Autonomous sensor mounting structure for a work machine

Patent metadata

Field	Value
Publication number	US-12583399-B2
Application number	US-202318384247-A
Country	US
Kind code	B2
Filing date	Oct 26, 2023
Priority date	Oct 26, 2023
Publication date	Mar 24, 2026
Grant date	Mar 24, 2026

Abstract

A work machine having a frame, a ground engaging member supporting the frame, an engine supported by the frame, a control module configured to control operation of the work machine, a bumper associated with the frame forward of the engine, the bumper supporting a walkway for a person to access the engine and the control module, and an autonomous sensor structure mounted to the bumper forward of the walkway having a main structure attached to the bumper, the main structure formed by a pair of vertical posts, a middle cross member, a top cross member, and a diagonal support, each extending between the pair of vertical posts, a pair of rear-facing angled supports extending from the top cross member and attached to the frame such that the walkway is unobstructed, and a plurality of sensors mounted to the main structure and connected to the control module.

First claim

What is claimed is:

1 . A work machine comprising:
a frame; a ground engaging member supporting the frame; an engine supported by the frame; a control module configured to control operation of the work machine; a bumper associated with the frame forward of the engine, the bumper supporting a walkway for a person to access the engine and the control module; and an autonomous sensor structure mounted to the bumper forward of the walkway, the autonomous sensor structure including:
a main structure attached to the bumper, the main structure formed by a pair of vertical posts, a middle cross member, a top cross member, and a diagonal support, each extending between the pair of vertical posts;
a pair of rear-facing angled supports extending from both ends of the top cross member, the pair of rear-facing angled supports being attached to the frame such that the walkway is unobstructed;
a plurality of sensors mounted to the main structure and connected to the control module.

2 . The work machine of claim 1 , wherein the pair of rear-facing angled supports are removably attached to the ends of the top cross member.

3 . The work machine of claim 1 , wherein the plurality of sensors further includes a RADAR sensor mounted to the middle cross member.

4 . The work machine of claim 1 , wherein the plurality of sensors further includes a LIDAR sensor mounted to either the middle cross member or the diagonal support.

5 . The work machine of claim 1 , wherein the plurality of sensors further includes a GPS sensor mounted to a post extending vertically from the top cross member.

6 . The work machine of claim 1 , wherein the control module is mounted in a cabin on the work machine and an operator controls operation of the work machine through the control module.

7 . The work machine of claim 1 , wherein the work machine is fully autonomous, and the work machine is operated entirely by the control module through information transmitted to the control module by the plurality of sensors.

8 . An autonomous sensor structure configured to be mounted to a work machine, comprising:
a pair of vertical posts attached to a bumper; a middle cross member extending between the pair of vertical posts; a top cross member extending between the pair of vertical posts; a diagonal support extending between the pair of vertical posts, the middle cross member, and the top cross member; a pair of rear-facing angled supports extending from both ends of the top cross member, the pair of rear-facing angled supports configured to be attached to the bumper such that a walkway formed by the bumper is unobstructed; and a plurality of sensors mounted to the autonomous sensor structure.

9 . The autonomous sensor structure of claim 8 , wherein the pair of rear-facing angled supports are removably attached to the ends of the top cross member.

10 . The autonomous sensor structure of claim 9 , wherein in a disassembled state, the autonomous sensor structure is dimensioned such that when the pair of rear-facing angled supports are removed, the autonomous sensor structure may fit within an ISO shipping container.

11 . The autonomous sensor structure of claim 8 , wherein the plurality of sensors further includes a RADAR sensor, and the middle cross member is configured to provide a mounting location for the RADAR sensor.

12 . The autonomous sensor structure of claim 11 , wherein the RADAR sensor is formed by three RADAR radio units mounted to a cross member located proximate to the bumper.

13 . The autonomous sensor structure of claim 8 , wherein the plurality of sensors further includes a LIDAR sensor, and one of either the middle cross member or the diagonal support is configured to provide a mounting location for the LIDAR sensor.

14 . The autonomous sensor structure of claim 8 , further comprising a post extending vertically from the top cross member, and the plurality of sensors includes a GPS sensor mounted to a topmost end of the post.

15 . A method of manufacturing a work machine with autonomous equipment, comprising;
providing the work machine with a bumper forming a walkway for a person to walk on in order to access and service components of the work machine; providing a main structure formed by a pair of vertical posts, a middle cross member between the pair of vertical posts, a top cross member between the pair of vertical posts, and a diagonal support extending between the pair of vertical posts, the middle cross member, and the top cross member; attaching a pair of rear-facing angled supports to the top cross member at a first end; mounting a plurality of sensors to the main structure; mounting the main structure to the bumper of the work machine forward of the walkway; attaching the pair of rear-facing angled supports to the work machine at a second end; and connecting the plurality of sensors to a control module of the work machine.

16 . The method of claim 15 , wherein the step of mounting the plurality of sensors further includes mounting a RADAR sensor to the middle cross member.

17 . The method of claim 16 , wherein the step of mounting the plurality of sensors further includes mounting three RADAR sensors to a cross member located proximate to the bumper.

18 . The method of claim 15 , wherein the step of mounting the plurality of sensors further includes mounting a LIDAR sensor to one of either of the middle cross member or the diagonal support.

19 . The method of claim 15 , wherein the step of providing the main structure further includes providing the main structure having a post extending vertically from the top cross member.

20 . The method of claim 19 , wherein the step of mounting the plurality of sensors further includes mounting a GPS sensor to a topmost end of the post.

Assignees

• Caterpillar Global Mining Equipment Llc

Inventors

• Pearce Madeline Elizabeth
• Donnel Michael J
• Sharma Nikhil

Classifications

• B62D65/02 Primary

  Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components · CPC title

• B60R2011/004

  outside the vehicle · CPC title

• B60R2011/0049

  for non integrated articles · CPC title

• B60R19/483

  with obstacle sensors of electric or electronic type · CPC title

• B60R11/00 Primary

  Arrangements for holding or mounting articles, not otherwise provided for · CPC title