Systems and methods described herein provide augmented reality images to an operator of a machine. A pose of an augmented reality device relative to a cab of the machine is determined using image information. A pose of the augmented reality device in a real world coordinate frame is determined using a pose of the machine in the real world coordinate frame and the pose of the augmented reality device relative to the cab of the machine. Digital content is provided on one or more displays of the augmented reality device. The digital content is arranged on the one or more displays based on the pose of the augmented reality device in the real world coordinate frame.
Embodiments describe a method for positioning a hinged vehicle including a primary part and a secondary part coupled to the primary part at a project site. The method includes receiving, from an image capturing device, digital image data representing one or more features of the secondary part; performing image analysis on the digital image data to identify positions of the one or more features of the secondary part; identifying an angle of at least a portion of the secondary part; calculating a current position of the secondary part based on the angle; calculating a positional difference between a correct position at the project site for the secondary part and a current position of the secondary part at the project site; and initiating a change in a position of the primary part to compensate for the positional difference and to position the secondary part on the correct position.
A surveying pole is part of a primary surveying system (e.g., a Global Navigation Satellite System (GNSS) or a total station). Cameras are mounted to the surveying pole and used for ground tracking as the survey pole is moved from a place where the primary surveying system is unimpeded to an environment where the primary surveying system is impaired (e.g., to a GNSS-impaired environment or to a position that is blocked from view of the total station). Using ground tracking and/or other sensors, surveying can be continued even though the primary surveying system is impaired.
G06T 7/70 - Determining position or orientation of objects or cameras
G01B 11/14 - Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
G01C 11/02 - Picture-taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
G01C 11/06 - Interpretation of pictures by comparison of two or more pictures of the same area
4.
BASE STATION TRANSMISSION OF GNSS CORRECTION DATA VIA BEACON FRAME
Techniques for transmitting global navigation satellite system, GNSS, correction data to a rover (108). GNSS signals (104-1, 104-2, 104-3) are wirelessly received by a base station (106-1, 160-2) from one or more GNSS satellites. GNSS correction data is generated by the base station based on the GNSS signals. A beacon frame is formed by the base station to include a frame header, a frame body, and a frame check sequence (FCS). The frame body is formed to include the GNSS correction data. The beacon frame is wirelessly transmitted by the base station for receipt by the rover. The rover wirelessly receives the beacon frame. The GNSS correction data is extracted by the rover from the beacon frame. A geospatial position of the rover is calculated based on the GNSS correction data.
G01S 19/04 - Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing carrier phase data
5.
MATERIAL MOVING MACHINES AND PILOT HYDRAULIC SWITCHING SYSTEMS FOR USE THEREIN
CATERPILLAR TRIMBLE CONTROL TECHNOLOGIES LLC (USA)
TRIMBLE, INC. (USA)
Inventor
Davis, Kyle
Piekutowski, Richard Paul
Abstract
In accordance with one embodiment of the present disclosure, a material moving machine comprises a pilot hydraulic switching system. The pilot hydraulic switching system comprises a control unit, a first directional valve, and a second directional valve. The control unit is configured to operate the first and second directional valves to shift a variable position actuator valve between a static state, a retract state, and an extend state. The actuator valve comprises a first and second control element. In the retract and extend states, the first and second directional valves control fluid flow to the variable position actuator valve with a positive net pressure on either the first or second control elements and a negative net pressure on the other control element to move the material moving implement. In the static state, the first and second directional valves control fluid flow equally on the first and second control elements.
F15B 11/08 - Servomotor systems without provision for follow-up action with only one servomotor
F15B 13/043 - Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves
A Position and Orientation Measurement Engine (POME) is a mobile camera system that can be used for accurate indoor measurement (e.g., at a construction site). The POME uses a plurality of cameras to acquire images of a plurality of targets. If locations of the plurality of targets are precisely known, images of the targets can be used to determine a position of the POME in relation to the plurality of targets. However, to precisely determine locations of the plurality of targets can be time consuming and/or use expensive equipment. This disclosure discusses how to use a camera system to determine locations of the plurality of targets.
A Light Emitting Diode (LED) is added to a weed control system for calibrating the weed control system. A detector generates an electrical signal based on receiving light emitted by the LED. An electronically-tunable capacitor of a bandpass filter is adjusted based the signal received from the detector to adjust a center frequency of the bandpass filter so that light from an optical source, different from the LED, can more efficiently be detected by the weed control system.
An image may be obtained from one or more cameras coupled to a first vehicle. The image may be provided as input to a machine learning algorithm configured to determine whether an object depicted in the image corresponds to another vehicle and to determine size information and location information for the object. Output from the machine learning algorithm enables obtaining features including size and location information for a second vehicle that is identified in the image. The features may be used to determine whether the second vehicle is depicted within a predetermined region of the image including a predicted travel path of the first vehicle. The features may also be used to determine whether the second vehicle is within a predetermined proximity of the first vehicle. Thereafter, a determination may be generated as to whether there is a significant risk of collision between the first vehicle and the second vehicle.
A method of detecting steering wheel angle instability in an auto-guided vehicle includes measuring a steering wheel angle at a plurality of time instances within a pre-determined time window to obtain an array of values of the steering wheel angle, performing a frequency analysis of the array of values of the steering wheel angle to obtain a frequency spectrum of the steering wheel angle, comparing the frequency spectrum of the steering wheel angle to a pre-defined threshold frequency spectrum to determine whether a magnitude of the frequency spectrum of the steering wheel angle at any frequency exceeds a magnitude of the threshold frequency spectrum, and upon determining that a magnitude of the frequency spectrum of the steering wheel angle at one or more frequencies exceeds a magnitude of the pre-defined threshold frequency spectrum, determining that a steering wheel angle instability is present.
A system for providing manual guidance of a vehicle includes a first inertial measurement unit (IMU) attached to a steering wheel, a second IMU attached to a fixed part of the vehicle, a global navigation satellite systems (GNSS) receiver, a data storage device for storing a pre-planned path, and a feedback module. The feedback module is configured to determine a current angle of the steering wheel, determine a deviation of the current position of the vehicle from the pre-planned path, determine a current heading of the vehicle, determine a current velocity of the vehicle, and determine a desired angle of the steering wheel relative to the vehicle. The system further includes a user interface configured to provide a visual indication of the desired angle of the steering wheel or a deviation of the current angle of the steering wheel from the desired angle of the steering wheel.
Systems and methods for automatically simulating a building model. A method may include defining a plurality of space bodies, each of the plurality of space bodies representing a non-overlapping volume within a building. The method may also include determining a plurality of gaps between the plurality of space bodies. The method may further include obtaining a set of geometric rules that define simulation parameters as a function of the plurality of gaps. The method may further include generating a plurality of simulation parameters by evaluating the plurality' of gaps against the set of geometric rules. The method may further include applying the simulation parameters to a sequence of simulation conditions to produce a simulation result.
Systems and methods for identifying which of a plurality of signal types received by a global navigation satellite system (GNSS) receiver includes a spoofing signal. One method may include, for each particular signal type of the plurality of signal types, excluding the particular signal type, calculating a parameter of a GNSS receiver based on the received wireless signals having a plurality of remaining signal types, and calculating a residual score based on a variability associated with calculating the parameter, the residual score being one of a plurality of residual scores. The method may also include identifying an outlier of the plurality of residual scores and identifying which of the plurality of signal types includes a spoofing signal based on the outlier.
Multiple cameras are used for tool positioning, as-built documentation, and/or personnel monitoring in construction site. A camera unit comprises one or more imaging devices, a processing computer, and a communication device. The camera units are placed at multiple locations in a construction site to cover an area. The camera units are self-positioned by detecting a calibration target that moves within a working volume. The camera units can detect and calculate positions of objects, including measurement sticks, tools, personnel, etc., in the area.
A GNSS receiver for generating distance estimates from multiple GNSS satellites. The GNSS receiver includes an antenna and an RF front end coupled to the antenna configured to generate a plurality of samples related to a received signal. The GNSS receiver includes a correlator coupled to the RF front end configured to perform various operations including performing three correlations on the plurality of samples with three local code to generate three correlation results, where the three local codes are shifted in time or distance with respect to each other. The GNSS receiver includes a processor for defining a first slope using the first correlation result and the second correlation result, defining a second slope using the second correlation result and the third correlation result, and defining a code discriminator as a sum of the first slope and the second slope.
Systems and methods for determining orientation and three-dimensional position of construction equipment are presented. An orientation device is mounted to a machine. The orientation device has an image sensor. The orientation device measures an offset between a direction of the orientation device and a reference at a known location. The heading of the machine is calculated based on the offset and the known location of the reference.
E01C 19/00 - Machines, tools, or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
G01S 5/16 - Position-fixing by co-ordinating two or more direction or position-line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
16.
INTEGRATED VISION-BASED AND INERTIAL SENSOR SYSTEMS FOR USE IN VEHICLE NAVIGATION
A navigation system providing speed and heading and other navigational data to a drive system of a moving body, e.g., a vehicle body or a mobile robot, to navigate through a space. The navigation system integrates an inertial navigation system, e.g., a system based on an inertial measurement unit (IMU), with a vision-based navigation system unit or system such that the inertial navigation system can provide real time navigation data and the vision-based navigation can provide periodic and accurate navigation data that is used to correct the inertial navigation system's output. The navigation system was designed with the goal of providing low effort integration of inertial and video data. The methods and devices used in the new navigation system address problems associated with high accuracy dead reckoning systems (such as a typical vision-based navigation system) and enhance performance with low cost IMUs.
G01C 21/16 - Navigation; Navigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
G01C 21/28 - Navigation; Navigational instruments not provided for in groups specially adapted for navigation in a road network with correlation of data from several navigational instruments
17.
ANTENNAS WITH IMPROVED RECEPTION OF SATELLITE SIGNALS
An antenna configured to receive radiation at global navigation satellite system (GNSS) frequencies includes a dielectric substrate, a circular patch overlaying the dielectric substrate, one or more impedance transformers, and a metamaterial ground plane. The metamaterial ground plane includes a plurality of conductive patches and a cavity. The conductive patches are arranged along a first plane on a backside of the dielectric substrate and are separated from the circular patch by the dielectric substrate. The cavity includes a ground plane and a conductive fence. The ground plane is arranged along a second plane below the first plane. The ground plane is electrically coupled to at least a first portion of the plurality of conductive patches by conductive vias. The conductive fence is spaced from the backside of the dielectric substrate and from the plurality of conductive patches by a gap.
H01Q 15/00 - Devices for reflection, refraction, diffraction or polarisation of waves radiated from an antenna, e.g. quasi-optical devices
H01Q 5/40 - Imbricated or interleaved structures; Combined or electromagnetically coupled arrangements, e.g. comprising two or more non-connected fed radiating elements
An antenna includes a dielectric substrate, a circular patch overlying the dielectric substrate, and a metamaterial ground plane. One or more antenna feeds are coupled to the circular patch. The antenna feeds may include impedance transformers. The metamaterial ground plane includes a plurality of conductive patches and a ground plane. The conductive patches are arranged along a first plane below the circular patch and are separated from the circular patch by at least the dielectric substrate. The conductive patches are arranged in a pattern that provides circular symmetry with respect to a center of the circularly polarized antenna. The ground plane is arranged along a second plane and is electrically coupled to at least a first portion of the conductive patches. One or more of the conductive patches and the ground plane are coupled to ground.
H01Q 15/00 - Devices for reflection, refraction, diffraction or polarisation of waves radiated from an antenna, e.g. quasi-optical devices
H01Q 5/40 - Imbricated or interleaved structures; Combined or electromagnetically coupled arrangements, e.g. comprising two or more non-connected fed radiating elements
H01Q 13/08 - Radiating ends of two-conductor microwave transmission lines, e.g. of coaxial lines, of microstrip lines
Systems and methods for sharing convergence data between GNSS receivers are disclosed. Convergence data received at a GNSS receiver via a communication connection may be utilized to determine a position of the GNSS receiver.
G01S 19/05 - Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing aiding data
G01S 19/09 - Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing processing capability normally carried out by the receiver
G01S 19/04 - Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing carrier phase data
G01S 19/07 - Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
G01S 19/14 - Receivers specially adapted for specific applications
G01S 19/32 - Multimode operation in a single same satellite system, e.g. GPS L1/L2
20.
VEHICLE NAVIGATION BY DEAD RECKONING AND GNSS-AIDED MAP-MATCHING
Dead reckoning combined with GNSS-aided map-matching improves accuracy and reliability of vehicle navigation. A map-match navigation module in a handheld device sends map-match feedback messages to a vehicle state estimator via a port. The module also accepts vehicle speed and inertial navigation data from sensors mounted in the vehicle.
G01C 21/16 - Navigation; Navigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
A center pivot irrigation system (100) adapted for variable depth application of water under the corner sprinkler arm (210). The system (100) includes a pivot sprinkler arm (116) with a first set of nozzles (121, 125), and a first set of control valves (120, 124) each provided on the pivot sprinkler arm (116) upstream of a nozzle (121, 125). The irrigation system (100) includes a corner sprinkler arm (210) pivotally coupled to an end of the pivot sprinkler arm (116), and the corner sprinkler arm (210) includes a second set of spaced apart nozzles (213, 217) and a second set of control valves (212, 216). The irrigation system (100) includes a controller (150) transmitting control signals to the first and second sets of control valves to open and close in a pattern that includes a valve pulsing pattern (280) for the corner sprinkler arm, whereby input water is applied at a variable rate under the corner sprinkler arm to apply different depths to various user-defined zones.
Methods for determining corrected positions of a global navigation satellite system (GNSS) rover (305) using a GNSS base station (302) and one or more GNSS reference stations (304a, 304b, 304n) include determining a statistical representation of position measurements from the GNSS reference stations and an instantaneous position measurement from the GNSS reference stations. A position correction is determined based on the statistical representation and the instantaneous position measurement. A corrected position of the GNSS rover is determined based on a position of the GNSS rover and the position correction.
G01S 19/07 - Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
G01S 19/41 - Differential correction, e.g. DGPS [differential GPS]
G01S 19/04 - Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing carrier phase data
G01S 19/43 - Determining position using long or short baseline interferometry
23.
INTEGRATING POINT CLOUD SCANS, IMAGE DATA, AND TOTAL STATION DATA FROM A SURVEYING INSTRUMENT INTO ONE ADJUSTMENT
A method to integrate all observations, e.g., surveying data in the form of total station data, images, and point clouds) from a surveying instrument that functions as a total station, a camera(s), and a scanner. The method provides an overall adjustment to maximize the accuracy of the adjustment by using all three types of available surveying data, and the method may be labeled an overall adjustment or integrated network adjustment to provide accurate station or instrument position data for a geodatabase for a surveyed site. The overall adjustment method allows all three types of surveying data to influence the results of the adjustment, and this achieved by generating a small number of virtual observations from the image and scan data that are of a form that allows them to be combined with or considered concurrently with the real observations from the total station as part of a single network adjustment.
A center pivot irrigation system (100) is described that includes a controller (150) that makes use of a particular flow rate of input water to deliver differing or variable depths of irrigation to two or more user-defined areas under a pivot irrigator (110). The controller (150) operates to pulse control valves (120, 124) for the nozzles/sprinkler heads (121, 125) on and off as the sprinkler arm (110) rotates. The valve pattern (180) along the span of the sprinkler arm (110) is chosen during each operating cycle such that the total water flow through all the open valves matches the flow rate of the input or supply water to the pivot irrigator (110). To ensure the variable application depth, the speed may be changed during valve duty cycles. A farmer may define an irrigation plan (120) that defines the variable rate irrigation (VRI) zones and also defines exclusion or no spray zones in which no irrigation should occur.
A path of travel used by an autopilot operation system for auto-guidance of a mobile machine is defined, transparently to a human operator, in response to the human operator engaging and disengaging operation of an implement coupled with the mobile machine. The auto-guidance of the mobile machine is activated, transparently to the human operator, in response to the human operator engaging the implement a second time.
Auto-guidance of a mobile machine is provided that does not require a graphical user interface display. Human interactions with the auto-guidance system of a mobile machine are performed solely with one or more electromechanical switches of the auto-guidance system while the mobile machine is operating. A first point for auto-guidance of a mobile machine is set by an auto-guidance system in response to a first electromechanical switch input. A second point for auto-guidance of the mobile machine is set by the auto-guidance system in response to a second electromechanical switch input after movement of the mobile machine from the first point. The auto-guidance system activates auto-guidance of the mobile machine along a path defined by the first point and the second point. The setting of the first point, the setting of the second point, and the activating are performed by one or more hardware processors.
System for estimating the position of a land vehicle, comprising a navigation filter (105) implementing a Kalman filter. The navigation filter (105) receives elevation data obtained from a terrain database as a measurement in the Kalman filter to estimate the position by combining the elevation data with input signals received from a GNSS receiver (120), rate gyros (125) and accelerometers (130).
G01C 21/00 - Navigation; Navigational instruments not provided for in groups
G01C 21/16 - Navigation; Navigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
G01S 19/49 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
patents
