Systems and methods for monitoring positioning of a machine by utilizing a virtual IMU

• US 9,638,525 B1
• Filed: 01/04/2016
• Issued: 05/02/2017
• Est. Priority Date: 01/04/2016
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Willis, Frank
• Primary Examiner(s): Mawari, Redhwan K
• Assistant Examiner(s): Torchinsky, Edward
• Application Number:
  US14/987,018
• Time in Patent Office: 484 Days
• Field of Search: None
• CPC Class Codes: B60P 1/04 with a tipping movement of load-transporting element dredgers or soil-shifting machines E02F3/00
• CPC Class Codes: B62D 21/186 for building site vehicles or multi-purpose tractors tracked vehicles B62D55/10; tractors in general B62D49/00; building site vehicles in general E02F; lift-trucks B66F
• CPC Class Codes: B62D 53/005 Combinations with at least three axles and comprising two or more articulated parts articulated buses B62D47/025
• CPC Class Codes: G01C 21/10 by using measurements of speed or acceleration G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/12 executed aboard the object being navigated; Dead reckoning
• CPC Class Codes: G01C 21/16 by integrating acceleration or speed, i.e. inertial navigation
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01C 21/18 Stabilised platforms, e.g. by gyroscope

Abstract

A system for monitoring positioning of a machine is disclosed. The system includes an IMU located at a first location on the machine and configured to generate positioning data associated with the first location. The system includes a machine controller operatively associated with the machine. The machine controller is configured to determine predicted positioning data for a second location on the machine based on positioning data associated with the first location. The machine controller is further configured to generate a virtual IMU at the second location based on the predicted positioning data for the second location, wherein the virtual IMU generates virtual positioning data for the second location. The system further includes an application controller operatively associated with the machine controller and configured to use the virtual positioning data as input data for one or more machine-associated applications.

Claims

1. A system for monitoring positioning of a machine, the system comprising:

an inertial measuring unit (IMU) located at a first location on the machine and configured to generate positioning data associated with the first location on the machine;

a electronic machine controller operatively associated with the machine and configured to;

receive the positioning data associated with the first location on the machine;

determine predicted positioning data for a second location on the machine based on the positioning data associated with the first location on the machine; and

generate a virtual IMU at the second location based on the predicted positioning data for the second location, the virtual IMU generating virtual positioning data for the second location; and

an electronic application controller operatively associated with the machine controller and configured to use the virtual positioning data as input data for one or more machine-associated applications.

2. The system of claim 1, wherein the application controller is further configured to use the positioning data associated with the first location on the machine generated by the IMU as the input data, in addition to using the virtual positioning data.

3. The system of claim 1, wherein determining the predicted positioning data for the second location by the machine controller includes transforming the positioning data associated with the first location based on a three-dimensional (3-D) gyro rate of turn at the first location, wherein the three dimensional gyro rate of turn at the first location is determined using the IMU.

4. The system of claim 1, wherein the first location on the machine is a front location on the machine, wherein the second location on the machine is a rear location on the machine, and wherein generating a virtual IMU at the second location based on the predicted positioning data for the second location includes generating the virtual IMU as being virtually positioned at the rear location on the machine.

5. The system of claim 4, wherein the machine is a truck including a front portion and a rear portion, wherein the front location on the machine is on the truck and associated with the front portion, and wherein the rear location is on the truck and associated with the rear portion of the truck.

6. The system of claim 5, wherein the front portion of the truck includes a front bumper, and wherein the front location is further associated with the front bumper.

7. The system of claim 5, wherein the rear portion of the truck includes a rear axle, and wherein the rear location is further associated with the rear axle.

8. The system of claim 5, wherein the truck further includes an articulation joint connecting the front portion to the rear portion and configured to allow pivotal movement about the articulation joint by the front portion and the rear portion.

9. The system of claim 5, wherein the machine controller is further configured to receive articulation information from an articulation sensor associated with the articulation joint, and wherein determining the predicted positioning data for the second location by the machine controller is further based on the articulation information.

10. The system of claim 9, wherein determining the predicted positioning data for the second location by the machine controller includes transforming the positioning data associated with the first location based on a three-dimensional (3-D) gyro rate of turn at the first location and articulation information associated with the front portion and the rear portion, wherein the three dimensional gyro rate of turn at the first location is determined using the IMU.

11. A truck comprising:

a frame assembly including a front portion and a rear portion;

a plurality of axles supporting the frame assembly and including a front axle for supporting the front portion and a rear axle for supporting the rear portion;

a plurality of ground engaging devices attached to the plurality of axles;

an engine for generating torque to drive the plurality of ground engaging devices via the plurality of axles;

an inertial measuring unit (IMU) located proximate to the front portion and configured to generate positioning data associated with the front portion; and

a truck controller operatively associated with the truck and configured to;

receive the positioning data associated with the front portion;

determine predicted positioning data for the rear portion based on the positioning data associated with the front portion;

generate a virtual IMU associated with the rear portion based on the predicted positioning data for the rear portion, the virtual IMU generating virtual positioning data for the rear portion; and

transmit the virtual positioning data to an application controller operatively associated with the truck controller and configured to use the virtual positioning data as input data for one or more truck-associated applications.

12. The truck of claim 11, further comprising an articulation joint connecting the front portion and the rear portion and configured to allow pivotal movement about the joint by the front portion and the rear portion.

13. The truck of claim 12, further comprising an articulation sensor associated with the articulation joint, and wherein the truck controller is further configured to receive articulation information from the articulation sensor, and wherein determining the predicted positioning data for the rear portion by the truck controller is further based on the articulation information.

14. The truck of claim 11, further comprising a front bumper associated with the front portion, and wherein the IMU is located proximate to the front bumper and generates the positioning data based on positioning of the front bumper.

15. The truck of claim 11, wherein the virtual IMU is further associated with the rear axle and virtual positioning of the virtual IMU is proximate to the rear axle.

16. A method for monitoring positioning of a vehicle, the method comprising:

generating, using an inertial measuring unit (IMU), positioning data associated with a first location on the vehicle, the IMU being located at the first location on the vehicle;

receiving the positioning data associated with the first location by a machine controller, the machine controller being operatively associated with the vehicle;

determining, using the machine controller, predicted positioning data for a second location on the vehicle based on the positioning data associated with the first location on the vehicle;

generating, by the machine controller, a virtual IMU at the second location based on the predicted positioning data for the second location;

generating, by the virtual IMU, virtual positioning data for the second location; and

transmitting, by the machine controller, the virtual positioning data to an application controller, the application controller in operative association with the machine controller.

17. The method of claim 16, further comprising utilizing, by the application controller, the virtual positioning data as input data for one or more vehicle-associated applications.

18. The method of claim 17, further comprising controlling the vehicle based on, at least, data generated by the one or more vehicle-associated applications.

19. The method of claim 16, wherein the generating positioning data associated with the first location on the vehicle includes generating positioning data based on the position of a front portion of the truck, and wherein generating the virtual IMU at the second location includes generating the virtual IMU at a virtual second location which is, virtually, associated with a rear portion of the truck.

20. The method of claim 19, further comprising receiving, by the machine controller, articulation information from an articulation sensor associated with an articulation joint of the truck, the articulation joint disposed between the rear portion and the front portion and configured to allow pivotal movement about the articulation joint by the front portion and the rear portion, and wherein determining the predicted positioning data for the second location by the machine controller is further based on the articulation information.