SYSTEMS AND METHODS FOR EVALUATING RANGE SENSOR CALIBRATION DATA

• US 20120173185A1
• Filed: 12/30/2010
• Published: 07/05/2012
• Est. Priority Date: 12/30/2010
• Status: Abandoned Application

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: TAYLOR, Michael Allen, Katta, Sudhir, Kriel, Bradley Scott
• Application Number:
  US12/982,079
• Publication Number:
  US 20120173185A1
• Time in Patent Office: Days
• US Class Current: 702/104
• CPC Class Codes: G01B 11/026 by measuring distance between sensor and object G01B11/0608 takes precedence
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9322 using additional data, e.g. driver condition, road state or weather data
• CPC Class Codes: G01S 2013/93273 on the top of the vehicles
• CPC Class Codes: G01S 7/4004 of parts of a radar system
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating

Abstract

In one embodiment, a method for evaluating calibration data collected by a range sensor of a mobile machine on a site includes collecting a calibration data set using the range sensor. The calibration data set includes information indicating the locations of a plurality of points on a surface of the site relative to the range sensor. The method further includes determining an expected error score of the calibration data set. Finally, the method includes determining whether to use the calibration data set to calibrate the range sensor based on the expected error score.

Claims

1. A method for evaluating calibration data collected by a range sensor of a mobile machine on a site, the method comprising:

collecting a calibration data set using the range sensor, the calibration data set including information indicating the locations of a plurality of points on a surface of the site relative to the range sensor;

determining an expected error score of the calibration data set; and

determining whether to use the calibration data set to calibrate the range sensor based on the expected error score.

2. The method of claim 1, further comprising:

receiving operational information associated with the machine; and

determining the expected error score of the calibration data set based on the received operational information.

3. The method of claim 2, wherein the operation information associated with the machine includes at least one of a time associated with the range sensor, a status of the range sensor, a pose of the mobile machine determined by a pose sensor, a time associated with the pose sensor, a status associated with the pose sensor, a ground speed of the mobile machine, and an angular velocity of the mobile machine at the time of collecting the calibration data set.

4. The method of claim 1, further comprising:

receiving environmental information associated with the site; and

determining the expected error score of the calibration data set based on the received environmental information.

5. The method of claim 4, wherein the received environmental information includes at least one of a dust level, a fog level, a rate of precipitation, and a solar radiation level at the location of the mobile machine on the site at the time of collecting the calibration data set.

6. The method of claim 1, further comprising determining the expected error score of the calibration data set based on at least one of:

whether the machine was located within a designated area of the site at the time of collecting the calibration data set;

whether the plurality of points are located within a designated area of the site;

a range from the range sensor to the plurality of points; and

a direction from the range sensor to the plurality of points.

7. The method of claim 1, wherein determining whether to use the calibration data set to calibrate the range sensor includes determining whether the expected error score is below a threshold.

8. The method of claim 1, further comprising, when it is determined not to use the calibration data set to calibrate the range sensor, performing at least one of the following:

alerting an operator of the mobile machine that the calibration data set is unsatisfactory;

instructing the operator of the mobile machine, or controlling the mobile machine, to collect a new calibration data set;

generating a diagnostic alert; and

instructing the operator of the mobile machine, or controlling the mobile machine, to return to a service bay.

9. The method of claim 1, further comprising, when it is determined to use the calibration data set to calibrate the range sensor, performing at least one of the following:

calibrating the range sensor using the calibration data set;

alerting an operator of the mobile machine that the calibration data set is satisfactory;

transmitting the calibration data set to a remote calibration system for calibration of the range sensor; and

instructing the operator of the mobile machine, or controlling the mobile machine, to return to a service bay for calibration of the range sensor.

10. A method for evaluating calibration data collected by a range sensor of a mobile machine on a site, the method comprising:

collecting a calibration data set using the range sensor, the calibration data set including information indicating the locations of a plurality of points on a surface of the site relative to the range sensor;

determining an expected error score of the calibration data set;

determining whether the expected error score of the calibration data set is above a threshold; and

alerting an operator of the mobile machine when it is determined that the expected error score of the calibration data set is above the threshold.

11. The method of claim 10, further comprising:

receiving operational information associated with the machine; and

determining the expected error score of the calibration data set based on the received operational information.

12. The method of claim 11, wherein the operation information associated with the machine includes at least one of a time associated with the range sensor, a status of the range sensor, a pose of the mobile machine determined by a pose sensor, a time associated with the pose sensor, a status associated with the pose sensor, a ground speed of the mobile machine, and an angular velocity of the mobile machine at the time of collecting the calibration data set.

13. The method of claim 10, further comprising:

receiving environmental information associated with the site; and

determining the expected error score of the calibration data set based on the received environmental information.

14. The method of claim 13, wherein the received environmental information includes at least one of a dust level, a fog level, a rate of precipitation, and a solar radiation level at the location of the mobile machine on the site at the time of collecting the calibration data set.

15. The method of claim 10, further comprising determining the expected error score of the calibration data set based on at least one of:

whether the machine was located within a designated area of the site at the time of collecting the calibration data set,

whether the plurality of points are located within a designated area of the site,

a range from the range sensor to the plurality of points, and

a direction from the range sensor to the plurality of points.

16. The method of claim 10, further comprising, when it is determined that the expected error score of the calibration data set is above the threshold, performing at least one of the following:

instructing the operator of the mobile machine, or controlling the mobile machine, to collect a new calibration data set;

alerting the operator of the mobile machine that the calibration data set is unsatisfactory;

generating a diagnostic alert; and

instructing the operator of the mobile machine, or controlling the mobile machine, to return to a service bay.

17. The method of claim 10, further comprising, when it is determined that the expected error score of the calibration data set is not above the threshold, performing at least one of the following:

calibrating the range sensor using the calibration data set;

alerting the operator of the mobile machine that the calibration data set is satisfactory;

transmitting the calibration data set to a remote calibration system for calibration of the range sensor; and

instructing the operator of the mobile machine, or controlling the mobile machine, to return to a service bay for calibration of the range sensor.

18. A system for evaluating calibration data collected by a range sensor of a mobile machine on a site, the system comprising:

an operator interface;

at least one range sensor configured to collect a calibration data set, the calibration data set including information indicating the locations of a plurality of points on a surface of the site relative to the range sensor; and

a sensor calibration computer configured to;

determine an expected error score of the calibration data set;

determine whether the expected error score of the calibration data set is above a threshold; and

alert an operator of the mobile machine, via the operator interface, when it is determined that the expected error score of the calibration data set is above the threshold.

19. The system of claim 18, further comprising:

a machine operations sensing system configured to sense operational information associated with the machine; and

an environmental sensing system configured to sense environmental information associated with the site,

wherein the sensor calibration computer is further configured to determine the expected error score of the calibration data set based on at least one of the machine operational information and on the environmental information.

20. The system of claim 19, wherein:

the machine operational information includes at least one of a time associated with the range sensor, a status of the range sensor, a pose of the mobile machine determined by a pose sensor, a time associated with the pose sensor, a status associated with the pose sensor, a ground speed of the mobile machine, and an angular velocity of the mobile machine at the time of collecting the calibration data set; and

the environmental information includes at least one of a dust level, a fog level, a rate of precipitation, and a solar radiation level at the location of the mobile machine on the site at the time of collecting the calibration data set.

21. The system of claim 18, further comprising a memory storing map information associated with the site, wherein the sensor calibration computer is further configured to:

determine, based on the map, at least one of whether the machine was located within a designated area of the site at the time of collecting the calibration data set, whether the plurality of points are located within a designated area of the site, a range from the range sensor to the plurality of points, and a direction from the range sensor to the plurality of points; and

determine the expected error score of the calibration data set based on at least one of whether the machine was located within a designated area of the site at the time of collecting the calibration data set, whether the plurality of points are located within a designated area of the site, a range from the range sensor to the plurality of points, and a direction from the range sensor to the plurality of points.

22. The system of claim 18, wherein the sensor calibration computer is further configured to perform at least one of the following when it is determined that the expected error score of the calibration data set is above the threshold:

instruct the operator of the mobile machine via the operator interface, or control the mobile machine, to collect a new calibration data set;

alert the operator of the mobile machine via the operator interface that the calibration data set is unsatisfactory;

provide a diagnostic alert via the operator interface; and

instruct the operator via the interface, or control the mobile machine, to return to a service bay.

23. The system of claim 18, wherein the sensor calibration computer is further configured to perform at least one of the following when it is determined that the expected error score of the calibration data set is not above the threshold:

calibrate the range sensor using the calibration data set;

alert the operator via the operator interface that the calibration data set is satisfactory;

transmit the calibration data set to a remote calibration system for calibration of the range sensor; and

instruct the operator via the interface, or control the mobile machine, to return to a service bay for calibration of the range sensor.