Work machine 3D exclusion zone

A method of preventing collisions involving a work machine through application of a virtual 3D exclusion zone, comprising the steps of:

• orienting the work machine with respect to a local environment;
• defining a virtual 3D exclusion zone;
• monitoring a motion of the work machine, the motion includes a velocity vector of an implement arm of the work machine or an angular velocity vector of the implement arm of the work machine;
• predicting if the motion will result in an intersection between the work machine and the 3D exclusion zone;
• and
• if an intersection is predicted, adjusting the motion to avoid the intersection, in which the motion is adjusted by redirecting a direction of the velocity vector or redirecting a direction of the angular velocity vector.

A work machine comprising:

• a body;
• an implement arm supported by the body;
• an imaging assembly configured to define a 3D exclusion zone, including:
• one or more 3D imaging devices supported by the implement arm;
• and
• an image processing unit;
• a power unit;
• and
• an electrohydraulic assembly operatively powered by the power unit, including:
• one or more implement actuators configured to control a motion of the implement arm, the motion includes a velocity vector of the implement arm of the work machine or an angular velocity vector of the implement arm of the work machine;
• one or more implement sensors configured to monitor the motion of the implement arm;
• and
• an electrohydraulic control unit (ECU) configured to command the implement actuators and prevent the implement arm from intersecting the 3D exclusion zone, the intersection is prevented by the electrohydraulic control unit (ECU) redirecting a direction of the velocity vector or redirecting a direction of the angular velocity vector.