System, method, and non-transitory computer-readable storage medium for work machine guidance

Patent metadata

Field	Value
Publication number	US-12516508-B2
Application number	US-202318240359-A
Country	US
Kind code	B2
Filing date	Aug 31, 2023
Priority date	Aug 31, 2023
Publication date	Jan 6, 2026
Grant date	Jan 6, 2026

Abstract

A work machine can comprise a work tool attached to an end of a boom of the work machine, and processing circuitry. The processing circuitry can be configured to determine a type of the work tool; set a focus point of the work tool based on the type of the work tool; measure a posture of the work tool based on the focus point; and provide a guidance function to an operator of the work machine in accordance with the measured posture of the work tool based on the focus point.

First claim

The invention claimed is:

1 . A work machine comprising:
a work tool attached to an end of a boom of the work machine; and processing circuitry configured to
determine a type of the work tool,
set a focus point of the work tool based on the determined type of the work tool, the focus point being a target point for measurement of a posture of the work tool,
measure the posture of the work tool based on the focus point, and
provide a guidance function to an operator of the work machine, for operation of the work machine with the work tool, in accordance with the measured posture of the work tool based on the focus point,
wherein the focus point as the target point is a contact point on the work tool.

2 . The work machine according to claim 1 ,
wherein the processing circuitry outputs selectable information on a display to select the focus point from one or more candidates.

3 . The work machine according to claim 1 ,
wherein the work tool is a compactor, wherein the compactor is a vibratory compactor with a blade, and wherein the selectable information to select the focus point includes a forward point of the compactor, a backward point of the compactor, and a point of the blade of the compactor, in a side view of the compactor.

4 . The work machine according to claim 1 ,
wherein the work tool is a compactor, wherein the compactor is a wheel compactor with a roller and a blade, and wherein the selectable information to select the focus point that includes a center point of the roller of the compactor and a point of the blade of the compactor, in a side view of the compactor.

5 . The work machine according to claim 2 , wherein the processing circuitry is configured to
provide selectable information to select the focus point including an automatic mode, and select the focus point from one or more candidates based on predetermined information without input from the operator, in case that the automatic mode is selected.

6 . The work machine according to claim 1 , wherein the processing circuitry is configured to
provide a first guidance function as the guidance function to the operator of the work machine for the operation of the work machine with the work tool, and output an icon of the work tool and the focus point in at least one of a side view and a front view of the work tool on a screen of a display during operation of the first guidance function for the operation of the work machine with the work tool.

7 . The work machine according to claim 6 ,
wherein the processing circuitry is configured to output a direction of the work tool on the screen of the display during the operation of the first guidance function for the operation of the work machine with the work tool.

8 . The work machine according to claim 7 ,
wherein the processing circuitry is configured to output the direction of the work tool as vertical direction.

9 . The work machine according to claim 1 , wherein the processing circuitry is configured to
provide a second guidance function as the guidance function to the operator of the work machine for the operation of the work machine with the work tool, calculate current coordinates and further coordinates after a predetermined time for the measured posture of the work tool corresponding to the focus point of the work tool, and as part of the operation of the work machine with the work tool, control an operating speed of at least one actuator of the work machine so that the work tool does not extend from a predetermined work area during operation of the second guidance function.

10 . The work machine according to claim 9 ,
wherein the processing circuitry is configured to output position information of the work tool and the predetermined work area on a display of the work machine during the operation of the second guidance function for the operation of the work machine with the work tool.

11 . A method for controlling a work machine comprising:
determining, using a processor, a type of a work tool of the work machine; outputting, using the processor, selectable information via an operator interface to select a focus point of the work tool from one or more candidates in accordance with the determined type of the work tool; setting, using the processor, the focus point of the work tool based on input via the operator interface, the focus point being a target point for measurement of a posture of the work tool; measuring, using the processor, the posture of the work tool based on the focus point; outputting. using the processor, guidance information based on the measured posture of the work tool and the focus point of the work tool; and providing a guidance function to the operator interface, for operation of the work machine with the work tool, in accordance with the measured posture of the work tool based on the focus point, wherein the focus point as the target point is a physical point on the work tool.

12 . The method according to claim 11 ,
wherein the guidance function is a machine guidance function and/or an e-fence function, and the method further comprises:
activating the guidance function responsive to starting or restarting of an engine of the work machine and/or upon a new work tool as said work tool being attached to the work machine.

13 . The method according to claim 11 ,
wherein the work tool is a vibratory compactor, the vibratory compactor having a blade, and wherein the selectable information for selecting the focus point includes a forward point of the compactor, a backward point of the compactor, and a point of the blade of the compactor, in a side view of the compactor.

14 . The method according to claim 12 ,
wherein the work tool is a wheel compactor, the wheel compactor having a roller and a blade, and wherein the selectable information for selecting the focus point includes a center point of the roller of the compactor and a point of the blade of the compactor, in the side view of the compactor.

15 . The method according to claim 11 ,
wherein the selectable information to select the focus point includes an automatic mode to select the focus point from one or more candidates based on predetermined information without input from the operator.

16 . The method according to claim 11 , further comprising:
providing a first guidance function as the guidance function via the operator interface to perform the operation of the work machine with the work tool; and outputting an icon of the work tool and the focus point in at least one of a side view and a front view of the work tool on a screen of a display during operation of the first guidance function to perform the operation of the work machine with the work tool.

17 . The method according to claim 11 , further comprising:
providing a second guidance function as the guidance function to an operator of the work machine to perform the operation of the work machine with the work tool, calculating current coordinates and further coordinates after a predetermined time for the measured posture of the work tool corresponding to the focus point of the work tool, and as part of the operation of the work machine with the work tool, controlling an operating speed of at least one actuator of the work machine so that the work tool does not extend from a predetermined work area during operation of the second guidance function to perform the operation of the work machine with the work tool.

18 . A non-transitory computer-readable storage medium including computer executable instructions, w

Assignees

• Caterpillar Sarl

Inventors

• Nakamoto Youzou
• Sumigaki Naoki

Classifications

• E02F3/963

  Arrangements on backhoes for alternate use of different tools (backhoes per se E02F3/30; quick-acting devices to connect tools to arms E02F3/3609, for arms to tractors or the like E02F3/627) · CPC title

• E02F9/205

  Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence) · CPC title

• E02F3/966

  of hammer-type tools (arrangements for breaking-up hard ground E02F5/305; percussion -type rippers E02F5/323) · CPC title

• E02F3/967

  of compacting-type tools (compacting tools in combination with special-purpose dredges or soil-shifting machines E02F5/30) · CPC title

• E02F9/262

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