US 12,223,837 B2Granted

Systems and methods for detecting false positives in collision notifications

AssigneeCaterpillar Inc.

InventorsMo Wei, Jun Zuo

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Abstract

A collision detection system including a proximity sensor, positioning sensor, and controller. The controller includes a memory storing instructions, and a model of the machine that includes dimension information of the machine, location information of the proximity sensor, and pose information of movable portions of the machine. A processor is connected to the proximity sensor, positioning sensor, and memory, and is configured to update pose information of the model based on the pose of the movable portions determined using the positioning sensor. The processor may receive a detection of the object from the proximity sensor. The processor may determine an expected detection result of the proximity sensor using the model, and based on the location information of the proximity sensor and the updated pose information. The processor may compare the detection with the expected detection result to determine whether the detection results from the movable portion or a foreign object.

Claims20

Dependent claims

A collision detection system for a machine that changes shape, the collision detection system comprising:

at least one proximity sensor configured to detect an object in proximity to a location of the at least one proximity sensor;
at least one positioning sensor configured to determine a pose of at least one movable portion of the machine;
and
a controller that includes:
at least one memory storing instructions and a model of the machine, the model having dimension information of the machine, location information of the at least one proximity sensor, and pose information of the at least one movable portion of the machine;
and
at least one processor that is operatively connected to the at least one proximity sensor, the at least one positioning sensor, and to the at least one memory, and that is configured to execute the instructions to perform operations, including:
updating the pose information of the model based on the pose of the at least one movable portion determined using the at least one positioning sensor;
receiving a detection of the object within a pre-determined location threshold from the at least one proximity sensor, wherein the detection includes speed at which the object is approaching the at least one proximity sensor and/or the machine;
determining an expected detection result of the at least one proximity sensor using the model and based on the location information of the at least one proximity sensor and the updated pose information;
comparing the detection with the expected detection result;
and
based on the comparing, determining whether the detection results from the at least one movable portion or from a foreign object.

10 more elements

A computer-implemented method for detecting collision for a machine that changes shape, comprising:

detecting, via at least one positioning sensor, a pose of at least one movable portion of the machine;
updating pose information of a model of the machine based on the pose of the at least one movable portion determined using the at least one positioning sensor, wherein the model includes dimension information of the machine, location information of at least one proximity sensor, and pose information of the at least one movable portion of the machine;
detecting, via the at least one proximity sensor, an object within a pre-determined location threshold from a location of the at least one proximity sensor, wherein the detection includes speed at which the object is approaching the at least one proximity sensor and/or the machine;
determining an expected detection result of the at least one proximity sensor using the model and based on the location information of the at least one proximity sensor and the updated pose information;
and
comparing the detection with the expected detection result to determine whether the detection results from the at least one movable portion or from a foreign object.

3 more elements

A non-transitory computer readable medium for detecting collision for a machine that changes shape, the non-transitory computer readable medium storing instructions which, when executed by one or more processors, cause the one or more processors to perform operations comprising:

detecting, via at least one positioning sensor, a pose of at least one movable portion of the machine;
updating pose information of a model of the machine based on the pose of the at least one movable portion determined using the at least one positioning sensor, wherein the model includes dimension information of the machine, location information of at least one proximity sensor, and pose information of the at least one movable portion of the machine;
detecting, via the at least one proximity sensor, a detection of an object within a pre-determined location threshold from a location of the at least one proximity sensor, wherein the detection includes speed at which the object is approaching the at least one proximity sensor and/or the machine;
determining an expected detection result of the at least one proximity sensor using the model and based on the location information of the at least one proximity sensor and the updated pose information;
and
comparing the detection with the expected detection result to determine whether the detection results from the at least one movable portion or from a foreign object.

3 more elements

Dependencies are inferred from the claim text.