Obstacle Detection System

Patent metadata

Field	Value
Publication number	US-2016176338-A1
Application number	US-201414577171-A
Country	US
Kind code	A1
Filing date	Dec 19, 2014
Priority date	Dec 19, 2014
Publication date	Jun 23, 2016
Grant date	—

Abstract

An obstacle detection system includes an object detection system, an alert system, and a controller. The controller is configured to store an electronic map containing a known obstacle, store known and unknown obstacle warning zones, and detect a detected object in proximity to the machine. The controller is further configured to compare the detected object to the known obstacle to determine whether the detected object is a known obstacle or an unknown obstacle, generate a first alert signal if the detected object is a known obstacle and within the known obstacle warning zone, and generate a second alert signal if the detected object is an unknown obstacle and within the unknown obstacle warning zone.

First claim

1 . An obstacle detection system for use at a work site, comprising:
an object detection system associated with a machine for detecting objects in proximity to the machine; an alert system for generating an alert signal; and a controller configured to:
store an electronic map containing a known obstacle;
store a known obstacle warning zone and an unknown obstacle warning zone;
detect a detected object in proximity to the machine;
compare the detected object to the known obstacle to determine whether the detected object is a known obstacle or an unknown obstacle;
generate a first alert signal if the detected object is a known obstacle and within the known obstacle warning zone; and
generate a second alert signal if the detected object is an unknown obstacle and within the unknown obstacle warning zone.

2 . The obstacle detection system of claim 1 , further including a visual image system mounted on the machine for generating image data relative to the machine and a display screen, and
the controller is configured to:
store an unknown obstacle warning;
receive the image data from the visual image system;
generate a camera image based upon the image data;
determine an image to be rendered on the display screen based upon the camera image if the detected object is a known obstacle;
determine an image to be rendered on the display screen based upon the camera image and the unknown obstacle warning if the detected object is an unknown obstacle; and
render the image on the display screen.

3 . The obstacle detection system of claim 2 , wherein the visual image system generates image data from a plurality of points of view relative to the machine and the camera image is generated by combining the image data from the plurality of points of view.

4 . The obstacle detection system of claim 2 , wherein the controller is further configured to store a known obstacle warning and the image to be rendered if the detected object is a known obstacle is based upon the camera image and the known obstacle warning.

5 . The obstacle detection system of claim 4 , wherein the known obstacle warning and the unknown obstacle warning are different colored overlays.

6 . The obstacle detection system of claim 1 , wherein the first alert signal and the second alert signal are different audible warnings.

7 . The obstacle detection system of claim 6 , wherein the first alert signal and the second alert signal are different movements of components configured to be engaged by an operator.

8 . The obstacle detection system of claim 1 , wherein the second alert signal includes a flashing indicator.

9 . The obstacle detection system of claim 1 , wherein the controller is configured to store a plurality of known obstacles in the electronic map, and compare the detected object to the plurality of known obstacles.

10 . The obstacle detection system of claim 1 , wherein the controller is configured to store as an unknown obstacle in the electronic map a newly detected object that is not a known obstacle.

11 . The obstacle detection system of claim 10 , wherein the controller is configured to convert an unknown obstacle stored within the electronic map to a known obstacle based upon a conversion command.

12 . The obstacle detection system of claim 11 , further including an input device for providing the conversion command.

13 . The obstacle detection system of claim 10 , wherein the electronic map includes a map of a portion of the work site and further including a position sensing system associated with the machine for generating position signals indicative of a position of the machine relative to the work site, and wherein the controller is further configured to determine the position of the machine relative to the work site based upon the position signals, and determine a position of the machine relative to a plurality of known obstacles.

14 . The obstacle detection system of claim 1 , wherein the controller is further configured to ignore detected objects located at a designated area.

15 . The obstacle detection system of claim 1 , wherein the controller is further configured to designate detected objects located at a designated area as known obstacles.

16 . The obstacle detection system of claim 1 , wherein the known obstacle is a movable known object and the controller is further configured to track the movable known object as it moves about the work site.

17 . A controller-implemented method of detecting obstacles at a work site, comprising:
storing electronic map containing a known obstacle; storing a known obstacle warning zone and an unknown obstacle warning zone; detecting a detected object in proximity to a machine; comparing the detected object to the known obstacle to determine whether the detected object is a known obstacle or an unknown obstacle; generating a first alert signal if the detected object is a known obstacle and within the known obstacle warning zone; and generating a second alert signal if the detected object is an unknown obstacle and within the unknown obstacle warning zone.

18 . The method of claim 17 , further including storing an unknown obstacle warning;
receiving image data from a visual image system; generating a camera image based upon the image data; determining an image to be rendered on a display screen based upon the camera image if the detected object is a known obstacle; determining an image to be rendered on the display screen based upon the camera image and the unknown obstacle warning if the detected object is an unknown obstacle; and rendering the image on the display screen.

19 . The method of claim 18 , further including storing a known obstacle warning and determining an image to be rendered on the display screen based upon the camera image and the known obstacle warning if the detected object is an unknown obstacle.

20 . A machine comprising:
a propulsion system; an object detection system associated with the machine for detecting objects in proximity to the machine; an alert system for generating an alert signal; and a controller configured to:
store an electronic map containing a known obstacle;
store a known obstacle warning zone and an unknown obstacle warning zone;
detect a detected object in proximity to the machine;
compare the detected object to the known obstacle to determine whether the detected object is a known obstacle or an unknown obstacle;
generate a first alert signal if the detected object is a known obstacle and within the known obstacle warning zone; and
generate a second alert signal if the detected object is an unknown obstacle and within the unknown obstacle warning zone.

Assignees

• Caterpillar Inc

Inventors

• Husted Douglas
• Petrany Peter

Classifications

• B60Q9/008 Primary

  for anti-collision purposes · CPC title

• B60R2300/00

  Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle · CPC title

• B60R1/00

  Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles · CPC title

• E02F9/24

  Safety devices {, e.g. for preventing overload (E02F9/226 takes precedence)} · CPC title

• E02F9/261 Primary

  Surveying the work-site to be treated · CPC title