Work vehicle perception system and rear module

Abstract

A rear perception module is used in conjunction with a work vehicle having a work vehicle cab and a cab roof. In an embodiment, the rear perception module includes an environmental depth perception (EDP) sensor system including a first EDP device having a field of view (FOV) encompassing an environmental area rearward of the work vehicle, a rear module housing mounted to an upper rear edge portion of the cab roof, and vents formed in an outer wall of the rear module housing to facilitate airflow through the rear module housing along a cooling airflow path. A heat generating electronic component is electrically connected to the first EDP device and positioned in or proximate to the cooling airflow path such that excess heat generated by the heat generating electronic component is dissipated during operation of the rear perception module by being transferred by convection to the airflow being directed along the cooling airflow path.

Description

[0001] Cross-references to related applications

[0002] This application claims priority to U.S. Provisional Application No. 63 / 111,687, filed with the U.S. Patent and Trademark Office on November 10, 2020. Technical Field

[0003] This disclosure relates to a work vehicle sensing module that provides various advantages, including thermal performance and structural integration benefits, and to a work vehicle sensing system incorporating such a module. Background Technology

[0004] As used herein, the term "operation vehicle perception module" refers to a structural component containing one or more environmental depth perception (EDP) devices configured to monitor the three-dimensional (3D) characteristics of the external environment of an operation vehicle. Data collected by the EDP devices within the operation vehicle perception module can be used to support functions such as navigation, obstacle detection, or environment mapping. Examples of such EDP devices include radar, lidar, and sonar-based sensors, with lidar-based sensors being commonly used in operation vehicle perception systems. In some cases, stereo camera components are used as vision-based EDP devices, which achieve environmental depth assessment by correlating images contained in video feeds captured by dual cameras at fixed intervals. Stereo camera components offer higher resolution and other advantages compared to other types of EDP devices, making them particularly suitable for use in autonomous and semi-autonomous operation vehicle applications. Despite these benefits, EDP sensor systems incorporating stereo camera components encounter certain unique technical challenges, such as high vision processing requirements and associated heat dissipation limitations, which existing operation vehicle integration solutions do not adequately or comprehensively address. Therefore, there is a continued industrial demand for improvements that allow work vehicles to be equipped with EDP systems (such as vision-based EDP systems that include stereo camera components). Summary of the Invention

[0005] An embodiment of a rear sensing module is disclosed, and it is used in conjunction with a work vehicle including a cab and a cab roof. In the embodiment, the rear sensing module includes: an ambient depth perception (EDP) sensor system including a first EDP device having a field of view covering the environmental area at the rear of the work vehicle; a rear module housing mounted to the upper rear edge portion of the cab roof; and vents formed in the outer wall of the rear module housing to facilitate airflow through the rear module housing along a cooling airflow path. Heating electronics are electrically connected to the first EDP device and positioned in or near the cooling airflow path such that during operation of the rear sensing module, excess heat generated by the heating electronics is dissipated by convection transfer to the airflow conducted along the cooling airflow path.

[0006] An embodiment of a work vehicle equipped with a rear sensing module is also disclosed. In an example embodiment, the work vehicle includes a work vehicle cab and a cab roof, the cab roof having a first rear corner region, a second rear corner region, and a middle rear edge region between the first and second rear corner regions. The rear sensing module sequentially includes: a rear module housing mounted to the cab roof; a first side-view stereo camera assembly contained in the rear module housing and positioned near the first rear corner region of the cab roof; a second side-view stereo camera assembly contained in the rear module housing and positioned near the second rear corner region of the cab roof; and a rear-view stereo camera assembly contained in the rear module housing and positioned near the middle rear edge region of the cab roof.

[0007] Details of one or more embodiments are set forth in the accompanying drawings and detailed description. Other features and advantages will become apparent from the specification, drawings, and claims. Attached Figure Description

[0008] At least one example of this disclosure will be described below with reference to the following figures:

[0009] Figure 1 A work vehicle (tractor shown in top view) equipped with a work vehicle perception system (shown as a schematic diagram) according to an exemplary embodiment of the present disclosure is shown, the work vehicle perception system including a front perception module and a rear perception module;

[0010] Figure 2 yes Figure 1An isometric view of the front end of the tractor shown in the figure further illustrates a front ballast system with a laterally extending suspension bracket, the shape and size of which are determined to support multiple removable ballast weights, and a front sensing module (hidden from the view) rigidly engaged to the suspension bracket.

[0011] Figure 3 and Figure 4 These are a side perspective view and a front view of an exemplary front sensing module, which includes a front module housing containing multiple environmental depth sensing (EDP) devices, and multiple removable ballast weights mounted on a suspension bracket (hidden from the view) of a front ballast system and positioned below the front module housing.

[0012] Figure 5 and Figure 6 These are perspective views of an exemplary front sensing module, which collectively illustrate a manner in which airflow can be guided through the front module housing along one or more of the cooling airflow paths to dissipate heat generated by at least one heat-generating electronic component (such as a visual processing unit (VPU)) contained within the front sensing module and electrically connected to the EDP device.

[0013] Figure 7 , Figure 8 and Figure 9 These are respectively installed as shown in exemplary embodiments according to this disclosure, to be installed in Figure 1 The tractor's cab roof shown in the image is located near or mounted to the rear edge of the cab roof. Figure 1 The image shows a lower perspective view, a higher perspective view, and a side view of the rear sensing module on the rear edge of the cab roof of the tractor unit.

[0014] Figure 10 It is a rear perspective view of the cab roof and the rear sensing module, showing a manner in which airflow can be guided through the rear module housing along one or more cooling airflow paths to dissipate heat generated by at least one heat-generating electronic component (e.g., VPU) further contained within the rear sensing module;

[0015] Figure 11 and Figure 12 A work vehicle (also a tractor-trailer) is shown equipped with a work vehicle sensing system including a rear sensing module as seen from various advantageous views and presented according to other exemplary embodiments of this disclosure; and

[0016] Figure 13 yes Figure 11 and 12The cross-sectional view of the rear sensing module shown in the figure illustrates an exemplary positioning and angled orientation of the VPU assembly (or similar heat-generating electronic component) within the central housing section of the sensing module in a manner that promotes passive cooling, while reducing contaminant trapping within the heatsink array of the VPU assembly.

[0017] The same reference numerals in different figures indicate the same elements. For the sake of simplicity and clarity, descriptions and details of well-known features and techniques may be omitted to avoid unnecessarily obscuring the exemplary and non-limiting embodiments of the invention described in the following detailed description. It should also be understood that, unless otherwise stated, features or elements appearing in the figures are not necessarily drawn to scale. Detailed Implementation

[0018] Embodiments of this disclosure are illustrated in the accompanying drawings, which are briefly described above. As set forth in the appended claims, various modifications to the exemplary embodiments may be conceived by those skilled in the art without departing from the scope of the invention. As appears herein, the term "module" generally refers to a system or component comprising electronic equipment suitable for installation on a tractor or other work vehicle.

[0019] Overview

[0020] The following describes front and rear work vehicle sensing modules for use in conjunction with tractor units and other work vehicles equipped with front ballast systems and / or capable of autonomous (or semi-autonomous) operation. The front and rear work vehicle sensing modules offer certain advantages in structural integration, mechanical protection, and thermal performance, as described throughout this document. Therefore, the work vehicle sensing modules described below are well-suited for use in conjunction with environmental depth perception (EDP) sensor systems, which typically contain electronic (e.g., processing) components prone to excessive heat generation during system operation. In this regard, embodiments of the front and rear work vehicle sensing modules are advantageously utilized to deploy EDP sensor systems incorporating EDP sensors or devices that monitor the three-dimensional (3D) spatial characteristics of the work vehicle's external environment to support any number and type of functionality, such as navigation, obstacle detection, and / or spatial mapping capabilities. Furthermore, embodiments of the front and rear vehicle sensing modules may be particularly well-suited for use in conjunction with vision-based EDP sensor systems that include EDP devices in the form of stereo camera assemblies and associated vision processing circuitry (e.g., VPU) that is subject to high processing requirements and is prone to generating excessive heat during module operation.

[0021] First, we will discuss the front sensing module in more detail. Embodiments of the front sensing module can be mounted on the chassis of a tractor or other work vehicle at a location adjacent to the front ballast system. For example, in at least some embodiments, the front sensing module can be mounted to the work vehicle chassis via the front ballast system, and in at least some cases, it can be rigidly or fixedly engaged to a laterally extending suspension bracket included in the front ballast system. In various embodiments, the front sensing module includes a front module housing containing an EDP sensor system, wherein the front module housing is rigidly mounted or engaged to the laterally extending suspension bracket via a base structure or "mounting base". The front module housing can be positioned, sized, and shaped to extend substantially parallel to the laterally extending suspension bracket at an elevation above the suspension bracket, thereby accommodating manual positioning of removable ballast counterweights below the front module housing. In some embodiments, at least some (if not all) portions of the mounting base can be integrally formed with the laterally extending suspension bracket, for example, formed as a single (e.g., cast) piece or an integral structure. In this configuration, the upper surface of the mounting base may define a platform or mounting surface, on which the front module housing may be placed and secured, for example by attaching with bolts or other fasteners.

[0022] In other cases, the mounting base can be manufactured separately and structurally constructed (sized and shaped) to engage with a laterally extending suspension bracket, allowing attachment of the front sensing module via a modified mounting. For example, in the latter case, the mounting base can be manufactured to include one or more mounting flanges extending downward from the front module housing to engage or hook into the laterally extending suspension bracket. In such an embodiment, viewed from the side of the front sensing module, the mounting flanges can be given a C-shaped geometry and include a slot that opens toward the laterally extending suspension bracket when the front sensing module is correctly oriented relative to the front ballast system of the work vehicle. Further, the shape and size of the flange slot are determined such that the mounting base can be fitted or tightly mounted onto the laterally extending suspension bracket; for example, by assembling the mounting flange to engage with the suspension bracket and subsequently securing the flange in its desired position using fasteners, by welding, or by another attachment technique. In other cases, the mounting base may include features extending downward from the support platform to connect to the work vehicle chassis, such as railings or attachment brackets, whether directly or via the front ballast system. In such embodiments, the housing of the front sensing module may be mounted to the support platform, which may be positioned at an elevation above the laterally extending suspension brackets to allow removable ballast weights to be positioned below the support platform and the front module housing when ballast weights are loaded onto the laterally extending suspension brackets. In further embodiments, the front sensing module may be mounted to the front ballast system in various other ways as described below, or directly to the work vehicle chassis positioned directly above the front ballast system.

[0023] When applicable, attaching the front sensing module to the lateral extension suspension brackets of the front ballast system (whether through direct integration, retrofit mounting, or other methods of securely attaching the front module housing to the suspension brackets in some way) offers several advantages, including providing a rigid attachment of the front module housing to the work vehicle chassis. This rigid mounting minimizes vibration disturbances that would otherwise be transmitted to the module sensors or EDP devices (e.g., stereo camera assemblies) contained in the EDP sensor system, improving sensor performance during work vehicle operation and travel on rough terrain. Additional benefits may include positioning the module sensors (EDP devices) at generally optimal ground or vertical elevation at the very front of the work vehicle (particularly beneficial when the front sensing module contains one or more stereo camera assemblies) and at locations that provide little or no (negligible) obstruction of the operator's line of sight when a human operator is present in the work vehicle cab, minimizing the front sensing module's exposure to dust and debris.

[0024] In this embodiment, the engagement of the front sensing module with the front ballast system further provides robust mechanical protection for the front sensing module by, for example, recessing the front edge of the front module housing relative to the front edge of the front ballast system, and / or recessing the side edges of the front module housing relative to the side edges of the suspension bracket. Therefore, in the unlikely event of a collision with an object located in front of the work vehicle, the likelihood of damage to the EDP sensor system, which typically contains relatively sensitive and expensive components, is minimized. Finally, as an additional benefit, the engagement of the front sensing module with the front ballast system enables the positioning of the EDP sensor or device in a manner that provides a wide-angle cumulative sensor FOV; for example, in this embodiment, a cumulative sensor FOV approaching or exceeding 180° can be achieved, for example, by strategically positioning multiple (e.g., three) stereo camera pairs (or other EDP devices) around the inner periphery of the front module housing, as described below.

[0025] The embodiments of the front sensing module described below also provide thermal performance or heat dissipation benefits. To this end, the front sensing module can incorporate features that facilitate airflow along one or more cooling airflow paths through the front module housing when the work vehicle is stationary or moving forward. The internal layout or architecture of the front sensing module and the wiring of such cooling airflow paths can be designed such that airflow conducted along the cooling airflow paths impacts one or more heat-generating electronic components within the front sensing module (e.g., a VPU or other vision processing circuitry prone to generating excess heat) to enhance the heat dissipation capacity of the front sensing module, thereby optimizing operation and extending the lifespan of the EDP sensor system. Such airflow enhancement features may include, for example, airflow vents for receiving and discharging ram airflow during forward movement of the work vehicle or in the presence of headwinds, and certain vertical duct features (e.g., convection chimneys described below) that promote passive cooling airflow through the front sensing module in a substantially upward or vertical direction. Additionally, the positioning of the front sensing module and the corresponding airflow enhancement features of the front sensing module can utilize the positioning of the front module housing adjacent to the forward radiator fan of the work vehicle. As airflow is actively drawn into the radiator section of the work vehicle by the radiator fan for convective cooling of the radiator or heat exchanger, a portion of the pressurized airflow is initially drawn through the front module housing to further enhance the overall thermal performance characteristics or heat dissipation capacity of the front sensing module. In general, this characteristic enables the front sensing module to provide powerful heat dissipation capabilities without requiring any fans, liquid coolant circulation features, or other active cooling equipment, thus increasing the module's durability, reducing the number of parts, and achieving overall cost savings.

[0026] The rear sensing module will now be discussed in more detail. When present in a work vehicle sensing system, this module can be engaged (e.g., integrated into) or otherwise positioned near the rear edge of the work vehicle cab roof. Several benefits can be achieved by mounting the rear sensing module to or near the rear edge of the work vehicle cab (e.g., immediately below it). These benefits may include minimal obstruction of the operator's view through the cab windows, damage protection due to the elevated nature of this mounting location, access to clean (debris-free) air for cooling purposes, spatial offset from the work vehicle attachment (if present), and sufficient EDP device height to provide sensor visibility above and around various implements or machines that can be towed by a main work vehicle (such as a tractor) at different times. Furthermore, in at least some embodiments, the dimensions of the rear module housing of the rear sensing module can be determined as the width spanning the rear portion of the cab roof of the work vehicle, to provide lateral mounting positions for at least two stereo camera assemblies (or other EDP devices) in addition to the central rear mounting position of the central stereo camera assembly (or similar EDP device). In general, this mounting arrangement can provide a relatively extended or wide rear-centered FOV (again approaching or exceeding 180° in the embodiments) for the stereo camera assembly (or other EDP device) of the rear sensing module. Therefore, when combined with the front sensing module, a substantially 360° cumulative FOV can be achieved to provide comprehensive sensor coverage of the environment surrounding a given work vehicle.

[0027] Similar to embodiments of the front sensing module, embodiments of the rear sensing module may also include strategically positioned vents and similar airflow enhancement features that promote airflow along one or more cooling airflow paths through the rear sensing module. By guiding airflow through the rear module housing and by designing the internal layout or architecture of the rear sensing module to position heat-generating electronics in or near the cooling airflow paths, an effective cooling solution is provided for dissipating excess heat generated by the heat-generating electronics(s) contained in the rear module housing. Such heat-generating electronics may include, for example, a VPU or vision processing circuitry contained in the rear module housing and electrically connected to an EDP device in the form of multiple stereo camera assemblies. The vents of the rear sensing module may include one or more ram airflow vents that promote cooling airflow into the interior of the rear module housing during forward movement of the work vehicle. Further, in at least some embodiments, the rear sensing module may include a lower rear portion that protrudes rearward or rearward beyond the rear work vehicle window, and this lower rear portion is provided with vents to promote airflow into the rear sensing module in a generally upward direction along the rear window of the work vehicle cab. Additionally or alternatively, ventilation may be provided along the top side or upper panel of the front sensing module and along the bottom side of the rear sensing module to facilitate cooling airflow in a generally vertical direction through a portion of the rear sensing module containing the VPU assembly and / or other electronics prone to excessive heat generation (e.g., the intermediate housing section). Thus, again, an efficient heat dissipation scheme is provided to convectively cool the heat-generating electronics contained within the rear sensing module to achieve enhanced thermal performance, including in the absence of fans or other active cooling mechanisms. Therefore, the performance of the housed EDP sensor (e.g., stereo camera) system can be optimized while minimizing the overall complexity, cost, and number of parts of the rear sensing module.

[0028] The following will use examples of front and rear sensing modules included in a work vehicle sensing system, specifically referring to a particular type of work vehicle (tractor unit), as illustrated below. Figure 1 and Figure 2 As shown and discussed. The following is in conjunction with… Figures 3 to 6 Further descriptions of the exemplary front-end module components are provided below, in conjunction with... Figures 7 to 10 Further discussion of exemplary backend module components is provided. Finally, the following is combined with... Figure 11 and Figure 12A second exemplary embodiment of a rear sensing module included in a work vehicle sensing system deployed on a tractor unit is described. While the following description is in conjunction with a specific tractor unit, embodiments of the front and / or rear sensing modules can be used in conjunction with a wide variety of work vehicles (including other tractor units), whether such work vehicles are primarily used in agriculture, construction, forestry, or mining, or in another industrial scenario. Furthermore, although the front and rear sensing modules are advantageously used in combination to provide, for example, a complete 360° cumulative FOV for EDP equipment (e.g., a stereo camera assembly) housed within the sensing modules, in at least some embodiments of this disclosure, the front and rear sensing modules can be deployed separately (in an isolated manner). The following description is provided by way of non-limiting illustration only and should not be construed as unduly limiting the scope of the appended claims in any way.

[0029] An exemplary operational vehicle perception system including a front perception module and a rear perception module.

[0030] First refer to Figure 1 The work vehicle 20 is equipped with a work vehicle sensing system 22, as depicted according to exemplary embodiments of the present disclosure. In the example shown, the work vehicle 20 is in the form of an agricultural tractor. Therefore, the work vehicle 20 and the work vehicle sensing system 22 are specifically referred to below as "tractor 20" and "tractor sensing system 22," respectively. Although this example exists, in alternative embodiments, embodiments of the work vehicle sensing system 22 may be deployed on other types of work vehicles, particularly other work vehicles equipped with a front ballast system similar to or substantially the same as the front ballast system 26 described below and used for removing ballast counterweights.

[0031] In addition to the tractor sensing system 22, the exemplary tractor 20 includes a main frame or chassis 24, a front ballast system 26 rigidly coupled to the front end of the tractor chassis 24, and a plurality of ground-engaging wheels 28 supporting the tractor chassis 24. A cab 30 is located on top of the tractor chassis 24 and surrounds an operator's station in which the operator can reside when manually driving the tractor 20. An engine compartment, partially surrounded by a tractor cover 32, is located in front of the tractor cab 30; and a rear hitch 34, associated with any number of hydraulic, pneumatic, or electrical connectors, is located at or behind the tractor cab 30. In this particular example, the tractor chassis 24 has an articulated chassis design, and this front chassis section 36 is capable of pivoting or rotating relative to the rear chassis section 38 about a vertical hinge line, which is generally perpendicular to the tractor chassis. Figure 1The planar extension of the page in the document. The front ballast system 26, located at the foremost point of the tractor unit 20, is capable of loading and removing multiple modular counterweights (hereinafter referred to as "removable ballast counterweights") onto and from a support structure that engages with the tractor unit chassis 24. By adding or removing ballast counterweights in this manner, when, for example, the tractor unit 20 is used to tow any one or more implements and traction at the ground-engaging wheels 28 (or tracks) is desired to be increased, the operator can change the cumulative mass acting on the front of the tractor unit 20 in selected increments. The following is in conjunction with... Figure 2 Further description of the front ballast system 26 is provided.

[0032] The exemplary tractor unit 20 can operate in semi-autonomous mode, fully autonomous mode, or both. When fully autonomous operation is possible, the tractor unit 20 can still be manufactured to include a tractor cab, such as the cab 30 shown, that surrounds a manual operating station (including a seat, one or more displays, and various driving controllers) to allow manual operation of the tractor unit 20 when desired. In addition to the components supporting manual tractor operation, the exemplary tractor unit 20 includes various other components, equipment, and subsystems typically deployed on tractors and other work vehicles. These components may include, for example, a radiator fan 40 positioned in the forward portion of the engine compartment adjacent to the front grille 42 of the tractor unit 20. Figure 2 (See center mark). When in operation, the radiator fan 40 draws airflow through the front grille 42 and through a radiator or heat exchanger (not shown), housed in the engine compartment of the tractor unit 20. Liquid coolant is exchanged between the radiator and the internal combustion engine (such as a heavy-duty diesel engine) further housed in the engine compartment of the tractor unit. Thus, a portion of the excess heat generated during engine operation is transferred to the surrounding environment by convection to the airflow that impacts the radiator fins or other outer surfaces by the action of the radiator fan 40 in a known manner.

[0033] Continue to refer to Figure 1The tractor perception system 22 includes a front perception module 44, a rear perception module 46, and a plurality of complementary onboard subsystems or devices 48 for collecting or otherwise exchanging data with modules 44 and 46, processing such data, and performing associated actions when, for example, the tractor 20 is operating autonomously, remotely driven by a human operator, or manually driven by a human operator located in the cab 30. In the example shown, the front perception module 44 includes a front module housing 50 containing a plurality of perception sensors or EDP devices 52, one or more heat-generating electronic components 54, and any number and type of additional electronic components 56. As indicated above, the EDP device 52 can be any device or sensor suitable for collecting depth information related to the external environment of the tractor 20 for navigation, obstacle detection, environment mapping, or other purposes. Examples of sensor types suitable for use as EDP device 52 include radar, lidar, and sonar-based sensors that emit energy pulses and measure pulse reflections using a transducer array to estimate the proximity of various objects and surfaces in the environment surrounding the tractor 20. While EDP device 52 can take various forms (and combinations of different sensor types), embodiments of the front sensing module 44 may be particularly well-suited for use in conjunction with a stereo camera assembly for reasons discussed below. Therefore, and only as a non-limiting example, the front sensing module 44 is primarily described as containing a stereo camera assembly or “stereo camera pair,” as is the case with the rear sensing module 46. In general, EDP device 52, heated electronics 54, and any additional electronics housed within the front sensing module 44 form EDP sensor systems 52, 54, and 56.

[0034] When present, one or more heat-generating electronic components 54 contained within the front sensing module 44 may take the form of processing components, such as a printed circuit board (PCB) or card filled with integrated circuit (IC) dies and other circuit elements, such as discrete capacitors, resistors, or inductors implemented as surface mount devices (SMDs). For example, when the EDP device 52 takes the form of one or more stereo camera assemblies, the heat-generating electronic components 54 may include or may consist of vision processing circuitry electrically connected to the stereo camera assemblies for performing certain image processing tasks, such as pixel correlation of dual video feeds supplied by cameras in each stereo camera assembly to evaluate image depth measurements using video feeds captured by the stereo cameras. In embodiments, such vision processing circuitry may be in the form of a VPU or a component containing a VPU (such as those described below). Figure 13The exemplary VPU component discussed herein is implemented in the form of a VPU component. As appears herein, the term “VPU” is defined in a broad or comprehensive sense as generally encompassing a processing unit or electronic module suitable for providing video feed processing tasks. The term “VPU” encompasses the term “graphics processing unit” or “GPU” as defined herein. VPUs and similar vision processing components that typically perform dynamic, high-load processing tasks and potentially contain dense arrays of logic gates and neural networks are prone to generating excessive heat; and therefore can benefit from effective heat dissipation, thereby reducing or eliminating excessive heat accumulation or “hot spots” within such logic or processing structures. At least for this reason, the front sensing module 44 is advantageously manufactured to include heat dissipation features that facilitate effective heat removal or extraction from such heat-generating electronic components 54 by, for example, by facilitating passive heat transfer to a cooling airflow guided along a robust, low-resistance flow path provided across the volume of the front module housing 50. Figures 2 to 6 Please provide additional details on this.

[0035] Embodiments of the front sensing module 44 may include any number and type of additional electronic components 56 contained within the front module housing 50, which may be electrically connected or not electrically connected to the EDP device 52 and the one or more heat-generating electronic components 54. Such additional electronic components 56 may include various processing components and other sensor types. Examples of such additional sensors that may be further included in the front sensing module 44 include microelectromechanical systems (MEMS) accelerometers, MEMS gyroscopes and other inertial measurement sensors, as well as sensors for monitoring the health of the front EDP sensor systems 52, 54, 56. In at least some embodiments of the front sensing module 44, multiple types of EDP devices 52 may also be paired or combined, such as one or more lidar sensors used in conjunction with a stereo camera assembly. Additionally or alternatively, such auxiliary or additional electronic components 56 may include illumination devices that emit light in the visible or invisible portion of the electromagnetic (EM) spectrum to enhance the operation of the EDP device 52 in low light or other poor visibility conditions.

[0036] Regardless of the specific type of EDP equipment housed within the front module housing 50, the EDP equipment 52 is advantageously positioned such that the respective FOVs of the EDP equipment 52 are angularly spaced or distributed around the front and lateral sides of the module housing 50. For example, as Figure 1As shown, three EDP devices 52-1, 52-2, and 52-3 can be contained within a front sensing module 44, each having a separate FOV 58, 60, and 62. In the illustrated embodiment, this includes: a forward-looking stereo camera assembly 52-1 having a forward-centered FOV 58 extending primarily forward from the front sensing module 44; a first side-looking stereo camera assembly 52-2 having an FOV 60 extending in a first lateral direction and possibly angled forward from the front sensing module 44 to some extent toward the towing vehicle 20; and a second side-looking stereo camera assembly 52-3 having an FOV 62 extending from the front sensing module 44 in a second lateral direction opposite to the first lateral direction. In general, FOVs 58, 60, and 62 cooperate to provide a cumulative forward-centered FOV approaching 180° (if not exceeding), thereby providing relatively complete or comprehensive environmental area coverage to the front, right front (from the operator's perspective), and left front (from the operator's perspective) areas of the tractor 20. In other embodiments, the front sensing module 44 may include more or fewer sensing sensors or EDP devices, depending on factors such as the desired cumulative angular coverage of the sensors, the individual FOV angle of each of the sensing sensors, packaging constraints, and others.

[0037] Similar to the front sensing module 44, the rear sensing module 46 of the work vehicle sensing system 22 includes a rear module housing 64, which contains one or more sensing sensors or EDP devices 66, at least one heating electronics 68, and any number and type of additional electronic components 70. In general, the EDP device 66, the heating electronics 68, and the additional electronic components 70 (if included) form the rear EDP sensor system 66, 68, 70. When the rear EDP device 66 is in the form of a stereo camera assembly, the heating electronics 68 typically employs vision processing circuitry or devices, such as a VPU; however, the possibility that such vision processing circuitry (if present) is located externally relative to the rear module housing 64 is not excluded. In addition to EDP device 66, additional electronics 70 may include various sensors, lighting devices capable of operating in the visible or invisible portion of the electromagnetic spectrum to enhance the operation of EDP device 66 where appropriate, MEMS gyroscopes, accelerometers, magnetometers, and similar devices potentially packaged as inertial measurement units (IMUs), navigation lights, and wireless (e.g., radio frequency) receivers, to name just a few. In at least some embodiments of the rear sensing module 46, a first type of EDP device (e.g., a stereo camera assembly) may also be paired or combined with a second type of EDP device (e.g., a lidar sensor), as previously described.

[0038] The sensing sensors or EDP devices 66 contained within the rear module housing 64 can take various forms suitable for monitoring the spatial environment of the rear and lateral rear of the tractor 20, examples of which have been previously mentioned. In the example shown, three EDP devices 66-1, 66-2, and 66-3 are contained within the rear sensing module 46 and each has a separate FOV 72, 74, and 76. Specifically, in the illustrated embodiment and as a non-limiting example, the EDP devices 66-1, 66-2, and 66-3 include: a rear-view stereo camera assembly 66-1 having an FOV 72 extending primarily rearward from the rear sensing module 46; a first rear-view lateral stereo camera assembly 66-2 having an FOV 74 extending rearward and in a first lateral direction from the rear sensing module 46; and a second rear-view lateral stereo camera assembly 66-3 having an FOV 76 extending rearward and in a second lateral direction opposite to the first lateral direction from the rear sensing module 46.

[0039] The corresponding FOVs 72, 74, and 76 of the stereo camera assemblies 66-1, 66-2, and 66-3 together form a combined or cumulative FOV of approximately (if not exceeding) 180°. This cumulative sensor FOV provides extensive coverage of the rear, right rear (from the perspective of the operator seated in the cab 30), and left rear (from the operator's perspective) areas of the tractor 20. Furthermore, in a combined manner, the stereo camera assemblies 52-1, 52-2, and 52-3 contained in the front sensing module 44 and the stereo camera assemblies 66-1, 66-2, and 66-3 contained in the rear sensing module 46 provide the tractor sensing system 22 with a complete or full 360° view of the external environment surrounding the tractor 20, thereby ensuring sufficient sensor coverage to support autonomous or semi-autonomous operation of the tractor 20, at least in certain circumstances. (See below for further details.) Figures 7 to 10 As discussed more fully, the rear sensing module 46 can be positioned adjacent to (e.g., directly below) or possibly directly engaged (e.g., integrated into) the upper rear portion or upper rear edge of the cab roof surrounding the tractor cab 30. This elevated positioning of the rear sensing module 46 allows the stereo camera assemblies 66-1, 66-2, 66-3 to better “see” above and around any tools connected to the rear hitch 34 and towed by the tractor 20 at a given time, such as balers, seeders, commercial vehicles, grain trucks or vans, tillage implements, fretting mowers, etc. Additional benefits are also achieved by integrating or engaging the rear sensing module 46 into the rear roofline of the tractor cab 30, as discussed further below in conjunction with the accompanying drawings.

[0040] Any number of additional subsystems or devices 48 may be deployed on the tractor unit 20, including in the work vehicle perception system 22, and used in conjunction with the front perception module 44 and the rear perception module 46. This may include a central processing unit 78 that receives data from the EDP sensor systems within the perception modules 44, 46 and performs any number of processing tasks; for example, any number of processors, control computers, computer-readable storage, power supplies, storage devices, interface cards, and other standardized components. The central processing unit 78 may also include any number of firmware and software programs or computer-readable instructions designed to perform or cooperate with the various process tasks, calculations, and control / display functions described herein. In many cases, the additional subsystems or devices 48 may include a telematics module 80 or a wireless data link (e.g., a modular telematics gateway) that allows remote driving of the tractor unit 20 via a communication network and / or data exchange with backend services (such as cloud-based servers) to perform certain processing tasks and functions associated with the autonomous operation of the tractor unit 20.

[0041] Various other components 82 may also be included in the tractor perception system 22, or otherwise deployed on the exemplary tractor 20, such as operator controls and visual interfaces (e.g., display devices), enabling a human operator to view information and provide command input while located in the cab 30 of the tractor 20. For example, in the case where the tractor 20 is driven by an operator in the tractor cab 30, the central processing subsystem 78 may receive obstacle detection data from sensors within the perception modules 44, 46 and generate various auditory, visual, and / or tactile alarms or otherwise intended to draw the operator's attention to the presence of a collision-risk obstacle nearby. The central processing subsystem 78 may also utilize the data provided by the perception modules 44, 46 to implement various other guidance functions, such as crop line following and lane keeping (during public road transport). Generally, the tractor perception system 22 may include any number of components, devices, and subsystems adapted to receive data input from perception modules 44, 46, process such data input, and perform various actions (such as automation functions, display / alarm functions) based at least in part on the use of such data input, as well as report data to a server connected to a network via telematics module 80, to name just a few examples.

[0042] Turning Figure 2The forward end of the tractor 20 and the front ballast system 26 are shown in more detail. In this view, the front sensing module 44 is mostly or entirely hidden from view to more clearly show the front ballast system 26, which can take any form suitable for supporting several removable ballast weights during tractor operation. In the example shown, the front ballast system 26 includes a laterally extending suspension or bracket 84 having opposite outer ends serving as ballast support sections 86, 88. The laterally extending suspension bracket 84 is engaged to the tractor chassis 24 via a connecting yoke 94, which in turn is rigidly engaged to the tractor chassis 24. The laterally extending suspension bracket 84 has a beam-like shape or geometry along its length and includes certain physical holding features, such as laterally extending ridges or keys, for holding the removable ballast weight 90 on the ballast support sections 86, 88 in multiple degrees of freedom (DOF). Figure 2 As indicated by arrow 96, the operator can manually insert or load the desired number of removable ballast weights 90 onto the weight support sections 86, 88 of the suspension bracket 84 along the insertion axis (parallel to the Y-axis of coordinate diagram 92) to achieve the desired cumulative weight in the front ballast system 26. The removable ballast weights 90 can take various forms suitable for engaging and holding with the laterally extending suspension bracket 84. In the illustrated example, viewed from the side, each of the removable ballast weights 90 has a generally rectangular shape factor with rounded corners and an upper handle for easy gripping by the operator. When having this shape factor, the removable ballast weights 90 are often referred to as "suitcase-style weights". Additionally, the ballast counterweight 90 includes a slotted end wall portion 98, characterized in that when the removable ballast counterweight 90 is loaded onto the counterweight support sections 86, 88, a laterally extending ridge or key of the counterweight support sections 86, 88 is received in a slot or keyway therein.

[0043] The physical interaction or interference between the ridge or key of the laterally extending suspension bracket 84 and the keyway of the slotted end wall portion 98 prevents unintentional detachment of the removable ballast weight 90 in the vertical and longitudinal directions (along the X and Z axes of coordinate diagram 92) during tractor operation. Once loaded onto the laterally extending suspension bracket 84, the removable ballast weight 90 can be held in its desired position by friction; alternatively, the ballast weight 90 can be secured to the laterally extending suspension bracket or suspension support 84 using quick-release pins, collars, one or more elongated bolts extending laterally through an opening in the ballast weight 90, or similar means, thereby preventing the removable ballast weight 90 from accidentally detaching from the laterally extending suspension bracket 84 along the Y axis of coordinate diagram 92 until removed by the operator. Finally, as Figure 2As shown and further discussed below, an intermediate structure (referred to herein as "intermediate support 102") may also be provided in the embodiments and joined to the intermediate portion of the laterally extending suspension bracket 84; for example, the intermediate support 102 may be integrally formed with the suspension bracket 84 as a single casting, separately manufactured and permanently joined (e.g., welded) to the suspension bracket 84, or separately manufactured and joined to the suspension bracket 84 using bolts or other fasteners. When present, the intermediate support 102 contributes additional mass to the forward ballast system 26, acts as a centrally fixed baffle to ensure that the ballast counterweights 90 are distributed in a balanced manner on the laterally extending suspension bracket 84, and may help support or attach the front module housing 50 of the front sensing module 44, as described below. Figure 3 and Figure 4 As further described.

[0044] Now for reference Figure 3 and Figure 4 The exemplary front sensing module 44 is shown in more detail, except for the intermediate support 102 (which may or may not be included in the front sensing module 44) and multiple removable ballast weights 90. The front ballast system 26 is considered "fully loaded" in these figures because the maximum number of removable ballast weights 90 are loaded onto the laterally extending suspension bracket 84 (not shown for clarity). Specifically, in the example shown, eight removable ballast weights 90 are loaded onto each weight support section 86, 88, such that the laterally extending suspension bracket 84 holds a total of sixteen ballast weights 90. In other embodiments, the laterally extending suspension bracket 84 can hold more or fewer removable ballast weights 90 when fully loaded. However, as a common example, front ballast systems including laterally extending suspension brackets or suspension supports similar to the laterally extending suspension bracket 84 are typically capable of supporting between forty and thirty removable ballast weights. The individual mass or weight of each of the removable ballast weights may also vary between embodiments, and in some cases, the ballast weights may be provided among a number of discrete weight options. That is, the removable ballast weights 90 will typically each have a standard weight ranging from approximately 60 to 120 pounds, and in this embodiment, may be equal to approximately 95 pounds.

[0045] The front module housing 50 is rigidly engaged to the laterally extending suspension bracket 84, whether by mechanical attachment, integral formation of any portion of the front module housing 50 with the laterally extending suspension bracket 84, by welding or another permanent engagement method, or in another manner. In the example shown, the front module housing 50 is engaged to the laterally extending suspension bracket 84 using one or more mounting flanges 100 extending from the lower portion of the front module housing 50 to attach the middle section of the laterally extending suspension bracket 84 at a location between opposite counterweight support sections 86, 88 of the suspension bracket 84. As indicated above, in the example shown, an intermediate support 102 is received or otherwise positioned between the mounting flanges 100 such that the mounting flanges 100 are located on the sides of each side of the intermediate support 102. The intermediate support 102 can serve as an intermediate counterweight for the front ballast system 26, and as a physical support or platform for the front module housing 50. Additionally, as Figure 2 As shown by the dashed lines, in this embodiment, a vertically extending channel, pipe, or conduit 104 (referred to herein as "hot chimney 104") may be formed to pass through the intermediate support 102. When the hot chimney 104 is provided, it allows airflow to travel upwards or rise through the intermediate support 102 and enter the lower side of the front module housing 50, which may include a corresponding lower vent feature or port. This facilitates convective cooling of the heat-generating electronic components 54 (e.g., VPU) contained within the front module housing 50 by allowing this vertical or "convection columnar" airflow, as further described below.

[0046] Continue to refer to Figures 3 to 4 In embodiments, the intermediate support 102 may be integrally formed with the mounting flange 100 as a single part or integral structure. Alternatively, in some embodiments, where present, the intermediate support 102 may be formed separately from the mounting flange 100 and engaged (e.g., bolted to, welded to, integrally formed with, or otherwise engaged to) a laterally extending suspension bracket 84. In this embodiment, the mounting flange 100 may be positioned on either side of the intermediate support 102, pivotally engaged with the laterally extending suspension bracket 84, and then secured in place using fasteners, welding, or another connection technique. In alternative embodiments, various other configurations are also possible, provided that the front module housing 50 is rigidly engaged to the tractor chassis 24 in some way via the laterally extending suspension bracket 84. For example, in alternative embodiments, the lower structure or “mounting base” of the front sensing module 44 may be inserted into one or more corresponding openings provided in the intermediate support 102 to secure and align the module 44 to the front ballast system 26.

[0047] Mounting flange 100 and any other associated mounting features for securing the front module housing 50 to the laterally extending suspension bracket 84 (e.g., intermediate support 102) are generally referred to herein as “mounting bases 100, 102”. Mounting bases 100, 102 may be configured to engage in the laterally extending suspension bracket 84 to allow attachment of the front sensing module 44 via, for example, a modified mounting. In this case, mounting bases 100, 102 may include one or more mounting flanges (e.g., mounting flange 100) having a generally C-shaped geometry that define an orifice or slot (in) toward the opening of the laterally extending suspension bracket 84. Figure 6 (Most clearly shown). The size and shape of the flange slots can be determined such that the mounting bases 100, 102 can be fitted onto the laterally extending suspension brackets 84; for example, by assembling the mounting flanges 100 into engagement with the suspension brackets 84, and then securing the mounting flanges 100 in their desired positions. In the example shown, specifically, the mounting base of the front sensing module 44 includes two C-shaped mounting flanges 100 configured to engage matingly into the laterally extending suspension brackets 84 and spaced apart along an axis substantially parallel to the front module housing 50 along its extension axis (corresponding to the Y-axis in coordinate illustration 92). In embodiments where the intermediate support 102 is manufactured separately from the mounting flange 100, the C-shaped mounting flange 100 may be spaced apart by a lateral offset equal to or slightly greater than the lateral width of the intermediate support 102, such that the intermediate support 102 is received between the mounting flanges 100 in a close-fitting relationship to center the front sensing module 44 onto the laterally extending suspension bracket 84 and prevent the front sensing module 44 from moving laterally once it is mounted on the front ballast system 26.

[0048] In the manner described above, the front module housing 50 is rigidly connected to the laterally extending suspension bracket and thus to the tractor chassis 24 via its mounting base, which includes the aforementioned mounting flange 100 and may also include an intermediate support 102 in at least some embodiments. Therefore, in the illustrated exemplary embodiments, a robust attachment interface or mounting is provided to minimize the transmission of disturbance forces to the EDP sensor systems 52, 54, 56. This, in turn, reduces sensor errors experienced by the EDP devices 52 (e.g., stereo camera assemblies 52-1, 52-2, 52-3) when the tractor 20 is traveling on rough terrain or otherwise subjected to disturbance forces. In particular, when in the form of stereo camera assemblies 52-1, 52-2, 52-3, the reduction in the amplitude of the vibrational forces transmitted to the EDP devices 52 can alleviate processing requirements by minimizing camera shake and the resulting frame-by-frame displacement of the captured images.

[0049] In embodiments, the front module housing 50 can have various shapes and configurations. In the illustrated example, specifically, the front module housing 50 includes a main housing body 110 with an internal compartment housing the EDP sensor systems 52, 54, 56, which is surrounded by a cover 112. The main housing body 110 sequentially includes a forward wall 114, a first side wall 116, and a second side wall 118 opposite to the first side wall 116. A protruding peripheral edge or rim 120 (in...) Figure 4 and 5 The markings (indicated in the center) are further provided at the interface between the main housing body 110 and the cover 112. When present, the peripheral edge 120 of the main housing body 110 can provide physical support, in which no components are housed, to provide additional impact protection and some degree of light shielding, thereby protecting the EDP sensor system 52 contained within the front module housing 50. The front module housing 50 extends on the opposite side portion of the laterally extending suspension brackets 84 (weight support sections 84, 86) in a manner that allows the removable ballast weight 90 to be positioned below the front module housing 50 (in a cantilevered or suspended manner thereon).

[0050] The front module housing 50 has a low-profile, flat shape factor that extends laterally in two directions from the mounting flange 100 along the Y-axis of coordinate diagram 92. Therefore, the front module housing 50 is elongated in the lateral width direction corresponding to the Y-axis of coordinate diagram 92. Meanwhile, in this example, the measurement along the Y-axis of coordinate diagram 92 (by...) Figure 4 The lateral width of the front module housing 50 (indicated by double arrow 106) is smaller than the corresponding Y-axis dimension (lateral width) of the laterally extending suspension bracket 84, measured from the outer end of the counterweight support section 86 to the outer end of the opposite counterweight support section 88 (indicated by double arrow 108). Further, as... Figure 3 As best shown, the front edge portion or peripheral edge 120 of the front module housing 50 is recessed relative to the front edge of the front ballast system 26 (including the removable ballast counterweight 90) to provide mechanical protection in the unlikely event of a collision.

[0051] Several airflow ports or vents 122, 124, 126, 128 are formed in different walls or surfaces of the front module housing 50, wherein in embodiments, each vent 122, 124, 126, 128 is potentially covered by a perforated plate or screen. A plurality of sensor line-of-sight (LOS) openings or apertures 130 are also formed in appropriate locations within the front module housing 50 to provide a desired sensor field of view (FOV) extending forward and into the front sensing module 44 and, more generally, the side of the main tractor unit 20. In the illustrated embodiment, sensor LOS apertures 130 are formed in the peripheral walls 114, 116, 118 of the front module housing 50 such that: (i) the first EDP sensor (stereo camera assembly 52-1, in...) Figure 1 (i) A LOS extending through one or more openings 130 provided in the front wall 114 of the front module housing 50; (ii) A second EDP sensor (second stereo camera assembly 52-2, Figure 1 (iii) A LOS extending through one or more openings 130 disposed in the first sidewall 116 of the front module housing 50; and (iii) a third EDP sensor (third stereo camera assembly 52-3, Figure 1 The front module housing 50 has a LOS extending through one or more apertures 130 provided in the second opposite sidewall of the front module housing 50. Generally, the EDP sensor systems 52, 54, 56 include multiple EDP devices (here, stereo camera assemblies 52-1, 52-2, 53-3) distributed around the peripheral portion of the front module housing 50 to provide a cumulative forward-centered FOV with a relatively wide or broad angular range in the horizontal plane; for example, as combined above... Figure 1 The aforementioned forward-centered FOV is equal to or greater than 180 degrees, as seen when looking down at the tractor 20.

[0052] As previously described, airflow vents 122, 124, 126, and 128 are formed at various locations passing through the outer wall or surface of the front module housing 50. Generally, airflow vents 122 and 126 serve as inlet vents, while airflow vents 124 and 128 serve as outlet vents of the front module housing 50. The inlet vents 122 and 124 of the front module housing 50 are positioned to receive ram airflow entering the interior of the front module housing 50 when the tractor 20 is traveling in the forward direction. Broadly speaking, this airflow travels along a cooling airflow path extending from the inlet vents 122 and 124 through the front module housing 50 to the outlet vents 126 and 128. The cooling airflow path extending from the inlet vent 122 to the outlet vent 124... Figure 3 and Figure 6The path of the cooling airflow extending from the inlet vent 124 to the outlet vent 128 is indicated by arrows 132 and 134; Figure 5 The middle part is indicated by arrow 136. In some embodiments, at least one opening serving as an additional "lower" inlet vent may be formed in the lower or bottom wall of the front module housing 50, such as... Figure 4 As generally indicated by Figure 138. When provided, this lower inlet vent (Figure 138) can be positioned to draw rising airflow into the internal compartment of the front module housing 50, wherein the hot chimney 104 is fluidly connected to the inlet vent formed in the bottom wall of the front module housing 50. Thus, as the airflow rises, it can be guided into the front module housing 50 through the hot chimney 104 and via the lower inlet vent 138, absorbing excess heat from the heat-generating electronic components(s), and pushing additional airflow substantially upward through the hot chimney 104 and into the interior of the front module housing 50.

[0053] In at least some embodiments of the front sensing module 44, one or more of the heat-generating electronic components 54 may be positioned in or near the cooling airflow paths 132, 134, 136, such that during operation of the front sensing module 44, excess heat generated by the heat-generating electronic components(s) 54 is dissipated by convection transfer to the airflow guided along the cooling airflow paths. As described above, the heat-generating electronic components 54 may be, when in the form of a stereo camera assembly, a vision processing circuit, such as a VPU, electrically connected to the EDP device 52, wherein the VPU (or other heat-generating electronic components 54) is typically mounted in the central portion of the front module housing 50 to maximize exposure to the cooling airflow guided along the cooling airflow paths 132, 134, 136. Therefore, in this embodiment, the (multiple) heat-generating electronic components 54 (e.g., VPU or other vision processing circuitry) may be positioned behind the central stereo camera assembly 52-1, between the left stereo camera assembly 52-2 and the right stereo camera assembly 52-3, and above the thermal chimney 104 and the lower inlet vent 138 (if configured). In other embodiments, the (multiple) heat-generating electronic components 54 of the EDP sensor systems 52, 54, 56 may be located in different areas of the front module housing 50; or may be completely omitted from the EDP sensor systems 52, 54, 56.

[0054] Due to the positioning of the aforementioned airflow vents 122, 124, 126, 128, and 138, cooling airflow can be guided through the front module housing 50 when the tractor 20 is traveling in the forward direction and when the tractor 20 remains substantially stationary. Furthermore, by positioning one or more outlet vents (here, outlet vents 124, 128) close to the grille 42 of the tractor 20, airflow through the front sensing module 44 can be further facilitated, such that airflow is drawn into the front module housing 50 when the radiator fan 40 is operating. In this way, the front sensing module 44 utilizes proximity to the radiator fan 40 to further enhance convection of the heat-generating electronic components 54 within the front sensing module 44. Therefore, the heat dissipation or heat removal capacity of the front sensing module 44 is enhanced, including in embodiments where the front sensing module 44 itself does not have any fan or other active cooling mechanism. This, in turn, helps ensure optimal performance of the EDP sensor systems 52, 54, and 56, while minimizing the number of parts, reducing complexity, and improving the overall reliability of the front sensing module 44. Despite this benefit, in alternative implementations, the front sensing module 44 may include a fan or other active cooling device.

[0055] In this manner, the front sensing module 44 provides improved heat dissipation for components contained within the EDP sensor systems 52, 54, and 56, extending their lifespan and promoting optimal operation of critical electronic components, such as any vision processing components contained within the EDP sensor systems 52, 54, and 56. Additionally, the EDP sensor systems 52, 54, and 56 are mechanically protected by being securely mounted to the suspension bracket 84 contained in the front ballast system 26 and by recessing the front edge (and possibly, side edge) of the front module housing 50 relative to the front edge (and side edge) of the front ballast system 26. During operation of the front sensing module 44, the EDP sensor systems 52, 54, and 56 can communicate with the central processing subsystem 78 or other onboard subsystems 48 via any suitable wired or wireless connection. Figure 6 As shown, connector port 140 may be located at the rear of the front module housing 50 for wiring harnesses or connector cables to provide desired electrical connections within the electronics included in the front sensing module 44. In other embodiments, different wiring schemes may be employed; and in embodiments where the front sensing module 44 or the front ballast system 26 includes a thermal chimney 104 or a similar vertically extending channel, the wiring harnesses or cables may be routed through or near the thermal chimney 104 and to a suitable interface point within the electronics on the tractor unit 20.

[0056] Next, turn to Figures 7 to 10In an exemplary embodiment, the rear sensing module 46 is shown mounted along the rear of the cab roof 142 surrounding the tractor cab 30. As can be seen, the rear module housing 64 of the rear sensing module 46 engages with the rear edge or rear edge portion 144 of the cab roof 142; and in embodiments, one or more surfaces of the rear portion 144 of the cab roof 142 may be defined. In the example shown, the rear module housing 64 includes an intermediate housing body 146 and two wing sections 148. The wing sections 148 of the rear module housing 64 extend in opposite directions from the main housing body 146 and each terminates in an enlarged lateral end portion 216. Specifically, the wing sections 148 terminate near the opposite rear corner region 152 of the cab roof 142, wherein each enlarged lateral end portion 216 is located below the upper surface or top side 210 of the cab roof 142 and is inclined in a slightly downward direction. Further, as Figure 7 As most clearly shown, the wing section 148 extends along the lower side 156 of the cab roof 142; and may fit into and extend into a channel or larger opening formed in the lower side 156 of the cab roof 142. In contrast, the intermediate housing body 146 includes an upper protrusion 158 projecting upward from the upper surface or top side 210 of the cab roof 142. Additionally, the intermediate housing body 146 of the rear module housing 64 includes a rear protrusion section 160 that projects from the cab roof 142, or more generally, from the tractor cab 30 in a rearward direction.

[0057] Due to the geometry of the rear sensing module 46, and particularly the way the rear module housing 146 spans the width of the cab roof 142 and can, to some extent, surround the upper peripheral edge of the tractor cab 30, it provides optimal positioning for a plurality of EDP devices surrounding the upper rear periphery of the tractor roof 142. In an embodiment, the rear sensing module 46 includes: a first EDP device (e.g., Figure 1The first EDP device (e.g., stereo camera assembly 66-1) has a LOS extending through one or more apertures 162 provided in the rearward wall 164 of the intermediate housing body 146; a second EDP device (e.g., stereo camera assembly 66-2) has a LOS extending through one or more apertures 162 provided in the outer end (laterally facing) wall of the first wing section 148; and a third EDP device (e.g., stereo camera assembly 66-3) has a LOS extending through one or more apertures 162 provided in the outer end wall 168 of another wing section 148. In general, the EDP devices (e.g., stereo camera assemblies 66-1, 66-2, 66-3) are positioned to provide a cumulative rear-centered FOV of 180 degrees (°), as seen when looking down towards the tractor 20. With the help of the positioning or angular distribution of the stereo camera components 66-1, 66-2, 66-3, the rear sensing module 46 and the front sensing module 44 combine or cooperate to provide a 360° cumulative FOV for the stereo camera components 66-1, 66-2, 66-3 (or other EDP devices) housed in the sensing modules 44, 46, thereby enabling the sensing system 22 to provide full coverage monitoring of the surrounding environment of the tractor 20 in virtually all directions.

[0058] Various grille or screen-type airflow vents 170, 172, 174, 176 are advantageously formed at selected locations in the outer wall of the rear module housing 146, which facilitates airflow along one or more cooling airflow paths through the rear module housing 146. For example, as Figure 10 As shown, a lower inlet vent 170 can be formed in the lower wall 178 of the rear protruding section 160, while a corresponding outlet vent 174 can be formed in the upper wall 180 of the rear protruding section 160. Further, in this case, the inlet vent 170 can be oriented to receive airflow guided in a generally upward direction along the rear window of the tractor cab 30, wherein this rising airflow is drawn into the rear protruding section 160 through the lower inlet vent 170, and then along the first cooling airflow path (in... Figure 10 The air (indicated by arrow 182) is guided through the rear protruding section and then discharged through the outlet vent 174. Additionally or alternatively, the rear sensing module 46 may be manufactured to include a ram inlet vent 172 formed in the raised upper surface or top surface 184 of the rear module housing 146. The raised top side surface 184 of the rear module housing 146 protrudes upward from the upper surface or top side 210 of the cab roof 142 and has an inclined surface in which the ram inlet 172 is formed to draw in ram airflow as the tractor 20 travels in the forward direction. Figure 8 As indicated by arrow 186, this airflow can be guided along a second cooling airflow path before being discharged from the rear module housing 146 through the associated outlet vent 176.

[0059] In at least some embodiments of the rear sensing module 46, one or more of the heat-generating electronic components 54 may be positioned in or near the cooling airflow paths 182, 186, such that during operation of the rear sensing module 46, excess heat generated by the heat-generating electronic components 68 is dissipated by convection to the airflow guided along the cooling airflow paths 182, 186. As described above, the heat-generating electronic component 68 may be a vision processing circuit, such as a VPU, electrically connected to the EDP device 66 when in the form of a stereo camera assembly, wherein the VPU (or other heat-generating electronic component 68) is at least partially positioned in the rear protruding section 160 of the rear module housing 64 to maximize exposure to the cooling airflow guided along the cooling airflow paths 182, 186. Thus, in practice, the rear module housing 64 can serve as a fluid or conduit member in which the heat-generating electronic components 68 (e.g., the VPU or other vision processing circuitry) are located and pass through the cooling airflow paths 182, 186 to provide efficient dissipation of excess heat generated by the components 68. Therefore, an efficient heat dissipation scheme is provided to convectively cool the heat-generating electronic components contained within the rear sensing module 46 to achieve enhanced thermal performance, even in the absence of a fan or other active cooling mechanism within the module 46. As a result, the performance of the housed EDP sensors (e.g., stereo camera assemblies 66-1, 66-2, 66-3) can be optimized while minimizing the overall complexity, cost, and number of parts of the rear sensing module 46.

[0060] Finally, various other features or devices may also be included in the rear sensing module 46, such as the wireless receiver 188 and mounting features 190, 192. In the example shown, such mounting features 190, 192 include a door hinge attachment 190 and a window glass hinge clamp 192. Figure 7The size, shape, and position of the rear sensing module 46 are determined to interface with the basic architecture of the tractor cab 30. By integrating into the rear edge portion of the cab roof 142 in this manner, the rear sensing module 46 provides relatively little (if any) obstruction to the operator's view through the rear cab window. Simultaneously, the rear sensing module 46 provides sufficient height for the EDP equipment to provide sensor visibility above and around the various implements or machines towed by the tractor 20 at different times. Finally, as described above, the manner in which the rear sensing module 46 spans the width of the tractor cab roof 142 (where sensor housing compartments are provided in the rear protruding section 160 and the enlarged end sections 166, 168) enables optimal positioning of the EDP equipment (e.g., stereo camera assemblies 66-1, 66-2, 66-3) to achieve a relatively wide angular cumulative FOV of approximately or exceeding 180° for the rear EDP sensor systems 66, 68, 70 in the embodiment. When compared with front sensing modules that also offer a wide FOV of close to or exceeding 180° (such as those mentioned above) Figures 1 to 6 When the front sensing module 44 described is combined, the cumulative FOV of the EDP device 52 included in the work vehicle sensing system 22 can provide complete 360° coverage of the environment around the tractor 20.

[0061] Additional exemplary embodiments of the rear sensing module and associated structures

[0062] Turning Figure 11 and Figure 12 According to another exemplary embodiment of this disclosure, a work vehicle in the form of a tractor unit 194 is equipped with a work vehicle sensing system 196. As previously described, the work vehicle sensing system 196 (hereinafter referred to as the "tractor unit sensing system 196") includes a rear sensing structure assembly or "module" 198 mounted at a raised position on the upper rear edge portion of the cab 200 of the tractor unit 194. In addition to the rear sensing module 198 and the electronic components therein, the tractor unit sensing system 196 may also potentially include other components on the tractor unit 194 and a front sensing module (not shown), which may be similar to or substantially similar to... Figures 1 to 6 The front sensing module 44 shown is identical. In other embodiments, the tractor sensing system 196 may include additional sensing modules mounted to other parts of the tractor 194, such as the lateral area of ​​the cab roof; or, alternatively, the tractor sensing system 196 may lack any additional sensing modules other than the rear sensing module 198.

[0063] The electronic components contained within the rear sensing module 198 may also be similar (if not substantially the same as those described above in conjunction with the rear sensing module 46). Therefore, the electronic components within the front sensing module may include multiple EDP devices 214, and may include other heat-generating electronics 224 electrically connected to the EDP devices 214 (i.e., IC dies or other electronics prone to excessive heat generation during operation). As discussed in detail above, such EDP devices 214 may take the form of radar, lidar, and sonar-based sensors that emit energy pulses and utilize transducer arrays to measure pulse reflections to estimate the proximity of various objects and surfaces located inside or near the environment surrounding the tractor 194; however, for the reasons discussed above, EDP devices 214 advantageously take the form of stereo camera assemblies or “stereo camera pairs,” and will therefore be primarily described below as such. Furthermore, the thermal generation electronics 224 may include a processing unit or device (e.g., a circuit or wiring board to which at least one IC die is attached and which is contained by the term "VPU" or "VPU assembly") for processing the visual image signals provided by the EDP device 214 when employing a stereo camera pair. (The following is in conjunction with...) Figures 11 to 13 An additional description of one approach is provided, in which the EDP device 214 can be distributed around the rear sensing module 198 to cumulatively provide a relatively wide field of view (FOV), such as a rear-centered FOV equal to or greater than 180 degrees as seen when looking down toward the tractor 194.

[0064] exist Figure 11 and Figure 12 In an exemplary embodiment, the rear sensing module 198 includes a rear module housing assembly 204, or more simply, a "rear module housing 204". The rear module housing 204 may be composed of any number of individual housing components or segments; and in addition to other segments or portions, it also includes an intermediate housing segment or body 206. As described above... Figures 7 to 10 Similar to the rear sensing module 46 of the described tractor-trailer sensing system 22, the rear module housing 206 of the rear sensing module 198 is engaged or mounted to the rear edge portion or rear edge portion 208 of the cab roof 202. However, in this particular example, the intermediate housing body 206 of the rear sensing module 198 is cantilevered to the rear edge of the cab roof 202, such that the intermediate housing body 206 protrudes rearwardly from the rear window 232 of the cab roof 202 and the tractor cab 202. Additionally, and similar to the rear sensing module 46 (… Figures 7 to 10Conversely, the intermediate housing body 206 of the rear module housing 204 does not protrude above the upper surface or top side 210 of the cab roof 202, but is located at a certain height below the top side 210 of the roof, and is angled downward to some extent relative to the top side 210 of the roof, as is done in the rearward direction.

[0065] In addition to the intermediate housing body 206, the exemplary rear sensing module 198 includes two laterally elongated wing sections 212 that extend from the intermediate housing body 206 in opposite lateral directions and may partially surround the rear outer periphery of the tractor cab 200. As previously stated, the wing sections 212 extend from the intermediate housing body 206 in opposite lateral directions. The wing sections 212 terminate near the opposite rear corner region 152 of the cab roof 202, wherein each enlarged lateral end portion 216 is located below the upper surface or top side 210 of the cab roof 202 and is inclined in a slightly downward direction to impart the desired LOS to the EDP device 214 housed within the end 216. In this particular example, the wing section 212 of the rear module housing 206 includes a laterally extending arm or frame member 218 that extends laterally from the intermediate housing body 204 along the upper edge portion of the tractor rear window 232 to a correspondingly enlarged lateral end portion 216. In other words, the rear module housing 204 can be described as consisting of a central housing unit (body 206) interconnected by frame members 218 and mounted to the upper rear edge portion of the tractor cab 200, and two side housing units (enlarged ends 216 of the wing section 212). In some embodiments, the frame member 218 (one of which is in…) Figure 13 (As shown more clearly in the diagram) can be formed from tubing. In this case, wire harnesses or cables can be routed from the EDP device 214 housed in the end portion 216 to the circuit (e.g., VPU and, possibly, in the internal channels or conduits of the frame member 218). Figure 12 Other processing components (identified as “thermal generation electronics” 224). In other cases, different wiring schemes may be used, or the EDP devices 214 distributed within the rear module housing 204 may communicate wirelessly with each other and / or with other circuits contained within the work vehicle sensing system 196 outside the rear module housing 204.

[0066] like Figure 12As schematically shown, the rear sensing module 198 accommodates a plurality of EDP devices 214 that communicate with thermal generation electronics 224 (e.g., a VPU assembly). In an embodiment, the EDP devices 214 may include: a first EDP device (e.g., a first side-view stereo camera assembly or "stereo camera pair") having a LOS extending through one or more openings 222 disposed in the outer end (lateral) wall of the first wing section 212; a second EDP device (e.g., a second side-view stereo camera pair) having a LOS extending through one or more openings 222 disposed in the outer end (lateral) wall of the second wing section 212; and a third EDP device (e.g., a rear-view stereo camera pair) having a LOS extending through one or more openings 222 disposed in the rearward wall of the intermediate housing body 206. Thus, the first side-view stereo camera pair can be accommodated in... Figure 11 and Figure 12 In the lateral end portion 216 depicted on the right side, note the enlarged end nodule 220 that accommodates the dual cameras included in the stereo camera pair of the illustrated embodiment. A second side-view stereo camera pair can be accommodated within... Figure 11 and 12 The left-hand side portion 216 is depicted in the image; and the rear-view stereo camera pair can be housed in the middle housing body 206 of the rear module housing 204. In general, the stereo camera pair can provide a cumulative rear-centered FOV of 180 degrees or greater, as seen when looking down at the tractor 20, thereby enabling the work vehicle perception system 196 to provide comprehensive visual coverage surveillance of the tractor 194's surroundings. In this embodiment, the way the rear perception module 198 surrounds the upper rear peripheral edge of the tractor cab 200 in this example can facilitate this advantageous positioning of the stereo camera pair (or other EDP device 214).

[0067] The intermediate housing body 206 of the rear sensing module 198 includes or is primarily composed of a rear protruding section 230. The rear protruding section 230 protrudes rearward from the cab roof 202 or, more generally, from the tractor cab 200 and is visible when viewed downward from the tractor 194. An outlet vent 226 is formed in the upper wall or top side wall of the rear protruding section 230, while an inlet vent 228 is formed in the lower, downward-facing wall of the rear protruding section 230. Due to this positioning, the inlet vent 228 is oriented to receive airflow directed in a generally upward direction along the rear window 232 of the tractor cab 200. The thermal generation electronics 224 of the tractor sensing system 196 (…) Figure 12The rear sensing module 198 is advantageously housed in the rear protruding section 230 of the intermediate housing body 206; and thus can be positioned in or near the cooling airflow path extending from the lower inlet vent or bottom side inlet vent 228 to the upper outlet vent 226. In this way, during operation of the rear sensing module 198, excess heat generated by the (plural) heating electronics 224 is dissipated by convection to the airflow guided along the cooling airflow. As previously indicated, the heating electronics 68 may be, when in the form of a stereo camera assembly, an electrical connection to the vision processing circuitry of the EDP device 214, such as a VPU assembly, wherein the VPU assembly (or other heating electronics 68) is at least partially positioned in the rear protruding section 160 of the rear module housing 206 to maximize exposure to the cooling airflow passively guided along the cooling airflow path extending through the module housing 206. Figure 13 Additional discussion on this topic was provided.

[0068] and Figures 7 to 10 The rear sensing module 46 shown in the image is the opposite of the rear sensing module 46. Figure 11 and Figure 12 In an exemplary embodiment, the rear sensing module 198 is joined to the cab roof 142 in a slightly less integrated manner. As discussed above, the intermediate housing body 204 is attached to the lower rear portion of the cab roof 202, while the wing section 212 of the rear module housing 204 extends along the upper edge of the rear window 232 of the tractor cab 200 at a height below the cab roof 202. As previously mentioned, the wing section 212 also terminates in an enlarged end portion 216 that accommodates a side-viewing EDP device 214 (e.g., a stereo camera pair); note that the enlarged end portion 216 and the EDP device 214 contained therein are located below the rear edge portion of the tractor roof 202 and extend slightly forward relative to the rear window 232 of the tractor cab 200, such that the rear sensing module 46 partially surrounds the rear peripheral edge of the tractor cab 200. With this structural mounting scheme, the rear sensing module 198 provides minimal operator visibility obstruction through the rear cab window 232, while simultaneously providing the EDP device 214 with an elevated view above and around the various implements or machines towed by the tractor 194 at different times. This allows the EDP device 214 (e.g., a stereo camera assembly) to be optimally positioned around the upper rear edge of the tractor cab 200 to achieve a relatively wide angular cumulative field of view (FOV) (e.g., a rearward-centered FOV approaching or exceeding 180°), while minimizing the structural adaptations or modifications required to integrate the rear sensing module 46 into existing tractor (or other work vehicle) cab designs.

[0069] Final Reference Figure 13This view presents a cross-sectional view of the rear sensing module 198 taken along a section bisecting the intermediate housing body 204. In this view, the locations of certain heat-generating electronics 224 can be seen, and in particular, the positioning and orientation of the VPU assembly 236 within the intermediate housing body 204 of the sensing module 198. An exemplary VPU assembly 236 includes a filled circuit board 238 (e.g., a motherboard to which at least one integrated IC die, SMD, or other microelectronic component is mounted), a surrounding housing or enclosure 240, and a heat sink array 242. The VPU assembly 236 is generally positioned between a lower inlet vent 228 and an upper outlet vent 226, which are formed to pass through the upper and lower walls of the intermediate housing body 204, respectively. The heat sink array 242 of the VPU assembly 236 may include one or more rows of parallel-extending fins made of a thermally conductive material, such as a copper alloy, aluminum alloy, or another metal or alloy; the term "heat sink array" as used herein generally encompasses any arrangement of fin-like structures or protrusions for transferring heat convection to the surrounding environment, regardless of the geometry of the fins within the heat sink array 242 and including needle-fin arrays. The VPU assembly 236 may extend in the lateral or width direction, although the specific form factor and dimensions of the VPU assembly 236 will differ in other embodiments. In the illustrated embodiment, specifically, the heat sink array 242 may span at least half (if not substantially all) the width of the intermediate housing body 204 to maximize the surface area of ​​the heat sink array 242 available for convective heat transfer to the surrounding environment.

[0070] Embodiments of the rear sensing module 198 may include various additional structural features or components to facilitate installation of the module 198 into the cab 200 of the tractor 194 (or other work vehicle), to route cables or wires for power and signal transmission, and to perform other such functions. For example, such as Figure 13 As further shown, this feature may include any number of bolts 244 for securing the VPU assembly 236 within the intermediate housing body 206, and other mounting features 246 for mounting the rear sensing module 198 to the upper rear portion of the tractor cab 200, as previously described. Figure 11 and Figure 12 As described above. Internal and external conduits 248, 250 may also be provided for wiring wires or cables between electronic components (e.g., VPU assembly 236 and EDP device 214) housed within the rear sensing module 198, and for providing electrical interconnection with electronics on the tractor unit 194. Although this is an example, the construction and internal features of the rear sensing module 198, as well as the specific manner in which the rear sensing module 198 is mounted to the cab of a tractor unit or other work vehicle, may vary in alternative embodiments.

[0071] The VPU assembly 236 of the rear sensing module 198 is advantageously mounted within the intermediate housing body 204 to insert the heat sink array 242 into one or more cooling airflow paths, for example, extending through the intermediate housing body 204 in a generally vertical direction. For example, as... Figure 13 As shown, the VPU assembly 236 can be mounted within the intermediate housing body 204 to insert the heat sink array 242 into a cooling airflow path 234 that extends in a generally vertical direction from the bottom inlet vent 228 to the top outlet vent 226 and receives airflow directed in a generally upward direction along the rear window 232 of the tractor cab 200. Additionally, the VPU assembly 236 can also be mounted in a rearward orientation such that the heat sink array 242 protrudes into the vertically extending cooling airflow path 234, while generally extending away from the PCB or motherboard 238, and more generally extending from the rear window 232 of the tractor cab 200. Simultaneously, the VPU assembly 236 can be slightly angled or slightly tilted in a downward direction; for example, such that when truncated along a vertical plane extending substantially parallel to the rear window 232 of the tractor cab 200, the upper edge of the heat sink array 242 extends beyond or protrudes beyond the lower edge of the heat sink array 242.

[0072] As just described, in this embodiment, the VPU assembly 236 can be mounted within the intermediate housing body 204 of the rear sensing module 198 in a rearward and downward-sloping orientation, while being further positioned such that the heat sink array 242 protrudes into the cooling airflow path 234 extending vertically through the housing body 204. Mounting the VPU assembly 236 within the rear sensing module 198 in this orientation provides several advantages. As a general benefit, orienting the VPU assembly 236 in this manner minimizes the degree to which the intermediate housing body 204 protrudes rearward from the tractor cab 200, thereby reducing visual obstruction to the operator's view through the rear cab window 232. Additionally, providing this position and orientation of the VPU assembly 236 relative to the cooling airflow path 234 enhances the thermal performance of the heat sink array 242 by increasing the contact duration between the heat sink array 242 and the cooling airflow vertically guided through the intermediate housing body 206 along the cooling airflow path 234. As an additional benefit, this orientation of the VPU assembly 236 reduces the sensitivity of the heatsink array 242 to the accumulation of airborne debris or other particulate matter on its outer surface, while the gravitational and vibrational forces present during the operation of the tractor 194 tend to remove any such particle buildup from the heatsink array 242. Generally, the orientation, positioning, and dimensional optimization of the VPU assembly 236, particularly its heatsink array 242, within the intermediate housing body 204 in the manner described above, optimizes the heat dissipation and thermal performance of the VPU assembly 236; it also allows the VPU assembly 236 to maintain a high level of thermal performance over time, and in many cases, without relying on internal fans, liquid coolant systems, or other active cooling components. This reduces the overall cost and complexity of the rear sensing module 198 while increasing its durability and reliability.

[0073] Examples of the sensing system and rear sensing module for the work vehicle

[0074] For ease of reference, examples of the front sensing module, rear sensing module, and work vehicle sensing system are provided and numbered.

[0075] 1. The rear sensing module is used in conjunction with a work vehicle having a cab and a cab roof. In an embodiment, the rear sensing module includes: an ambient depth perception (EDP) sensor system including a first ambient depth perception device having a field of view (FOV) covering the rear of the work vehicle; a rear module housing mounted to the upper rear edge portion of the cab roof; and a vent formed in the outer wall of the rear module housing to facilitate airflow along a cooling airflow path through the rear module housing. Heating electronics are electrically connected to the first ambient depth perception device and are positioned in or near the cooling airflow path such that during operation of the rear sensing module, excess heat generated by the heating electronics is dissipated by convection to the airflow guided along the cooling airflow path.

[0076] 2. According to the rear sensing module of Example 1, wherein the first EDP device is in the form of a stereo camera assembly, and the heat-generating electronic components include or are in the form of a vision processing circuit electrically connected to the stereo camera assembly.

[0077] 3. The rear sensing module according to Example 1, wherein the heat-generating electronic component includes a vision processing unit (VPU) assembly having a heat sink array. The vision processing unit (VPU) assembly is mounted within the rear module housing such that when the rear sensing module is mounted to the cab of the work vehicle, the heat sink array extends away from the cab of the work vehicle and extends into the cooling airflow path.

[0078] 4. The rear sensing module according to Example 1, wherein the rear module housing includes a rear protruding section that protrudes in a rearward direction relative to the cab of the work vehicle, and the heating electronic component is at least partially located in the rear protruding section.

[0079] 5. According to the rear sensing module of Example 4, the vent includes: an outlet vent formed in the upper wall of the rear protruding section; and an inlet vent formed in the lower wall of the rear protruding section. The inlet vent is oriented to receive airflow guided in a generally upward direction along the rear window of the work vehicle cab.

[0080] 6. The rear sensing module according to Example 1, wherein the vent includes an inlet vent formed in a raised front surface of the rear module housing, the raised front surface protruding upward from the cab roof and oriented to draw in ram airflow as the work vehicle travels in a forward direction.

[0081] 7. The rear sensing module according to Example 1, wherein the rear module housing includes: an intermediate housing body in which the heating electronic component is located; a first wing section extending from the intermediate housing body in a first lateral direction; and a second wing section extending from the intermediate housing body in a second lateral direction opposite to the first lateral direction.

[0082] 8. The rear sensing module according to Example 7, wherein the first wing section terminates near a first corner region of the cab roof, and the second wing section terminates near a second corner region of the cab roof that is laterally opposite to the first corner region.

[0083] 9. The rear sensing module according to Example 8, wherein the first wing section and the second wing section each include an enlarged terminal end that extends in a forward direction relative to the rear window of the work vehicle cab, such that the rear module housing surrounds the rear upper edge portion of the work vehicle cab.

[0084] 10. The rear sensing module according to Example 7, wherein the first environmental depth sensing device has a line of sight (LOS) extending through one or more openings disposed in the rearward wall of the intermediate housing body.

[0085] 11. The rear sensing module according to Example 10 further includes: a second environmental depth sensing device having a line of sight extending through one or more openings disposed in the outer end wall of the first wing section; and a third environmental depth sensing device having a line of sight extending through one or more openings disposed in the outer end wall of the second wing section.

[0086] 12. According to the rear sensing module of Example 11, wherein the first environmental depth sensing device, the second environmental depth sensing device and the third environmental depth sensing device respectively include a first stereo camera assembly, a second stereo camera assembly and a third stereo camera assembly.

[0087] 13. The rear sensing module according to Example 11, wherein the first environmental depth sensing device, the second environmental depth sensing device and the third environmental depth sensing device are distributed to provide a cumulative rear-centered field of view of equal to or greater than 180 degrees, as seen when looking down toward the work vehicle.

[0088] 14. An embodiment of a work vehicle equipped with a rear sensing module is also disclosed. In an example embodiment, the work vehicle includes a work vehicle cab and a cab roof, the cab roof having a first rear corner region, a second rear corner region, and a middle rear edge region between the first rear corner region and the second rear corner region. The rear sensing module further includes: a rear module housing mounted to the cab roof; a first side-view stereo camera assembly contained in the rear module housing and positioned near the first rear corner region of the cab roof; a second side-view stereo camera assembly contained in the rear module housing and positioned near the second rear corner region of the cab roof; and a rear-view stereo camera assembly contained in the rear module housing and positioned near the middle rear edge region of the cab roof.

[0089] 15. The work vehicle according to Example 14, wherein the rear module housing includes: an intermediate housing body containing the rear-view stereo camera assembly; a first wing section containing the first side-view stereo camera assembly and extending from the intermediate housing body in a first lateral direction; and a second wing section containing the second side-view stereo camera assembly and extending from the intermediate housing body in a second lateral direction opposite to the first lateral direction.

[0090] in conclusion

[0091] Therefore, the foregoing provides front and rear work vehicle sensing modules that offer various advantages, including thermal performance and structural integration benefits, as well as work vehicle sensing systems incorporating such modules. Embodiments of the front sensing module can engage with a laterally extending suspension bracket of the front ballast system to provide a rigid attachment to the work vehicle chassis, thereby minimizing interference forces transmitted to EDP devices (e.g., stereo camera assemblies) contained in the EDP sensor system. Additionally, mounting the front sensing module in this manner can provide mechanical protection benefits, particularly since the front and side edges of the front module housing can be recessed relative to the corresponding edges of the front ballast system. Similarly, mounting or integrating the rear sensing module into the rear edge portion of the cab roof provides various mechanical protection and LOS benefits. Both the front and rear sensing modules can further include ventilation features that promote airflow along a cooling airflow path through the front module housing when the work vehicle is stationary or traveling in the forward direction. In embodiments of the sensing module, this can enhance convective cooling of heat-generating electronic components (such as the VPU or other vision processing circuitry) to optimize the performance of the EDP sensor system. Furthermore, the VPU or other heat-generating electronic components, including the heat sink array, can be advantageously mounted in an oblique orientation (such as a rearward or downward-sloping orientation) within the sensing module housing, thereby inserting the heat sink array into the cooling airflow path, while optimizing the module housing shape factor and minimizing the accumulation of unloaded debris or other particulate matter on the heat sink array.

[0092] As an additional benefit, embodiments of the front and rear sensing modules can achieve relatively broad or extended sensor coverage of the environment around the tractor or other work vehicle. In this regard, embodiments of the front sensing module can be configured to provide a cumulative sensor FOV of approximately 180° or more by strategically positioning, for example, multiple (e.g., three) stereo camera pairs (or other EDP devices). Simultaneously, embodiments of the rear sensing module support the spatial distribution of the stereo camera assembly (or other EDP devices) in a manner that provides a relatively wide, rear-centered FOV (again, in embodiments, approximately 180° or more). Therefore, the combination of the front and rear sensing modules can achieve a cumulative FOV of approximately or substantially equal to 360°, thereby providing comprehensive sensor coverage of the environment around the main work vehicle.

[0093] As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that, when used in this specification, the terms “comprises and / or comprising” specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0094] As used herein, unless otherwise limited or modified, a list of elements separated by connecting terms (e.g., “and”) and preceded by the phrase “one or more” or “at least one” indicates a construction or arrangement that potentially includes the individual elements of the list or any combination thereof. For example, “at least one of A, B and C” or “one or more of A, B and C” indicates the possibility of only A, only B, only C, or any combination of two or more of A, B and C (e.g., A and B, A and C, B and C, or A, B and C).

[0095] The description in this disclosure has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the disclosure presented in its form. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of this disclosure. The embodiments expressly referenced herein were chosen and described in order to best explain the principles of this disclosure and its practical application, and to enable others skilled in the art to understand the contents of this disclosure and recognize the many alternatives, modifications, and variations of the described examples(s). Therefore, various embodiments and implementations other than those expressly described are within the scope of the following claims.

Claims

1. A rear sensing module (46, 198) for use in conjunction with a work vehicle (20, 194), the work vehicle having a work vehicle cab (30, 200) and a cab roof (142, 202), the rear sensing module (46, 198) comprising: An environmental depth perception (EDP) sensor system (22, 196) includes a first environmental depth perception device (66, 214) having a field of view (FOV) covering the environmental area behind the work vehicle (20, 194). Rear module housing (64, 204), the rear module housing being mounted to the upper rear edge portion of the cab roof (142, 202); Vents (170, 172, 174, 176, 226, 228) are formed in the outer wall of the rear module housing (64, 204) to facilitate airflow along the cooling airflow path (234) through the rear module housing (64, 204). The vents include an inlet vent located at the rear of the rear module housing and an outlet vent located at the rear of the rear module housing. The inlet vent is oriented to receive airflow directed in a generally upward direction along the rear window of the cab of the work vehicle, and the outlet vent is oriented to receive airflow from the inlet vent. as well as A heat-generating electronic component (68, 224) electrically connected to the first environmental depth sensing device (66, 214) is positioned in or near the cooling airflow path (234) such that during operation of the rear sensing module (46, 198), excess heat generated by the heat-generating electronic component (68, 224) is dissipated by convection to the airflow guided along the cooling airflow path (234).

2. The rear sensing module (46, 198) according to claim 1, wherein, The first environmental depth sensing device (66, 214) includes a stereo camera assembly; and The heating electronic components (68, 224) include a vision processing circuit that is electrically connected to the stereo camera assembly.

3. The rear sensing module (46, 198) according to claim 1, wherein, The heat-generating electronic components (68, 224) include a vision processing unit (VPU) assembly (236) having a heat sink array (242); and The vision processing unit (VPU) assembly (236) is installed within the rear module housing (64, 204) such that when the rear sensing module (46, 198) is installed in the work vehicle cab (30, 200), the heat sink array (242) extends away from the work vehicle cab (30, 200) and into the cooling airflow path (234).

4. The rear sensing module (46, 198) according to claim 1, wherein, The rear module housing (64, 204) includes a rear protruding section (160, 230) that protrudes rearward relative to the cab (30, 200) of the work vehicle, and the heating electronic components (68, 224) are at least partially located in the rear protruding section (160, 230).

5. The rear sensing module (46, 198) according to claim 4, wherein, The ventilation openings (170, 172, 174, 176, 226, 228) include: An outlet vent (176, 226) is formed in the upper wall of the rear protruding section (160, 230); and An inlet vent (170, 228) is formed in the lower wall of the rear protruding section (160, 230).

6. The rear sensing module (46, 198) according to claim 1, wherein, The vents (170, 172, 174, 176, 226, 228) include an inlet vent (172) formed in a raised front surface of the rear module housing (64, 204), the raised front surface protruding upward from the cab roof (142, 202) and oriented to draw in ram airflow as the work vehicle (20, 194) travels in the forward direction.

7. The rear sensing module (46, 198) according to claim 1, wherein, The rear module housing (64, 204) includes: The intermediate housing body (110, 206) contains the heating electronic components (68, 224). A first wing section (148, 212) extends from the intermediate shell body (110, 206) in a first lateral direction; and The second wing section (148, 212) extends from the intermediate shell body (110, 206) in a second lateral direction opposite to the first lateral direction.

8. The rear sensing module (46, 198) according to claim 7, wherein, The first wing section (148, 212) terminates near the first corner region (152) of the cab roof (142, 202), while the second wing section (148, 212) terminates near the second corner region (152) of the cab roof (142, 202) which is laterally opposite to the first corner region (152).

9. The rear sensing module (46, 198) according to claim 8, wherein, The first wing section (148, 212) and the second wing section (148, 212) each include an enlarged terminal end (216) that extends in a forward direction relative to the rear window (232) of the work vehicle cab (30, 200) such that the rear module housing (64, 204) surrounds the rear upper edge portion of the work vehicle cab (30, 200).

10. The rear sensing module (46, 198) according to claim 7, wherein, The first environmental depth sensing device (66, 214) has a line of sight (LOS) extending through one or more openings (162, 222) disposed in the rear wall of the intermediate housing body (110, 206).

11. The rear sensing module (46, 198) according to claim 10 further includes: A second environmental depth sensing device (66, 214) has a line of sight extending through one or more openings (162, 222) disposed in the outer end wall of the first wing section (148, 212). as well as A third environmental depth sensing device (66, 214) has a line of sight extending through one or more openings (162, 222) disposed in the outer end wall of the second wing section (148, 212).

12. The rear sensing module (46, 198) according to claim 11, wherein, The first environmental depth sensing device, the second environmental depth sensing device, and the third environmental depth sensing device (66, 214) each include a first stereo camera assembly, a second stereo camera assembly, and a third stereo camera assembly.

13. The rear sensing module (46, 198) according to claim 11, wherein, The first, second, and third environmental depth sensing devices (66, 214) are arranged to provide a cumulative rear-centered field of view (72, 74, 76) of 180 degrees or more, as seen when looking down toward the work vehicle (20, 194).

14. A work vehicle (20, 194), comprising: Operating vehicle cab (30, 200); The cab roof (142, 202) has a first rear corner region (152), a second rear corner region (152), and a middle rear edge region between the first rear corner region (152) and the second rear corner region (152); as well as The rear sensing module (46, 198) includes: Rear module housing (64, 204), the rear module housing being mounted to the cab roof (142, 202). Vents (170, 172, 174, 176, 226, 228) are formed in the outer wall of the rear module housing (64, 204) to facilitate airflow along the cooling airflow path (234) through the rear module housing (64, 204). The vents include an inlet vent located at the rear of the rear module housing and an outlet vent located at the rear of the rear module housing. The inlet vent is oriented to receive airflow directed in a generally upward direction along the rear window of the cab of the work vehicle, and the outlet vent is oriented to receive airflow from the inlet vent. A first side-view stereo camera assembly (66, 214) is contained in the rear module housing (64, 204) and positioned near the first rear corner region (152) of the cab roof (142, 202). A second side-view stereo camera assembly (66, 214), which is contained within the rear module housing (64, 204) and positioned near the second rear corner region (152) of the cab roof (142, 202); and A rear-view stereo camera assembly (66, 214) is contained in the rear module housing (64, 204) and positioned near the middle rear edge region of the cab roof (142, 202).

15. The work vehicle (20, 194) according to claim 14, wherein, The rear module housing (64, 204) includes: The intermediate housing body (110, 206) includes the rear-view stereo camera assembly (66, 214). A first wing section (148, 212), the first wing section including the first side-view stereo camera assembly (66, 214) and extending from the intermediate housing body (110, 206) in a first lateral direction; and The second wing section (148, 212) includes the second side-view stereo camera assembly (66, 214) and extends from the intermediate housing body (110, 206) in a second lateral direction opposite to the first lateral direction.

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