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公开(公告)号：US12123171B2
公开(公告)日：2024-10-22
申请号：US18233272
申请日：2023-08-11
发明人： Andrija Gajić , Adam Sadilek
IPC分类号： E02F9/20 , E02F9/26 , G05D1/00 , G06T7/521 , G06T7/70 , G06T17/05 , G06V10/764 , G06V20/58 , G06V20/64
CPC分类号： E02F9/205 , E02F9/262 , E02F9/265 , G05D1/0238 , G05D1/027 , G05D1/0278 , G06T7/521 , G06T7/70 , G06T17/05 , G06V10/764 , G06V20/58 , G06V20/64 , G06T2200/04 , G06T2207/10028 , G06T2207/30261 , G06T2210/56
摘要： Systems and techniques are described for implementing autonomous control of earth-moving construction and/or mining vehicles, including to automatically determine and control autonomous movement (e.g., of a vehicle's hydraulic arm(s), tool attachment(s), tracks/wheels, rotatable chassis, etc.) to move materials or perform other actions based at least in part on data about an environment around the vehicle(s). A perception system on a vehicle that includes at least a LiDAR component may be used to repeatedly map a surrounding environment and determine a 3D point cloud with 3D data points reflecting the surrounding ground and nearby objects, with the LiDAR component mounted on a component part of the vehicle that is moved independently of the vehicle chassis to gather additional data about the environment. GPS data from receivers on the vehicle may further be used to calculate absolute locations of the 3D data points.
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公开(公告)号：US12110660B2
公开(公告)日：2024-10-08
申请号：US17679680
申请日：2022-02-24
申请人： Caterpillar Inc.
CPC分类号： E02F9/2033 , E02F9/2029 , E02F9/2253 , E02F9/262 , E02F9/265 , G06T7/73 , G06V10/82 , G06V20/58 , G06V30/1444 , G06T2207/10012 , G06T2207/10028 , G06T2207/20084 , G06T2207/30252
摘要： A work machine, a first method of defining a virtual 3D exclusion zone, and a second method of preventing collisions involving a work machine are disclosed. The work machine comprises a body, an implement arm, an imaging assembly, and an electrohydraulic assembly configured to prevent the implement arm from intersecting a 3D exclusion zone. The first method comprises scanning a local environment, generating a virtual 3D representation, identifying key structures, and generating a virtual 3D exclusion zone encompassing the key structures. The second method comprises defining a virtual 3D exclusion zone, monitoring a motion of the work machine, and adjusting the motion to avoid an intersection between the work machine and the 3D exclusion zone. The 3D exclusion zone may be implemented for a number of machines, environments, and key structures without unduly removing control from a human operator.
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公开(公告)号：US12091835B2
公开(公告)日：2024-09-17
申请号：US17509701
申请日：2021-10-25
申请人： Deere & Company
发明人： Todd F. Velde , Michael G. Kean
CPC分类号： E02F3/845 , E02F3/3677 , E02F9/265
摘要： A joint orientation system is provided for a work vehicle having a chassis and an implement coupled to the chassis at a joint. The joint orientation system includes a first IMU positioned on a first side of the work vehicle relative to the joint and configured to collect a first IMU acceleration and a first IMU angular velocity and a second IMU positioned on a second side relative to the joint and configured to collect a second acceleration and a second angular velocity of the implement. A controller is configured to receive the first and second IMU accelerations and the first and second IMU angular velocities; determine a joint orientation correction based on IMU accelerations and IMU angular velocities; modify an estimate of joint orientation with the joint orientation correction to generate a current joint orientation; and output the current joint orientation for actuation of the implement.
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公开(公告)号：US20240295096A1
公开(公告)日：2024-09-05
申请号：US18571972
申请日：2022-07-27
申请人： KOMATSU LTD.
发明人： Ken NISHIHARA , Eiji ISHIBASHI , Takuya SONODA
摘要： A system includes a work implement sensor attached to a work implement to detect work implement roll and pitch angles, and a controller. The controller acquires an actual frame length, a position of the first body connecting portion, and the roll and pitch angles. The controller calculates an assumed position of the first frame connecting portion when the yaw angle is assumed to be a predetermined angle based on the roll and pitch angles in the first posture, an assumed frame length indicating a distance between the assumed position of the first frame connecting portion and the first body connecting portion, the yaw angle of the work implement in the first posture based on a difference between the actual and assumed frame lengths, and a position of the predetermined portion of the work implement based on the roll, pitch and yaw angles of the work implement in the first posture.
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公开(公告)号：US20240279910A1
公开(公告)日：2024-08-22
申请号：US18569669
申请日：2022-03-11
发明人： Yukihiro HOSO , Sho FUJIWARA , Shingun KYU , Yoshiki MUNEMASA
CPC分类号： E02F9/262 , E02F9/205 , E02F9/2054 , E02F9/24 , E02F9/265
摘要： Provided is a worksite monitoring system that achieves suppression of a decrease in the work efficiency of a working machine. The worksite monitoring system includes: a camera that captures an image of a worksite; an object detection part that detects, on the basis of the image captured by the camera, a working machine in the worksite; a position acquisition part that acquires a position of the working machine detected by the object detection part; a type determination part that determines a type of the working machine detected by the object detection part; a working area setting part that sets a working area associated with the type determined by the type determination part for the working machine detected by the object detection part; and an unsafety state detection part that detects an unsafety state on the basis of the position of the working machine acquired by the position acquisition part and the working area set by the working area setting part.
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公开(公告)号：US20240247461A1
公开(公告)日：2024-07-25
申请号：US18627401
申请日：2024-04-04
发明人： Vernon Joseph BRABEC
摘要： A method for machine operator command attenuation includes the step of detecting a position of a boom, stick, and bucket of a hydraulic implement of a construction machine. Movement of the stick is detected by a controller. The controller determines if the movement of the stick will cause excavation below a desired grade. If the movement will not cause excavation below a desired grade, the controller will take no action. If the movement will cause excavation below a desired grade, the controller will command the boom to raise.
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公开(公告)号：US12043990B2
公开(公告)日：2024-07-23
申请号：US17426742
申请日：2020-01-29
申请人： NEC Corporation
发明人： Tatsuya Yoshimoto , Hiroshi Yoshida
摘要： A convergence determination unit determines whether a state of the bucket has converged to a current target state. A target state update unit is configured to update a target state of the bucket when the convergence determination unit determines that the state of the bucket has converged to the current target state. The convergence determination unit includes a first convergence determination unit and a second convergence determination unit. The first convergence determination unit determines whether a swing angle of each mechanism has converged to the corresponding target swing angle under a first convergence condition. The second convergence determination unit determines whether a swing angle of each mechanism has converged to the corresponding target swing angle under a second convergence condition, which is stricter than the first convergence condition.
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公开(公告)号：US12029152B2
公开(公告)日：2024-07-09
申请号：US18046702
申请日：2022-10-14
发明人： Max Taylor , Ryan Legge , Matthew J. Wilhelmi , Dustan Hahn , Jamie Shults , Ryan Taylor , Jason Schoon , Kelly Minton , Ryan McMahan , Matthew Moeller , Will Whiteman
CPC分类号： A01C7/105 , A01B59/00 , A01B69/004 , A01C7/205 , G06F13/00 , A01C21/005 , E02F9/265
摘要： Agricultural electronics include many components. The components can be connected via an electronic link that connects the various components to components of an agricultural implement. This can include the use of a component type identifier and a master module. The identifier and the module can communicate data, including identification data and instructional data, to easily acknowledge and operate various electrical components of the agricultural implement. Additional sensors can be included to provide even additional data that is communicated between the module and the components of the agricultural implement to aid in providing instructions for operation and to provide additional data information.
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公开(公告)号：US20240200303A1
公开(公告)日：2024-06-20
申请号：US18024362
申请日：2021-09-01
发明人： Changmook KIM , Dongjun LEE , Changu KIM , Bukun SON
摘要： Embodiments disclosed herein relate to an autonomous work excavator and an operation method therefor. According to an embodiment, an excavator comprises a front work device including an arm, a boom, and a bucket; a sensor device configured to collect state information of the excavator and information related to the surrounding environment; and a processor electrically connected to the front work device and the sensor device. The processor is configured to perform a digging operation based on a work instruction such that soil is loaded in the bucket; calculate a zero-moment point of a force acting on the excavator based on mass information on at least a portion of the front work device after the digging operation has been performed; and obtain a work trajectory for processing the soil loaded in the bucket by using the ZMP and the information related to surrounding environment.
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公开(公告)号：US20240191471A1
公开(公告)日：2024-06-13
申请号：US18554681
申请日：2022-05-31
申请人： KOMATSU LTD.
发明人： Ken NISHIHARA , Eiji ISHIBASHI
CPC分类号： E02F9/2029 , E02F9/265 , E02F9/0841
摘要： A work machine includes a vehicle body, a lift frame rotatably supported about a lift axis, a blade rotatably supported about a pitch axis with respect to the lift frame, a lift actuator, a pitch actuator, a sensor detects a current blade tip position of the blade, and a controller. The controller acquires actual topography data indicative of an actual topography to be worked, acquires target topography data indicative of a target topography, and controls the lift actuator so that a blade tip of the blade moves according to the target topography. The controller controls the pitch actuator so that a pitch angle of the blade is changed based on a positional relationship in a vertical direction between any two of the actual topography corresponding to the current blade tip position, the target topography corresponding to the current blade tip position, and the current blade tip position.
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