公开(公告)号：US12110660B2

公开(公告)日：2024-10-08

申请号：US17679680

申请日：2022-02-24

Applicant: Caterpillar Inc.

Inventor： Christopher Wright ,  Justin Steinlage

IPC: E02F9/20 ,  E02F9/22 ,  E02F9/26 ,  G06T7/73 ,  G06V10/82 ,  G06V20/58 ,  G06V30/14

CPC classification number: E02F9/2033 ,  E02F9/2029 ,  E02F9/2253 ,  E02F9/262 ,  E02F9/265 ,  G06T7/73 ,  G06V10/82 ,  G06V20/58 ,  G06V30/1444 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/20084 ,  G06T2207/30252

Abstract: A work machine, a first method of defining a virtual 3D exclusion zone, and a second method of preventing collisions involving a work machine are disclosed. The work machine comprises a body, an implement arm, an imaging assembly, and an electrohydraulic assembly configured to prevent the implement arm from intersecting a 3D exclusion zone. The first method comprises scanning a local environment, generating a virtual 3D representation, identifying key structures, and generating a virtual 3D exclusion zone encompassing the key structures. The second method comprises defining a virtual 3D exclusion zone, monitoring a motion of the work machine, and adjusting the motion to avoid an intersection between the work machine and the 3D exclusion zone. The 3D exclusion zone may be implemented for a number of machines, environments, and key structures without unduly removing control from a human operator.

公开(公告)号：US20230265640A1

公开(公告)日：2023-08-24

申请号：US17679680

申请日：2022-02-24

Applicant: Caterpillar Inc.

Inventor： Christopher Wright ,  Justin Steinlage

IPC: E02F9/20 ,  E02F9/22 ,  E02F9/26 ,  G06V20/58 ,  G06V30/14 ,  G06V10/82 ,  G06T7/73

CPC classification number: E02F9/2033 ,  E02F9/2029 ,  E02F9/2253 ,  E02F9/265 ,  E02F9/262 ,  G06V20/58 ,  G06V30/1444 ,  G06V10/82 ,  G06T7/73 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/20084 ,  G06T2207/30252

Abstract: A work machine, a first method of defining a virtual 3D exclusion zone, and a second method of preventing collisions involving a work machine are disclosed. The work machine comprises a body, an implement arm, an imaging assembly, and an electrohydraulic assembly configured to prevent the implement arm from intersecting a 3D exclusion zone. The first method comprises scanning a local environment, generating a virtual 3D representation, identifying key structures, and generating a virtual 3D exclusion zone encompassing the key structures. The second method comprises defining a virtual 3D exclusion zone, monitoring a motion of the work machine, and adjusting the motion to avoid an intersection between the work machine and the 3D exclusion zone. The 3D exclusion zone may be implemented for a number of machines, environments, and key structures without unduly removing control from a human operator.