US 12,410,586 B2
Systems and methods for collision avoidance for shape changing machines
Mo Wei, Dunlap, IL (US); Jun Zuo, Peoria, IL (US); Jacob C. Maley, Germantown Hills, IL (US); and Manoj Pothugunti, Peoria, IL (US)
Assigned to Caterpillar Inc., Peoria, IL (US)
Filed by Caterpillar Inc., Peoria, IL (US)
Filed on Jul. 5, 2022, as Appl. No. 17/810,695.
Prior Publication US 2024/0011244 A1, Jan. 11, 2024
Int. Cl. E02F 9/20 (2006.01); B60W 30/09 (2012.01); E02F 9/24 (2006.01); E02F 9/26 (2006.01); B60W 50/14 (2020.01)
CPC E02F 9/2033 (2013.01) [B60W 30/09 (2013.01); E02F 9/24 (2013.01); E02F 9/26 (2013.01); B60W 50/14 (2013.01); B60W 2300/17 (2013.01); B60W 2520/06 (2013.01); B60W 2520/10 (2013.01); B60W 2554/802 (2020.02)] 18 Claims
OG exemplary drawing
 
1. A collision avoidance system for a machine, comprising:
a safety zone system installed on the machine, the safety zone system:
determining a first safety zone associated with and encompassing a first and second portion of the machine, the second portion of the machine movable relative to the first portion of the machine such that at least a component of the second portion of the machine is outside of the first safety zone;
determining a second safety zone associated with the second portion of the machine, the second safety zone encompassing the component of the second portion which is outside of the first safety zone, such that the second safety zone extends beyond the first safety zone,
wherein the component of the second portion is movable between:
first and second positions in a first area outside of the first safety zone, wherein the first area encompasses an entire rotational path of movement of the second portion in a first direction, and
third and fourth positions in a second area outside of the first safety zone, wherein the second area encompasses an entire rotational path of movement of the second portion in a second direction,
wherein the second safety zone includes either the first area or the second area depending on whether the second portion is moving towards the first area or the second area;
determining a boundary zone as a function of a combination of the first and second safety zones; and
providing a notification and/or a control command based on a relationship of an object to the boundary zone.