Collision avoidance system and method for avoiding collision of work machine with obstacles

Patent metadata

Field	Value
Publication number	US-12460379-B2
Application number	US-202117455512-A
Country	US
Kind code	B2
Filing date	Nov 18, 2021
Priority date	Nov 18, 2021
Publication date	Nov 4, 2025
Grant date	Nov 4, 2025

Abstract

A collision avoidance system for a work machine includes at least one sensor configured to generate a signal indicative of a presence of at least one obstacle in a surrounding area of the work machine. The collision avoidance system also includes a controller communicably coupled with the sensor. The controller is configured to receive the signal indicative of the presence of the obstacle in the surrounding area of the work machine from the sensor. The controller is also configured to determine a position of the obstacle relative to the work machine based on the signal received from the sensor. The controller is further configured to generate a control signal to prevent a movement of the work machine, halt the movement of the work machine, or reduce a velocity of the work machine based on the determination of the position of the obstacle.

First claim

The invention claimed is:

1 . A collision avoidance system for a work machine comprising:
a plurality of ground engaging members operated by an actuator comprising at least one of a motor and a valve; at least one sensor configured to generate a signal indicative of a presence of at least one obstacle in a surrounding area of the work machine; and a controller communicably coupled with the sensor, wherein the controller is configured to:
receive the signal indicative of the presence of the obstacle in the surrounding area of the work machine from the sensor;
determine a position of the obstacle relative to the work machine based on the signal received from the sensor;
generate a control signal;
using the control signal, cause the actuator to engage one or more of the plurality of the ground engaging members based on the determination of the position of the obstacle;
determine when the position of the obstacle relative to the work machine is greater than a first predetermined distance and less than a second predetermined distance;
reduce a velocity of an implement of the work machine, with the control signal, based on the position of the obstacle being greater than the first predetermined distance and less than the second predetermined distance;
halt movement of the implement of the work machine, with the control signal, based on the determination of the obstacle being less than the first predetermined distance;
adjust the first predetermined distance or the second predetermined distance;
cause display of a prompt screen that relates to the control signal, wherein the prompt screen includes a visual indication of the control signal;
accept, via physical operator input an operator instruction to override the control signal; and
in response to the operator instruction to override the control signal, cease causing the actuator to engage the one or more of the plurality of the ground engaging members.

2 . The collision avoidance system of claim 1 , wherein the sensor is mounted on the work machine, and wherein the sensor includes at least one of a perception sensor and a proximity sensor.

3 . The collision avoidance system of claim 1 , wherein the controller is further configured to:
determine positions of a plurality of obstacles before initiating the movement of the work machine; and generate the control signal to prevent the movement of the work machine based on the determination of the positions of the plurality of obstacles.

4 . The collision avoidance system of claim 1 , wherein the controller is further configured to:
determine the position of the obstacle during the movement of the work machine; and generate the control signal to at least one of halt the movement of the work machine and reduce the velocity of the work machine based on the determination of the position of the obstacle.

5 . The collision avoidance system of claim 1 , wherein the controller is further configured to generate the control signal further based on a bearing angle of the obstacle from the work machine.

6 . The collision avoidance system of claim 5 , wherein the controller is further configured to determine the bearing angle of the obstacle from the work machine according to the signal, the signal being generated from an image capturing device.

7 . The collision avoidance system of claim 1 , wherein the controller is further configured to compare the position of the work machine with a direction of movement of one or more movable components of the work machine for generating the control signal.

8 . The collision avoidance system of claim 1 , wherein the adjusting of the first predetermined distance or the second predetermined distance is performed based on input from an operator.

9 . A method for avoiding collision of a work machine, the work machine comprising a plurality of ground engaging members operated by an actuator comprising at least one of a motor and a valve, with at least one obstacle, the method comprising:
generating, by at least one sensor, a signal indicative of a presence of the at least one obstacle in a surrounding area of the work machine; receiving, by a controller, the signal indicative of the presence of the obstacle in the surrounding area of the work machine from the sensor; determining, by the controller, a position of the obstacle relative to the work machine based on the signal received from the sensor; generating, by the controller, a control signal; using the control signal, causing the actuator to engage one or more of the plurality of the ground engaging members based on the determination of the position of the obstacle; determining when the position of the obstacle relative to the work machine is greater than a first predetermined distance and less than a second predetermined distance; adjusting the first predetermined distance or the second predetermined distance; reducing, after the adjusting, a velocity of an implement of the work machine with the control signal based on the position of the obstacle being greater than the first predetermined distance and less than the second predetermined distance; and causing display of a prompt screen that relates to the control signal, wherein the prompt screen includes a visual indication of the control signal; accepting, via physical operator input, an operator instruction to override the control signal; and in response to the operator instruction to override the control signal, cease causing the actuator to engage the one or more of the plurality of the ground engaging members.

10 . The method of claim 9 , wherein the sensor is mounted on the work machine, and wherein the sensor includes at least one of a perception sensor and a proximity sensor.

11 . The method of claim 9 further comprising:
determining, by the controller, the position of the obstacle before initiating movement of the work machine; and
generating, by the controller, the control signal to prevent the movement of the work machine based on the determination of the position of the obstacle.

12 . The method of claim 9 further comprising:
determining, by the controller, the position of the obstacle during movement of the work machine; and
generating, by the controller, the control signal to reduce the velocity of the work machine based on the determination of the position of the obstacle.

13 . The method of claim 9 further comprising generating, by the controller, the control signal further based on a bearing angle of the obstacle from the work machine.

14 . The method of claim 8 further comprising comparing, by the controller, the position of the work machine with a direction of movement of one or more movable components of the work machine for generating the control signal.

15 . A work machine comprising:
a frame; a plurality of ground engaging members supported by the frame and operated by an actuator, the actuator comprising at least one of a valve and a motor; and a collision avoidance system comprising: at least one sensor configured to generate a signal indicative of a presence of at least one obstacle in a surrounding area of the work machine at a worksite; and a controller communicably coupled with the sensor, wherein the controller is configured to:
receive the signal indicative of the presence of the obstacle in the surrounding area of the work machine from the sensor;
determine a position of the obstacle relative to the work machine based on the signal received from the sensor;
generate a control signal to cause the actuator to engage one or more of the plurality of the ground engaging members based on th

Assignees

• Caterpillar Inc

Inventors

• Maley Jacob

Classifications

• B60K2031/0091

  Speed limiters or speed cutters · CPC title

• B60K2031/0025

  Detecting position of target vehicle, e.g. vehicle driving ahead from host vehicle · CPC title

• B60K31/0008

  including means for detecting potential obstacles in vehicle path · CPC title

• E02F9/2033 Primary

  Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin (sub-groups of E02F3/431 of E02F3/435 take precedence; for turntables E02F9/123) · CPC title

• E02F9/262 Primary

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