Object detection system having adjustable focus

• US 8,744,693 B2
• Filed: 11/22/2010
• Issued: 06/03/2014
• Est. Priority Date: 11/22/2010
• Status: Expired due to Fees

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Hukkeri, Ramadev Burigsay, Kherat, Samir Med
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): PECHE, JORGE O
• Application Number:
  US12/951,454
• Publication Number:
  US 20120130598A1
• Time in Patent Office: 1,289 Days
• Field of Search: 701/25, 701/36, 701/49, 701/50, 701/448, 701/301, 356/603
• US Class Current: 701/49
• CPC Class Codes: G01S 17/48 Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4815 using multiple transmitters

Abstract

An object detection system for a mobile machine is disclosed. The object detection system may have a first array of laser beam transmitters configured to generate a first plurality of grid lines on a ground surface, and a second array of laser beam transmitters configured to generate a second plurality of grid lines on the ground surface and produce a plurality of intersections with the first plurality of grid lines. The object detection system may also have a receiver configured to detect the plurality of intersections and generate a signal used to create an electronic terrain map based on the detection. At least one of the first and second arrays of laser beam transmitters may be selectively movable during operation to change a location of the plurality of intersections.

Claims

1. An object detection system, comprising:

a first array of laser beam transmitters configured to generate a first plurality of grid lines on a ground surface;

a second array of laser beam transmitters configured to generate a second plurality of grid lines on the ground surface and produce a plurality of intersections with the first plurality of grid lines; and

a receiver configured to detect the plurality of intersections and generate a signal used to create an electronic terrain map based on the detection,

wherein at least one of the first and second arrays of laser beam transmitters is selectively movable during operation to change a location of at least one of the plurality of intersections.

2. The object detection system of claim 1, wherein the at least one of the first and second arrays of laser beam transmitters is rotatable in a transverse direction relative to the first plurality of grid lines.

3. The object detection system of claim 2, wherein at least one laser beam transmitter of the at least one of the first and second arrays of laser beam transmitters is independently movable to adjust an angle between a corresponding grid line and adjacent grid lines.

4. The object detection system of claim 3, wherein each laser beam transmitter of the at least one of the first and second arrays of laser beam transmitters is rotated during operation to generate a corresponding one of the first plurality of grid lines on the ground surface.

5. The object detection system of claim 1, wherein both of the first and second arrays of laser beam transmitters are selectively movable to change the location of the at least one of the plurality of intersections.

6. The object detection system of claim 5, further including a controller in communication with the first and second arrays of laser beam transmitters and with the receiver, the controller being configured to regulate movement of the first and second arrays of laser beam transmitters and to generate the electronic terrain map based on the signal from the receiver.

7. The object detection system of claim 6, wherein the controller is configured to:

detect at least one of an aberration and an object in the electronic terrain map; and

selectively cause the first and second arrays of laser beam transmitters to move and increase a density of the plurality of intersections at a location of the at least one of the aberration and the object.

8. The object detection system of claim 6, wherein the controller is configured to:

receive an operator input indicative of a desired location of increased resolution in the electronic terrain map; and

selectively cause the first and second arrays of laser beam transmitters to move and increase a density of the plurality of intersections at the desired location.

9. The object detection system of claim 6, wherein the controller is configured to:

receive an input indicative of machine steering away from a current heading; and

selectively cause the first and second arrays of laser beam transmitters to move and increase a density of the plurality of intersections in a location corresponding with the machine steering.

10. The object detection system of claim 1, wherein:

the first plurality of grid lines are non-parallel relative to each other;

the second plurality of grid lines are non-parallel relative to each other; and

the first plurality of grid lines are non-perpendicular to the second plurality of grid lines.

11. A non-transitory computer readable medium having computer executable instructions for performing a method of object detection for a mobile machine, the method comprising:

generating a first plurality of grid lines on a ground surface;

generating a second plurality of grid lines on the ground surface to produce a plurality of intersections with the first plurality of grid lines; and

detecting the plurality of intersections and responsively generating an electronic terrain map based on the detection; and

selectively moving at least one of the first and second plurality of grid lines to change a location of at least one of the plurality of intersections.

12. The non-transitory computer readable medium of claim 11, wherein selectively moving the at least one of the first and second plurality of grid lines includes rotating the at least one of the first and second plurality of grid lines in a transverse direction about a common end.

13. The non-transitory computer readable medium of claim 12, wherein selectively moving the at least one of the first and second plurality of grid lines includes independently moving a first grid line of the at least one of the first and second plurality of grid lines relative to adjacent grid lines of the at least one of the first and second plurality of grid lines to adjust an angle therebetween.

14. The non-transitory computer readable medium of claim 13, wherein the method further includes rotating a first and second plurality of laser beams to generate the first and second plurality of grid lines on the ground surface.

15. The non-transitory computer readable medium of claim 11, wherein selectively moving the at least one of the first and second plurality of grid lines includes selectively moving both the first and second plurality of grid lines to change the location of the at least one of the plurality of intersections.

16. The non-transitory computer readable medium of claim 15, wherein the method further includes:

detecting at least one of an aberration and an object in the electronic terrain map; and

selectively moving the first and second plurality of grid lines to increase a density of the plurality of intersections at a location of the at least one of the aberration and the object.

17. The non-transitory computer readable medium of claim 16, wherein the method further includes:

receiving an operator input indicative of a desired location of increased resolution in the electronic terrain map; and

selectively moving the first and second plurality of grid lines to increase a density of the plurality of intersections at the desired location.

18. The non-transitory computer readable medium of claim 16, wherein the method further includes:

receiving an input indicative of machine steering away from a current heading; and

selectively moving the first and second plurality of grid lines to increase a density of the plurality of intersections in a location corresponding with the machine steering.

19. The non-transitory computer readable medium of claim 11, wherein:

the first plurality of grid lines are non-parallel relative to each other;

the second plurality of grid lines are non-parallel relative to each other; and

the first plurality of grid lines are non-perpendicular to the second plurality of grid lines.

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 from the receiver;

detect at least one of an aberration and an object in the electronic terrain map; and

selectively cause the first and second arrays of laser beam transmitters to move and increase a density of the plurality of intersections at a location of the at least one of the aberration and the object.