Ultrawide band positioned detection and control

Abstract

A method includes the steps of providing a plurality of ultrawide band ("UWB") components that may be transmitters and / or receivers (22, 44, 52, 53) at a first location on a machine part (20, 40, 42, 51), and providing at least one UWB component that may be a transmitter and / or receiver at a second location, with at least one of the UWB components communicating with a control on one of the first and second locations. Radial frequency signals are sent from at least one of the UWB components at one of the first and second locations to a second UWB component on the other of the first and second locations, and receiving a reflective signal at the at least one UWB component, and determining a relative position of the first and second locations in at least two dimensions.

Description

ULTRA WIDE BAND POSITIONED DETECTION AND CONTROLRELATED APPLICATION(S)

[0001] This application claims the benefit of United States Provisional Application No. 63 / 445,203, filed February 13, 2023, the entirety of which is incorporated by reference.BACKGROUND

[0002] This application relates to utilizing ultrawide band radio signals to detect relative position, and for controls utilizing the detected position.

[0001] Modern industrial systems are becoming increasingly complicated and require sophisticated controls. Within a single machine it becomes necessary to know the position of moving parts relative to other areas on the machine.

[0002] Further, machines are often operated in combination with each other. There have been inadequate controls to tie the operation of the related machines to each other.

[0003] Ultrawide band (“UWB”) detection systems are known. However, the potential has not been fully developed.SUMMARY

[0004] In a featured embodiment, a method includes the steps of providing a plurality of ultrawide band (“UWB”) components that may be transmitters and / or receiver at a first location on a machine part, and providing at least one UWB component that may be a transmitter and / or receiver at a second location, with at least one of the UWB components communicating with a control on one of the first and second locations. Radial frequency signals are sent from at least one of the UWB components at one of the first and second locations to a second UWB component on the other of the first and second locations, and receiving a reflective signal at the at least one UWB component, and determining a relative position of the first and second locations in at least two dimensions.

[0005] In another embodiment according to the previous embodiment, the first and second locations are on a single machine with one of the locations being movable within three dimensions relative to the other of the locations.

[0006] In another embodiment according to any of the previous embodiments, a tool on the single machine moves relative to a second portion of the single machine, and the tool and the second portion provide the first and second locations.

[0007] In another embodiment according to any of the previous embodiments, the relative position is in only two dimensions.

[0008] In another embodiment according to any of the previous embodiments, there is also an angular relationship between the first and second locations that is determined.

[0009] In another embodiment according to any of the previous embodiments, the relative position is determined in three dimensions.

[0010] In another embodiment according to any of the previous embodiments, the relative position includes an angular relationship between the first and second locations.

[0011] In another embodiment according to any of the previous embodiments, the locations are mounted on distinct machines, and the control is operable to coordinate operation between the two machines based upon on the determined relative position of the two locations.

[0012] In another embodiment according to any of the previous embodiments, the relative position is in only two dimensions.

[0013] In another embodiment according to any of the previous embodiments, there is also an angular relationship between the first and second locations that is determined.

[0014] In another embodiment according to any of the previous embodiments, the relative position is determined in three dimensions.

[0015] In another embodiment according to any of the previous embodiments, the relative position includes an angular relationship between the first and second locations.

[0016] In another embodiment according to any of the previous embodiments, the distinct machines include two vehicles that communicate relative to the positions between each other.

[0017] In another embodiment according to any of the previous embodiments, the two machines include two distinct types of agricultural machines.

[0018] In another embodiment according to any of the previous embodiments, the machines harvest a crop, and communicate with each other during the harvesting.

[0019] In another embodiment according to any of the previous embodiments, one of the machines is a movable vehicle depositing material in the second of the machines.

[0020] In another embodiment according to any of the previous embodiments, one of the machines is a device located on a user and the other of the machine is a moving vehicle.

[0021] In another embodiment according to any of the previous embodiments, one of the machine is a device carried by a user and the other of the machines is a vehicle being called to approach the user’ s location.

[0022] In another embodiment according to any of the previous embodiments, one of the machines is a vehicle, and the other of the machines is a loading dock.

[0023] In another embodiment according to any of the previous embodiments, one of the machines is a vehicle, and the other of the machines are devices defining a boundary for the vehicle during movement.

[0024] These and other features will be best understood from the following drawings and specification, the following is a brief description.BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematically shows a movement detection system along a single axis.

[0026] Figure IB schematically shows the operation of a UWB position sensor.

[0027] Figure 2A schematically shows position detection in a two-dimensional space.

[0028] Figure 2B schematically shows relative position sensing in a two- dimensional plane, and wherein the pose of the two components is detected.

[0029] Figure 3A schematically shows a system for detecting relative position in three dimensions.

[0030] Figure 3B schematically shows a system for detecting relative position in three dimensions and wherein the pose between the two components can be detected.

[0031] Figure 4A shows a first application for the position detection on a single machine.

[0032] Figure 4B shows another application of detecting relative positions of several components on a single machine.

[0033] Figure 4C is yet another application on a single machine.

[0034] Figure 4D is yet another application on a single machine.

[0035] Figure 4E is yet another application on a single machine.

[0036] Figure 4F is yet another application on a single machine.

[0037] Figure 5 shows relative position detected between two cooperating machines.

[0038] Figure 6 shows an application of position detection between two machines, and wherein the relative position is sensed and utilized to optimize operation.

[0039] Figure 7 shows another system wherein plural vehicles rely upon position detection to operate together in a more optimum manner.

[0040] Figure 8A shows a challenge with the prior art.

[0041] Figure 8B shows how the position detecting of this disclosure can improve and optimize operation of the interrelated machines.

[0042] Figure 9 shows an application use and position detection for a safety device.

[0043] Figure 10 shows the control of a vehicle using position detection according to this disclosure.

[0044] Figure 11 shows yet another application of position detection according to this disclosure.

[0045] Figure 12 shows yet another application of position detection according to this disclosure.DETAILED DESCRIPTION

[0046] Figure 1 A shows a single machine 20, which may be a tool having a moving tool component 26 which moves telescopically relative to a static base 24. A UWB transmitter / sensor 22 is associated with the static structure 24, as is a control 23. As shown, the tool has a UWB sensor 28, that may also be a transmitter. As the tool 26 moves, such as to the position 30 as shown in phantom, the two UWB components 22 and 28 communicate with each other such that the control 23 is provided with exact position information of the tool 26.

[0047] As known, and as shown schematically in Figure IB, the receiver transmitter 22 may send a signal to the receiver / transmitter 28 which is then reflected back. Simple mathematical relationships may then be utilized to determine a distance between the UWB components 22 and 28, and hence between the tool 26 and the static base 24.

[0048] Figure 2A extends the concept to determining the relative position between parts 40 and 42 in a two-dimensional plane. As shown, part 42 has a UWB transmitter / receiver 44 communicating with a control 45. The part 40 may have a control 41 communicating with UWB transmitters / receivers 46, 48 and 50. The UWB component 44 communicates to each of the components 46, 48 and 50 and their relative position is determined. Since the components 46, 48 and 50 are at known positions on the part 40, the sensing between the UWB components 44 and each of 46, 48 and 50 provide accurate relative position information to the control 45.

[0049] The two parts here could be on the same vehicle, with one of the two parts being a moving tool, in which case a dedicated control need not be associated with that part. On the other hand, this would also extend to two distinct machines being the parts 40 and 42.

[0050] Figure 2B shows an application wherein the relative position between parts 40 and 51 is determined within two-dimensional planes. However, the “pose” or angular orientation (angle A) between two parts 40 and 51 may also be determined. Here, part 40 is provided with a control 41 and UWB transmitters / sensors 46, 48 and 50. The part 51 is provided with two UWB transmitters / receivers 52 and 53, each communicating with a control 54. By knowing the relative position between the two UWB components 52 and 53 and then each of the UWB transmitters / receivers 46, 48 and 50, the control 54 (or 41 or both), can determine not only the position within the two-dimensional plane, but also the “pose.”

[0051] Figure 3A shows a system wherein relative positions can be sensed in three dimensions. One part 55 is provided with the UWB transmitter / receiver 56 communicating with the control 57. Part 58 is shown at a distinct vertical elevation relative to part 55. The control 64 on the part 58 communicates with four UWB transmitters / receivers 59, 60, 61 and 62. UWB transmitter / receiver 62 is shown in phantom to make clear that the four components 59, 60, 61 and 62 cannot all be in the same plane. By determining the relative position between the transmitter / receiver 56 and each of the transmitters / receivers 59, 60, 61 and 62 control 57 can determine the relative position between the parts 55 and 58.

[0052] Figure 3B shows detection within a three dimensional space, but also determining pose, angle B. The part 58 is similar to that shown in Figure 3A, however, the other part 66 is now provided with two UWB transmitters / receivers 68 and 70 which communicate with the control 72.

[0053] While the plural transmitters / receivers are shown separately, it should be understood that a single chip with plural antennas can provide plural ones of the above transmitters / receivers.

[0054] Determining relative position with UWB radio signals is generally known. However, Applicant has determined a number of unique applications which provide valuable benefits. The above UWB transmitters / receiver arrangement can be used for any of the following applications.

[0055] As an example in Figure 4, a robotic tool 200, a base 202 with UWB transmitter / receiver 203 and a moving arm 204. The scenarios described above can be utilized to determine the exact position of the arm 204, as the location of a UWB sensor 203 relative to a transmitter / receiver 205 associated with arm 204 is shown.

[0056] Another application of the determining relative position on a single machine is show in Figure 4B. Here, vehicle 270 includes a truck cab 271 and a movable crane 272. Several UWB transmitters / receivers 280, 282, 284, 209, 276, 278, and 277 are shown. A control for the vehicle 270 is now able to determine the exact position of the crane and legs 281.

[0057] Figure 4C shows a vehicle 230 having a main transmitter receiver 232 monitoring the position of transmitters / receivers 234, 236 and 238. In this application the transmitter / receiver 232 can not only determine the relative position of an aerial platform 231, but also the position of several links 235 that articulate to move the platform 231.

[0058] Figure 4D shows a loader 240 having a tool lifting structure 244. A transmitter / receiver 242 can communicate with transmitters / receivers 248 and 246 such that the location of the lifter 244 can be determined.

[0059] Figure 4E shows a forklift truck 250 having a transmitter / receiver 252 that can communicate with the transmitter / receiver 256 on a forklift 254.

[0060] Figure 4F shows a drilling vehicle 260 having a drill tool 264 that is movable. Transmitters / receivers 262, 266, and 268 operate as described above to determine the position of drill 264.

[0061] Figures 4A-4F disclose applications wherein the relative location of components on a single vehicle can be determined.

[0062] Figure 5 shows an application wherein two vehicles 204 and 208 are operating in concert. Sensors 205, 206 and 207 are associated with vehicle 204. Sensor 206 is shown communicating with transmitters / receivers 210, 212 and 214 on the vehicle 208. In this manner, the relative position of the two vehicles in three dimensions can be determined. This application can provide powerful control to a number of machine operations.

[0063] As an example, Figure 6 shows a simplified system having a harvesting machine 370 harvesting com 367 and having a depositing head 372 depositing grain 378 into a bed 380 of a vehicle 382. A transmitter / receiver 376 is shown associated with the depositing head 372 and with the vehicle 382. The transmitter / receiver 374 is now able to determine the relative position of the transmitter / receivers 376, and hence the head 372. The transmitter / receiver 374 is also able to determine a relative position to the vehicle 382 and in particular the bed 380. Thus, as the two vehicle move along harvesting the com 367, they are kept in a desired position, moving at a cooperative speed, etc. Controls on machines 370 and 382 use the detected positions to control the operation. Thus, the harvested grain 378 will reach the bed 380.

[0064] Figure 7 shows another embodiment 90 wherein there are a plurality of harvesting machines 92, 94 and 96. Each of these have transmitters / receivers 100. It should be understood that only a single transmitter / receiver 100 may be illustrated here, but in fact, and as explained with regard to Figures 3A and 3B there will likely be a number of such components on each machine 92, 94 and 96. As can be seen, each of the machines 92, 94, 96 will harvest along a lateral distance. The interrelated position detecting and control can ensure that the lateral ends of the adjacent machines are kept such that all grain is harvested, and that their path does not stray to leave unharvested grain between them.

[0065] Figure 8 A shows a concern in the prior art. Here, a loader 312 has a shovel 314 depositing dirt into the bed 317 of a vehicle 316. There is no position detection utilized, and as seen the dirt is being deposited offcenter.

[0066] Figure 8B shows an embodiment wherein transmitter / receiver 322 is associated with the vehicle cab 312. Another transmitter / receiver 320 is associated with the shovel 314. Transmitters / receivers 318 are associated with the vehicle 316 and define the relative location and orientation of the bed 317. Now, a control for the vehicle 312 knows therelative positions of the shovel 314 and the bed 317, and the dirt can be centered within the bed 317, increasing the efficiency of operation.

[0067] Figure 9 shows yet another embodiment which is incorporated into a hard hart 520 such as worn on construction sites. Hard hat 520 is shown worn by an individual 522 near a vehicle 514 with a transmitter / receiver 516 and a control 518. In many applications, say mining applications, there are large vehicles being operated in a manner which would make it difficult to always see surrounding individuals 522. By communicating between the transmitters / receivers 524 and 516 controls 518 and 526 can identify an undesirably small distance. The control 518 may be programmed such as to auto stop operation of the vehicle 514 should there not be a minimum distance.

[0068] Figure 10 shows a vehicle embodiment 400 backing into a loading dock 402. Transmitters / receivers 404 and 406 are shown, and will assist the vehicle in moving easily and quickly back into a desired location.

[0069] Figure 11 shows yet another application wherein a crop field 410 has an individual 414 attempting to clear rocks 412. The individual 414 is provided with a control 416 that allows sending a radio frequency control signals to a vehicle 418. Vehicle 418 may be an unmanned vehicle with cargo space to hold the rocks 412 as cleared by the individual 414. Since the vehicle 418 is unmanned the individual 414 does not want to carry the rocks 412 to the vehicle 418. The control 416 allows the individual 414 to “call” for the vehicle 418. The control 420 for the vehicle 418 can utilize the transmitter / receivers 413 and the transmitters / receiver on the control 416 to identify a position of the individual 414 such that the control 420 can drive the vehicle 418 to the area adjacent to the individual 414.

[0070] Figure 12 shows another application 430. Here, a vehicle 432 is performing operation in a desired boundary area.

[0071] Transmitter / receiver 434 is associated with the vehicle 432. Transmitters / receivers 436 are shown at the limits of the intended area of operation. By knowing the relative position of the vehicle 432 relative to the transmitters / receivers 436 a control may ensure the vehicle will not extend outwardly through boundaries 438.

[0072] This system could also be used for a machine to know its location in a facility such that the machine can work autonomously.

[0073] The disclosure here provides very accurate position sensing, and allows interrelated control of a plurality of vehicles. As known, labor shortages and labor prices are becoming problematic to many industrial applications. By interrelating the operation of the systems as disclosed above, many vehicle may be operated without an operator. Moreover, by interrelating the sensing and the operation of the several components more efficient use of the machines can be realized.

Claims

CLAIMSWhat is claimed is:

1. A method comprising the steps of: providing a plurality of ultrawide band (“UWB”) components that may be transmitters and / or receiver at a first location, and providing at least one UWB component that may be a transmitter and / or receiver at a second location, with at least one of the UWB components communicating with a control on one of said first and second locations; sending radial frequency signals from at least one of the UWB components at one of the first and second locations to a second UWB components on the other of the first and second locations, and receiving a reflective signal at the at least one UWB component, and determining a relative position of the first and second locations in at least two dimensions.

2. The method as set forth in claim 1, wherein said first and second locations are on a single machine with one of said locations being movable within three dimensions relative to the other of said locations.

3. The method as set forth in claim 2, wherein a tool on the single machine moves relative to a second portion of the single machine, and the tool and the second portion provide the first and second locations.

4. The method as set forth in claim 2, wherein the relative position is in only two dimensions.

5. The method as set forth in claim 4, wherein there is also an angular relationship between the first and second locations that is determined.

6. The method as set forth in claim 2, wherein the relative position is determined in three dimensions.

7. The method as set forth in claim 6, wherein the relative position includes an angular relationship between the first and second locations.

8. The method as set forth in claim 1, wherein the locations are mounted on distinct machines, and the control is operable to coordinate operation between the two machines based upon on the determined relative position of the two locations.

9. The method as set forth in claim 8, wherein the relative position is in only two dimensions.

10. The method as set forth in claim 8, wherein there is also an angular relationship between the first and second locations that is determined.

11. The method as set forth in claim 8, wherein the relative position is determined in three dimensions.

12. The method as set forth in claim 8, wherein the relative position includes an angular relationship between the first and second locations.

13. The method as set forth in claim 8, wherein the distinct machines include two vehicles that communicate relative to the positions between each other.

14. The method as set forth in claim 13, wherein the two machines include two distinct types of agricultural machines.

15. The method as set forth in claim 14, wherein the machines harvest a crop, and communicate with each other during the harvesting.

16. The method as set forth in claim 8, wherein one of the machines is a movable vehicle depositing material in the second of the machines.

17. The method as set forth in claim 8, wherein one of the machines is a device located on a user and the other of the machine is a moving vehicle.

18. The method as set forth in claim 8, wherein one of the machine is a device carried by a user and the other of the machines is a vehicle being called to approach the user’s location.

19. The method as set forth in claim 8, wherein one of the machines is a vehicle, and the other of the machines is a loading dock.

20. The method as set forth in claim 8, wherein one of the machines is a vehicle, and the other of the machines are devices defining a boundary for the vehicle during movement.

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