US20220220697A1 - Object detection system and method - Google Patents
Object detection system and method Download PDFInfo
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- US20220220697A1 US20220220697A1 US17/711,958 US202217711958A US2022220697A1 US 20220220697 A1 US20220220697 A1 US 20220220697A1 US 202217711958 A US202217711958 A US 202217711958A US 2022220697 A1 US2022220697 A1 US 2022220697A1
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- 238000001514 detection method Methods 0.000 title abstract description 17
- 238000009877 rendering Methods 0.000 claims 3
- 238000012790 confirmation Methods 0.000 claims 2
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- 241000282412 Homo Species 0.000 description 3
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- 230000006378 damage Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 241000282373 Panthera pardus Species 0.000 description 1
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- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
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- 239000011435 rock Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
- E02F5/14—Component parts for trench excavators, e.g. indicating devices travelling gear chassis, supports, skids
- E02F5/145—Component parts for trench excavators, e.g. indicating devices travelling gear chassis, supports, skids control and indicating devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
- E02F5/06—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches with digging elements mounted on an endless chain
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/24—Safety devices, e.g. for preventing overload
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Component Parts Of Construction Machinery (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
Abstract
A detection system used to alert an operator of a work machine of humans or objects dangerously close to the machine or a work tool attached to the machine. The detection system uses one or more cameras to capture images of an area surrounding the machine. The captured images are displayed on an interface electronically connected to a processor. Prior to operation, one or more zones surrounding the work tool or work machine are defined and projected on the images displayed on the interface. The processor analyzes the images captured by the cameras and determines if a characteristic of a predetermined object is within one or more of the identified zones. If the processor determines the characteristic of the predetermined object is within one of the zones, the processor will identify the object on the display and trigger a warning system to alert to the operator to take necessary precautions.
Description
- 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.
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FIG. 1 is a side view of a work machine with a work tool attached. -
FIG. 2 is a rear perspective view of the work machine and work tool ofFIG. 1 with a detection system of the present invention shown supported on the work machine. -
FIG. 3 is a top perspective view of the work tool ofFIG. 1 and one or more zones surrounding the work tool that were identified by an operator of the work machine for analysis by the detection system. -
FIG. 4 is a front perspective view ofFIG. 3 . -
FIG. 5 is the perspective view ofFIG. 3 with a human form identified in one of the zones. -
FIG. 6 is the perspective view ofFIG. 5 with a second human form identified in one of the zones. -
FIG. 7 is a straight on view of a display on an interface for use with the detection system. -
FIG. 8 is the view ofFIG. 7 with an alternative display shown. -
FIG. 9 is a flow chart depicting the relationship between the components of the detection system of the present invention. -
FIG. 10 is a flow chart depicting the method of operation of the detection system of the present invention. - With reference to
FIGS. 1-2 , adetection system 10 of the present invention comprises awork machine 12, one ormore cameras 14, aprocessor 16, and awarning system 18. Thework machine 12 comprises awork tool 20 that is attached to afront end 22 or aback end 24 of thework machine 12. When thework tool 20 is active, it is important for humans or objects to stay away from the work tool andwork machine 12 to avoid injury. Thedetection system 10 may alert an operator of thework machine 12 of humans or objects that are dangerously close to the machine orwork tool 20 during operation. - The
work machine 12 further comprises anengine 26, aground supporting member 28, and anoperator station 30 situated on aframe 32. Theoperator station 30 shown comprises aseat 34 andsteering wheel 36. Alternatively, theoperator station 30 may comprise a platform and joystick controls. As a further alternative, thework machine 12 may not comprise anoperator station 30 and instead may be remotely controlled or under a semi-autonomous control. - The
ground supporting member 28 shown comprises a set ofwheels 38. Alternatively, theground supporting member 28 may comprise a set of endless tracks. In operation, an operator, for example, uses thesteering wheel 36 to guide thewheels 38 of thework machine 12. In this way, an attentive operator will avoid objects and people. Thesystem 10 of the present invention assists the operator in detecting unperceived or moving objects. - The
work tool 20 shown is atrencher 40 that is attached to theback end 24 of thework machine 12. Thetrencher 40 comprises a plurality ofdigging teeth 42 that rotate about atrencher 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 thework machine 12. - With reference now to
FIGS. 1-10 , one or more of thecameras 14 are used to captureimages 46 of one ormore zones 48 surrounding thework tool 20 and thework machine 12. Thecameras 14 may be supported on aboom 50 attached to and extending over thework machine 12, as shown inFIG. 2 . This gives the cameras 14 a view of theentire work tool 20 and an area surrounding thework machine 12. Preferably, at least twocameras 14 are used and are horizontally spaced on theboom 50 to provide stereo or 3-D vision of one or more of thezones 48. - The
cameras 14 may face thefront end 22 or backend 24 of thework machine 12 depending on the position of thework tool 20 on the machine. Alternatively, a plurality ofcameras 14 may be used to capture images of all sides of thework machine 12 ifmultiple work tools 20 are attached to the machine at one time. A suitable camera for use with the invention is the e-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 thework machine 12 at theoperator station 30, as shown. Alternatively, theprocessor 16 may be at a location remote from thework machine 12. Theprocessor 16 is electronically connected to aninterface 52 having adisplay 54, as shown inFIGS. 7-9 . Theinterface 52 may be controlled by the operator using a keyboard and mouse or a touch screen. Theimages 46 captured by thecameras 14 are sent to theprocessor 16 and depicted on thedisplay 54. If more than onework tool 20 is attached to themachine 12,multiple images 46 may be depicted on thedisplay 54 at one time. - Prior to operation of the
work machine 12, the operator will identify one ormore zones 48 surrounding thework machine 12 to be viewed by thecameras 14. Thezones 48 are identified by selecting one ormore boundaries 56 for eachzone 48. Theboundaries 56 may be defined by x, y, and z coordinates selected by the operator on theinterface 52, as shown inFIG. 7 . The taper of thezones 48 may also be selected by the operator on theinterface 52, if any tapering is necessary to better set the size and shape of the zones. - The
boundaries 56 and taper selected may form different shapes for eachzone 48. The shape of thezones 48 shown are parallelepipeds, but the orientation, size, and shape of the zones may be tailored to: the clock speed or refresh rate of thedetection system 10, the size of thework machine 12, the dimensions of thework tool 20, and the operator's preference. Alternatively, thezones 48 may be preselected and programmed into theprocessor 16 without input from the operator. - The
zones 48 are projected on thedisplay 54 overlaying theimages 46 captured by thecameras 14, as shown inFIGS. 5-8 . Theboundaries 56 of thezones 48 are colored or shaded on thedisplay 54. Different colors or shades may designatedifferent zones 48. If the operator manipulates theboundaries 56 for thezones 48 on theinterface 52, the changes are reflected on thedisplay 54. - During operation, the
processor 16 analyzes theimages 46 captured by thecameras 14 and determines whether any captured image includes acharacteristic 58 of one or morepredetermined objects 60 moving within any one of thezones 48. Thepredetermined object 60 shown inFIGS. 3 and 5-8 is ahuman form 62. Alternatively, thepredetermined object 60 may be an animal form or any number of moving objects that thework tool 20 might encounter during operation, such as falling tree limbs or rocks. - The
processor 16 may be programmed withrecognition software 61 capable of recognizing angles of thepredetermined object 60 during operation. For example, the software may be programmed to recognize angles of thehuman 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 thepredetermined object 60 is within one of thezones 48, therecognition software 61 will surround the object with abox 64 on thedisplay 54 and highlight the recognized characteristic. Theprocessor 16 will also trigger thewarning system 18 to send a warning signal to the operator. Programming theprocessor 16 to recognizepredetermined objects 60 reduces the likelihood of false positives interrupting operation. Otherwise, for example, debris from thework tool 20 could trigger a response initiated by theprocessor 16. - The warning signal may comprise an
audible alarm 65 or flashinglight 66, as shown inFIG. 2 . The goal of the warning signal is to allow the operator time to take necessary precautions to avoid injury to the detectedobject 60 or anyone nearby. Theprocessor 16 may also be programmed to automatically activate anoverride system 67 incorporated into thework machine 12 that stops operation of thework machine 12 or thework tool 20 if the characteristic 58 of theobject 60 is within one of thezones 48. If more than onezone 48 has been identified, the response triggered by theprocessor 16 may vary depending on which zone the characteristic 58 of theobject 60 is determined to be within. - For example, the operator may identify a
first zone 68 that is an area within a predetermined distance surrounding thework tool 20, and asecond zone 70 that is an area within a predetermined distance surrounding thefirst 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 thesecond zone 70, theprocessor 16 may trigger thewarning system 18 to activate a warning signal. In contrast, if the characteristic 58 of theobject 60 is determined to be within thefirst zone 68, theprocessor 16 may trigger theoverride system 67 which stops operation of thework machine 12 orwork 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 theinterface 52. Alternatively, the response preferences may be pre-selected and programmed into theprocessor 16 without input from the operator. -
Optical flow software 71 may be used with theprocessor 16 to determine whether thepredetermined object 60 is moving into or out of thezones 48. Moving objects are seen by the software as groups of moving pixels. The location of the moving pixels on theimages 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 themachine 12 or the ground surface are identified as moving objects and analyzed by theprocessor 16 to determine if the object contains a characteristic 58 of thepredetermined object 60. If the moving object is determined to have a characteristic 58 of thepredetermined object 60 within one of thezones 48, theprocessor 16 will trigger thewarning system 18 and/or theoverride system 67. Both systems may be triggered if thepredetermined object 60 moves intodifferent zones 48. - The
processor 16 may be programmed to turn off thewarning system 18 or reactivate thework tool 20 orwork machine 12 if it determines theobject 60 has moved out of thezones 48. Alternatively, the operator may cancel activation of both thewarning system 18 and/or theoverride system 67 if the operator determines theobject 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 asstationary objects 72 thework machine 12 is moving past. For example, abush 74 is shown inFIG. 3 as astationary object 72 the machine is moving past. Theprocessor 16 may be programmed to ignorestationary objects 72 when comparing frame to frameimages 46. - The
boundaries 56 defined for eachzone 48 may include afloor 76 that is a desired distance above the ground surface. The operator can program theprocessor 16 to ignore any moving objects detected below thefloor 76. This helps to avoid false positives from moving elements on thework 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 ablack zone 78. Thiszone 78 may be blacked out from detection by theprocessor 16 to minimize false warnings and inadvertent shutdowns. The shape of theblack zone 78 may be tailored to the shape and size of thework tool 20 used with thework machine 12. The size and shape of theblack zone 78 may also account for the amount of debris dispersed by thework tool 20 during operation. - The level of sensitivity of the
detection system 10 may be programmed by the operator on theinterface 52. For example, thesystem 10 may be programmed such that a percentage of thepredetermined object 60 must be detected within one of thezones 48 before a response is triggered by theprocessor 16. - The
processor 16 may be programmed to include adata storage device 80, such as a memory card, to storeimages 46 captured of allobjects 60 detected in thezones 48 during operation.GPS 82 may also be incorporated into theprocessor 16 to identify the physical location of theobject 60 when detected in thezones 48. Theprocessor 16 may further be equipped with adiagnostics system 84 to verify that thedetection system 10 is operable each time thework machine 12 is started. If any portion of thedetection system 10 is identified as being inoperable, theprocessor 16 may disable operation of thework tool 20 orwork 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.
Claims (20)
1. A method, comprising:
starting an engine supported on a work machine;
capturing one or more images of areas surrounding the work machine using one or more cameras supported on the work machine; in which the one or more areas include a previously-defined three-dimensional zone;
displaying on a monitor one or more of the captured images in combination with a rendering of the boundaries of any portion of the three-dimensional zone contained within the image;
determining whether any captured image includes a characteristic of one or more objects and whether the characteristic is situated within the three-dimensional zone; and
sending a hazard signal to an operator of the work machine if the characteristic is within the three-dimensional zone.
2. The method of claim 1 , further comprising:
designating each boundary of the three-dimensional zone on a user interface.
3. The method of claim 2 , in which the user interface is supported on the work machine.
4. The method of claim 1 , in which the work machine is positioned at ground level, the method further comprising:
designating a lower boundary of the three-dimensional zone; in which the lower boundary is above ground level.
5. The method of claim 1 , further comprising:
highlighting the characteristic within the three-dimensional zone on the monitor.
6. The method of claim 1 , in which the monitor is supported on the work machine.
7. The method of claim 1 , in which the hazard signal comprises:
automatically shutting down the engine.
8. The method of claim 7 , further comprising:
restarting the engine upon confirmation that the characteristic is no longer within the three-dimensional zone.
9. The method of claim 1 , further comprising:
moving a work tool supported on the work machine if no hazard signal is sent.
10. The method of claim 1 , in which the work machine comprises a movable work tool, and in which the hazard signal comprises:
automatically stopping movement of the work tool.
11. The method of claim 10 , further comprising:
moving the work tool upon confirmation that the characteristic is no longer within the three-dimensional zone.
12. The method of claim 1 , in which the three-dimensional zone comprises non-overlapping first and second sections; and in which the hazard signal differs depending on which section the characteristic is within.
13. The method of claim 12 , in which the second section is fully surrounded by the first section.
14. The method of claim 13 , in which the characteristic is within the first zone and the hazard signal comprises a warning signal.
15. The method of claim 13 , in which the characteristic is within the second zone and the hazard signal comprises shutting done the engine.
16. The method of claim 1 , in which work machine comprises a work tool; and in which the three-dimensional zone does not include an area immediately surrounding the work tool.
17. The method of claim 1 , in which the determining step is completed by a processor supported on the work machine and in communication with the monitor.
18. The method of claim 1 , in which the one or more objects are moving objects.
19. The method of claim 8 , further comprising:
re-capturing one or more images of areas surrounding the work machine using the one or more cameras supported on the work machine;
displaying the one or more re-captured images on the monitor in combination with the rendering of the boundaries of any portion of the three-dimensional zone contained within the re-captured images;
determining whether any re-captured image includes a new characteristic of one or more objects and whether the new characteristic is situated within the three-dimensional zone; and
sending a new hazard signal to the operator of the work machine if the new characteristic is within the three-dimensional zone.
20. The method of claim 11 , further comprising:
re-capturing one or more images of areas surrounding the work machine using the one or more cameras supported on the work machine;
displaying the one or more re-captured images on the monitor in combination with the rendering of the boundaries of any portion of the three-dimensional zone contained within the re-captured images;
determining whether any re-captured image includes a new characteristic of one or more objects and whether the new characteristic is situated within the three-dimensional zone; and
sending a new hazard signal to the operator of the work machine if the new characteristic is within the three-dimensional zone.
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US20190338492A1 (en) | 2019-11-07 |
US10344450B2 (en) | 2019-07-09 |
US20170191243A1 (en) | 2017-07-06 |
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