Work vehicle perception systems and front modules

Patent metadata

Field	Value
Publication number	US-12015836-B2
Application number	US-202117466143-A
Country	US
Kind code	B2
Filing date	Sep 3, 2021
Priority date	Nov 10, 2020
Publication date	Jun 18, 2024
Grant date	Jun 18, 2024

Abstract

A front perception module is utilized in conjunction with a front ballast system, which is included in a work vehicle and which has a laterally-extending hanger bracket supporting a number of removable ballast weights. In various embodiments, the front perception module includes an environmental depth perception (EDP) sensor system including a first EDP device having a field of view (FOV) encompassing an environmental region forward of the work vehicle, a mounting base attached to the work vehicle, and a front module housing containing the EDP sensor system and joined to the work vehicle through the mounting base. The front module housing is positioned over and vertically spaced from the laterally-extending hanger bracket in a manner enabling positioning of the removable ballast weights beneath the front module housing.

First claim

What is claimed is:

1. A front perception module utilized in conjunction with a front ballast system included in a work vehicle, the front ballast system having a laterally-extending hanger bracket supporting removable ballast weights, the front perception module comprising:
an environmental depth perception (EDP) sensor system including a first EDP device having a field of view (FOV) encompassing an environmental region forward of the work vehicle;
a mounting base attached to the work vehicle; and
a front module housing containing the EDP sensor system and joined to the work vehicle through the mounting base, the front module housing positioned over and vertically spaced from the laterally-extending hanger bracket in a manner enabling positioning of the removable ballast weights beneath the front module housing.

2. The front perception module of claim 1 , wherein the mounting base comprises a central support structure joined to a central portion of the laterally-extending hanger bracket; and
wherein the front module housing is mounted to the work vehicle through the central support structure.

3. The front perception module of claim 1 , wherein the EDP sensor system comprises at least one heat-generating component electrically coupled to the first EDP device; and
wherein the front perception module further comprises:
an inlet vent formed in a first exterior wall of the front module housing;
an outlet vent formed in a second exterior wall of the front module housing; and
a cooling airflow path extending through the front module housing from the inlet vent to the outlet vent, the heat-generating component positioned in or adjacent the cooling airflow path.

4. The front perception module of claim 3 , wherein the first EDP device comprises a stereoscopic camera assembly; and
wherein the heat-generating component comprises a visual processing unit (VPU) assembly electrically coupled to the stereoscopic camera assembly.

5. The front perception module of claim 4 , wherein the VPU assembly comprises a cooling fin array, the VPU assembly mounted in the front module housing in an inverted and tilted orientation such that the cooling fin array faces in downward and rearward directions.

6. The front perception module of claim 5 , further comprising a ramped flow guidance surface within the front module housing and over which the cooling airflow path extends, the cooling fin array disposed adjacent and facing the ramped flow guidance surface.

7. The front perception module of claim 3 , wherein the inlet vent is formed in a leading wall of the front module housing and oriented to receive ram airflow into an interior of the front module housing as the work vehicle travels in a forward direction.

8. The front perception module of claim 3 , wherein the inlet vent is formed in a bottom wall of the front module housing and positioned to intake rising airflow into an interior compartment of the front module housing.

9. The front perception module of claim 8 , further including a thermal chimney extending through the mounting base, the laterally-extending hanger bracket, or both the mounting base and the laterally-extending hanger bracket in a generally vertical direction, the thermal chimney fluidly coupled to the inlet vent formed in the bottom wall of the front module housing.

10. The front perception module of claim 3 , wherein the work vehicle includes a radiator fan and a grille through which airflow is drawn by action of the radiator fan; and
wherein the outlet vent is positioned adjacent the grille such that airflow is drawn into the front module housing and through the cooling airflow path by the radiator fan, when active.

11. The front perception module of claim 1 , wherein the mounting base comprises:
a first C-shaped mounting flange configured to matingly engage the laterally-extending hanger bracket; and
a second C-shaped mounting flange further configured to matingly engage the laterally-extending hanger bracket and spaced from the first C-shaped mounting flange along a first axis.

12. The front perception module of claim 1 , wherein the front ballast system has a leading edge; and
wherein the front module housing is recessed toward the work vehicle relative to the leading edge of the front ballast system.

13. The front perception module of claim 1 , wherein the EDP sensor system further comprises multiple EDP devices in which the first EDP device is included; and
wherein the multiple EDP devices are distributed about a peripheral portion of the front module housing to provide a cumulative forward-centered FOV equal to or greater than 180 degrees, as seen looking downwardly onto the work vehicle.

14. The front perception module of claim 1 , wherein the first EDP device comprises a first stereoscopic camera assembly having a line of sight (LOS) extending through one or more apertures provided in a leading wall of the front module housing.

15. The front perception module of claim 14 , wherein the EDP sensor system further comprises:
a second stereoscopic camera assembly having an LOS extending through one or more apertures provided in a first sidewall of the front module housing; and
a third stereoscopic camera assembly having an LOS extending through one or more apertures provided in a second sidewall of the front module housing opposite the first sidewall.

16. A work vehicle perception system utilized onboard a work vehicle having a work vehicle chassis, the work vehicle perception system comprising:
a front ballast system joined to the work vehicle chassis and having a laterally-extending hanger bracket configured to support a plurality of ballast weights; and
a front perception module, comprising:
a front module housing;
a mounting base coupling the front module housing to the work vehicle chassis through the front ballast system; and
a first plurality of stereoscopic camera assemblies contained in the front module housing and distributed about a peripheral portion of the front module housing to provide a cumulative forward-centered field of view (FOV) equal to or greater than 180 degrees, as seen looking downwardly onto the work vehicle.

17. The work vehicle perception system of claim 16 , wherein the first plurality of stereoscopic camera assemblies comprises
a first stereoscopic camera assembly having a line of sight (LOS) extending through one or more apertures provided in a leading wall of the front module housing;
a second stereoscopic camera assembly having an LOS extending through one or more apertures provided in a first sidewall of the front module housing; and
a third stereoscopic camera assembly having an LOS extending through one or more apertures provided in a second sidewall of the front module housing opposite the first sidewall.

18. The work vehicle perception system of claim 16 , wherein the front perception module further comprises:
an inlet vent formed in a first exterior wall of the front module housing;
an outlet vent formed in a second exterior wall of the front module housing;
a cooling airflow path extending through the front module housing from the inlet vent to the outlet vent; and
a visual processing unit (VPU) assembly electrically coupled to the first plurality of stereoscopic camera assemblies, contained in the front module housing, and positioned in or adjacent the cooling airflow path.

19. The work vehicle perception system of claim 18 , wherein the VPU assembly comprises a cooling fin array, the VPU assembly mounted in the front module housing in an inverted and tilte

Assignees

• Deere & Co

Inventors

• Maddox Troy K
• Zerr Jordan L
• Niday Tyler
• Runde Jeffrey E
• Ascherl Margaux M

Classifications

• B62D49/08

  having means for preventing overturning or tipping (safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles B60K28/00) · CPC title

• A01B69/001 Primary

  Steering by means of optical assistance, e.g. television cameras (steering devices for road marking vehicles E01C23/163) · CPC title

• B62D49/0628 Primary

  using detachable weights (counterweights against overturning B62D49/085; movable stabilisation masses B62D37/04) · CPC title

• H04N23/51

  Housings · CPC title

• H04N13/243

  using three or more two-dimensional [2D] image sensors · CPC title