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US4823901A
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Apparatus and method for detecting faults in an obstacle detection system
Assignee: Caterpillar Industrial Inc
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Filing: 1988-07-22
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Granted: 1989-04-25
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Expires: 2008-07-22
Abstract
Abstract Industrial vehicles incorporating obstacle detection systems are commonly employed in commercial applications. Advantageously, such collision avoidance systems should incorporate failure detection systems sufficient to make such systems fail-safe. The subject obstacle detection system includes one or more transducers 24,24' adapted to produce article detected signals in response to sensing an obstacle in front of the vehicle 12. Preferably the transducers 24,24' are pivotally mounted to the vehicle 12. The transducers 24,24' are adapted to produce the article detected signals at regular predetermined intervals, and a sensor failed signal is produced in response to the transducers 24,24' ceasing to produce the article detected signal at such regular intervals. An end of detector swing signal is produced in response to the transducers 24,24' being at a predetermined angular swing position, and logic circuitry is adapted to receive the article detected signals and the end of detector swing signals and to produce an obstacle detected signal only in response to presence of the article detected signal coincident with absence of the end of detector swing signal.
Inventors
- 👤 Joseph J. Harding
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 20:54
CPC Classifications
B; B60; B60T; B60T7/00; B60T7/12; B60T7/22; G; G01; G01S; G01S17/00; G01S17/88; G01S17/93; G01S17/931; G01S7/00; G01S7/48; G01S7/497; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0231; G05D1/0242; Y; Y10; Y10T; Y10T74/00; Y10T74/18; Y10T74/18856
Claims Analysis
Total Claims: 16
Claim 1
Independent Claim
168 words
Apparatus for detecting obstacles in the path of a work vehicle upon which said apparatus is mounted, comprising: transducer means for producing radiant energy, receiving reflected produced radiant energy, and controllably producing an article detected signal in response to receiving said reflected produced radiant energy, said transducer means being pivotally mounted to said work vehicle; means for causing said transducer means to produce the article detected signal at regular predetermined intervals; means for receiving the article detected signal and producing a sensor failed signal in response to said transducer means ceasing to produce the article detected signal at said regular predetermined intervals; means for producing an end of detector swing signal in response to said transducer means being at a predetermined angular swing position; and logic means for receiving the produced article detected signals and end of detector swing signals and producing an obstacle detected signal only in response to the presence of the article detected signal coincident with the absence of the end of detector swing signal.
Claim 2
Dependent Claim
168 words
Apparatus for detecting obstacles in the path of a work vehicle upon which said apparatus is mounted, comprising: transducer means for producing radiant energy, receiving reflected produced radiant energy, and controllably producing an article detected signal in response to receiving said reflected produced radiant energy, said transducer means being pivotally mounted to said work vehicle; means for causing said transducer means to produce the article detected signal at regular predetermined intervals; means for receiving the article detected signal and producing a sensor failed signal in response to said transducer means ceasing to produce the article detected signal at said regular predetermined intervals; means for producing an end of detector swing signal in response to said transducer means being at a predetermined angular swing position; and logic means for receiving the produced article detected signals and end of detector swing signals and producing an obstacle detected signal only in response to the presence of the article detected signal coincident with the absence of the end of detector swing signal.
Claim 3
Dependent Claim
20 words
Apparatus, as set forth in claim 1, including motive means for reciprocally pivoting said transducer means through a predetermined angle.
Claim 4
Dependent Claim
26 words
Apparatus, as set forth in claim 2, wherein said means for producing an end of detector swing signal includes a switch actuatable by said motive means.
Claim 5
Dependent Claim
33 words
Apparatus, as set forth in claim 2, wherein said means for causing said transducer means to produce the article detected signal at regular predetermined intervals is located at said predetermined angular swing position.
Claim 6
Dependent Claim
44 words
Apparatus, as set forth in claim 4, wherein said means for causing said transducer means to produce the article detected signal at regular predetermined intervals includes a reference object mounted to said work vehicle in a fixed position in front of said transducer means.
Claim 7
Dependent Claim
44 words
Apparatus, as set forth in claim 1, wherein said logic means includes an AND gate having a first input terminal responsively connected to said transducer means and a second input terminal responsively connected to said means for producing the end of detector swing signal.
Claim 8
Dependent Claim
27 words
Apparatus, as set forth in claim 1, wherein said means for receiving the article detected signal and producing a sensor failed signal includes a retriggerable monostable multivibrator.
Claim 9
Dependent Claim
200 words
A work vehicle, comprising: a vehicle frame; transducer means for producing radiant energy, receiving reflected produced radiant energy, and controllably producing an article detected signal in response to receiving said reflected produced radiant energy, said transducer means being pivotally mounted to said vehicle frame; means for causing said transducer means to produce the article detected signal at regular predetermined intervals, said causing means including an object mounted to said work vehicle in a fixed position in front of said transducer means; means for receiving the article detected signal and producing a sensor failed signal in response to said transducer means ceasing to produce the article detected signal at said regular predetermined intervals; motive means for reciprocally pivoting said transducer means through a predetermined angle; means for producing an end of detector swing signal in response to said transducer means being at a predetermined angular swing position, said producing means including a switch actuatable by said motive means; and logic means for receiving the produced article detected signals and end of detector swing signals and producing an obstacle detected signal only in response to the presence of the article detected signal coincident with the absence of the end of detector signal.
Claim 10
Dependent Claim
200 words
A work vehicle, comprising: a vehicle frame; transducer means for producing radiant energy, receiving reflected produced radiant energy, and controllably producing an article detected signal in response to receiving said reflected produced radiant energy, said transducer means being pivotally mounted to said vehicle frame; means for causing said transducer means to produce the article detected signal at regular predetermined intervals, said causing means including an object mounted to said work vehicle in a fixed position in front of said transducer means; means for receiving the article detected signal and producing a sensor failed signal in response to said transducer means ceasing to produce the article detected signal at said regular predetermined intervals; motive means for reciprocally pivoting said transducer means through a predetermined angle; means for producing an end of detector swing signal in response to said transducer means being at a predetermined angular swing position, said producing means including a switch actuatable by said motive means; and logic means for receiving the produced article detected signals and end of detector swing signals and producing an obstacle detected signal only in response to the presence of the article detected signal coincident with the absence of the end of detector signal.
Claim 11
Dependent Claim
35 words
A work vehicle, as set forth in claim 8, wherein said means for causing said transducer means to produce the article detected signal at regular predetermined intervals is located at said predetermined angular swing position.
Claim 12
Dependent Claim
46 words
A work vehicle, as set forth in claim 9, wherein said logic means includes an AND gate having a first input terminal responsively connected to said transducer means and a second input terminal responsively connected to said means for producing the end of detector swing signal.
Claim 13
Dependent Claim
21 words
A work vehicle, as set forth in claim 10, wherein said means for receiving the article includes a retriggerable monostable multivibrator.
Claim 14
Independent Claim
170 words
A method for detecting obstacles in the path of a work vehicle, said work vehicle including obstacle detection apparatus mounted thereon, said obstacle detection apparatus including transducer means pivotally mounted to said work vehicle, the method comprising: causing said transducer means to produce radiant energy, responsively receive reflected produced radiant energy, and controllably produce an article detected signal in response to receiving said reflected produced radiant energy; causing said transducer means to produce the article detected signal at regular predetermined intervals; receiving the article detected signal and producing a sensor failed signal in response to said transducer means ceasing to produce the article detected signal at said regular predetermined intervals; producing an end of detector swing signal in response to said transducer means being at a predetermined angular swing position; and receiving the produced article detected signals and end of detector swing signals and producing an obstacle detected signal only in response to the presence of the article detected signal coincident with the absence of the end of detector signal.
Claim 15
Independent Claim
170 words
A method for detecting obstacles in the path of a work vehicle, said work vehicle including obstacle detection apparatus mounted thereon, said obstacle detection apparatus including transducer means pivotally mounted to said work vehicle, the method comprising: causing said transducer means to produce radiant energy, responsively receive reflected produced radiant energy, and controllably produce an article detected signal in response to receiving said reflected produced radiant energy; causing said transducer means to produce the article detected signal at regular predetermined intervals; receiving the article detected signal and producing a sensor failed signal in response to said transducer means ceasing to produce the article detected signal at said regular predetermined intervals; producing an end of detector swing signal in response to said transducer means being at a predetermined angular swing position; and receiving the produced article detected signals and end of detector swing signals and producing an obstacle detected signal only in response to the presence of the article detected signal coincident with the absence of the end of detector signal.
Claim 16
Dependent Claim
29 words
The method of claim 12, including causing said transducer means to produce the article detected signal in response to said transducer means being at said predetermined angular swing position.
References Cited (Backward Citations)
US4706772A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1992-04-24 | 1992-10-24 | 1993-04-25 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1996-04-24 | 1996-10-24 | 1997-04-25 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2000-04-24 | 2000-10-24 | 2001-04-25 | $7700.00 | Window Closed / Lapsed |