# US 12,180,686 B2 · Work vehicle having enhanced visibility throughout implement movement > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,180,686 B2 - Document ID: US12180686B2 - Status: Granted - Kind: B2 - Application number: 18/304,933 - Filed: 2023-04-21 - Published: 2023-10-26 - Granted: 2024-12-31 - Earliest claimed: 2022-04-21 - Assignees: Deere & Company - Applicants: Deere & Company - Inventors: Giovanni A. Wuisan; Rachel Bruflodt; Derek K. Pickett; Tianshuang Gao; Drake A. VanDerZyl - Web page: https://patentgrep.com/patent/US12180686B2 ## CPC - E02F 9/261: {Surveying the work-site to be treated} - B60R 1/24: in front of the vehicle - B60R 1/27: providing all-round vision, e.g. using omnidirectional cameras - B60R 1/28: with an adjustable field of view - B60R 11/04: Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle - E02F 9/264: {Sensors and their calibration for indicating the position of the work tool} - G06T 7/73: using feature-based methods - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - H04N 5/2628: {Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation} - H04N 7/181: {for receiving images from a plurality of remote sources} - E02F 3/342: Buckets emptying overhead (E02F3/348 - E02F3/358 take precedence) - E02F 3/431: {for bucket-arms, front-end loaders, dumpers or the like} - E02F 9/0858: {Arrangement of component parts installed on superstructures not otherwise provided for, e.g. electric components, fenders, air-conditioning units (E02F9/16, E02F9/18 take precedence)} - E02F 9/205: {Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence)} - H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract A computer-implemented system and method provide visual representation of an area of interest proximate to a work vehicle (e.g., a loader) during operative movement. A first vehicle portion comprises a frame, and a second vehicle portion (e.g., front-mounted bucket) is moveable relative to the first portion, and may for example obscure the area of interest from view during at least part of a trajectory of bucket movement. At least two imaging devices are mounted on the work vehicle, at least one of which has a field of view including the area of interest at any given time throughout the trajectory of bucket movement. Image data is provided to a display unit representing the area of interest and based on inputs from one or more of the imaging devices, wherein a display of the area of interest is substantially maintained thereon throughout bucket movement. ## Claims ### Claim 1 A method of visually representing at least a first area of interest proximate to a work vehicle during operative movement thereof, wherein the work vehicle comprises: a first portion comprising a frame supported by a plurality of ground engaging units; a second portion moveable relative to the first portion; and at least a first imaging device and a second imaging device mounted on the work vehicle, wherein at least one of the first and second imaging devices has a field of view including the at least first area of interest at any given time throughout the trajectory of movement of the second portion; the method comprising: selectively providing image data to a display unit representing the at least first area of interest and based on inputs from one or more of the at least first imaging device and second imaging device, wherein a display of the at least first area of interest is substantially maintained thereon throughout the trajectory of movement of the second portion; dynamically processing the image data based on a determined current position of the second portion along the trajectory of movement of the second portion, wherein the dynamic processing of the image data comprises dynamic cropping and resizing of the image data from the respective fields of view of at least one of the plurality of imaging devices and with respect to at least the first area of interest; and generating and iteratively updating a plurality of models corresponding to respective positions of the second portion throughout the trajectory, wherein the dynamic processing of the input data comprising dynamic cropping and further geometric and spatial translation of the input data is performed via selection of an appropriate model based on the determined current position of the second portion. ### Claim 2 (depends on 1) The method of claim 1, wherein: the second portion comprises a work implement supported by and movable relative to the frame, and configured to move a working tool at a distal end thereof between a ground-engaging position and a maximum elevated position at opposing ends of a trajectory of movement; at least the first imaging device is mounted in a location that remains static relative to the second portion during the movement of the working tool; at least the second imaging device is mounted on the second portion and moves along with the second portion during the movement of the working tool; image data provided to the display unit representing the at least first area of interest is based at least on inputs from the first imaging device while the working tool is at the maximum elevated position; and image data provided to the display unit representing the at least first area of interest is based at least on inputs from the second imaging device while the working tool is at the ground-engaging position. ### Claim 3 (depends on 2) The method of claim 2, comprising: determining an area of interest to be displayed on the display unit; and processing input data from the at least first imaging device and second imaging device to generate output signals corresponding to a representative display of the determined area of interest to a display unit, wherein image display parameters associated with perimeter contours of the first area of interest, at least while the first area of interest is the determined area of interest to be displayed on the display unit, are substantially maintained throughout the trajectory of movement of the second portion of the work vehicle. ### Claim 4 (depends on 3) The method of claim 3, wherein: the first area of interest comprises a portion of terrain proximate the working tool while the working tool is in the ground-engaging position. ### Claim 5 (depends on 3) The method of claim 3, wherein: the first area of interest comprises threshold contours of a loading area to be cleared by the working tool during an unloading action by the work vehicle. ### Claim 6 (depends on 3) The method of claim 3, wherein: the area of interest to be displayed on the display unit is automatically transitioned to the first area of interest upon detecting a first predetermined work state. ### Claim 7 (depends on 1) The method of claim 1, further comprising determining the current position of the second portion relative to the first portion in a local reference system via at least signals from one or more first kinematic position sensors mounted on the first portion of the work vehicle and one or more second kinematic position sensors mounted on the second portion of the work vehicle. ### Claim 8 A work vehicle comprising: a first portion comprising a frame supported by a plurality of ground engaging units; a second portion moveable relative to the first portion; a plurality of imaging devices mounted on at least first and second locations relative to the work vehicle, wherein throughout a trajectory of movement of the second portion of the work vehicle at least a first area of interest is within a respective field of view for at least one of the plurality of imaging devices; and a controller in functional communication with the plurality of imaging devices to receive inputs therefrom, and configured to selectively provide image data to a display unit representing the at least first area of interest and based on the received inputs from at least one of the plurality of imaging devices, wherein a display of the at least first area of interest is substantially maintained thereon throughout the trajectory of movement of the second portion, dynamically process the image data based on a determined current position of the second portion along the trajectory of movement of the second portion, wherein the dynamic processing of the image data comprises dynamic cropping and resizing of the image data from the respective fields of view of at least one of the plurality of imaging devices and with respect to at least the first area of interest, and generate and iteratively update a plurality of models corresponding to respective positions of the second portion throughout the trajectory, wherein the dynamic processing of the input data comprising dynamic cropping and further geometric and spatial translation of the input data is performed via selection of an appropriate model based on the determined current position of the second portion. ### Claim 9 (depends on 8) The work vehicle of claim 8, wherein: the second portion comprises a work implement supported by and movable relative to the frame, and configured to move a working tool at a distal end thereof between a ground-engaging position and a maximum elevated position at opposing ends of a trajectory of movement; at least a first imaging device of the plurality of imaging devices is mounted in a location that remains static relative to the second portion during the movement of the working tool; at least a second imaging device of the plurality of imaging devices is mounted on the second portion and moves along with the second portion during the movement of the working tool; image data provided to the display unit representing the at least first area of interest is based at least on inputs from the first imaging device while the working tool is at the maximum elevated position; and image data provided to the display unit representing the at least first area of interest is based at least on inputs from the second imaging device while the working tool is at the ground-engaging position. ### Claim 10 (depends on 9) The work vehicle of claim 9, wherein the controller is configured to: determine an area of interest to be displayed on the display unit; and process input data from the at least first imaging device and second imaging device to generate output signals corresponding to a representative display of the determined area of interest to a display unit, wherein image display parameters associated with perimeter contours of the first area of interest, at least while the first area of interest is the determined area of interest to be displayed on the display unit, are substantially maintained throughout the trajectory of movement of the second portion of the work vehicle. ### Claim 11 (depends on 10) The work vehicle of claim 10, wherein: the first area of interest comprises a portion of terrain proximate the working tool while the working tool is in the ground-engaging position. ### Claim 12 (depends on 10) The work vehicle of claim 10, wherein: the first area of interest comprises threshold contours of a loading area to be cleared by the working tool during an unloading action by the work vehicle. ### Claim 13 (depends on 10) The work vehicle of claim 10, wherein: the area of interest to be displayed on the display unit is automatically transitioned to the first area of interest upon detecting a first predetermined work state. ### Claim 14 (depends on 8) The work vehicle of claim 8, comprising one or more first kinematic position sensors mounted on the first portion of the work vehicle and one or more second kinematic position sensors mounted on the second portion of the work vehicle, wherein the controller is configured to determine the current position of the second portion relative to the first portion in a local reference system via at least signals from the one or more first kinematic position sensors and the one or more second kinematic position sensors.