Machine dump body control using object detection

Patent metadata

Field	Value
Publication number	US-12013702-B2
Application number	US-202318302200-A
Country	US
Kind code	B2
Filing date	Apr 18, 2023
Priority date	Feb 27, 2020
Publication date	Jun 18, 2024
Grant date	Jun 18, 2024

Abstract

A mobile work machine includes a frame, a material loading system having a material receiving area configured to receive material and an actuator configured to control the material loading system to move the material receiving area relative to the frame, and a control system configured to receive an indication of a detected object, determine a location of the object relative to the material loading system, and generate a control signal that controls the mobile work machine based on the determined location.

First claim

What is claimed is:

1. A mobile work machine comprising:
a controllable subsystem having a movable component that supports a material receiver configured to receive material;
an actuator configured to move the controllable subsystem; and
a control system configured to:
determine a location of a detected object relative to the mobile work machine;
define a threshold distance based on an object type of the detected object;
receive an indication of a commanded movement of the actuator to move a portion of the controllable subsystem to a target position that is within the threshold distance from the location of the detected object; and
generate a control signal that controls the mobile work machine based on the indication.

2. The mobile work machine of claim 1 , wherein the mobile work machine comprises a construction machine.

3. The mobile work machine of claim 2 , wherein the material receive comprise a bucket.

4. The mobile work machine of claim 2 , wherein the construction machine comprises a dump truck.

5. The mobile work machine of claim 4 , wherein the construction machine comprises one of an excavator or a loader.

6. The mobile work machine of claim 1 , wherein the material receiver comprises a dump body.

7. The mobile work machine of claim 6 , wherein the actuator comprises a dump actuator configured to move the dump body, and the control signal controls the dump actuator.

8. The mobile work machine of claim 1 , wherein the control system is configured to:
determine the object type by applying an object classifier to an image of the detected object.

9. The mobile work machine of claim 1 , and further comprising a set of ground engaging elements movably supported relative to a frame, wherein the control signal controls at least one of a propulsion system or a steering system that controls the set of ground engaging elements.

10. The mobile work machine of claim 1 , wherein the control signal controls a user interface mechanism to provide an output to a user, the output indicating the location of the detected object relative to the mobile work machine, and wherein the output comprises at least one of:
a display output;
an audible output; or
a haptic output.

11. The mobile work machine of claim 1 , and further comprising:
an object detection system configured to receive a signal from an object detection sensor and to detect the detected object based on the signal.

12. The mobile work machine of claim 11 , wherein the object detection sensor comprises an imaging sensor.

13. The mobile work machine of claim 11 , wherein the signal comprises a radio frequency (RF) signal.

14. The mobile work machine of claim 1 , wherein the control signal controls the actuator to limit movement of the controllable subsystem.

15. The mobile work machine of claim 14 , wherein the control signal controls the actuator to prevent contact between the controllable subsystem and the detected object.

16. A computer-implemented method of controlling a mobile work machine, the computer-implemented method comprising:
determining a location of a detected object relative to the mobile work machine;
defining a threshold distance based on an object type of the detected object;
receiving an indication of a commanded movement of an actuator to move a portion of a controllable subsystem to a target position that is within the threshold distance from the location of the detected object; and
generating a control signal that controls the mobile work machine based on the indication.

17. The computer-implemented method of claim 16 , wherein the mobile work machine comprises a construction machine, the actuator comprises a dump actuator configured to move a dump body, and generating the control signal comprises controlling the dump actuator.

18. The computer-implemented method of claim 16 , wherein generating the control signal comprises:
controlling at least one of a propulsion system or a steering system that controls a set of ground engaging elements of the mobile work machine.

19. The compute implemented method of claim 16 , wherein generating the control signal comprises:
controlling a user interface mechanism to provide an output to a user, the output indicating the location of the detected object relative to the mobile work machine, and wherein the output comprises at least one of:
a display output;
an audible output; or
a haptic output.

20. A control system for a mobile work machine, the control system comprising:
an object detection system configured to:
receive a signal from an object detection sensor;
detect an object based on the signal; and
determine a location of the object relative to a controllable subsystem having an actuator configured to move a material receiver;

collision logic configured to:
define a threshold distance based on an object type of the object; and
receive an indication of a commanded movement of the actuator to move a portion of the controllable subsystem to a target position that is within the threshold distance from the location of the object; and

control logic configured to generate a control signal based on the indication.

Assignees

• Deere & Co

Inventors

• Stander Francois
• Banninga Joel D
• Schmidt Michael J
• Graves Maryanne E

Classifications

• G05D1/628

  following the obstacle profile, e.g. a wall or undulated terrain · CPC title

• G05D1/617

  Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) · CPC title

• B60Q9/008 Primary

  for anti-collision purposes · CPC title

• E02F9/262

  with follow-up actions to control the work tool, e.g. controller · CPC title

• G01S13/931

  of land vehicles · CPC title