Positioning system having a master-slave configuration

• US 9,933,262 B2
• Filed: 07/27/2015
• Issued: 04/03/2018
• Est. Priority Date: 07/27/2015
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Vogel, Nicholas Robert
• Primary Examiner(s): Melton, Todd
• Assistant Examiner(s): Roberson, Jason R
• Application Number:
  US14/809,943
• Publication Number:
  US 20170030718A1
• Time in Patent Office: 981 Days
• Field of Search: None
• CPC Class Codes: E02F 9/261 Surveying the work-site to be treated
• CPC Class Codes: E02F 9/264 Sensors and their calibration for indicating the position of the work tool

Abstract

A positioning system for generating pose information of a machine includes a primary positioning controller and a plurality of local positioning controllers coupled to the primary positioning controller. The primary positioning controller is configured to generate primary pose information of the machine. The primary pose information reflects an overall pose of the machine. Each of the local positioning controllers is configured to generate local pose information based on at least the primary pose information. The local pose information reflects a local pose of a portion of the machine corresponding to the local positioning controller.

Claims

1. A positioning system for generating pose information of a machine, the positioning system comprising:

a primary positioning controller configured to generate primary pose information of the machine,

the primary pose information reflecting an overall pose of an entirety of the machine;

a plurality of local positioning controllers associated with different portions of the machine and coupled to the primary positioning controller,

each of the local positioning controllers being configured to;

generate local pose information for a different portion of the machine corresponding to the local positioning controller,

the local pose information reflecting a local pose of the different portion of the machine corresponding to the local positioning controller, and

update the local pose information based on the primary pose information; and

a plurality of sensors configured to obtain images of surrounding of the machine,

wherein the images of the surroundings of the machine are stitched, based on the updated local pose information of each local positioning controllers of the plurality of local positioning controllers, to form a surround view image of the surroundings of the machine.

2. The positioning system of claim 1, further comprising:

a primary rate sensing device coupled to the primary positioning controller and configured to provide primary pose incremental information to the primary positioning controller; and

a plurality of local rate sensing devices, each of the local rate sensing devices being coupled to one of the local positioning controllers and configured to provide local pose incremental information to the corresponding local positioning controller.

3. The positioning system of claim 2, wherein the primary positioning controller includes:

a primary pose propagation unit configured to receive the primary pose incremental information from the primary rate sensing device and generate a propagated primary pose estimate based on the primary pose incremental information, the propagated primary pose estimate including an estimate of at least one state of the machine; and

a primary pose measurement update unit coupled to the primary pose propagation unit and configured to update the propagated primary pose estimate to generate the primary pose information.

4. The positioning system of claim 3, further comprising:

at least one state update source coupled to the primary positioning controller,

wherein the primary pose measurement update unit is configured to update the propagated primary pose estimate using state update information previously provided by the at least one state update source or state update information provided by the at least one state update source in real time.

5. The positioning system of claim 3, wherein the primary pose propagation unit is further configured to receive additional machine-wide state information and generate the propagated primary pose estimate based on the primary pose incremental information and the additional machine-wide state information.

6. The positioning system of claim 2, wherein each of the local positioning controllers includes:

a local pose propagation unit configured to receive the local pose incremental information from the corresponding local rate sensing device and generate a propagated local pose estimate based on the local pose incremental information, the propagated local pose estimate including an estimate of at least one state of the corresponding portion of the machine; and

a local pose measurement update unit configured to update the propagated local pose estimate based on the primary pose information to generate the local pose information.

7. The positioning system of claim 2, wherein the primary rate sensing device and the local rate sensing devices are identical to each other.

8. The positioning system of claim 2, wherein the primary rate sensing device has a smaller drift over time than the local rate sensing devices.

9. The positioning system of claim 1, wherein the primary pose information includes at least one of a velocity or an orientation of the machine.

10. The positioning system of claim 1, wherein the updated local pose information includes at least one of a velocity or an orientation of the different portion of the machine.

11. A method for generating pose information of a machine, the method comprising:

generating primary pose information of the machine,

the primary pose information reflecting an overall pose of an entirety of the machine;

generating local pose information,

the local pose information reflecting a local pose of a portion of the machine;

updating the local pose information based on the primary pose information; and

obtaining, using a plurality of sensors, images of surrounding of the machine,

wherein the images of the surroundings of the machine are stitched, based on the updated local pose information of each local positioning controllers of the plurality of local positioning controllers, to form a surround view image of the surroundings of the machine.

12. The method of claim 11, wherein:

generating the primary pose information includes generating the primary pose information based on primary pose incremental information provided by a primary rate sensing device; and

generating the local pose information includes generating the local pose information based on the primary pose information and local pose incremental information provided by one of a plurality of local rate sensing devices.

13. The method of claim 12, wherein generating the primary pose information includes:

generating a propagated primary pose estimate based on the primary pose incremental information; and

updating the propagated primary pose estimate to generate the primary pose information.

14. The method of claim 13, wherein updating the propagated primary pose estimate includes updating the propagated primary pose estimate using state update information previously provided by at least one state update source or state update information provided by the at least one state update source in real time.

15. The method of claim 13, wherein generating the propagated primary pose estimate includes generating the propagated primary pose estimate based on the primary pose incremental information and additional machine-wide state information.

16. The method of claim 12, wherein generating the local pose information includes:

generating a propagated local pose estimate based on the local pose incremental information; and

updating the propagated primary pose estimate based on the primary pose information to generate the local pose information.

17. The method of claim 12, wherein the primary pose incremental information has a drift over time similar to or smaller than a drift over time of the local pose incremental information.

18. The method of claim 11,

wherein the portion of the machine includes a perception sensor,

the method further including:

sending the local pose information to the perception sensor.

19. The method of claim 11, wherein:

generating the primary pose information includes generating at least one of a velocity or an orientation of the machine, and

generating the local pose information includes generating at least one of a velocity or an orientation of the corresponding portion of the machine.

20. A perception system for providing a surround view of a machine, the perception system comprising:

a plurality of perception sensors configured to obtain images of surrounding of the machine; and

a positioning system coupled to the perception sensors, the positioning system including;

a primary positioning controller configured to generate primary pose information of the machine,

the primary pose information reflecting an overall pose of an entirety of the machine; and

a plurality of local positioning controllers coupled to the primary positioning controller,

each of the plurality of local positioning controllers being coupled to one of the perception sensors and being configured to;

generate local pose information based on the primary pose information, the local pose information reflecting a local pose of a different portion of the machine for a corresponding perception sensor of the plurality of perception sensors,

wherein the images of the surroundings of the machine are stitched, based on the local pose information of each local positioning controllers of the plurality of local positioning controllers, to form a surround view image of the surroundings of the machine.