Adjustment of an accessory component of a work machine to avoid a potential collision of an obstacle and the accessory component

Abstract

A control device may obtain sensing data from at least one sensing device associated with a work machine and may determine, based on the sensing data, a projected path of the work machine and a location of at least one obstacle. The control device may determine that the at least one obstacle is in a portion of the projected path of the work machine, wherein the portion of the projected path of the work machine is associated with an accessory component of the work machine. The control device may identify, based on determining that the at least one obstacle is in the portion of the projected path of the work machine, a potential collision of the at least one obstacle and the accessory component of the work machine and may cause the accessory component to adjust from a first position to a second position to avoid the potential collision.

What is claimed is: 
     
         1 . A method, comprising:
 obtaining sensing data from at least one sensing device associated with a work machine;   determining, based on the sensing data, a projected path of the work machine;   determining, based on the sensing data, a location of at least one obstacle;   determining that the at least one obstacle is in a portion of the projected path of the work machine,
 wherein the portion of the projected path of the work machine is associated with an accessory component of the work machine; 
   identifying, based on determining that the at least one obstacle is in the portion of the projected path of the work machine, a potential collision of the at least one obstacle and the accessory component of the work machine; and   causing the accessory component to adjust from a first position to a second position to avoid the potential collision of the at least one obstacle and the accessory component.   
     
     
         2 . The method of  claim 1 , further comprising:
 obtaining, after causing the accessory component to adjust from the first position to the second position, additional sensing data from the at least one sensing device;   determining, based on the additional sensing data, an updated projected path of the work machine;   identifying, based on the additional sensing data, an updated location of the at least one obstacle;   determining that the at least one obstacle is not in a portion of the updated projected path of the work machine,
 wherein the portion of the updated projected path of the work machine is associated with the accessory component of the work machine; 
   determining, based on determining that the at least one obstacle is not in the portion of the updated projected path of the work machine, that the at least one obstacle will not collide with the accessory component of the work machine; and   causing, based on determining that the at least one obstacle will not collide with the accessory component of the work machine, the accessory component to adjust from the second position to the first position.   
     
     
         3 . The method of  claim 1 , further comprising:
 obtaining, after causing the accessory component to adjust from the first position to the second position, additional sensing data from the at least one sensing device;   determining, based on the additional sensing data, an updated projected path of the work machine;   identifying, based on the additional sensing data, an updated location of the at least one obstacle;   determining that the at least one obstacle is in a portion of the updated projected path of the work machine,
 wherein the portion of the updated projected path of the work machine is associated with the accessory component of the work machine; 
   determining, based on determining that the at least one obstacle is in the portion of the updated projected path of the work machine, an additional potential collision of the at least one obstacle and the accessory component of the work machine; and   causing, based on determining the additional potential collision of the at least one obstacle and the accessory component of the work machine, the accessory component to adjust from the second position to a third position.   
     
     
         4 . The method of  claim 1 , wherein causing the accessory component to adjust from the second position to the first position comprises at least one of:
 causing a part of the accessory component to rotate on a hinge;   causing the part of the accessory component to slide along another part of the accessory component; or   causing the part of the accessory component to pivot on a pivot point.   
     
     
         5 . The method of  claim 1 , wherein the accessory component is an adjustable ladder, the first position is a deployed position of the adjustable ladder, and the second position is a stowed position of the adjustable ladder. 
     
     
         6 . The method of  claim 1 , further comprising:
 causing, after identifying the potential collision of the at least one obstacle and the accessory component, at least one of:
 a light on the work machine to be activated; 
 a sound to be outputted via a speaker of the work machine; or 
 a message indicating the potential collision of the at least one obstacle and the accessory component to be displayed on a display of the work machine. 
   
     
     
         7 . The method of  claim 1 , wherein causing the accessory component to adjust from the first position to the second position to avoid the potential collision of the at least one obstacle and the accessory component comprises:
 generating a recommendation to adjust the accessory component from the first position to the second position to avoid the potential collision of the at least one obstacle and the accessory component   causing the recommendation to be displayed on a display of the work machine;   receiving, after causing the recommendation to be displayed, a response indicating that the accessory component is to be adjusted from the first position to the second position; and   causing, based on the response, the accessory component to adjust from the first position to the second position.   
     
     
         8 . A control system for an adjustable ladder of a milling machine, the control system comprising:
 a controller configured to:
 obtain the sensing data from at least one sensing device; 
 determine, based on the sensing data, a projected path of the milling machine; 
 identify, based on the projected path of the milling machine and a location of at least one obstacle, a potential collision of the at least one obstacle and the adjustable ladder of the milling machine; and 
 cause the adjustable ladder to adjust from a first position to a second position to avoid the potential collision of the at least one obstacle and the adjustable ladder. 
   
     
     
         9 . The control system of  claim 8 , wherein the at least one sensing device includes at least one of:
 a camera device;   a radar device;   a light detection and ranging (LIDAR) device; or   a sonar device.   
     
     
         10 . The control system of  claim 8 , wherein the first position is a lowered position of the adjustable ladder and the second position is a raised position of the adjustable ladder. 
     
     
         11 . The control system of  claim 8 , wherein the controller is further configured to:
 activate, based on identifying the potential collision of the at least one obstacle and the adjustable ladder of the milling machine, a light of an operator platform of the milling machine;   output, based on identifying the potential collision of the at least one obstacle and the adjustable ladder of the milling machine, a sound via a speaker of the operator platform of the milling machine; or   display, based on identifying the potential collision of the at least one obstacle and the adjustable ladder of the milling machine, a message indicating the potential collision of the at least one obstacle and the adjustable ladder on a display of the operator platform of the milling machine.   
     
     
         12 . The control system of  claim 8 , wherein the controller, when identifying, the potential collision of the at least one obstacle and the adjustable ladder of the milling machine, is configured to:
 determine a portion of the projected path of the milling machine that is associated with a projected path of the adjustable ladder of the milling machine;   determine that the at least one obstacle is in the portion of the projected path of the milling machine; and   determine, based on determining that the at least one obstacle is in the portion of the projected path of the milling machine, the potential collision of the at least one obstacle and the adjustable ladder of the milling machine.   
     
     
         13 . The control system of  claim 8 , wherein the controller, when identifying, the potential collision of the at least one obstacle and the adjustable ladder of the milling machine, is configured to:
 determine, based on the projected path of the milling machine and the location of the at least one obstacle, that the at least one obstacle is in a projected path of the adjustable ladder of the milling machine;   determine, based on determining that the at least one obstacle is in the projected path of the adjustable ladder of the milling machine, that an uppermost portion of the at least one obstacle is a first height above ground level;   determine, based on determining that the at least one obstacle is in the projected path of the adjustable ladder of the milling machine, that a lowermost portion of the adjustable ladder is a second height above ground level; and   determine, based on the first height above ground level and the second height above ground level, the potential collision of the at least one obstacle and the adjustable ladder of the milling machine.   
     
     
         14 . The control system of  claim 8 , wherein the controller causing the adjustable ladder to adjust from the first position to the second position causes a lowermost portion of the adjustable ladder to be a height above ground level that is greater than a height above ground level of an uppermost portion of the at least one obstacle. 
     
     
         15 . The control system of  claim 8 , wherein the controller is further configured to:
 obtain, after causing the adjustable ladder to adjust from the first position to the second position, additional sensing data from the at least one sensing device;   determine, based on the additional sensing data, that the milling machine has ceased moving; and   causing, based on determining that the milling machine has ceased moving, the adjustable ladder to adjust from the second position to another position.   
     
     
         16 . A work machine comprising:
 an accessory component; and   a controller configured to:
 obtain sensing data from the at least one sensing device to identify a location of at least one obstacle; 
 identify, based on the location of the at least one obstacle, a potential collision of the at least one obstacle and the accessory component; and 
 cause the accessory component to adjust from a first position to a second position to avoid the potential collision of the at least one obstacle and the accessory component. 
   
     
     
         17 . The work machine of  claim 16 , wherein the controller, when identifying the potential collision of the at least one obstacle and the accessory component, is configured to:
 determine, based on the sensing data, a projected path of the accessory component;   determine, based on the location of the at least one obstacle, that the at least one obstacle is in the projected path of the accessory component; and   determine, based on determining that the at least one obstacle is in the projected path of the accessory component, the potential collision of the at least one obstacle and the accessory component.   
     
     
         18 . The work machine of  claim 16 , wherein the controller, when causing the accessory component to adjust from the first position to the second position to avoid the potential collision of the at least one obstacle and the accessory component, is configured to:
 cause a device associated with the accessory component to engage a part of the accessory component to cause the part of the accessory component to:
 rotate on a hinge; 
 slide along another part of the accessory component; or 
 pivot on a pivot point. 
   
     
     
         19 . The work machine of  claim 16 , wherein the controller is further configured to:
 obtain, after causing the accessory component to adjust from the first position to the second position, additional sensing data from the at least one sensing device to identify an updated location of the at least one obstacle;   identify, based on the updated location of the at least one obstacle, an additional potential collision of the at least one obstacle and the accessory component; and   cause the accessory component to adjust from the second position to a third position to avoid the additional potential collision of the at least one obstacle and the accessory component.   
     
     
         20 . The work machine of  claim 16 , wherein the controller is further configured to:
 receive, after causing the accessory component to adjust from the first position to the second position, a command to adjust the accessory component from the second position to the first position; and   cause, based on the command, the accessory component to adjust from the second position to the first position.