OBJECT DETECTION SYSTEM HAVING INTERFERENCE AVOIDANCE STRATEGY

• US 20120130588A1
• Filed: 11/22/2010
• Published: 05/24/2012
• Est. Priority Date: 11/22/2010
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: HUKKERI, Ramadev Burigsay
• Granted Patent: US 8,751,103 B2
• Time in Patent Office: Days
• US Class Current: 701/36
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4815 using multiple transmitters
• CPC Class Codes: G01S 7/4876 by removing unwanted signals G01S7/495 takes precedence

Abstract

An object detection system for a first machine is disclosed. The object detection system may have at least one transmitter configured to generate a laser beam directed onto a ground surface in proximity to the first machine, and a receiver configured to detect the laser beam and generate a corresponding signal. The object detection system may also have a controller in communication with the at least one transmitter and the receiver. The controller may be configured to generate an electronic terrain map based on the signal. The controller may also be configured to make a determination that a second machine is operating within a range of the first machine, and to adjust operation of the at least one transmitter and receiver based on the determination to reduce undesired interactions caused by operation of the second machine.

Claims

1. An object detection system for a first machine, comprising:

at least one transmitter configured to generate a laser beam directed onto a ground surface in proximity to the first machine;

a receiver configured to detect the laser beam and generate a corresponding signal; and

a controller in communication with the at least one transmitter and the receiver, the controller being configured to;

generate an electronic terrain map based on the signal;

make a determination that a second machine is operating within a range of the first machine; and

adjust operation of the at least one transmitter and receiver based on the determination to reduce undesired interactions caused by operation of the second machine.

2. The object detection system of claim 1, wherein the controller is configured to adjust operation of the at least one transmitter and receiver to avoid errors in the electronic terrain map caused by interaction with a laser beam originating from the second machine.

3. The object detection system of claim 2, wherein the controller is configured to adjust operation by changing a wavelength of the laser beam generated by the at least one transmitter and detected by the receiver.

4. The object detection system of claim 2, wherein the controller is configured to adjust operation by changing a pulsation frequency of the laser beam generated by the at least one transmitter and detected by the receiver.

5. The object detection system of claim 2, wherein the controller is configured to automatically adjust operation of the at least one transmitter and receiver when the second machine is within a threshold distance of the first machine.

6. The object detection system of claim 5, wherein the controller is configured to communicate to the second machine how operation of the at least one transmitter and receiver is adjusted.

7. The object detection system of claim 5, wherein the controller is configured to adjust operation of the at least one transmitter and receiver based on a request from an operator of the first machine.

8. The object detection system of claim 1, wherein the at least one transmitter includes a first plurality of transmitters arranged in a first array, and a second plurality of transmitters arranged in a second array.

9. The object detection system of claim 1, wherein the controller includes stored in memory a map relating adjustments of the at least one transmitter and the receiver to characteristics of at least one of the first and second machines.

10. A computer readable medium having computer executable instructions for performing a method of object detection for a first mobile machine, the method comprising:

directing at least a first laser beam onto a ground surface;

detecting the at least a first laser beam and responsively generating an electronic terrain map based on the detection;

making a determination that a second mobile machine is operating within a range of the first mobile machine; and

adjusting characteristics of the at least a first laser beam based on the determination to reduce undesired interactions caused by the second mobile machine.

11. The computer readable medium of claim 10, wherein adjusting includes adjusting characteristics of the at least a first laser beam to reduce undesired interactions with a second laser beam originating from the second mobile machine.

12. The computer readable medium of claim 11, wherein adjusting includes adjusting a wavelength of the at least a first laser beam.

13. The computer readable medium of claim 11, wherein adjusting includes adjusting a pulsation frequency of the at least a first laser beam.

14. The computer readable medium of claim 11, wherein adjusting includes automatically adjusting characteristics of the at least a first laser beam when the second mobile machine is within a threshold distance of the first mobile machine.

15. The computer readable medium of claim 14, wherein the method further includes communicating with the second mobile machine how characteristics of the at least a first laser beam were adjusted.

16. The computer readable medium of claim 14, wherein:

the method further includes receiving an operator request to adjust the characteristics of the at least a first laser beam; and

the adjusting is initiated based on the operator request.

17. The computer readable medium of claim 10, wherein the at least a first laser beam includes a first plurality of laser beams and a second plurality of laser beams configured to intersect with the first plurality of laser beams.

18. The computer readable medium of claim 17, wherein detecting the at least a first laser beam includes detecting intersections of the first and second plurality of laser beams.

19. The computer readable medium of claim 10, wherein the method further includes relating adjustments of the at a first laser beam to characteristics of at least one of the first and second mobile machines.

20. A machine, comprising:

a body;

a plurality of traction devices configured to support the body and propel the machine;

a first array of laser beam transmitters mounted to an end of the body and configured to generate a first plurality of grid lines on a ground surface in a travel path of the machine;

a second array of laser beam transmitters mounted to an end of the body apart from the first array of laser beam transmitters and configured to generate a second plurality of grid lines on the ground surface in the travel path of the machine and produce a plurality of intersections with the first plurality of grid lines;

a receiver configured to detect the plurality of intersections and generate a signal based on the detection; and

a controller in communication with the first and second arrays of laser beam transmitters and with the receiver, the controller being configured to;

generate an electronic terrain map based on the signal;

make a determination that a second machine is operating within a range of the first machine; and

adjust at least one of a wavelength and a pulsation frequency of laser beams generated by the first and second arrays of transmitters and a corresponding operation of the receiver based on the determination to reduce undesired interactions with a laser beam originating from the second machine.