Back to results
US 12,735,865 B2Granted
Collision avoidance system for avoiding collision between dig components and blade on an excavator
AssigneeDeere & Company
InventorsPiyush Ainapure, Amol Phadtare, Lance R. Sherlock
Life of this patent
Estimating the term…
Abstract
An excavator has a lower frame with a blade movably mounted to the lower frame. The excavator also has dig components such as a boom, an arm, and an attachment. The positions of the dig components are identified and a control signal generator controls movement of the dig component to avoid a collision between the boom or attachment and the blade.
Claims20
A method of controlling a work machine, comprising:
- detecting a rotary position of a first frame on the work machine, to which a dig component is attached, relative to a second frame to which a blade is attached;
- detecting a position of the dig component;
- identifying a position of the blade;
- receiving a command input to actuate an actuator to move the dig component;
- determining that the detected rotary position of the first frame on the work machine relative to the second frame satisfies a rotary position criterion;
- based on the determination that the detected rotary position satisfies the rotary position criterion, generating a determination whether execution of the command input will move the dig component to within a threshold separation distance of the blade;
- and
- generating an action signal to control actuation of the actuator based on the determination.
5 more elements
A computer implemented method of controlling a work machine, comprising:
- detecting a rotary position of a first frame on the work machine, to which a dig component is attached, relative to a second frame to which a blade is attached, the blade being movable relative to the second frame through a range of blade positions;
- detecting a position of the dig component;
- selecting a predefined blade position of the range of blade positions;
- identifying a separation value based on the predefined blade position and the detected position of the dig component, the separation value being indicative of a distance and direction separating the dig component from the blade;
- receiving a command input to actuate an actuator to move one of the dig component or the blade;
- and
- generating an action signal to control the work machine based on the command input, the rotary position, and the separation value.
4 more elements
A work machine, comprising:
- a first frame;
- a house supported by the first frame;
- a dig component attached to the first frame;
- a first actuator configured to drive movement of the dig component relative to the first frame;
- a second frame;
- a blade connected to the second frame;
- a rotary actuator configured to drive rotation of the first frame relative to the second frame;
- a rotary position detector configured to detect a rotary position of the first frame relative to the second frame;
- and
- a collision avoidance system configured to:
- identify a position of the dig component and a position of the blade;
- receive a command input to actuate the first actuator to move the dig component;
- and
- determine that the detected rotary position of the first frame relative to the second frame satisfies a rotary position criterion;
- based on the determination that the detected rotary position satisfies the rotary position criterion, generate a determination whether execution of the command input will move the dig component to within a threshold separation distance of the blade;
- and
- generate an action signal to control actuation of the first actuator to limit movement of the dig component to maintain the threshold separation distance between the dig component and the blade.
14 more elements
Dependencies are inferred from the claim text.