MLchartDataset catalogue

Patent · US12047850B2 · B2 · US

Elevation based machine localization system and method

(11) Publication number
US12047850B2
(21) Application number
17/576,710
(22) Filing date
2022-01-14
(30) Priority date
2021-01-15
(43) Publication date
2024-07-23
(45) Date of grant
2024-07-23
(51) IPC
B66F 11/04; B66F 17/00; B66F 9/06; B66F 9/075; B66F 9/12; G05B 19/4155; G05D 1/00; G05D 1/225; G05D 1/226; G06F 16/93; G06F 3/0482; G06F 3/0484; G06F 3/0488; G06Q 10/20; G06Q 30/0601; G07C 5/00; G07C 5/08; G08B 21/18; G08B 3/00; G08B 5/36; G08B 7/06; H04L 67/52; H04L 67/63; H04W 4/029; H04W 4/08; H04W 4/30; H04W 4/35; H04W 4/40; H04W 4/70; H04W 4/80; H04W 48/16; H04W 76/14; H04W 76/15; H04W 76/23; H04W 8/00; H04W 84/12; H04W 84/18; H04W 88/08
(52) CPC
  • H04W Wireless communication networks: 4/08, 4/021, 4/029, 4/30, 4/35, 4/38, 4/40, 4/44, 4/46, 4/70, 4/80, 48/16, 76/14, 76/15, 76/23, 8/005, 84/12, 84/18, 88/08, 88/085
  • B66F Hoisting, lifting, hauling or pushing, not otherwise provided for, e.g. devices which apply a lifting or pushing force directly to the surface of a load: 11/04, 11/046, 17/006, 9/06, 9/0755, 9/07581, 9/12, 9/24
  • G05B Control or regulating systems in general; functional elements of such systems; monitoring or testing arrangements for such systems or elements: 19/4155, 2219/45049
  • G05D Systems for controlling or regulating non-electric variables: 1/0022, 1/0027, 1/0044, 1/005, 1/224, 1/2246, 1/225, 1/226, 1/692, 1/86
  • G06F Electric digital data processing: 16/93, 3/0482, 3/0484, 3/0488
  • G06Q Information and communication technology [ICT] specially adapted for administrative, commercial, financial, managerial or supervisory purposes; systems or methods specially adapted for administrative, commercial, financial, managerial or supervisory purposes, not otherwise provided for: 10/06, 10/20, 30/0251, 30/0611, 30/0631, 30/0641
  • G07C Time or attendance registers; registering or indicating the working of machines; generating random numbers; voting or lottery apparatus; arrangements, systems or apparatus for checking not provided for elsewhere: 5/006, 5/0825
  • G08B Signalling systems, e.g. personal calling systems; order telegraphs; alarm systems: 21/18, 3/00, 5/36, 7/06
  • H04L Transmission of digital information, e.g. telegraphic communication: 67/12, 67/125, 67/52, 67/56, 67/63
(73) Assignee
Oshkosh Corp
(72) Inventors
Korry D. Kobel; Fredric L. Yutzy; Dan Adamson; Stefan Eshleman
(54) Title
Elevation based machine localization system and method
(57) Abstract

A method of determining a relative elevation of a work machine. The method includes receiving a first pressure reading from a first pressure sensor coupled to a chassis of a work machine and receiving a second pressure reading from a second pressure sensor. The method also includes calculating a first relative elevation of the chassis of the work machine relative to the second pressure sensor by comparing the first pressure reading to the second pressure reading.

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Claims (15)

  1. A machine localization system comprising: a work machine communicatively coupled to a network, the work machine comprising a chassis, an extendable implement, a first pressure sensor coupled to the chassis, and a second pressure sensor coupled to the extendable implement; a third pressure sensor located at a known elevation and operably coupled to the network; and a computing system operably coupled to the network, wherein the computing system is configured to: receive a first pressure reading from the first pressure sensor, a second pressure reading from the second pressure sensor, and a third pressure reading from the third pressure sensor; determine a first relative elevation of the chassis relative to the third pressure sensor by comparing the first pressure reading to the third pressure reading; determine a second relative elevation of the extendable implement relative to the chassis by comparing the first pressure reading to the second pressure reading; calculate an operating height of the extendable implement based on the second relative elevation; determine a maximum operating height of the extendable implement based on at least the first relative elevation; and configure the extendable implement to not exceed the maximum operating height.
  2. The machine localization system of claim 1, further comprising: a user device comprising the third pressure sensor and the computing system, wherein the user device is configured to display the first relative elevation of the work machine.
  3. The machine localization system of claim 1, wherein the computing system is further configured to determine a floor of a building on which the work machine is located.
  4. The machine localization system of claim 1, wherein the first pressure sensor and the second pressure sensor are configured to measure barometric pressure.
  5. A method of determining a relative elevation of a work machine, the method comprising: receiving, from a first pressure sensor coupled to a chassis of the work machine, a first pressure reading; receiving, from a second pressure sensor coupled to an extendable implement of the work machine, a second pressure reading; calculating a first relative elevation of the chassis of the work machine relative to the second pressure sensor by comparing the first pressure reading to the second pressure reading; calculating an operating height of the extendable implement based on the first relative elevation; receiving, from a third pressure sensor located at a known elevation, a third pressure reading; calculating a second relative elevation of the chassis of the work machine relative to the third pressure sensor by comparing the first pressure reading to the third pressure reading; determining a maximum operating height of the extendable implement based on at least the second relative elevation; and configuring the extendable implement to not exceed the maximum operating height.
  6. The method of claim 5, wherein the third pressure sensor is located on a known floor of a building, the method further comprising: determining, based on the second relative elevation, a floor of the building on which the work machine is located.
  7. The method of claim 5, wherein the third pressure sensor is coupled to a user device, the method further comprising: displaying the first relative elevation or the second relative elevation on a screen of the user device.
  8. The method of claim 5, wherein the extendable implement is a fork of a forklift or a work platform of a man lift.
  9. The method of claim 5, further comprising transmitting, via a wireless network, the operating height to a remote computing system.
  10. The method of claim 5, further comprising transmitting, to the work machine via a wireless network, the maximum operating height.
  11. A machine localization system comprising: one or more processing circuits comprising one or more memory devices coupled to one or more processors, the one or more memory devices configured to store instructions thereon that, when executed by the one or more processors, cause the one or more processors to: receive, from a first pressure sensor coupled to a chassis of a work machine, a first pressure reading; receive, from a second pressure sensor coupled to an extendable implement of the work machine, a second pressure reading; calculate a first relative elevation of the chassis of the work machine relative to the second pressure sensor by comparing the first pressure reading to the second pressure reading; calculate an operating height of the extendable implement based on the first relative elevation; receive, from a third pressure sensor located at a known elevation, a third pressure reading; calculate a second relative elevation of the chassis of the work machine relative to the third pressure sensor by comparing the first pressure reading to the third pressure reading; determine a maximum operating height of the extendable implement based on at least the second relative elevation; and configure the extendable implement to not exceed the maximum operating height.
  12. The system of claim 11, wherein the third pressure sensor is located on a known floor of a building, and wherein the instructions further cause the one or more processors to: determine, based on the second relative elevation, a floor on which the work machine is located.
  13. The system of claim 11, wherein the extendable implement is a fork of a forklift or a work platform of a man lift.
  14. The system of claim 11, further comprising a connectivity module communicatively coupled to the one or more processing circuits and a wireless network, wherein the instructions further cause the one or more processors to transmit, via the connectivity module and the wireless network, the operating height to a remote computing system.
  15. The system of claim 11, wherein the instructions further cause the one or more processors to transmit, to the work machine via a wireless network, the maximum operating height.

Description

Work equipment such as lifts and telehandlers sometimes require localization, tracking, tasking, monitoring, and servicing at a work site.

One exemplary implementation of the present disclosure relates to a local fleet connectivity system with elevation based machine localization. For example, a local fleet connectivity system with elevation based machine localization may include a pressure sensor on a work machine to determine a floor location for the machine in relation to a mobile user device or another machine where the machine is connected to other machines and user devices on a work site wireless mesh network. The local fleet connectivity system with elevation based machine localization may, for example, determine a relative pressure difference between a sensor on a machine chassis and an additional sensor at a load borne by the machine (e.g. a platform on the machine, forks on a telehandler, etc.) and use the pressure data to verify or calculate elevations. The local fleet connectivity system with elevation based machine localization may include a first pressure sensor on a user device (e.g., a phone), a machine, or a connectivity hub and a second pressure sensor onboard the machine to determine a local relative height differential between the user and the machine. In some examples, the local fleet connectivity system with elevation based machine localization may include a first pressure sensor on a base of a machine and a second pressure sensor on a platform of the machine to determine an operational height of the platform.

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Record as JSON 
{
  "publication_number": "US12047850B2",
  "country": "US",
  "kind": "B2",
  "title": "Elevation based machine localization system and method",
  "abstract": "A method of determining a relative elevation of a work machine. The method includes receiving a first pressure reading from a first pressure sensor coupled to a chassis of a work machine and receiving a second pressure reading from a second pressure sensor. The method also includes calculating a first relative elevation of the chassis of the work machine relative to the second pressure sensor by comparing the first pressure reading to the second pressure reading.",
  "claims": [
    "1. A machine localization system comprising: a work machine communicatively coupled to a network, the work machine comprising a chassis, an extendable implement, a first pressure sensor coupled to the chassis, and a second pressure sensor coupled to the extendable implement; a third pressure sensor located at a known elevation and operably coupled to the network; and a computing system operably coupled to the network, wherein the computing system is configured to: receive a first pressure reading from the first pressure sensor, a second pressure reading from the second pressure sensor, and a third pressure reading from the third pressure sensor; determine a first relative elevation of the chassis relative to the third pressure sensor by comparing the first pressure reading to the third pressure reading; determine a second relative elevation of the extendable implement relative to the chassis by comparing the first pressure reading to the second pressure reading; calculate an operating height of the extendable implement based on the second relative elevation; determine a maximum operating height of the extendable implement based on at least the first relative elevation; and configure the extendable implement to not exceed the maximum operating height.",
    "2. The machine localization system of claim 1, further comprising: a user device comprising the third pressure sensor and the computing system, wherein the user device is configured to display the first relative elevation of the work machine.",
    "3. The machine localization system of claim 1, wherein the computing system is further configured to determine a floor of a building on which the work machine is located.",
    "4. The machine localization system of claim 1, wherein the first pressure sensor and the second pressure sensor are configured to measure barometric pressure.",
    "5. A method of determining a relative elevation of a work machine, the method comprising: receiving, from a first pressure sensor coupled to a chassis of the work machine, a first pressure reading; receiving, from a second pressure sensor coupled to an extendable implement of the work machine, a second pressure reading; calculating a first relative elevation of the chassis of the work machine relative to the second pressure sensor by comparing the first pressure reading to the second pressure reading; calculating an operating height of the extendable implement based on the first relative elevation; receiving, from a third pressure sensor located at a known elevation, a third pressure reading; calculating a second relative elevation of the chassis of the work machine relative to the third pressure sensor by comparing the first pressure reading to the third pressure reading; determining a maximum operating height of the extendable implement based on at least the second relative elevation; and configuring the extendable implement to not exceed the maximum operating height.",
    "6. The method of claim 5, wherein the third pressure sensor is located on a known floor of a building, the method further comprising: determining, based on the second relative elevation, a floor of the building on which the work machine is located.",
    "7. The method of claim 5, wherein the third pressure sensor is coupled to a user device, the method further comprising: displaying the first relative elevation or the second relative elevation on a screen of the user device.",
    "8. The method of claim 5, wherein the extendable implement is a fork of a forklift or a work platform of a man lift.",
    "9. The method of claim 5, further comprising transmitting, via a wireless network, the operating height to a remote computing system.",
    "10. The method of claim 5, further comprising transmitting, to the work machine via a wireless network, the maximum operating height.",
    "11. A machine localization system comprising: one or more processing circuits comprising one or more memory devices coupled to one or more processors, the one or more memory devices configured to store instructions thereon that, when executed by the one or more processors, cause the one or more processors to: receive, from a first pressure sensor coupled to a chassis of a work machine, a first pressure reading; receive, from a second pressure sensor coupled to an extendable implement of the work machine, a second pressure reading; calculate a first relative elevation of the chassis of the work machine relative to the second pressure sensor by comparing the first pressure reading to the second pressure reading; calculate an operating height of the extendable implement based on the first relative elevation; receive, from a third pressure sensor located at a known elevation, a third pressure reading; calculate a second relative elevation of the chassis of the work machine relative to the third pressure sensor by comparing the first pressure reading to the third pressure reading; determine a maximum operating height of the extendable implement based on at least the second relative elevation; and configure the extendable implement to not exceed the maximum operating height.",
    "12. The system of claim 11, wherein the third pressure sensor is located on a known floor of a building, and wherein the instructions further cause the one or more processors to: determine, based on the second relative elevation, a floor on which the work machine is located.",
    "13. The system of claim 11, wherein the extendable implement is a fork of a forklift or a work platform of a man lift.",
    "14. The system of claim 11, further comprising a connectivity module communicatively coupled to the one or more processing circuits and a wireless network, wherein the instructions further cause the one or more processors to transmit, via the connectivity module and the wireless network, the operating height to a remote computing system.",
    "15. The system of claim 11, wherein the instructions further cause the one or more processors to transmit, to the work machine via a wireless network, the maximum operating height."
  ],
  "description_excerpt": "Work equipment such as lifts and telehandlers sometimes require localization, tracking, tasking, monitoring, and servicing at a work site.\n\nOne exemplary implementation of the present disclosure relates to a local fleet connectivity system with elevation based machine localization. For example, a local fleet connectivity system with elevation based machine localization may include a pressure sensor on a work machine to determine a floor location for the machine in relation to a mobile user device or another machine where the machine is connected to other machines and user devices on a work site wireless mesh network. The local fleet connectivity system with elevation based machine localization may, for example, determine a relative pressure difference between a sensor on a machine chassis and an additional sensor at a load borne by the machine (e.g. a platform on the machine, forks on a telehandler, etc.) and use the pressure data to verify or calculate elevations. The local fleet connectivity system with elevation based machine localization may include a first pressure sensor on a user device (e.g., a phone), a machine, or a connectivity hub and a second pressure sensor onboard the machine to determine a local relative height differential between the user and the machine. In some examples, the local fleet connectivity system with elevation based machine localization may include a first pressure sensor on a base of a machine and a second pressure sensor on a platform of the machine to determine an operational height of the platform.",
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  "assignees": [
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  "inventors": [
    "Korry D. Kobel",
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  ],
  "filing_date": "2022-01-14",
  "publication_date": "2024-07-23",
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  ]
}

Record 417 of 8,000 in Patents full text (MLC-0201). Request the full dataset.