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US 12,606,985 B2Granted
Collision avoidance system for avoiding collision between movable components and portions of a work machine
AssigneeDeere & Company
InventorsBryan J. Rausch, Jeffery W. Dobchuk, Justin Sticksel
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Abstract
A work machine identifies a commanded trajectory of a point-of-interest on a movable element. An analysis system determines whether a protected part of the work machine is along the trajectory of the point-of-interest and, if so, identifies an actuator that moves the point-of-interest along the commanded trajectory. A control signal is generated to selectively control the identified actuator to avoid contact between the point-of-interest and the protected part of the work machine.
Claims19
A method of controlling a work machine, comprising:
- accessing a geometric construct corresponding to a protected portion of the work machine;
- locating a point-of-interest on a movable element of the work machine relative to the geometric construct;
- receiving a command to move the point-of-interest along a trajectory-of-action;
- identifying a plurality of actuators that drive movement of the point-of-interest along the trajectory-of-action;
- determining that the trajectory-of-action intersects with the geometric construct;
- based on machine kinematic information and the trajectory-of-action, identifying a first limit for a first actuator in the plurality of actuators and a second limit, different than the first limit, for a second actuator in the plurality of actuators;
- and
- modifying the command to selectively limit movement of the point-of-interest relative to the trajectory-of-action, by applying the first limit to the first actuator and the second limit to the second actuator, to inhibit contact between the movable element and the protected portion of the work machine.
5 more elements
A work machine, comprising:
- a frame supporting a protected portion of the work machine;
- a plurality of actuators configured to drive movement of a movable element relative to the frame;
- a geometric construct position detector configured to identify a geometric construct corresponding to the protected portion of the work machine;
- a point-of-interest location system configured to locate a point-of-interest on the movable element of the work machine relative to the geometric construct;
- an input command processor configured to receive a command to move the point-of-interest along a trajectory-of-action and determine that the trajectory-of-action intersects with the geometric construct;
- an actuator identification system configured to identify a first actuator, of the plurality of actuators, driving the movement of the point-of-interest along the trajectory-of-action and to identify a second actuator, of the plurality of actuators, driving the movement of the point-of-interest along the trajectory-of-action;
- a selective limit identification processor configured to generate one or more limitation signals that define a first limit for the first actuator and a second limit, different than the first limit, for the second actuator;
- and
- an actuator controller configured to perform, based on the one or more limitation signals, the command to move the point-of-interest with the first limit applied to the first actuator and the second limit applied to the second actuator, to inhibit contact between the movable element and the protected portion of the work machine.
6 more elements
A collision avoidance system, comprising:
- a position detector configured to identify a geometric construct corresponding to a protected portion of a work machine;
- a location system configured to locate a movable element of the work machine relative to the geometric construct;
- a command processor configured to receive a command to move the movable element along a trajectory-of-action and determine whether the trajectory-of-action intersects with the geometric construct;
- an actuator identifier configured to identify a plurality of actuators on the work machine that drive movement of the movable element along the trajectory;
- and
- a selective limit processor configured to:
- based on machine kinematic information and the trajectory-of-action, identify a first limit for a first actuator in the plurality of actuators and a second limit, different than the first limit, for a second actuator in the plurality of actuators;
- and
- modify the command to selectively limit movement of the movable element relative to the trajectory-of-action, by applying the first limit to the first actuator and the second limit to the second actuator, to inhibit contact between the movable element and the protected portion of the work machine.
6 more elements
Dependencies are inferred from the claim text.