# US 12,181,604 B2 · Work vehicle perception systems and rear modules

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- Number: US 12,181,604 B2
- Document ID: US12181604B2
- Status: Granted
- Kind: B2
- Application number: 17/466,215
- Filed: 2021-09-03
- Published: 2022-05-12
- Granted: 2024-12-31
- Earliest claimed: 2020-11-10
- Assignees: Deere & Company
- Applicants: Deere & Company
- Inventors: Troy K. Maddox; Jordan L. Zerr; Tyler Niday; Jeffrey E. Runde; Margaux M. Ascherl
- Web page: https://patentgrep.com/patent/US12181604B2

## CPC

- B60R 11/02: for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
- G01S 7/481: Constructional features, e.g. arrangements of optical elements
- B60R 11/04: Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
- G03B 17/55: with provision for heating or cooling, e.g. in aircraft
- A01B 69/001: {Steering by means of optical assistance, e.g. television cameras (steering devices for road marking vehicles E01C23/163)}
- B60R 2011/004: {outside the vehicle}
- B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- 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
- G03B: APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR (optical parts of such apparatus G02B; photosensitive materials or processes for photographic purposes G03C; apparatus for processing exposed photographic materials G03D)
- A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21)

## Abstract

A rear perception module is utilized in conjunction with a work vehicle having a work vehicle cabin and a cabin roof. In an embodiment, the rear perception module includes an environmental depth perception (EDP) sensor system including a first EDP device having a field of view encompassing an environmental region to a rear of the work vehicle, a rear module housing mounted to an upper trailing edge portion of the cabin roof, and vents formed in exterior walls of the rear module housing to facilitate airflow through the rear module housing along a cooling airflow path. A heat-generating electronic component is electrically coupled to the first EDP device and positioned in or adjacent the cooling airflow path such that excess heat generated by the heat-generating electronic component is dissipated by convective transfer to airflow conducted along the cooling airflow path during operation of the rear perception module.

## Claims

### Claim 1

A rear perception module utilized in conjunction with a work vehicle having a work vehicle cabin and a cabin roof, the rear perception module comprising:
an environmental depth perception (EDP) sensor system comprising a first EDP device having a field of view (FOV) encompassing an environmental region to a rear of the work vehicle;
a rear module housing mounted to an upper trailing edge portion of the cabin roof;
vents formed in exterior walls of the rear module housing to facilitate airflow through the rear module housing along a cooling airflow path, the vents including an inlet vent at a rear of the rear module housing that is oriented to receive airflow conducted in a generally upward direction alongside the rear window of the work vehicle cabin and including an outlet vent at the rear of the rear module housing that is oriented to receive the airflow from the inlet vent; and
a heat-generating electronic component electrically coupled to the first EDP device, the heat-generating electronic component positioned in or adjacent the cooling airflow path such that excess heat generated by the heat-generating electronic component is dissipated by convective transfer to airflow conducted along the cooling airflow path during operation of the rear perception module.

### Claim 2 (depends on 1)

The rear perception module of claim 1, wherein the first EDP device comprises a stereoscopic camera assembly; and
wherein the heat-generating electronic component comprises visual processing circuitry electrically coupled to the stereoscopic camera assembly.

### Claim 3 (depends on 1)

The rear perception module of claim 1, wherein the heat-generating electronic component comprises a visual processing unit (VPU) assembly having a cooling fin array; and
wherein the VPU assembly is mounted within the rear module housing such that, when the rear perception module is mounted to the work vehicle cabin, the cooling fin array extends away from the work vehicle cabin and into the cooling airflow path.

### Claim 4 (depends on 1)

The rear perception module of claim 1, wherein the rear module housing comprises a rear protruding section projecting in a rearward direction relative to the work vehicle cabin, the heat-generating electronic component at least partially located in the rear protruding section.

### Claim 5 (depends on 4)

The rear perception module of claim 4, wherein the outlet vent is formed in an upper wall of the rear protruding section and the inlet vent is formed in a lower wall of the rear protruding section.

### Claim 6 (depends on 1)

The rear perception module of claim 1, wherein the vents further comprise an inlet vent formed in a raised leading surface of the rear module housing, the raised leading surface projecting upwardly from the cabin roof and oriented to intake ram airflow as the work vehicle travels in a forward direction.

### Claim 7 (depends on 1)

The rear perception module of claim 1, wherein the rear module housing comprises:
a central housing body in which the heat-generating electronic component is located;
a first wing section extending from the central housing body in a first lateral direction; and
a second wing section extending from the central housing body in a second lateral direction opposite the first lateral direction.

### Claim 8 (depends on 7)

The rear perception module of claim 7, wherein the first wing section terminates adjacent a first corner region of the cabin roof, while the second wing section terminates adjacent a second corner region of the cabin roof laterally opposite the first corner region.

### Claim 9

A rear perception module utilized in conjunction with a work vehicle having a work vehicle cabin and a cabin roof, the rear perception module comprising:
an environmental depth perception (EDP) sensor system comprising a first EDP device having a field of view (FOV) encompassing an environmental region to a rear of the work vehicle;
a rear module housing mounted to an upper trailing edge portion of the cabin roof, wherein the rear module housing comprises a central housing body in which the heat-generating electronic component is located, a first wing section extending from the central housing body in a first lateral direction, and a second wing section extending from the central housing body in a second lateral direction opposite the first lateral direction, wherein the first wing section and the second wing section each include an enlarged terminal end extending in a forward direction relative to a rear window of the work vehicle cabin such that the rear module housing wraps around a trailing upper edge portion of the work vehicle cabin;
vents formed in exterior walls of the rear module housing to facilitate airflow through the rear module housing along a cooling airflow path; and
a heat-generating electronic component electrically coupled to the first EDP device, the heat-generating electronic component positioned in or adjacent the cooling airflow path such that excess heat generated by the heat-generating electronic component is dissipated by convective transfer to airflow conducted along the cooling airflow path during operation of the rear perception module.

### Claim 10 (depends on 7)

The rear perception module of claim 7, wherein the first EDP device has a line of sight (LOS) extending through one or more apertures provided in a rear-facing wall of the central housing body.

### Claim 11

A rear perception module utilized in conjunction with a work vehicle having a work vehicle cabin and a cabin roof, the rear perception module comprising:
an environmental depth perception (EDP) sensor system comprising a first EDP device having a field of view (FOV) encompassing an environmental region to a rear of the work vehicle;
a rear module housing mounted to an upper trailing edge portion of the cabin roof, wherein the rear module housing comprises a central housing body in which the heat-generating electronic component is located, a first wing section extending from the central housing body in a first lateral direction, and a second wing section extending from the central housing body in a second lateral direction opposite the first lateral direction;
vents formed in exterior walls of the rear module housing to facilitate airflow through the rear module housing along a cooling airflow path; and
a heat-generating electronic component electrically coupled to the first EDP device, the heat-generating electronic component positioned in or adjacent the cooling airflow path such that excess heat generated by the heat-generating electronic component is dissipated by convective transfer to airflow conducted along the cooling airflow path during operation of the rear perception module;
wherein the first EDP device has a line of sight (LOS) extending through one or more apertures provided in a rear-facing wall of the central housing body and wherein the EDP sensor system further includes a second EDP device having an LOS extending through one or more apertures provided in an outer terminal wall of the first wing section and a third EDP device having an LOS extending through one or more apertures provided in an outer terminal wall of the second wing section.

### Claim 12 (depends on 11)

The rear perception module of claim 11, wherein the first, second, and third EDP devices comprise first, second, and third stereoscopic camera assemblies, respectively.

### Claim 13 (depends on 11)

The rear perception module of claim 11, wherein the first, second, and third EDP devices are distributed to provide a cumulative rear-centered FOV equal to or greater than 180 degrees, as seen looking downwardly onto the work vehicle.