	US 12,110,660 B2
	Work machine 3D exclusion zone
Christopher Wright, Peoria, IL (US); and Justin Steinlage, Mackinaw, IL (US)
Assigned to Caterpillar Inc., Peoria, IL (US)
Filed by Caterpillar Inc., Peoria, IL (US)
Filed on Feb. 24, 2022, as Appl. No. 17/679,680.
Prior Publication US 2023/0265640 A1, Aug. 24, 2023
Int. Cl. E02F 9/20 (2006.01); E02F 9/22 (2006.01); E02F 9/26 (2006.01); G06T 7/73 (2017.01); G06V 10/82 (2022.01); G06V 20/58 (2022.01); G06V 30/14 (2022.01)

CPC E02F 9/2033 (2013.01) [E02F 9/2029 (2013.01); E02F 9/2253 (2013.01); E02F 9/262 (2013.01); E02F 9/265 (2013.01); G06T 7/73 (2017.01); G06V 10/82 (2022.01); G06V 20/58 (2022.01); G06V 30/1444 (2022.01); G06T 2207/10012 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30252 (2013.01)]

19 Claims

1. A method of defining a virtual 3D exclusion zone, comprising the steps of:

scanning a local environment of a first work machine;

identifying a second work machine within the local environment;

generating a virtual 3D representation of the local environment and the second work machine;

identifying one or more key structures of the second work machine;

orienting the first work machine with respect to the local environment;

generating a virtual 3D exclusion zone encompassing the key structures, in which the 3D exclusion zone defines a space that should not be occupied by the first work machine; and

redirecting a direction of a velocity vector of an implement arm of the first work machine or redirecting a direction of an angular velocity vector of the implement arm of the first work machine to avoid intersection of the implement arm with the 3D exclusion zone.