Object detection sensor alignment monitoring system

Patent metadata

Field	Value
Publication number	US-10101152-B1
Application number	US-201715473692-A
Country	US
Kind code	B1
Filing date	Mar 30, 2017
Priority date	Mar 30, 2017
Publication date	Oct 16, 2018
Grant date	Oct 16, 2018

Abstract

A machine includes a chassis and an object detection sensor alignment monitoring system. The monitoring system includes a first sensor module coupled to an object detection sensor. The first sensor module measures values of object detection sensor pitch, roll, and yaw. The monitoring system also includes a second sensor module coupled to the chassis. The second sensor module measures values of chassis pitch, roll, and yaw. The monitoring system further includes a control unit. The control unit compares the measured values of the object detection sensor and chassis pitch, roll, and yaw. The control unit determines whether the measured values are within a predefined tolerance. Further, the control unit generates an alert if the measured values of the object detection sensor and chassis pitch, roll, and yaw are beyond the predefined tolerance.

First claim

What is claimed is:

1. A machine comprising:
an object detection sensor mounted on the machine, the object detection sensor configured to detect and report the presence of objects in a vicinity of the machine;
a chassis, and
an object detection sensor alignment monitoring system including:
a first sensor module coupled to the object detection sensor on the machine, the first sensor module configured to measure values of object detection sensor pitch, roll, and yaw;
a second sensor module coupled to the chassis of the machine, the second sensor module configured to measure values of chassis pitch, roll, and yaw; and
a control unit communicably coupled to each of the first and second sensor modules, the control unit configured to:
receive the measured values of the object detection sensor pitch, roll, and yaw from the first sensor module;
receive the measured values of the chassis pitch, roll, and yaw from the second sensor module;
compare the measured values of the object detection sensor and chassis pitch, roll, and yaw received from the first and second sensor modules;
determine whether the measured values are within a predefined tolerance based on the comparison; and
generate an alert if the measured values of the object detection sensor and chassis pitch, roll, and yaw are beyond the predefined tolerance, wherein the alert is indicative of a misalignment of the object detection sensor with respect to the chassis of the machine.

2. The machine of claim 1 , wherein the machine is either one of an autonomous machine and a semi-autonomous machine and the alert notifies at least one of an operator of the machine and a machine control system located at a remote monitoring station regarding the misalignment of the object detection sensor with respect to the chassis of the machine.

3. The machine of claim 2 , wherein the alert includes at least one of a diagnostic code, a visual notification, and an audio notification.

4. The machine of claim 1 , wherein the first sensor module includes an Inertial Measurement Unit (IMU).

5. The machine of claim 1 , wherein the first sensor module includes a pitch sensor, a roll sensor, and a yaw sensor.

6. The machine of claim 1 , wherein the object detection sensor includes a LIDAR.

7. The machine of claim 1 , wherein the second sensor module includes at least one of a pitch sensor, a roll sensor, a yaw sensor, and an IMU.

8. An object detection sensor alignment monitoring system associated with a machine, the monitoring system comprising:
a first sensor module coupled to an object detection sensor on a machine, the first sensor module configured to measure values of object detection sensor pitch, roll, and yaw;
a second sensor module coupled to a chassis of the machine, the second sensor module configured to measure values of chassis pitch, roll, and yaw; and
a control unit communicably coupled to each of the first and second sensor modules, the control unit configured to:
receive the measured values of the object detection sensor pitch, roll, and yaw from the first sensor module;
receive the measured values of the chassis pitch, roll, and yaw from the second sensor module;
compare the measured values of the object detection sensor and chassis pitch, roll, and yaw received from the first and second sensor modules;
determine whether the measured values are within a predefined tolerance based on the comparison; and
generate an alert if the measured values of the object detection sensor and chassis pitch, roll, and yaw are beyond the predefined tolerance, wherein the alert is indicative of a misalignment of the object detection sensor with respect to the chassis of the machine.

9. The monitoring system of claim 8 , wherein the alert notifies at least one of an operator of the machine and a machine control system located at a remote monitoring station regarding the misalignment of the object detection sensor with respect to the chassis of the machine.

10. The monitoring system of claim 9 , wherein the alert includes at least one of a diagnostic code, a visual notification, and an audio notification.

11. The monitoring system of claim 8 , wherein the first sensor module includes an Inertial Measurement Unit (IMU).

12. The monitoring system of claim 8 , wherein the first sensor module includes at least one of a pitch sensor, a roll sensor, and a yaw sensor.

13. The monitoring system of claim 8 , wherein the object detection sensor includes a LIDAR.

14. The monitoring system of claim 8 , wherein the second sensor module includes at least one of a pitch sensor, a roll sensor, a yaw sensor, and an IMU.

15. A method to monitor alignment of an object detection sensor coupled to a machine, wherein a first sensor module is coupled to the object detection sensor, the first sensor module configured to measure values of object detection sensor pitch, roll, and yaw, the method comprising:
receiving, by a control unit, the measured values of the object detection sensor pitch, roll, and yaw from the first sensor module;
receiving, by the control unit, measured values of chassis pitch, roll, and yaw from a second sensor module, wherein the second sensor module is coupled to a chassis of the machine;
comparing, by the control unit, the measured values of the object detection sensor and chassis pitch, roll, and yaw received from the first and second sensor modules;
determining, by the control unit, whether the measured values are within a predefined tolerance based on the comparison; and
generating an alert, by the control unit, if the measured values of the object detection sensor and chassis pitch, roll, and yaw are beyond the predefined tolerance, wherein the alert is indicative of a misalignment of the object detection sensor with respect to the chassis of the machine.

16. The method of claim 15 , wherein the alert notifies at least one of an operator of the machine and a machine control system located at a remote monitoring station regarding the misalignment of the object detection sensor with respect to the chassis of the machine.

17. The method of claim 16 , wherein the alert includes at least one of a diagnostic code, a visual notification, and an audio notification.

18. The method of claim 15 , wherein the first sensor module includes an Inertial Measurement Unit (IMU).

19. The method of claim 15 , wherein the object detection sensor includes a LIDAR.

20. The method of claim 15 , wherein the second sensor module includes at least one of a pitch sensor, a roll sensor, a yaw sensor, and an IMU.

Assignees

• Caterpillar Inc

Inventors

• Williams Jamin T

Classifications

• G01B21/24 Primary

  for testing alignment of axes · CPC title

• A01D41/127

  Control or measuring arrangements specially adapted for combines · CPC title

• E02F9/26

  Indicating devices {(E02F5/145 takes precedence)} · CPC title

• B60P1/267 Primary

  Controlling degree of tailboard or sideboard movement in dependence upon degree of tipping movement, e.g. by linkage or cam · CPC title

• B60Q9/00

  Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 {, e.g. haptic signalling} · CPC title