System and method for tracking objects using a detection system
First Claim
1. An autonomous mining system, comprising:
- at least one mining truck having a sensor, wherein said sensor is configured to detect objects within a field of view;
means for sampling each detector at a sample time to generate a current frame of datapoints, wherein each datapoint represents an object detected by said detector;
means for converting said datapoints into datapoints represented in global coordinates;
means for mapping said converted datapoints into a next frame of datapoints generated at a next sample time to create a new frame of datapoints, wherein said new frame of datapoints represents objects detected in said next frame as well as objects detected in one or more previous frames;
means for blob coloring said new frame of datapoints to define objects;
means for making list of said defined objects; and
wherein said means for blob coloring comprises;
means for scanning said new frame to locate a bin having datapoint having a non-zero power value;
means for labeling said located bin with a new label where said located bin is not adjacent to a previously-labeled bin; and
means for labeling said located bin with the same label as was assigned to said previously-labeled bin where said located bin is adjacent to said previously-labeled bin.
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Abstract
A system and method of tracking objects first receives returns from objects in the field of view of a detector. The sensor generates a current frame of datapoints, where an object in the field of view can be represented by multiple datapoints. The datapoints are converted into global coordinates and mapped into a next frame of datapoints and generated at a next sample time to create a new current frame of datapoints. This new current frame of datapoints is processed to form a list of objects with location and power information that includes information from one or more previous frames. This mapping and processing to form the list of objects allows the system to detect weak signal targets in a ground cluttered environment and minimizes the occurrence of false alarms.
89 Citations
23 Claims
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1. An autonomous mining system, comprising:
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at least one mining truck having a sensor, wherein said sensor is configured to detect objects within a field of view; means for sampling each detector at a sample time to generate a current frame of datapoints, wherein each datapoint represents an object detected by said detector; means for converting said datapoints into datapoints represented in global coordinates; means for mapping said converted datapoints into a next frame of datapoints generated at a next sample time to create a new frame of datapoints, wherein said new frame of datapoints represents objects detected in said next frame as well as objects detected in one or more previous frames; means for blob coloring said new frame of datapoints to define objects; means for making list of said defined objects; and wherein said means for blob coloring comprises; means for scanning said new frame to locate a bin having datapoint having a non-zero power value; means for labeling said located bin with a new label where said located bin is not adjacent to a previously-labeled bin; and means for labeling said located bin with the same label as was assigned to said previously-labeled bin where said located bin is adjacent to said previously-labeled bin. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A host mobile machine having a system for tracking objects detected in the path of the host mobile machine, comprising:
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a sensor mounted on said host mobile machine and configured to detect objects within a field of view and to generate a frame of datapoints, wherein said datapoints represent the position relative to said sensor of one or more objects detected by said sensor; and a detection processing system coupled to said sensor, wherein said detection processing system comprises a processor configured to convert said datapoints into datapoints represented in global coordinates and map said converted datapoints into a next frame of datapoints to create a new frame of datapoints; wherein said new frame of datapoints represents objects detected in said next frame as well as objects detected in one or more previous frames, said new frame of datapoints indicative of the position of said objects relative to said sensor. - View Dependent Claims (12, 13)
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14. A mobile machine having a tracking system for tracking objects detected in the path of the mobile machine comprising:
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a sensor mounted on said mobile machine and configured to detect objects with a field of view and to generate a frame of datapoints, wherein said datapoints represent the position relative to said sensor of one or more objects detected by said sensor; and a detection processing system coupled to said sensor, wherein said detection processing system comprises a processor configured to convert said datapoints into datapoints represented in global coordinates and map said converted datapoints into a next frame of datapoints to create a new frame of datapoints, means for blob coloring said new frame of datapoints to define objects, and means for making a list of said defined objects; and
;a digital signal processor configured to receive said frame of datapoints from said sensor, to convert said datapoints into a power vs. range representation, and to threshold said received datapoints; wherein said new frame of datapoints represents objects detected in said next frame as well as objects detected in one or more previous frames; and wherein said means for blob coloring comprises; means for scanning said new frame to located a bin having a datapoints having a non-zero power value; means for labeling said located bin with a new label where said located bin is not adjacent to a previously labeled bin; and means for labeling said located bin with the same label as was assigned to said previously-labeled bin where said located bin is adjacent to said previously labeled bin. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23)
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Specification