告)日：2023-12-28
申请号：US18212389
申请日：2023-06-21
Applicant: LEICA GEOSYSTEMS TECHNOLOGY A/S
Inventor： Michael Goulet KEAN , Tommi Juhani KAUPPINEN
Abstract: A system for determining a swing boom angle of an excavator. The system comprises a first measuring sensor configured to be mounted on a vehicle frame or a swing boom 4, wherein the first measuring sensor is configured to determine a first interim swing boom angle of the swing boom relative to the vehicle frame. The first interim swing boom angle is one of a discrete amount of one or more intermittent first interim swing boom angles, each of the discrete amount of one or more intermittent first interim swing boom angles being spaced from each other by at least a value of one degree. A second measuring sensor mounted on the swing boom to determine a second interim swing boom angle of the swing boom relative to the vehicle frame, the second interim swing boom angle being from an indiscrete angle range and a processing unit.
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