Machine sensor calibration system

• US 8,862,423 B2
• Filed: 02/28/2013
• Issued: 10/14/2014
• Est. Priority Date: 09/19/2008
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Hukkeri, Ramadev Burigsay, Edara, Thandava Krishna
• Primary Examiner(s): CHERRY, STEPHEN J
• Application Number:
  US13/780,828
• Publication Number:
  US 20130173201A1
• Time in Patent Office: 593 Days
• Field of Search: 702/104
• US Class Current: 702/104
• CPC Class Codes: G01C 25/00 Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass testing, calibrating or compensating compasses G01C17/38
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 13/874 Combination of several systems for attitude determination in general G01C, control of attitude G05D1/49
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 2013/93274 on the side of the vehicles
• CPC Class Codes: G01S 2013/9329 cooperating with reflectors or transponders
• CPC Class Codes: G01S 7/4004 of parts of a radar system
• CPC Class Codes: G01S 7/4082 using externally generated reference signals, e.g. via remote reflector or transponder
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating
• CPC Class Codes: G01S 7/4972 Alignment of sensor
• CPC Class Codes: G01S 7/52004 Means for monitoring or calibrating short-range imaging G01S7/5205

Abstract

A sensor calibration system for a mobile machine is disclosed. The sensor calibration system may have a first machine mounted sensor disposed on the mobile machine and configured to sense a characteristic of an offboard object and to generate a corresponding signal, and a second machine mounted sensor disposed on the mobile machine and configured to sense the characteristic of the offboard object and to generate a corresponding signal. The sensor calibration system may also have a controller in communication with the first and second machine mounted sensors. The controller may be configured to compare the characteristic of the offboard object as sensed by the first machine mounted sensor to the characteristic of the offboard object as sensed by the second machine mounted sensor, and to correct subsequent signals received from the first machine mounted sensor based on the comparison.

Claims

1. A sensor calibration system for a mobile machine, comprising:

a first machine mounted sensor disposed on the mobile machine and configured to sense a characteristic of an offboard object and to generate a corresponding signal;

a second machine mounted sensor disposed on the mobile machine and configured to sense the characteristic of the offboard object and to generate a corresponding signal;

a machine mounted positioning device configured to determine a machine heading during the characteristic sensing of the first and second machine mounted sensors, wherein the characteristic of the offboard object is a position of the offboard object with respect to the machine heading; and

a controller in communication with the first and second machine mounted sensors and the machine mounted positioning device, the controller being configured to;

compare the characteristic of the offboard object as sensed by the first machine mounted sensor to the characteristic of the offboard object as sensed by the second machine mounted sensor; and

correct subsequent signals received from the first machine mounted sensor based on the comparison.

2. The sensor calibration system of claim 1, further including a third machine mounted sensor disposed on the mobile machine and configured to sense the characteristic of the offboard object and generate a corresponding signal, wherein the controller is in further communication with the third machine mounted sensor and configured to:

compare the characteristic of the offboard object as sensed by the first machine mounted sensor to the characteristic of the offboard object as sensed by the second and third machine mounted sensors; and

correct subsequent signals received from the first machine mounted sensor only when the characteristic of the offboard object as sensed by the first machine mounted sensor differs substantially from the characteristic of the offboard object as sensed by the second and third machine mounted sensors.

3. The sensor calibration system of claim 2, wherein the first, second, and third machine mounted sensors have substantially identical scan directions with overlapping scan ranges.

4. The sensor calibration system of claim 3, wherein one of the first, second, and third machine mounted sensors is a short range forward-looking sensor, another of the first, second, and third machine mounted sensors is a medium range forward-looking sensor, and the remaining of the first, second, and third machine mounted sensors is a long range forward-looking sensor.

5. The sensor calibration system of claim 3, wherein one of the first, second, and third machine mounted sensors is a front-mounted sensor, another of the first, second, and third machine mounted sensors is a side-mounted sensor, and the remaining of the first, second, and third machine mounted sensors is a rear-mounted sensor.

6. The sensor calibration system of claim 5, wherein the front-mounted sensor is configured to detect and range an obstacle as the mobile machine approaches the obstacle, the side-mounted sensor is configured to detect and range the same obstacle as the mobile machine passes the obstacle, and the rear-mounted sensor is configured to detect and range the same obstacle as the mobile machine moves away from the obstacle.

7. The sensor calibration system of claim 1, wherein the offboard object is a stationary object.

8. The sensor calibration system of claim 7, wherein the mobile machine upon which the first and second machine mounted sensors are mounted remains substantially stationary during the characteristic sensing of the first and second sensors.

9. The sensor calibration system of claim 7, wherein the mobile machine upon which the first and second machine mounted sensors are mounted is moving during the characteristic sensing of the first and second sensors.

10. The sensor calibration system of claim 1, wherein the controller is further configured to generate a map having stored therein the characteristic of the offboard object as sensed by the first and second machine mounted sensors.

11. The sensor calibration system of claim 1, the characteristic of the offboard object as sensed by the first and second machine mounted sensors is at least one of a width, a height, a shape, a size, an orientation, a surface finish, a material composition, and a reflectivity.

12. A sensor calibration system, comprising:

a first sensor mounted on a mobile machine and configured to sense a characteristic of an object at a worksite;

a second sensor mounted on the mobile machine and configured to sense the characteristic of the object;

a positioning device configured to indicate a position of the mobile machine at the worksite; and

a controller in communication with the first sensor, the second sensor, and the positioning device, the controller being configured to;

compare the characteristic of the object as sensed by the first sensor to the characteristic of the object as sensed by the second sensor when the positioning device indicates the mobile machine is at a first worksite location; and

correct subsequent signals received from the first sensor based on the comparison.

13. The sensor calibration system of claim 12, wherein the object remains substantially stationary during the characteristic sensing of the first and second sensors.

14. The sensor calibration system of claim 13, wherein the mobile machine remains stationary during the characteristic sensing of the first and second sensors.

15. The sensor calibration system of claim 13, wherein the mobile machine is moving during the characteristic sensing of the first and second sensors.

16. The sensor calibration system of claim 15, wherein the positioning device is configured to determine a heading of the mobile machine during the characteristic sensing of the first and second sensors, and the characteristic of the object is a position of the object with respect to the heading.

17. A method of calibrating object sensing, the method comprising:

sensing a characteristic of an object with a first sensor mounted on a mobile machine at a worksite;

sensing the characteristic of the object with a second sensor mounted on the mobile machine;

sensing a position of the mobile machine at the worksite with a positioning device;

comparing the characteristic of the object as sensed by the first sensor to the characteristic of the object as sensed by the second sensor when the position of the mobile machine is at a first worksite location; and

correcting subsequent characteristics sensed by the first sensor based on the comparison.

18. The method of claim 17, wherein the object and the mobile machine remain substantially stationary during the characteristic sensing.

19. The method of claim 17, wherein the mobile machine is moving during the characteristic sensing, and the method further includes determining a heading of the mobile machine during the characteristic sensing, the characteristic of the object being a position of the object relative to the headings of the mobile machine.