# US 12,006,661 B2 · Environment cognition system for construction machinery

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- Number: US 12,006,661 B2
- Document ID: US12006661B2
- Status: Granted
- Kind: B2
- Application number: 16/952,541
- Filed: 2020-11-19
- Published: 2021-05-20
- Granted: 2024-06-11
- Earliest claimed: 2019-11-19
- Assignees: Hd Hyundai Infracore Co., Ltd.
- Applicants: Hd Hyundai Infracore Co., Ltd
- Inventors: Heejin Lee; Dongmok Kim; Heeseung Hong
- Web page: https://patentgrep.com/patent/US12006661B2

## CPC

- E02F 9/261: {Surveying the work-site to be treated}
- E02F 3/435: {for dipper-arms, backhoes or the like}
- G01S 7/4811: {common to transmitter and receiver}
- G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46)
- G01S 17/88: Lidar systems specially adapted for specific applications
- G01S 17/89: for mapping or imaging
- G01S 17/931: of land vehicles
- E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00)
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

An environment cognition system for construction machinery includes a first sensor installed on an upper surface of a cabin of the construction machinery to obtain shape information on a front ground, and a second senor installed on a lower surface of a boom of the construction machinery to obtain shape information data in an excavation area. The second sensor is installed in a region that does not overlap a trajectory of a circle drawn by an end of a bucket, with the arm folded as far as possible.

## Claims

### Claim 1

An environment cognition system for construction machinery, comprising:
a first sensor installed on an upper surface of a cabin of the construction machinery to obtain shape information on a front ground; and
a second sensor installed on a lower surface of a boom of the construction machinery to obtain shape information data in an excavation area,
wherein the second sensor is installed in a region that does not overlap a trajectory of a circle drawn by an end of a bucket, with an arm folded as far as possible,
wherein the first and second sensors comprise a LiDAR (Light Detection And Ranging) sensor, and
wherein in response to a thickness of the LiDAR sensor being determined, intersection points at which the trajectory crosses an installation space formed when the LiDAR sensor moves along an installation surface on which the LiDAR sensor is to be installed are determined, an interference space is obtained by finding positions of the intersection points using an equation of a secant of the circle, and an interference-free region is determined as the installation region by excluding the interference space from the installation region.

### Claim 2 (depends on 1)

The environment cognition system for construction machinery of claim 1, wherein the second sensor is installed in the region close to a pin of the arm in the region.

### Claim 3 (depends on 1)

The environment cognition system for construction machinery of claim 1, further comprising:
a data processing device configured to collect and process data from the first and second sensors to provide surrounding environment data of the construction machinery.