System and method for detecting tracking problems

Patent metadata

Field	Value
Publication number	US-11531115-B2
Application number	US-202016789103-A
Country	US
Kind code	B2
Filing date	Feb 12, 2020
Priority date	Feb 12, 2020
Publication date	Dec 20, 2022
Grant date	Dec 20, 2022

Abstract

A tracking problem detection system for a machine may include tracking diagnostic circuitry including one or more tracking diagnostic processors configured to receive a location signal indicative of a location of a machine and a path signal indicative of a path location associated with at least a portion of a path for the machine to follow while maneuvering. The tracking diagnostic processors may also be configured to determine a tracking difference between the path location and the location of the machine, and determine a frequency of a signal associated with the tracking difference and/or a frequency of a signal associated with a yaw rate associated with the maneuvering. The tracking diagnostic processors may also be configured to detect, based at least in part on the frequencies of the signals associated with the tracking difference and/or the yaw rate, a tracking problem associated with maneuvering the machine.

First claim

What is claimed is:

1. A tracking problem detection system for a machine comprising:
tracking diagnostic circuitry comprising one or more tracking diagnostic processors configured to:
receive a location signal indicative of a location of the machine;
receive a path signal indicative of a path location associated with at least a portion of a path for the machine to follow while maneuvering;
determine a tracking difference between the path location and the location of the machine;
determine, based at least in part on the tracking difference, at least one of a first frequency of a first signal associated with the tracking difference or a second frequency of a second signal associated with a yaw rate associated with maneuvering of the machine; and
detect, based at least in part on at least one of the first frequency or the second frequency, a tracking problem preventing a travel controller of the machine from maneuvering the machine to substantially align the location of the machine along the path during travel of the machine.

2. The system of claim 1 , wherein detecting the tracking problem comprises determining that the at least one of the first frequency or the second frequency is equal to or greater than a threshold.

3. The system of claim 1 , wherein the tracking difference comprises a tracking distance between the location of the machine and the path location as determined substantially perpendicular to a tangent to the path.

4. The system of claim 1 , wherein the tracking problem causes the location of the machine to substantially remain on one side of the path, or to repeatedly cross the path.

5. The system of claim 1 , wherein the location signal is generated by at least one of a global positioning system (GPS) receiver, at least one object sensor configured to generate a signal indicative of an object in an environment in which the machine is maneuvering, at least one accelerometer, at least one gyroscope, or at least one inertial measurement unit (IMU).

6. The system of claim 1 , wherein the one or more tracking diagnostic processors are configured to perform a Fourier transformation on the at least one of the tracking difference or the yaw rate.

7. The system of claim 1 , wherein detecting the tracking problem occurs during a state of change of maneuvering of the machine.

8. The system of claim 1 , wherein the path is a travel path that extends between a departure point and a destination point, and the path signal defines a discrete portion of the travel path between the departure point and the destination point.

9. The system of claim 1 , wherein the one or more tracking diagnostic processors are further configured to determine a cause of the tracking problem, based on one or more characteristics of at least one of the tracking difference, the first frequency, or the second frequency.

10. A method for detecting a tracking problem associated with maneuvering of a machine, the method comprising:
receiving a location signal indicative of a location of the machine;
receiving a path signal indicative of a path location associated with at least a portion of a path for the machine to follow while maneuvering;
determining a tracking difference between the path location and the location of the machine;
determining, based at least in part on the tracking difference, at least one of a first frequency of a first signal associated with the tracking difference or a second frequency of a second signal associated with a yaw rate associated with maneuvering of the machine; and
detecting, based at least in part on at least one of the first frequency or the second frequency, the tracking problem, wherein the tracking problem prevents a travel controller of the machine from maneuvering the machine to substantially align the location of the machine along the path during travel of the machine.

11. The method of claim 10 , wherein detecting the tracking problem comprises determining that the at least one of the first frequency or the second frequency is equal to or greater than a threshold.

12. The method of claim 10 , wherein the machine defines a center, and determining the tracking difference comprises determining a tracking distance between the center of the machine and the path location as determined substantially perpendicular to a tangent to the path.

13. The method of claim 10 , wherein the tracking problem causes the location of the machine to substantially remain on one side of the path, or to repeatedly cross the path.

14. The method of claim 10 , wherein receiving the location signal comprises receiving the location signal from at least one of a global positioning system (GPS) receiver, at least one object sensor configured to generate a signal indicative of an object in an environment in which the machine is maneuvering, at least one accelerometer, at least one gyroscope, or at least one inertial measurement unit (IMU).

15. The method of claim 10 , wherein detecting the tracking problem comprises performing a Fourier transformation on the at least one of the tracking difference or the yaw rate.

16. The method of claim 10 , wherein detecting the tracking problem comprises detecting the tracking problem during a state of change of maneuvering of the machine.

17. The method of claim 10 , further comprising recalibrating, in response to detecting the tracking problem, the travel controller of the machine based at least on part on the first signal or the second signal.

18. A machine comprising:
a chassis;
a travel controller coupled to the chassis, the travel controller being configured to control maneuvering of the machine; and
tracking diagnostic circuitry coupled to the chassis, the tracking diagnostic circuitry comprising one or more tracking diagnostic processors configured to:
receive a location signal indicative of a location of the machine;
receive a path signal indicative of a path location associated with at least a portion of a path for the machine to follow while maneuvering;
determine a tracking difference between the path location and the location of the machine;
determine, based at least in part on the tracking difference, at least one of a first frequency of a first signal associated with the tracking difference or a second frequency of a second signal associated with a yaw rate associated with maneuvering of the machine; and
detect, based at least in part on at least one of the first frequency or the second frequency, a tracking problem preventing the travel controller from maneuvering the machine to substantially align the location of the machine along the path during travel of the machine.

19. The machine of claim 18 , wherein detecting the tracking problem comprises determining that the at least one of the first frequency or the second frequency is equal to or greater than a threshold.

20. The machine of claim 18 , wherein the one or more tracking diagnostic processors are configured to perform a Fourier transformation on the at least one of the tracking difference or the yaw rate.

Assignees

• Caterpillar Global Mining Llc

Inventors

• Sharma Manish
• Chowdhury Sagar
• Wallstedt Philip

Classifications

• G01S19/48

  by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system · CPC title

• G01S19/393

  Trajectory determination or predictive tracking, e.g. Kalman filtering · CPC title

• G01S19/47

  the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial · CPC title

• G01S19/23

  Testing, monitoring, correcting or calibrating of receiver elements · CPC title

• G01S19/40

  Correcting position, velocity or attitude · CPC title