Autonomous sensor kit for controlling operations of power machines

Abstract

A power machine including a sensor system that includes a plurality of sensor groups. The sensor groups include one or more of a rear sensor group arranged at a rear end of the frame, including a rear radar system and a rear camera system; a side sensor group arranged at a lateral side of the frame, including a side camera system; and a front sensor group arranged at the front end of the frame, including a front radar system and a front camera system.

What is claimed is: 
     
         1 . A power machine comprising:
 a frame;   a power source and tractive assemblies supported by the frame;   a work element arranged to operate at a front side of the frame;   a sensor system that includes a plurality of sensor groups, the plurality of sensor groups including one or more of:
 a rear sensor group arranged at a rear side of the frame, including a rear radar system and a rear camera system; 
 a side sensor group arranged at a lateral side of the frame, including a side camera system; or 
 a front sensor group arranged at the front side of the frame, including a front radar system and a front camera system. 
   
     
     
         2 . The power machine of  claim 1 , wherein the power machine is a loader and the work element is an implement supported by a lift arm structure. 
     
     
         3 . The power machine of  claim 1 , wherein the rear radar system includes a first radar device spaced apart from a second radar device, each of the first and second radar devices having a detection axis that is angled away from a front-to-rear direction between the front side and the rear side of the frame. 
     
     
         4 . The power machine of  claim 3 , wherein the rear sensor group further includes a third sensor having overlapped spatial coverage with the first and second radar devices. 
     
     
         5 . The power machine of  claim 1 , wherein the side camera system includes a front-facing camera and a side-facing camera, wherein the front-facing camera is supported on a lift arm of the power machine that supports the work element. 
     
     
         6 . The power machine of  claim 1 , wherein the side sensor group includes a radar system. 
     
     
         7 . The power machine of  claim 1 , wherein one or more of a radar device of the front radar system or a camera of the front camera system are supported on a lift arm of the power machine that supports the work element. 
     
     
         8 . The power machine of  claim 7 , wherein the radar device and the camera are supported on a lift arm of the power machine that supports the work element. 
     
     
         9 . The power machine of  claim 1 , wherein a camera of the front camera system is arranged to acquire images of the work element or a load carried by the work element. 
     
     
         10 . The power machine of  claim 1 , wherein the rear sensor group, the side sensor group, and the front sensor group collectively provide sensing over:
 first, second, and third overlapped front-facing detection fields;   first and second opposing side-facing detection fields; and   first and second overlapped rear-facing detection fields.   
     
     
         11 . The power machine of  claim 1 , further comprising:
 a control system that includes one or more computing devices configured to implement an autonomous mode and an operator-controlled mode;   wherein in the autonomous mode the one or more computing devices control the tractive assemblies or the work element based on signals from a first sensor set that includes the rear radar system and the front radar system; and   wherein in the operator-controlled mode, the one or more computing devices transmit visual data from the rear camera system, the side camera system, and the front camera system for display to an operator, and control the tractive assemblies or the work element based on command signals received from the operator in response to the transmitted visual data.   
     
     
         12 . The power machine of  claim 11 , wherein, in the operator-controlled mode, the control system is further configured to control the tractive assemblies or the work element based on signals from the first sensor set. 
     
     
         13 . The power machine of  claim 1 , wherein the rear sensor group, the side sensor group, and the front sensor group are included in a sensor kit to equip the power machine for autonomous operation. 
     
     
         14 . A method for equipping a power machine for autonomous operation, the method comprising:
 installing, as part of a sensor kit, a rear sensor group that is configured to be secured at a rear end of a frame of the power machine and includes a rear radar system and a rear camera system;   installing, as part of the sensor kit, a side sensor group that is configured to be secured at a lateral side of the frame and includes a side camera system; and   installing, as part of the sensor kit, a front sensor group that is configured to be secured at a front end of the frame and includes a front radar system and a front camera system.   
     
     
         15 . The method of  claim 14 , further comprising:
 providing, with the rear sensor group, the side sensor group, and the front sensor group collectively, sensing over:   overlapped front-facing detection fields;   non-overlapped opposing side-facing detection fields; and   overlapped rear-facing detection fields.   
     
     
         16 . The method of  claim 14 , wherein installing the side sensor group includes securing one or more sensor devices of the side sensor group to a lift arm of the power machine and installing the front sensor group includes securing one or more sensor devices of the front sensor group to a lift arm of the power machine. 
     
     
         17 . The method of  claim 14 , wherein installing the side sensor group includes installing, as part of the side camera system, a front-facing camera. 
     
     
         18 . A method of controlling operations of a power machine that includes a tractive system and a work element, the method comprising:
 receiving, with one or more electronic control devices, a selection of an autonomous mode or an operator-controlled mode; and   with the one or more electronic control devices,
 receiving data from a sensor system that includes a plurality of sensor groups including one or more of:
 a rear sensor group arranged at a rear side of a frame of the power machine, 
 a side sensor group arranged at a lateral side of the frame, or 
 a front sensor group arranged at a front side of the frame; and 
 
 controlling the tractive system or the work element according to the received selection; 
   wherein, in the autonomous mode, the one or more electronic control devices determine commands to control the tractive system or the work element based on signals from a first sensor set of the sensor system that includes a rear radar system of the rear sensor group and a front radar system of the front sensor group; and   wherein, in the operator-controlled mode, the one or more electronic control devices:
 transmit visual data from a second sensor set of the sensor system that includes camera systems for display to an operator; and 
 determine commands to control the tractive system or the work element based on command signals received from the operator in response to the transmitted visual data. 
   
     
     
         19 . The method of  claim 18 , wherein, in the operator-controlled mode, the one or more electronic control devices determine the commands to control the tractive system or the work element further based on signals from the first sensor set. 
     
     
         20 . The method of  claim 19 , wherein, in the operator-controlled mode, in response to the signals from the first sensor set, the one or more electronic control devices automatically slow, stop, or divert the power machine to avoid a detected obstacle.