Sensor calibration system

• US 9,541,633 B2
• Filed: 04/29/2016
• Issued: 01/10/2017
• Est. Priority Date: 04/29/2016
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Rybski, Paul Edmund
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US15/143,150
• Publication Number:
  US 20160245899A1
• Time in Patent Office: 256 Days
• Field of Search: 701/2, 701/8, 701/33.1, 342/357.34
• US Class Current: 1/1
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/00 Type of UAV
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2101/00 UAVs specially adapted for particular uses or applications
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: G01S 7/4004 of parts of a radar system
• CPC Class Codes: G01S 7/4026 Antenna boresight
• CPC Class Codes: G01S 7/403 in azimuth, i.e. in the horizontal plane
• CPC Class Codes: G01S 7/4034 in elevation, i.e. in the vertical plane
• CPC Class Codes: G01S 7/4091 during normal radar operation
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating
• CPC Class Codes: G01S 7/52004 Means for monitoring or calibrating short-range imaging G01S7/5205
• CPC Class Codes: G05D 1/102 specially adapted for vertical take-off of aircraft
• CPC Class Codes: G06T 2207/10032 Satellite or aerial image; Remote sensing
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle

Abstract

A calibration system for a machine is provided. The calibration system includes an unmanned aerial vehicle provided in association with a perception sensor. The unmanned aerial vehicle includes a target attached thereto. The unmanned aerial vehicle is configured to move along a predetermined path sweeping across a field of view of the perception sensor. The unmanned aerial vehicle is configured to present the target to the perception sensor, such that the target covers the field of view of the perception sensor based on the movement of the unmanned aerial vehicle along the predetermined path. The unmanned aerial vehicle is configured to determine and communicate an orientation and a position of the target to the calibration system.

Claims

1. A calibration system for a machine, the calibration system comprising:

a perception sensor mounted on the machine, the perception sensor having a field of view; and

an unmanned aerial vehicle provided in association with the perception sensor, the unmanned aerial vehicle including a target attached thereto, wherein the target has a predetermined geometry, such that the unmanned aerial vehicle is configured to;

move along a predetermined path sweeping across the field of view of the perception sensor;

present the target to the perception sensor, such that the target covers the field of view of the perception sensor based on the movement of the unmanned aerial vehicle along the predetermined path; and

determine and communicate an orientation and a position of the target to the calibration system.

2. The calibration system of claim 1, wherein the calibration system is configured to calibrate the perception sensor based, at least in part, on a correlation of information associated with the target sensed by the perception sensor and the position and the orientation of the target communicated by the unmanned aerial vehicle.

3. The calibration system of claim 2, wherein the information associated with the target includes the position and the orientation of the target.