Systems and methods for sensor platform

• US 10,175,658 B2
• Filed: 06/29/2016
• Issued: 01/08/2019
• Est. Priority Date: 06/29/2016
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Ko, Yung-Chang
• Primary Examiner(s): Luo, David S
• Application Number:
  US15/197,662
• Publication Number:
  US 20180004170A1
• Time in Patent Office: 923 Days
• Field of Search: 318 3, 318 34
• CPC Class Codes: B60R 11/02 for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2011/004 outside the vehicle
• CPC Class Codes: B60R 2011/0085 with adjustment by rotation in their operational position
• CPC Class Codes: G01S 13/426 Scanning radar, e.g. 3D radar G01S13/66 takes precedence
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/93273 on the top of the vehicles
• CPC Class Codes: G01S 7/027 Constructional details of housings, e.g. form, type, material or ruggedness
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G05B 11/01 electric
• CPC Class Codes: H02K 11/21 Devices for sensing speed or position, or actuated thereby specially adapted for machines having non-mechanical commutating devices H02K29/06, H02K29/14

Abstract

Methods and apparatus are provided for controlling a movement of a sensor platform. The method includes receiving a desired position of the platform from a source. The desired position includes a first coordinate value and a second coordinate value. The method includes, based on the first coordinate value and the second coordinate value, calculating, by a processor, a first value associated with a first axis of rotation of the platform and calculating a second value associated with a second axis of rotation of the platform. The method includes outputting, by the processor, one or more control signals to at least one motor associated with the platform to move the platform based on the first value and the second value.

Claims

1. A method of controlling a movement of a platform for a sensor, comprising:

receiving a desired position of the platform from a source, the desired position including a first coordinate value and a second coordinate value;

based on the first coordinate value and the second coordinate value, calculating, by a processor, a first value associated with a first axis of rotation of the platform and calculating a second value associated with a second axis of rotation of the platform; and

outputting, by the processor, one or more control signals to at least one motor associated with the platform to move the platform based on the first value and the second value,

wherein the first value is calculated based on projection of a unit vector defined orthogonal to a top plane of the platform onto a Y-Z plane.

2. The method of claim 1, wherein the outputting further comprises:

outputting, by the processor, one or more control signals to a first motor associated with the platform based on the first value; and

outputting, by the processor, one or more control signals to a second motor associated with the platform based on the second value.

3. The method of claim 1, wherein the second value is calculated by the processor based on the first coordinate value and the first value, the first coordinate value is a first angular coordinate and the second coordinate value is a second angular coordinate.

4. The method of claim 1, wherein the first value is further calculated based on determining, by the processor, an angle the projection of the unit vector forms with a Z-axis.

5. The method of claim 1, wherein the first value is an angle of rotation for a portion of the platform about the first axis of rotation.

6. The method of claim 5, wherein the second value is an angle of rotation for a portion of the platform about the second axis of rotation, the second axis of rotation different than the first axis of rotation.

7. The method of claim 1, further comprising:

receiving sensor signals from at least one position sensor associated with the at least one motor that indicates an absolute position of the at least one motor.

8. A system for controlling a movement of a platform for a sensor, comprising:

a source of a desired position of the platform that includes a first angular coordinate value and a second angular coordinate value; and

a control module having a processor that receives the desired position, and based on the desired position;

calculates a first value associated with a first axis of rotation of the platform;

calculates a second value associated with a second axis of rotation of the platform; and

outputs one or more control signals to at least one motor associated with the platform to move the platform based on at least one of the first value and the second value,

wherein the first value is calculated based on projection of a unit vector defined orthogonal to a top plane of the platform onto a Y-Z plane.

9. The system of claim 8, wherein the at least one motor comprises a first motor and a second motor, and the control module outputs the one or more control signals to the first motor based on the first value.

10. The system of claim 9, wherein the control module outputs one or more control signals to the second motor based on the second value.

11. The system of claim 10, wherein the control module outputs the one or more control signals to the first motor and the second motor substantially simultaneously.

12. The system of claim 9, wherein the second value is calculated by the processor based on the first coordinate value and the first value.

13. The system of claim 9, wherein the first value is an angle of rotation for a portion of the platform about the first axis of rotation.

14. The system of claim 13, wherein the second value is an angle of rotation for a portion of the platform about the second axis of rotation, the second axis of rotation different than the first axis of rotation.

15. A computer program product for processing a digital signal, comprising:

a tangible storage medium readable by a processing circuit and storing instructions for execution by the processing circuit for performing a method for controlling a movement of a platform for a sensor comprising;

calculating a first value associated with a first axis of rotation of the platform based on at least one of a first coordinate value and a second coordinate value for the movement of the platform;

calculating a second value associated with a second axis of rotation of the platform based on at least one of the first coordinate value and the second coordinate value for the movement of the platform; and

outputting one or more control signals to at least one motor associated with the platform based on the first value and the second value,

wherein the first value is calculated based on projection of a unit vector defined orthogonal to a top plane of the platform onto a Y-Z plane.

16. The computer program product of claim 15, wherein the method further comprises:

receiving a desired position of the platform from a source, the desired position including the first coordinate value and the second coordinate value.

17. The computer program product of claim 15, wherein the outputting further comprises:

outputting one or more control signals to a first motor associated with the platform based on the first value; and

outputting one or more control signals to a second motor associated with the platform based on the second value.

18. The computer program product of claim 15, wherein the second value is calculated based on the first coordinate value and the first value.

19. The computer program product of claim 15, wherein the first value is an angle of rotation for a portion of the platform about the first axis of rotation, and the second value is an angle of rotation for a portion of the platform about the second axis of rotation, the second axis of rotation different than the first axis of rotation.