Systems and methods for sensor platform

• US 10,288,458 B2
• Filed: 06/29/2016
• Issued: 05/14/2019
• 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): Le, Son T
• Assistant Examiner(s): Mercado, Alexander A
• Application Number:
  US15/197,654
• Publication Number:
  US 20180003529A1
• Time in Patent Office: 1,049 Days
• CPC Class Codes: B60R 11/02 for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
• CPC Class Codes: B60R 11/0258 for navigation systems
• 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: G01D 11/30 Supports specially adapted for an instrument; Supports specially adapted for a set of instruments
• 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: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058

Abstract

Apparatus are provided for a sensor platform. The sensor platform includes a sensor mount adapted to receive a sensing device, and a first articulation system that has a first rotational axis. The sensor platform includes a second articulation system that has a second rotational axis, and the second rotational axis is different than the first rotational axis. The sensor platform includes a base that supports the first articulation system, the second articulation system and the sensor mount. The first articulation system and the second articulation system are independently movable to define two degrees of freedom for positioning the sensor platform.

Claims

1. A sensor platform, comprising:

a sensor mount adapted to receive a sensing device;

a first articulation system that has a first rotational axis, the first articulation system including a first articulation body that is rotatable by a first drive system, the first articulation body having a first surface opposite a second surface, with the first surface coupled to the sensor mount and the second surface defining a counterbore, the first drive system including a first motor, a first spindle and a first drive ring coupled to the first articulation body, the first motor coupled about a perimeter of the first spindle to rotate the first spindle, the first spindle is integral with the first drive ring to rotate the first articulation body, the first drive ring has a first portion opposite a second portion, the first portion integral with the first spindle and the second portion is received within and fixedly coupled to the counterbore defined in the first articulation body;

a second articulation system that has a second rotational axis, the second rotational axis different than the first rotational axis, the second articulation system including a second articulation body that is movable by a second drive system, the second articulation body defining a second throughbore that extends through the second articulation body and including an annular flange that extends into the second throughbore, the first motor is coupled to the annular flange such that the first motor is disposed wholly within the second articulation body, the second articulation body having a third surface opposite a fourth surface, with the third surface positioned adjacent to the second surface of the first articulation body and the fourth surface defining a second counterbore, the second drive system including a second motor, a second spindle and a second drive ring coupled to the second articulation body, the second motor coupled about a perimeter of the second spindle to rotate the second spindle, the second spindle integral with the second drive ring to rotate the second articulation body, the second drive ring has a base portion opposite an engagement portion, the base portion integral with the second spindle and the engagement portion is received within and fixedly coupled to the second counterbore defined in the second articulation body; and

a base that supports the first articulation system, the second articulation system and the sensor mount,

wherein the first articulation system and the second articulation system are independently movable to define two degrees of freedom for positioning the sensor platform.

2. The sensor platform of claim 1, wherein a portion of the second drive system is received within the base.

3. The sensor platform of claim 1, wherein the first articulation body and the second articulation body are cylinders, the second surface of the first articulation body is a first slanted surface, the third surface of the second articulation body is a second slanted surface, and the first slanted surface of the first articulation body is positioned adjacent to the second slanted surface of the second articulation body.

4. The sensor platform of claim 2, wherein the base includes a body that defines a third throughbore and includes a second annular flange that extends into the third throughbore, and the second motor is coupled to the second annular flange such that the second motor is disposed wholly within the body of the base.

5. The sensor platform of claim 1, wherein the first rotational axis is angularly offset with respect to the second rotational axis.

6. The sensor platform of claim 1, wherein the base is coupled to the second articulation system.

7. The sensor platform of claim 1, wherein the first spindle defines a first throughbore and the sensor platform further comprises a flexible drive shaft that is coupled to the sensor mount and the base, the flexible drive shaft extends through the first throughbore of the first spindle and the flexible drive shaft inhibits motion in a third degree of freedom.

8. The sensor platform of claim 1, further comprising the sensing device, and the base of the sensor platform is coupled to a vehicle.

9. An autonomous vehicle, comprising:

a sensing device that observes a condition associated with the autonomous vehicle; and

a sensor platform coupled to the sensing device and the vehicle, the sensor platform including;

a sensor mount that receives the sensing device;

a first articulation system that has a first rotational axis, the first articulation system including a first articulation body that is rotatable by a first drive system, the first articulation body having a first surface opposite a second surface, with the first surface coupled to the sensor mount and the second surface defining a counterbore, the first drive system including a first motor, a first spindle and a first drive ring coupled to the first articulation body, the first motor coupled about a perimeter of the first spindle to rotate the first spindle, the first spindle is integral with the first drive ring to rotate the first articulation body, the first drive ring has a first portion opposite a second portion, the first portion integral with the first spindle and the second portion is received within and fixedly coupled to the counterbore defined in the first articulation body;

a second articulation system that has a second rotational axis, the second rotational axis different than the first rotational axis, the second articulation system including a second articulation body that is movable by a second drive system, the second articulation body defining a second throughbore that extends through the second articulation body and including an annular flange that extends into the second throughbore, the first motor is coupled to the annular flange such that the first motor is disposed wholly within the second articulation body, the second articulation body having a third surface opposite a fourth surface, with the third surface positioned adjacent to the second surface of the first articulation body and the fourth surface defining a second counterbore, the second drive system including a second motor, a second spindle and a second drive ring coupled to the second articulation body, the second motor coupled about a perimeter of the second spindle to rotate the second spindle, the second spindle integral with the second drive ring to rotate the second articulation body, the second drive ring has a base portion opposite an engagement portion, the base portion integral with the second spindle and the engagement portion is received within and fixedly coupled to the second counterbore defined in the second articulation body; and

a base that supports the first articulation system, the second articulation system and the sensor mount,

wherein the first articulation system and the second articulation system are independently movable to define two degrees of freedom for positioning the sensor platform, and the sensor platform extends along a longitudinal axis.

10. The autonomous vehicle of claim 9, wherein the first articulation body and the second articulation body are cylinders that include a slanted surface, and the slanted surface of the first articulation body is positioned adjacent to the slanted surface of the second articulation body.

11. The autonomous vehicle of claim 9, wherein the first rotational axis is transverse to the longitudinal axis and the second rotational axis is substantially parallel to the longitudinal axis.

12. The autonomous vehicle of claim 9, wherein the sensor platform further comprises a plurality of the first articulation systems and a plurality of the second articulation systems, with a portion of at least one of the plurality of the first articulation systems received within a respective one of the plurality of the second articulation systems.