System and method of controlling wheel loader

Patent metadata

Field	Value
Publication number	US-2021223400-A1
Application number	US-202117152222-A
Country	US
Kind code	A1
Filing date	Jan 19, 2021
Priority date	Jan 20, 2020
Publication date	Jul 22, 2021
Grant date	—

Abstract

A control system for a wheel loader includes an upper sensor installed in a driver cabin to obtain shape information data for an object in front of the driver cabin, a lower sensor installed in a front body to obtain shape information data for an object in front of the front body, a work apparatus position detection portion configured to detect a position of a work apparatus connected rotatably to the front body, and an obstacle detection control device configured to receive the shape information data from the upper sensor and the lower sensor and configured to calculate a distance to the object based on the information data of any one selected from the upper sensor and the lower sensor according to the detected position of the work apparatus.

First claim

What is claimed is:

1 . A control system for a wheel loader, the control system comprising:
an upper sensor installed in a driver cabin to obtain shape information data for an object in front of the driver cabin; a lower sensor installed in a front body to obtain shape information data for an object in front of the front body; a work apparatus position detection portion configured to detect a position of a work apparatus connected rotatably to the front body; and an obstacle detection control device configured to receive the shape information data from the upper sensor and the lower sensor, and configured to calculate a distance to the object based on the information data of any one selected from the upper sensor and the lower sensor according to the detected position of the work apparatus.

2 . The control system of claim 1 , wherein the upper sensor includes a LiDAR sensor or a stereo camera sensor.

3 . The control system of claim 1 , wherein the lower sensor includes a radar sensor, an ultrasonic sensor or a stereo camera sensor.

4 . The control system of claim 1 , wherein the obstacle detection control device calculates the distance to the object based on the data from the upper sensor when the position of the work apparatus is lower than a predetermined position, and calculates the distance to the object based on the data from the lower sensor when the position of the work apparatus is higher than the predetermined position.

5 . The control system of claim 1 , wherein the obstacle detection control device transmits the distance information of the object to a planning portion for an unmanned automated work of the wheel loader.

6 . The control system of claim 1 , wherein the work apparatus position detection portion includes a boom angle sensor for detecting a rotation angle of a boom of the work apparatus.

7 . A method of controlling a wheel loader, the method comprising:
receiving shape information data for an object in front of a driver cabin from an upper sensor installed in the driver cabin; receiving shape information data for an object in front of a front body from a lower sensor installed in the front body; detecting a position of a work apparatus connected rotatably to the front body; and calculating a distance to the object based on the information data of any one selected from the upper sensor and the lower sensor according to the position of the work apparatus.

8 . The method of claim 7 , wherein calculating the distance to the object comprises:
calculating the distance to the object based on the data from the upper sensor when the position of the work apparatus is lower than a predetermined position; and calculating the distance to the object based on the data from the lower sensor when the position of the work apparatus is higher than the predetermined position.

9 . The method of claim 7 , further comprising:
transmitting the distance information of the object to a planning portion for an unmanned automated work of the wheel loader.

10 . The method of claim 7 , wherein the upper sensor includes a LiDAR sensor or a stereo camera sensor.

11 . The method of claim 7 , wherein the lower sensor includes a radar sensor, an ultrasonic sensor or a stereo camera sensor.

12 . The method of claim 7 , wherein detecting the position of the work apparatus comprises detecting a rotation angle of a boom of the work apparatus.

Assignees

• Doosan Infracore Co Ltd

Inventors

• Park Kwangseok
• Heo Yeonhaeng
• Park Joonkeun

Classifications

• G06V20/58

  Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads · CPC title

• G01S15/86

  Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection · CPC title

• G01S15/931

  of land vehicles · CPC title

• B60W2554/802

  Longitudinal distance · CPC title

• B60W40/02

  related to ambient conditions · CPC title