Patent Application
20170191243
This invention relates generally to a detection system for use with a work machine to alert an operator of the work machine to humans or objects too close to the machine.
The invention is directed to a detection system. The system comprises a work machine, one or more cameras, a processor, and a warning system. The cameras are configured to capture images of one or more zones surrounding the work machine. The processor is configured to analyze the images captured by the cameras and determine whether any captured image includes a characteristic of one or more predetermined objects within any one or more of the zones. The warning system is controlled by the processor. The warning system sends a warning signal to an operator of the work machine if the characteristic of the predetermined object is within any one or more of the zones.
In another embodiment, the invention is directed to a method for detecting objects near a work machine. The method comprises the steps of capturing images of one or more zones surrounding the work machine using one or more cameras and using a processor to analyze the images captured by any one or more of the cameras and determine whether any captured image includes a characteristic of one or more predetermined objects within any one or more of the zones. The method further comprises the step of automatically activating a warning system controlled by the processor if the processor determines the characteristic of any one or more of the predetermined objects is within any one or more of the zones.
With reference to
The work machine 12 further comprises an engine 26, a ground supporting member 28, and an operator station 30 situated on a frame 32. The operator station 30 shown comprises a seat 34 and steering wheel 36. Alternatively, the operator station 30 may comprise a platform and joystick controls. As a further alternative, the work machine 12 may not comprise an operator station 30 and instead may be remotely controlled or under a semi-autonomous control.
The ground supporting member 28 shown comprises a set of wheels 38. Alternatively, the ground supporting member 28 may comprise a set of endless tracks. In operation, an operator, for example, uses the steering wheel 36 to guide the wheels 38 of the work machine 12. In this way, an attentive operator will avoid objects and people. The system 10 of the present invention assists the operator in detecting unperceived or moving objects.
The work tool 20 shown is a trencher 40 that is attached to the back end 24 of the work machine 12. The trencher 40 comprises a plurality of digging teeth 42 that rotate about a trencher boom 44 to uncover a trench. Other work tools, such as vibratory plows, buckets, skid steers, excavator arms, micro-trenching assemblies, grapple arms, stump grinders, and the like may be utilized with the work machine 12.
With reference now to
The cameras 14 may face the front end 22 or back end 24 of the work machine 12 depending on the position of the work tool 20 on the machine. Alternatively, a plurality of cameras 14 may be used to capture images of all sides of the work machine 12 if multiple work tools 20 are attached to the machine at one time. A suitable camera for use with the invention is the c-con Systems Capella model or the Leopard stereo camera module, though many different camera systems may be used.
The processor 16 may be supported on the work machine 12 at the operator station 30, as shown. Alternatively, the processor 16 may be at a location remote from the work machine 12. The processor 16 is electronically connected to an interface 52 having a display 54, as shown in
Prior to operation of the work machine 12, the operator will identify one or more zones 48 surrounding the work machine 12 to be viewed by the cameras 14. The zones 48 are identified by selecting one or more boundaries 56 for each zone 48. The boundaries 56 may be defined by x, y, and z coordinates selected by the operator on the interface 52, as shown in
The boundaries 56 and taper selected may form different shapes for each zone 48. The shape of the zones 48 shown are parallelepipeds, but the orientation, size, and shape of the zones may be tailored to: the clock speed or refresh rate of the detection system 10, the size of the work machine 12, the dimensions of the work tool 20, and the operator's preference. Alternatively, the zones 48 may be preselected and programmed into the processor 16 without input from the operator.
The zones 48 are projected on the display 54 overlaying the images 46 captured by the cameras 14, as shown in
During operation, the processor 16 analyzes the images 46 captured bye the cameras 14 and determines whether any captured image includes a characteristic 58 of one or more predetermined objects 60 moving within any one of the zones 48. The predetermined object 60 shown in
The processor 16 may be programmed with recognition software 61 capable of recognizing angles of the predetermined object 60 during operation. For example, the software may be programmed to recognize angles of the human form 62. An open source computer vision library software algorithm is capable of making needed recognitions. However, other similar software may be used.
If the processor 16 determines the characteristic 58 of the predetermined object 60 is within one of the zones 48, the recognition software 61 will surround the object with a box 64 on the display 54 and highlight the recognized characteristic. The processor 16 will also trigger the warning system 18 to send a warning signal to the operator. Programming the processor 16 to recognize predetermined objects 60 reduces the likelihood of false positives interrupting operation. Otherwise, for example, debris from the work tool 20 could trigger a response initiated by the processor 16.
The warning signal may comprise an audible alarm 65 or flashing light 66, as shown in
For example, the operator may identify a first zone 68 that is an area within a predetermined distance surrounding the work tool 20, and a second zone 70 that is an area within a predetermined distance surrounding the first zone 68. Each predetermined distance may be identical or different. One predetermined distance, for example, may be about two feet.
If the characteristic 58 of the object 60 is determined to be only within the second zone 70, the processor 16 may trigger the warning system 18 to activate a warning signal. In contrast, if the characteristic 58 of the object 60 is determined to be within the first zone 68, the processor 16 may trigger the override system 67 which stops operation of the work machine 12 or work tool 20.
The specific response triggered by the processor 16 may vary depending on the operator's preference. The operator may set response preferences prior to operation using the interface 52. Alternatively, the response preferences may be pre-selected and programmed into the processor 16 without input from the operator.
Optical flow software 71 may be used with the processor 16 to determine whether the predetermined object 60 is moving into or out of the zones 48. Moving objects are seen by the software as groups of moving pixels. The location of the moving pixels on the images 46 is compared on a frame by frame basis. The frames may be compared for example at a rate of ten frames per second to identify any change in position of the moving object. This clock speed or refresh rate of the frames may be increased or decreased depending on the capabilities of the software used.
Groups of pixels in the images 46 that are determined to be moving inconsistently with the machine 12 or the ground surface are identified as moving objects and analyzed by the processor 16 to determine if the object contains a characteristic 58 of the predetermined object 60. If the moving object is determined to have a characteristic 58 of the predetermined object 60 within one of the zones 48, the processor 16 will trigger the warning system 18 and/or the override system 67. Both systems may be triggered if the predetermined object 60 moves into different zones 48.
The processor 16 may be programmed to turn off the warning system 18 or reactivate the work tool 20 or work machine 12 if it determines the object 60 has moved out of the zones 48. Alternatively, the operator may cancel activation of both the warning system 18 and/or the override system 67 if the operator determines the object 60 detected is not in any danger.
Groups of pixels in the images 46 that are determined to be moving at the same rate or direction as the ground surface are identified as stationary objects 72 the work machine 12 is moving past. For example, a bush 74 is shown in
The boundaries 56 defined for each zone 48 may include a floor 76 that is a desired distance above the ground surface. The operator can program the processor 16 to ignore any moving objects detected below the floor 76. This helps to avoid false positives from moving elements on the work tool 20 or moving dirt or cuttings that may be identified as moving objects.
Similarly, the operator may define an area immediately surrounding the work tool 20 as a black zone 78. This zone 78 may be blacked out from detection by the processor 16 to minimize false warnings and inadvertent shutdowns. The shape of the black zone 78 may be tailored to the shape and size of the work tool 20 used with the work machine 12. The size and shape of the black zone 78 may also account for the amount of debris dispersed by the work tool 20 during operation.
The level of sensitivity of the detection system 10 may be programmed by the operator on the interface 52. For example, the system 10 may be programmed such that a percentage of the predetermined object 60 must be detected within one of the zones 48 before a response is triggered by the processor 16.
The processor 16 may be programmed to include a data storage device 80, such as a memory card, to store images 46 captured of all objects 60 detected in the zones 48 during operation. GPS 82 may also be incorporated into the processor 16 to identify the physical location of the object 60 when detected in the zones 48. The processor 16 may further be equipped with a diagnostics system 84 to verify that the detection system 10 is operable each time the work machine 12 is started. If any portion of the detection system 10 is identified as being inoperable, the processor 16 may disable operation of the work tool 20 or work machine 12 until the problem is corrected.
One of ordinary skill in the art will appreciate that modifications may be made to the invention described herein without departing from the spirit of the present invention.
This application claims the benefit of U.S. Provisional Patent Application Ser. No. 62/261,402 filed on Dec. 1, 2015, the entire contents of which are incorporated herein by reference.
| Number | Date | Country | |
|---|---|---|---|
| 62261402 | Dec 2015 | US |
