System Using Radar Apparatus for Assisting a User of a Machine of a Kind Comprising a Body and an Implement

• US 20160138247A1
• Filed: 11/13/2015
• Published: 05/19/2016
• Est. Priority Date: 11/14/2014
• Status: Abandoned Application

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Conway, Simon, Britten-Austin, R. Neil, Abi-Karam, Elie, Smith, Sage
• Application Number:
  US14/940,957
• Publication Number:
  US 20160138247A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B66F 9/0755 Position control; Position detectors
• CPC Class Codes: E02F 3/96 with arrangements for alternate or simultaneous use of different digging elements E02F3/7604, E02F3/769, E02F3/78 take precedence; quick-acting devices to connect tools to arms or booms E02F3/3609, for arms to tractors or the like E02F3/627
• CPC Class Codes: E02F 9/2033 Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin sub-groups of E02F3/431 of E02F3/435 take precedence; for turntables E02F9/123
• CPC Class Codes: E02F 9/24 Safety devices , e.g. for preventing overload E02F9/226 takes precedence
• CPC Class Codes: E02F 9/262 with follow-up actions to control the work tool, e.g. controller
• CPC Class Codes: E02F 9/264 Sensors and their calibration for indicating the position of the work tool
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/887 for detection of concealed objects, e.g. contraband or weapons
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 7/22 Producing cursor lines and indicia by electronic means

Abstract

A system using radar apparatus for assisting a user of a machine of a kind including a body and an implement is disclosed. The system may provide a user with information regarding a current position of a part or parts of the implement that may not otherwise be visible to a user situated in a cab of the machine. The system may provide a user with information regarding a future trajectory of a part or parts of the implement on the basis of sensed data relating to current machine position and movement.

Claims

1. A system for providing assistance to a user of a machine of a kind comprising a body and an implement movable relative to the body, wherein the system comprises:

a processor configured to receive a plurality of system inputs and to deliver a system output; and

a display configured to display the system output to the user;

wherein the plurality of system inputs comprises;

(a) first system input data relating to a type and/or a dimension of the implement;

(b) second system input data relating to a current position of the implement;

(c) third system input data derived from a radar apparatus focused on a region in the vicinity of the implement; and

at least one of;

(d) fourth system input data relating to user input control of a first type that governs ground propulsion of the machine; and

(e) fifth system input data relating to user input control of a second type that governs movement of the implement relative to the body;

wherein the processor is configured to process the plurality of system inputs in order to deliver the system output that represents guidance for the user in relation to a position of the implement.

2. The system of claim 1 further comprising at least one sensor configured for obtaining at least some of the plurality of input data.

3. The system of claim 2 wherein the at least one sensor includes at least one camera.

4. The system of claim 3 wherein the at least one camera comprises a camera located so as to provide an image of an implement that may be connected to an implement coupling of the machine.

5. The system of claim 1 wherein the plurality of system inputs further comprises sixth system input data derived from a camera focused on a region in the vicinity of the implement.

6. The system of claim 5 wherein the system output comprises a representation of a combination of the third system input data and the sixth input system data.

7. The system of claim 6 wherein the system output represents guidance for the user in relation to a future position or positions of a feature of the implement relative to an environment surrounding the machine, wherein the future position or positions are calculated based on current input data.

8. The system of claim 7 wherein the output comprises a live image provided by the camera, the live image comprising at least a portion of the implement, and also a representation of a future position or positions of the implement relative to the present position of the implement.

9. The system of claim 1 further comprising a data library including data corresponding to values for each of the first, second, third system input data, and, where present, fourth, fifth and sixth system input data and, for each combination of system input data values, corresponding system output data values, wherein the processor is configured to search the data library for an output data value or values that corresponds with the said system input data values.

10. The system of claim 1 wherein the processor is configured to compute a function, the function having a plurality of function inputs and at least one function output and wherein the processor is configured to transfer the plurality of system inputs to the function inputs and to deliver as the system output the at least one function output.

11. The system of claim 5 wherein at least one of the camera and the radar apparatus is located on an implement configured to be couplable to a machine.

12. The system of claim 3 wherein the first input data relating to a type and/or a dimension of the implement are obtained by configuring the processor to:

obtain an image from one of the at least one camera wherein said image includes an area of interest on an implement connected to the machine, wherein the area of interest is an area that is expected to show at least one alphanumeric character;

use an alphanumeric recognition technique, to recognise the at least one alphanumeric character;

search for the combination of at least one alphanumeric character in a data library and obtaining from a part of the data library associated with the combination of at least one alphanumeric character data stored in the data library in relation to the implement including at least one of the following;

implement type;

implement dimension or dimensions;

degrees of freedom of implement or components of implement;

other data relating to the implement.

13. The system of claim 2 wherein the first input data relating to at least one of a type and a dimension of the implement are obtained by configuring the processor to:

obtain information for identifying the implement using at least one of the following techniques;

image recognition;

bar code recognition;

QR code recognition;

RFID detection;

search in a data library and obtain from a part of the data library associated with the information obtained for data stored in the data library in relation to the implement including at least one of the following;

implement type;

implement dimension or dimensions;

degrees of freedom of implement or components of implement;

other data relating to the implement.

14. An implement comprising a camera and a radar apparatus for use with the system of claim 1.

15. A machine comprising the system of claim 1.

16. The system of claim 2 wherein the plurality of system inputs further comprises sixth system input data derived from a camera focused on a region in the vicinity of the implement.

17. The system of claim 16 wherein the system output comprises a representation of a combination of the third system input data and the sixth input system data.

18. The system of claim 17 wherein the system output represents guidance for the user in relation to a future position or positions of a feature of the implement relative to an environment surrounding the machine, wherein the future position or positions are calculated based on current input data.

19. The system of claim 2 further comprising a data library including data corresponding to values for each of the first, second, third system input data, and, where present, fourth, fifth and sixth system input data and, for each combination of system input data values, corresponding system output data values, wherein the processor is configured to search the data library for an output data value or values that corresponds with the said system input data values.

20. The system of claim 2 wherein the processor is configured to compute a function, the function having a plurality of function inputs and at least one function output and wherein the processor is configured to transfer the plurality of system inputs to the function inputs and to deliver as the system output the at least one function output.