Elevation based machine localization

Patent metadata

Field	Value
Publication number	US-12294918-B2
Application number	US-202418749246-A
Country	US
Kind code	B2
Filing date	Jun 20, 2024
Priority date	Jan 15, 2021
Publication date	May 6, 2025
Grant date	May 6, 2025

Abstract

A machine localization system includes a work machine including a chassis and an extendable implement, a first pressure sensor coupled to the work machine, a second pressure sensor located at a known elevation, and a computing system operably coupled to the work machine, the first pressure sensor, and the second pressure sensor. The computing system is configured to receive a first pressure reading from the first pressure sensor and a second pressure reading from the second pressure sensor, determine an elevation of the work machine based on at least the first pressure reading and the second pressure reading, determine a maximum operating height of the extendable implement based on at least the determined elevation, and configure the extendable implement to not exceed the maximum operating height.

First claim

What is claimed is:

1. A machine localization system comprising:
a work machine including a chassis and an extendable implement;
a first pressure sensor coupled to the work machine;
a second pressure sensor located at a known elevation; and
a computing system operably coupled to the work machine, the first pressure sensor, and the second pressure sensor, wherein the computing system is configured to:
receive a first pressure reading from the first pressure sensor and a second pressure reading from the second pressure sensor;
determine an elevation of the work machine based on at least the first pressure reading and the second pressure reading;
determine a maximum operating height of the extendable implement based on at least the determined elevation; and
configure the extendable implement to not exceed the maximum operating height.

2. The machine localization system of claim 1 , wherein the first pressure sensor is coupled to the chassis of the work machine.

3. The machine localization system of claim 1 , wherein the computing system is configured to determine the elevation of the work machine by comparing the first pressure reading and the second pressure reading.

4. The machine localization system of claim 3 , wherein the elevation is a relative elevation of the chassis relative to the second pressure sensor.

5. The machine localization system of claim 1 , wherein the computing system is further configured to determine a floor of a building on which the work machine is located based on the elevation of the work machine.

6. The machine localization system of claim 5 , wherein determining the maximum operating height of the extendable implement is further based on the determined floor.

7. The machine localization system of claim 1 , wherein the extendable implement is a forklift fork or a man lift work platform.

8. The machine localization system of claim 1 , wherein the computing system is configured to determine a location of the work machine, wherein determining the maximum operating height of the extendable implement is further based on the location of the work machine.

9. The machine localization system of claim 8 , wherein determining the maximum operating height of the extendable implement is further based on a height of a known overhead obstruction at the location of the work machine.

10. The machine localization system of claim 1 , wherein configuring the extendable implement to not exceed the maximum operating height comprises comparing a measured height of the extendable implement to the maximum operating height.

11. A method of controlling a work machine comprising a chassis and an extendable implement, the method comprising:
receiving, from a first pressure sensor coupled to the work machine, a first pressure reading;
receiving, from a second pressure sensor located at a known elevation, a second pressure reading;
calculating an elevation of the work machine based on at least the first pressure reading and the second pressure reading;
determining a maximum operating height of the extendable implement of the work machine based on at least the determined elevation; and
controlling the work machine to prevent the extendable implement from exceeding the maximum operating height.

12. The method of claim 11 , wherein determining the maximum operating height of the extendable implement comprises comparing the first pressure reading and the second pressure reading.

13. The method of claim 11 , wherein the first pressure sensor is coupled to the chassis and the elevation is a relative elevation of the chassis relative to the second pressure sensor.

14. The method of claim 11 , further comprising determining a floor of a building on which the work machine is located based on the elevation of the work machine, wherein determining the maximum operating height of the extendable implement is further based on a ceiling height of the determined floor.

15. The method of claim 11 , further comprising determining a location of the work machine, wherein determining the maximum operating height of the extendable implement is further based on a height of a known overhead obstruction at the location of the work machine.

16. The method of claim 11 , further comprising receiving a measured wind speed from a wind speed sensor, wherein determining the maximum operating height of the extendable implement is further based on the measured wind speed.

17. A machine localization system comprising:
one or more processing circuits comprising one or more memory devices coupled to one or more processors, the one or more memory devices configured to store instructions thereon that, when executed by the one or more processors, cause the one or more processors to:
receive, from a first pressure sensor coupled to a work machine, a first pressure reading;
receive, from a second pressure sensor located at a known elevation, a second pressure reading;
calculate an elevation of the work machine relative to the second pressure sensor by comparing the first pressure reading to the second pressure reading;
determine a maximum operating height of an extendable implement of the work machine based on at least the elevation; and
configure the extendable implement to not exceed the maximum operating height.

18. The system of claim 17 , wherein determining the maximum operating height of the extendable implement comprises comparing the first pressure reading and the second pressure reading.

19. The system of claim 17 , wherein the instructions further cause the one or more processors to receive a measured wind speed from a wind speed sensor, wherein determining the maximum operating height of the extendable implement is further based on the measured wind speed.

20. The system of claim 17 , wherein determining the maximum operating height of the extendable implement is further based on a height of an overhead obstruction.

Assignees

• Oshkosh Corp

Inventors

• Kobel Korry D
• Yutzy Fredric L
• Adamson Dan
• Eshleman Stefan

Classifications

• H04L67/125

  involving control of end-device applications over a network · CPC title

• H04L67/56

  Provisioning of proxy services (store-and-forward switching systems in data switching networks H04L12/54) · CPC title

• H04W4/44

  for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H] · CPC title

• H04W4/46

  for vehicle-to-vehicle communication [V2V] · CPC title

• H04W4/38

  for collecting sensor information · CPC title