The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 31, 2019
Filed:
Jun. 21, 2017
Caterpillar Inc., Peoria, IL (US);
Matthew James Beschorner, Plainfield, IL (US);
Marilyn Worley, East Peoria, IL (US);
Justin Douglas Speichinger, Edwards, IL (US);
Caterpillar Inc., Peoria, IL (US);
Abstract
Controlling machine pose using sensor fusion includes receiving from each of a plurality of Inertial Measurement Units mounted on different components, a time series of signals indicative of acceleration and angular rate of motion for each of the components of the machine, and from at least one non-IMU sensor, a signal indicative of at least one of position, velocity, or acceleration of at least one of the components, a position, velocity, or acceleration of any potential obstacles or other features, or an operator input. The signals are fused with a separate Kalman filter module to estimate an output joint angle. Estimated and measured values of the output joint angle in successive timesteps are combined, a kinematic equation is solved to determine a real time value for at least one of position, velocity, and acceleration of the component at successive timesteps, and the determined real time value is applied in an implementation of a controlled operational movement of the machine component in a successive time step.