Design of sensor and antenna field of view for semi-autonomous CTL

Abstract

A work machine may include a machine frame; a component box attached to the top of the machine frame; the first laser radar sensor is positioned at the front corner of the component box; and a second lidar sensor located at a relief corner of the component box on a side of the component box opposite the first lidar sensor.

Description

Technical Field

[0001] The present invention relates to construction equipment and, more particularly, to a component box for a work machine. Background Art

[0002] A work machine, such as a compact track loader, may include a variety of work tools to accomplish different construction jobs. A semi-autonomous or autonomous machine is one that can use various sensors to detect the area around the machine so that the machine can be operated without a driver or can be used to assist the driver while the driver is operating the machine. It is desirable to provide full 360-degree sensor coverage while also limiting the number of sensors on the machine to save costs.

[0003] WO2019197064 discusses a working machine having a guidance system comprising a top box. Summary of the invention

[0004] In an example according to the present disclosure, a working machine may include a machine frame; a component box attached to the top of the machine frame; a first lidar sensor located at a front corner of the component box; and a second lidar sensor located at a rear corner of the component box on a side of the component box opposite to the first lidar sensor.

[0005] In another example, a working machine may include a machine frame; a parts box attached to the top of the machine frame; and five cameras connected to the parts box to provide 360-degree visual coverage; wherein the five cameras include a first camera located on a front corner of the parts box, a second camera located on a front corner of the parts box opposite the first camera, a third camera located on a side surface of the parts box, a fourth camera located on a second side surface of the parts box opposite the third camera, and a fifth camera located at the rear end of the machine frame and connected to the parts box.

[0006] In another example, a work machine may include a machine frame; a component box attached to a top of the machine frame; a first lidar sensor located at a front corner of the component box; a second lidar sensor located at a rear corner of the component box on a side of the component box opposite the first lidar sensor; five cameras positioned to provide 360-degree coverage, wherein the five cameras include a first camera on a front corner of the component box, a second camera on a front corner of the component box opposite the first camera, a third camera on a side surface of the component box, a fourth camera on a second side surface of the component box opposite the third camera, and a fifth camera at a rear end of the machine frame and coupled to the component box; and a plurality of antennas mounted to the component box, the plurality of antennas including a first 2.4 GHz antenna mounted at a rear end of the component box, a 900 MHz antenna located at a rear end of the component box, a GPS receiver located on a bracket extending from a rear surface of a body of the component box, and a 2.4 GHz or 5 GHz Wi-Fi antenna located on a bracket extending from a rear corner of the body of the component box. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In the drawings, which are not necessarily drawn to scale, the same numerals may describe similar components in different views. Similar numerals with different letter suffixes may represent different instances of similar components. The accompanying drawings generally illustrate various embodiments discussed herein by way of example and not limitation.

[0008] Figure 1 A perspective view of a compact track loader is shown according to one embodiment.

[0009] Figure 2 A front perspective view of a component bin is shown according to one embodiment.

[0010] Figure 3 A left rear perspective view of a component bin is shown according to one embodiment.

[0011] Figure 4 A rear right perspective view of a component bin is shown according to one embodiment.

[0012] Figure 5 A schematic diagram showing the lidar sensor coverage of the present system according to one embodiment.

[0013] Figure 6 A schematic diagram showing camera coverage of the present system according to one embodiment is shown. DETAILED DESCRIPTION

[0014] Figure 1A perspective view of a work machine 100, such as a compact track loader, is shown according to one embodiment. The work machine 100 may include a machine frame 110 having a transport device 120 and a work tool 130 attached to the machine frame 110. For example, the transport device 120 may include tracks or wheels. The work tool 130 may include a bucket, fork, shovel, plow, or other work tool.

[0015] The machine frame 110 connects and relates to various physical and structural features that enable the work machine 100 to function. These features may include a cab 140 mounted atop the machine frame 110 from which an operator may control and direct the operation of the work machine 100. Thus, various controls may be located within the cab 140. To propel the work machine 100 across a surface, a power system (such as an internal combustion engine) may also be mounted to the machine frame 110 and may generate power that is converted to physically move the machine.

[0016] The work machine 100 may be an autonomous or semi-autonomous machine. Thus, for an autonomous vehicle, a 360° object detection system may be required. For example, a lidar sensor and a camera may need to be placed at a specific location on the machine to achieve a 360° field of view for object detection.

[0017] Therefore, the present system provides a component box 150 on the roof 145 of the cab 140. The component box 150 can house various electronic devices and sensors to allow autonomous control. A 360-degree field of view can be established by the lidar sensor, and the placement of the camera and antenna and other components allows this field of view to be combined with the bottom structural elements of the box.

[0018] Figure 2 shows a front perspective view of a component bin 150 according to one embodiment; Figure 3 A left rear perspective view of the component bin 150 is shown; Figure 4 A rear right perspective view of component bin 150 is shown.

[0019] Here, the component box 150 may generally include a main body 210 and a rear bracket 220 extending from a rear angle surface of the main body 210. A plurality of legs 230 are used to attach the component box 150 to the working machine 100.

[0020] There may be various sensors for the component bin 150. For example, a first lidar sensor 250 may be located at a front corner of the component bin 150, and a second lidar sensor 252 may be located at a rear corner of the component bin 150 on an opposite side of the component bin 150 from the first lidar sensor 250. The lidar sensors 250, 252 may be operably attached to electronic components located within the component bin 150 to provide 360 ​​degree lidar coverage around the environment of the work machine.

[0021] The lidar sensors 250, 252 are placed at opposite corners of the component bin 150, with the second lidar sensor 252 mounted on a bracket 220 extending from the rear wall of the body 210 of the component bin 150. This design helps to minimize any interference from the structure of the component bin 150 and from the machine frame 110, thereby providing 360° coverage when only two lidar sensors are used for the component bin 150. In addition, by positioning the second lidar sensor 252 directly above and away from the work machine, the bracket 220 provides minimal obstruction to the structure of the work machine 100 itself.

[0022] For example, Figure 5 A schematic diagram showing the lidar sensor coverage of the present system according to one embodiment. Figure 5 A parts bin 150 is shown on a work machine 100. Each of the lidar sensors 250, 252 may have a sensing range of at least 180 degrees and up to about 245 degrees to provide overlapping coverage of the environment surrounding the work machine 100. While the first lidar sensor 250 and the second lidar sensor 252 are positioned so that there is 360 degree lidar sensor coverage of the environment surrounding the work machine when the work machine is unloaded, there is also increased coverage when the machine is loaded. Additionally, the parts bin 150 provides a low machine profile. This design minimizes the number of sensors required.

[0023] Reference again Figure 2-4 Sensors for the parts bin 150 may also include a plurality of cameras 260 , 261 , 262 , 263 , and 264 positioned to provide visual coverage of the environment surrounding the work machine 100 .

[0024] In one example, the plurality of cameras 260-264 may include five cameras positioned to provide 360-degree coverage. For example, the five cameras may include a first camera 260 on a front corner of the component box 150, a second camera 261 on a front corner of the component box 150 opposite the first camera 260, a third camera 262 on one side surface of the component box 150, a fourth camera 263 on a second side surface of the component box 150 opposite the third camera 262, and a plurality of cameras 264 may be coupled to the machine frame 110 ( Figure 1 ) at the rear of the component box 150 and connected to the fifth camera 264 at the rear end via an electrical wire 266.

[0025] Figure 6 A schematic diagram showing camera coverage of the present system according to one embodiment is shown. Figure 6The camera coverage provided by cameras 260-264 is shown. For example, each camera may have approximately 120 degrees of horizontal coverage. In addition, by providing two front cameras 260, 261, the system allows for increased coverage and redundancy when the machine 100 is loaded because it increases the system's ability to see during operations including using implements or carrying a payload.

[0026] Reference again Figure 2-4 In one example, the system may further include a plurality of antennas 270 , 272 , 274 , and 276 on the component box 150 , which are arranged and positioned to avoid interfering with each other and the field of view of the camera and lidar sensor.

[0027] In this example, the plurality of antennas may include a first 2.4 GHz or 900 MHz antenna 270 mounted on the rear end of the component box 150. The first antenna 270 may be used as a field line RC antenna to receive signals from the user's RC controller. The second antenna 272 may include a 900 MHz antenna located at the rear end of the component box 150 and may be used to receive a stop function. The second antenna 272 is spaced far enough from the first antenna 270 to eliminate or minimize any interference between the antennas 270, 271. In addition, the antennas 270, 271 are both rod antennas positioned to extend above the component box 150.

[0028] The third antenna 274 may include a GPS receiver on a bracket 220 extending from the back of the body 210 of the component box 150. The fourth antenna 276 may include a 2.4 GHz or 5 GHz Wi-Fi antenna on a bracket 220 extending from a rear corner of the body 210 of the component box 150. The fourth antenna 276 is further elevated on the bracket 220 to minimize or eliminate any interference from the GPS receiver, the third antenna 272.

[0029] The cameras and sensors discussed above have been given specific locations and orientations relative to the components box structure to provide specific fields of view that are not blocked by components, antennas, and other structures of the box. They also provide overlapping fields of view. (Additional details of the structure and components of the components box 150 are discussed in document 4992.224US1 filed on the same date as this application and are incorporated herein by reference in their entirety).

[0030] Industrial Applicability

[0031] This system can be applied to many situations in construction. For example, this system can be used for compact crawler loaders and other working machines.

[0032] All of the features discussed above may be part of the component box separately, or one or more of the features discussed may be combined. For example, one embodiment may include a work machine 100 having a machine frame 110, and a component box 150 attached to the top 145 of the machine frame 110. A first lidar sensor 250 may be located at a front corner of the component box 150, and a second lidar sensor 252 may be located at a rear corner of the component box 150 on a side of the component box 150 opposite to the first lidar sensor 250. Five cameras 260-264 may be positioned to provide 360-degree coverage, wherein the five cameras include a first camera 260 on a front corner of the component box 150, a second camera 261 on a front corner of the component box 150 opposite to the first camera 260, a third camera 262 on one side surface of the component box 150, a fourth camera 263 on a second side surface of the component box 150 opposite to the third camera 262, and a fifth camera 264 at the rear end of the machine frame 110 and coupled to the component box 150. The multiple antennas mounted to the component box may include a first 2.4 GHz or 900 MHz first antenna 270 mounted at the rear end of the component box 150, a 900 MHz second antenna 272 located at the rear end of the component box 150 and spaced apart from the first antenna 270, a GPS receiver third antenna 274 located on a bracket 220 extending from the rear surface of the main body 210 of the component box 150, and a 2.4 GHz or 5 GHz Wi-Fi fourth antenna 276 located on a bracket 220 extending from a rear corner of the main body 210 of the component box 150.

[0033] The cameras 260-264 and the lidar sensors 250, 252 are given specific positions and orientations relative to the parts box structure to provide specific fields of view that are not blocked by elements of the parts box 150, antennas 270-276 and other structures. The cameras and lidar sensors can each provide overlapping fields of view.

[0034] In summary, the present system provides a 360 degree field of view established by the lidar sensor and camera and the arrangement of antennas and other components to allow this field of view to be integrated with the bottom structural elements of the box.

[0035] Various examples are illustrated in the drawings and the foregoing description. One or more features from one or more of these examples may be combined to form other examples.

[0036] The above detailed description is intended to be illustrative rather than limiting. The scope of the present invention should, therefore, be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

Claims

1. A working machine (100), comprising: Machine frame (110); a component box (150) attached to the top (145) of the machine frame; a first laser radar sensor (250), the first laser radar sensor (250) being located at a front corner of the component box; and A second laser radar sensor (252) is located at a rear corner of the component box on a side of the component box opposite to the first laser radar sensor. 2 . The work machine of claim 1 , wherein the first lidar sensor and the second lidar sensor are the only lidar sensors on the component box.

3. A work machine according to any one of claims 1-2, wherein the first lidar sensor and the second lidar sensor are positioned so that when the work machine is unloaded, there is 360 degree lidar sensor coverage of the environment surrounding the work machine.

4. The work machine of any one of claims 1-3, further comprising a plurality of cameras (260, 261, 262, 263, 264) coupled to the component bin to provide visual coverage of the environment surrounding the work machine.

5. The working machine according to claim 4, wherein the plurality of cameras includes five cameras, and the five cameras are positioned to provide 360-degree coverage, wherein the five cameras include a first camera on a front corner of the component box, a second camera on a front corner of the component box opposite to the first camera, a third camera on one side surface of the component box, a fourth camera on a second side surface of the component box opposite to the third camera, and a fifth camera at the rear end of the machine frame and connected to the component box.

6. The working machine according to any one of claims 1 to 5, wherein the second laser radar sensor is mounted on a bracket (220) extending from a rear wall of a main body (210) of the component box.

7. The work machine according to any one of claims 1-6, further comprising a plurality of antennas (270, 272, 274, 276) on the component box, the plurality of antennas being arranged and positioned to avoid interference.

8. The working machine according to claim 7, wherein the plurality of antennas include a first 2.4 GHz antenna mounted on the rear end of the component box, a 900 MHz antenna located on the rear end of the component box, a GPS receiver located on a bracket extending from the rear surface of the main body of the component box, and a 2.4 GHz or 5 GHz Wi-Fi antenna located on a bracket extending from the rear corner of the main body of the component box.

9. A working machine (100), comprising: Machine frame (110); a component box (150) attached to the top (145) of the machine frame; and five cameras coupled to the component bin to provide 360 ​​degree visual coverage; The five cameras include a first camera (260) on a front corner of the component box, a second camera (261) on a front corner of the component box opposite to the first camera, a third camera (262) on a side surface of the component box, a fourth camera (263) on a second side surface of the component box opposite to the third camera, and a fifth camera (264) at the rear end of the machine frame and connected to the component box.

10. The work machine of claim 9, further comprising one or more lidar sensors (250, 252) on the component bin.

11. The work machine of claim 10, wherein the one or more lidar sensors include a first lidar sensor located at a front corner of the component box; and A second LiDAR sensor is located at a rear corner of the component box on a side of the component box opposite to the first LiDAR sensor.

12. The work machine according to any one of claims 9-11, further comprising a plurality of antennas (270, 272, 274, 276) on the component box, the plurality of antennas being arranged and positioned to avoid interference.

13. The working machine according to claim 12, wherein the plurality of antennas include a first 2.4 GHz antenna mounted on the rear end of the component box, a 900 MHz antenna located on the rear end of the component box, a GPS receiver located on a bracket extending from the rear surface of the main body of the component box, and a 2.4 GHz or 5 GHz Wi-Fi antenna located on a bracket extending from a rear corner of the main body of the component box.

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