Object detection system and method

• US 10,344,450 B2
• Filed: 11/30/2016
• Issued: 07/09/2019
• Est. Priority Date: 12/01/2015
• Status: Active Grant

• Current Assignee: Charles Machine Works Inc (Toro)
• Original Assignee: Charles Machine Works Inc (Toro)
• Inventors: Sharp, Richard F., Avitabile, Michael, Chilton, Ryan, Hastings, Benjamin, Conner, David C.
• Primary Examiner(s): Ramesh, Krishnan
• Application Number:
  US15/364,808
• Publication Number:
  US 20170191243A1
• Time in Patent Office: 951 Days
• Field of Search: 701 50
• CPC Class Codes: E02F 5/06 with digging elements mounted on an endless chain E02F5/109 takes precedence; with digging elements mounted on an endless chain per se E02F3/08
• CPC Class Codes: E02F 5/145 control and indicating devices
• CPC Class Codes: E02F 9/2033 Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin sub-groups of E02F3/431 of E02F3/435 take precedence; for turntables E02F9/123
• CPC Class Codes: E02F 9/24 Safety devices , e.g. for preventing overload E02F9/226 takes precedence
• CPC Class Codes: E02F 9/261 Surveying the work-site to be treated
• CPC Class Codes: E02F 9/262 with follow-up actions to control the work tool, e.g. controller

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.

Claims

1. A detection system comprising:

a work machine having an operator station;

one or more cameras configured to capture images of areas surrounding the work machine;

an interface accessible to an operator of the work machine and configured to receive human input designating one or more boundaries that define one or more zones within the areas;

a processor in communication with the interface and cameras and configured to analyze the images captured by 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;

a display configured to depict the images captured by any one or more of the cameras, in which the processor is configured to cause the display to highlight an object in a captured image having a characteristic that matches any of the one or more predetermined characteristics; and

a warning system controlled by the processor that sends a warning signal to the operator if the characteristic of any one or more of the predetermined objects is within any one or more of the zones.

2. The detection system of claim 1 in which the zones are three-dimensional.

3. The detection system of claim 1 further comprising:

a work tool attached to the work machine;

in which the processor is in communication with the work tool and is configured to issue a stop command to the work tool when the processor determines that any captured image depicting any one or more of the zones includes a characteristic of one or more predetermined objects.

4. The detection system of claim 1 wherein none of the zones include an area immediately surrounding a work tool attached to the work machine.

5. The detection system of claim 1 wherein one or more of the cameras are supported on the work machine.

6. The detection system of claim 1 wherein the processor is supported on the work machine.

7. The detection system of claim 1 wherein the predetermined object is a moving object.

8. The detection system of claim 1 wherein the predetermined object is a human form.

9. The detection system of claim 1 in which the work machine is positionable at ground level, and in which the interface permits designation of a lower zone boundary spaced above the ground level.

10. The detection system of claim 1 in which the display is configured to depict one or more of the captured images in combination with a rendering of the boundaries of any portion of the zone contained within the image or images.

11. A method for detecting objects near a work machine comprising:

capturing images of one or more areas surrounding the work machine using one or more cameras;

selecting one or more boundaries for defining one or more zones within the areas on an interface in communication with the cameras and a processor;

using the 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, in which the zone for which images are captured does not include an area immediately surrounding a work tool attached to the work machine; and

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.

12. The method of claim 11 further comprising displaying the images captured by one or more of the cameras on the interface.

13. The method of claim 12 showing an object having a characteristic that matches any of the one or more predetermined characteristics in highlighted form within a captured image on the display.

14. The method of claim 11 wherein the predetermined object is a human form.

15. The method of claim 11 wherein one or more of the cameras are supported on the work machine.

16. The method of claim 11 further comprising automatically stopping operation of a work tool attached to the work machine when any captured image depicting any one or more of the zones includes a characteristic of one or more predetermined objects.

17. The method of claim 11 further comprising automatically stopping operation of the work machine when any captured image depicting any one or more of the zones includes a characteristic of one or more predetermined objects.

18. A detection system comprising:

a work machine;

a work tool attached to the work machine;

one or more cameras configured to capture images of areas surrounding the work machine;

a processor configured to analyze the images captured by one or more cameras and determine whether any captured image includes a characteristic of one or more predetermined objects that are situated within a previously-defined three-dimensional zone within one or more of the areas, in which the previously-defined three-dimensional zone does not include an area immediately surrounding the work tool; and

a warning system controlled by the processor that sends a warning signal to an operator if the characteristic of any one or more of the predetermined objects is within the previously-defined three-dimensional zone.