Work vehicle, object indicating system and method of indicating position of object

Abstract

A method of indicating a relative position of an object to an operator of a work vehicle, an object indication system, and a work vehicle are provided. The method includes sensing the object by one or more sensors positioned at one or more sensor locations on the work vehicle; and based on the sensing of the object by the one or more sensors, activating one or more indicators positioned at one or more indicator locations relative to the operator. Each sensor location corresponds in a direction to one or more of the indicator locations.

Description

Technical Field

[0001] This invention relates to a work vehicle, an object indicating system, and a method for indicating the position of an object. Background Technology

[0002] Construction vehicles operate within a work area to perform tasks such as soil removal, agricultural work, traction, and other operations, and these vehicles may occasionally or frequently move to new locations within or outside the work area. The construction vehicles may have one or more working tools that operate within the work area to perform various tasks. Multiple construction vehicles, other equipment, personnel, and / or moving and / or stationary objects may operate and / or be positioned together within the work area. Personnel and operators of the construction vehicles, as well as other equipment, maintain awareness of the construction vehicles, equipment, and other personnel and objects within the work area. In a non-limiting example, the operator of a construction vehicle may be positioned in the operator's station of the construction vehicle, and before or simultaneously with controlling the movement or other operation of the construction vehicle and / or operating the working tools of the construction vehicle to perform one or more tasks within the work area, the operator of the construction vehicle visually inspects the surrounding environment of the construction vehicle. Summary of the Invention

[0003] Various aspects of the examples of this disclosure are set forth in the claims.

[0004] According to one aspect of this disclosure, a method is provided to indicate to an operator of a work vehicle the relative position of an object located at a distance from the work vehicle. The method includes: sensing the object by one or more sensors from a plurality of sensors positioned at a plurality of sensor locations on the work vehicle; and, based on the sensing of the object by the one or more sensors, activating one or more indicators from a plurality of indicators positioned relative to the operator at a plurality of indicator locations, each of the plurality of sensor locations corresponding in a direction to one or more of the plurality of indicator locations.

[0005] According to another aspect of this disclosure, an object indicating system is provided for instructing an operator of a work vehicle on the relative position of an object located at a distance from the work vehicle. The object indicating system includes: a plurality of sensors configured to be positioned at a plurality of sensor locations on the work vehicle and configured to sense the object; and a plurality of indicators configured to be positioned at a plurality of indicator locations corresponding in an orientation to the plurality of sensor locations and configured to be activated based on the sensing of the object.

[0006] According to another aspect of this disclosure, a work vehicle configured to be controlled by an operator in a work area is provided. The work vehicle includes: an operator station configured to position the operator; a plurality of sensors distributed at a plurality of sensor positions relative to the operator, oriented away from the operator, and configured to sense objects; and a plurality of indicators distributed at a plurality of indicator positions at the operator station corresponding to the plurality of sensor positions to indicate to the operator the relative position of the object.

[0007] The above and other features will become apparent from the following description and accompanying drawings. Attached Figure Description

[0008] For a detailed description of the accompanying drawings, please refer to the accompanying drawings, in which:

[0009] Figure 1 The figure shows a top view of a work vehicle and object indication system according to an embodiment of the present disclosure;

[0010] Figure 2 The figure shows a top view of the operator's station of a work vehicle according to an embodiment of the present disclosure; and

[0011] Figure 3 The diagram illustrates a method for indicating the relative position of an object to the operator of a work vehicle.

[0012] Throughout the various figures, the same reference numerals are used to indicate the same elements. Detailed Implementation

[0013] By referring to the attached figures Figures 1 to 3 To understand at least one embodiment of the subject matter of this disclosure.

[0014] Now for reference Figure 1 An embodiment of this disclosure illustrates a work vehicle 10. The work vehicle 10 of the illustrated embodiment is a front-loading construction vehicle, but in additional embodiments, the work vehicle 10 includes any other vehicle configured for construction, agriculture, or forestry, or any other vehicle configured for on-road or off-road use. The work vehicle 10 of the illustrated embodiment includes work tools 12. Although Figure 1The work vehicle 10 is illustrated with a bucket as the work tool 12, but the work tool 12 in one or more embodiments includes any one or more construction, agricultural, or other attachments, implements, or work tools that are coupled to the front end 14, the rear end 28, or any other location relative to the work vehicle 10, or configured to operate at the front end 14, the rear end 28, or any other location relative to the work vehicle 10. The work vehicle 10 of the illustrated embodiment includes four wheels 16 configured to move the work vehicle 10 relative to the ground surface, but any number of wheels, tracks, and / or other ground engagement components, or combinations of wheels, tracks, and / or other ground engagement components, may be included in additional embodiments of this disclosure. The work vehicle 10 of the illustrated embodiment also includes an operator station 18 configured to include, position, or otherwise position an operator 20 to operate the work vehicle 10. In the illustrated embodiment, the operator 20 uses one or more vehicle control units 26 to control the work vehicle 10, the work tool 12, and / or any other aspect of the work vehicle 10 from an operator position 22 located in or at the operator station 18. The vehicle control units 26 include, but are not limited to, a steering wheel, a joystick, and / or another interface or engagement device. In the illustrated embodiment, the operator station 18 includes columns 24 supporting one or more portions of the operator station 18.

[0015] An object indication system 30 is included in one or more embodiments of this disclosure. The system 30 is configured to indicate to the operator 20 of the work vehicle 10 the relative position of an object 32 located at a distance 34 from the work vehicle 10. In embodiments, the relative position of the object 32 refers to the position of the object 32 relative to the work vehicle 10. In additional embodiments of this disclosure, the relative position of the object 32 refers to the position of the object 32 relative to one or more sensors, other objects, individuals, base stations, or other locations.

[0016] Figure 1 The system 30 of the illustrated embodiment includes a plurality of sensors 36 located at or configured to be located at a plurality of sensor positions 38 on the work vehicle 10. The sensors 36 sense or are configured to sense the object 32. The sensors 36 of the illustrated embodiment include ultrasonic sensors, but the sensors 36 include one or more infrared, laser, or radar-based object sensing devices or systems, or any other object sensing devices or systems in additional embodiments of this disclosure. The sensor positions 38 of the sensors 36 in the illustrated embodiment are located at the operator station 18 and / or as shown in the figure. Figure 1 The rear end 28 shown in the diagram is located on or at the operator station 18 and / or as shown in the diagram. Figure 1 The sensor location 38 is shown at the rear end 28 in the diagram, but in other embodiments, the sensor location 38 may be located elsewhere, including on or at the front end 14, the working tool 12, and / or any other part of the working vehicle 10. Figure 1 As illustrated, the sensor 36 is distributed at sensor position 38 relative to the position of the operator 20. The sensor 36 is oriented away from the operator station 18, the operator 20, and / or the work vehicle 10, and is configured to sense the object 32. The object 32 in one or more embodiments includes any one or more fixed or movable objects, obstacles, boundaries, or other physical anomalies surrounding the area of ​​the work vehicle 10. In a non-limiting example, the object 32 includes another vehicle approaching the work vehicle 10, which the work vehicle 10 and / or the system 30 can sense and indicate to the operator 20 so that the operator 20 can control the work vehicle 10 away from the object 32. In an additional embodiment not illustrated, there are multiple objects 32 located at different positions relative to the work vehicle 10, which the work vehicle 10 and / or the system 30 simultaneously and / or separately sense and indicate to the operator 20. As depicted in the embodiments herein, the term "object" as included in any embodiment refers to any one or more objects sensed by the work vehicle 10 or the system 30.

[0017] One or more embodiments of the work vehicle 10 and / or the system 30 include a controller 46. In one embodiment, the controller 46 receives or is configured to receive one or more sensor signals from the sensors 36. The controller 46 and / or the sensors 36 associate each signal transmitted by each sensor 36 with the sensor position 38 of the sensor 36. In one embodiment, the sensor signal includes a signal distance value representing a distance 34 between the sensor 36 and the object 32. Thus, in at least one embodiment, the controller 46 receives or otherwise determines a signal position value and a signal distance value, the signal position value being based on the sensor position 38 of the signal transmitting sensor 36, and the signal distance value being based on the distance 34 between the sensor 36 and the object 32 sensed by the signal transmitting sensor 36. Figure 1As illustrated, the main signal transmitting sensor 50 senses the distance 34 between itself and the object 32 and transmits its signal distance value to the controller 46. In an additional embodiment, a secondary sensor 52, located adjacent to or close to the main sensor 50, can also sense the object 32 and provide discrete distance values ​​associated with a corresponding sensor position 38 of the secondary sensor 52. The controller 46 receives or otherwise determines a signal position value having the signal distance values ​​received from the main sensor 50 and the secondary sensor 52.

[0018] like Figure 1 and Figure 2 As shown, the system 30 in some illustrated embodiments further includes a plurality of indicators 40 positioned or configured to be positioned at a plurality of indicator positions 42 corresponding in direction to the sensor position 38. In a non-limiting example, the indicators 40 of embodiments of this disclosure provide visual, audible, and / or tactile or physical indications to one or more work vehicle controls 26, such as through vibration or motion feedback. The indicators 40 are activated based on sensing of the object 32, or are configured to be activated based on sensing of the object 32. In the illustrated embodiment, the indicators 40 are distributed at the indicator positions 42 located in, on, or otherwise at the operator station 18. In the embodiment, the indicator positions 42 correspond to the sensor position 38 to indicate the relative position of the object 32 to the operator 20. In other words, each of the indicator positions 42 is aligned with, positioned adjacent to, and / or corresponds to one or more of the sensor positions 38, such that the operator 20 associates the indication from the indicator 40 with the aligned, adjacent, or otherwise corresponding or associated sensor 36. Therefore, the operator 20 can receive indications of the position of the object 32 and / or the distance 34 of the object 32, for example, from the work vehicle 10.

[0019] In embodiments of this disclosure, each of the plurality of sensors 36 is configured to sense a distance 34 of the object from a corresponding sensor position 38 of the plurality of sensor positions 38. Each of the plurality of indicators 40 is configured to activate based on the distance 34 of the object 32 from the corresponding sensor position 38.

[0020] In embodiments of this disclosure, different numbers of indicators 40 are activated based on a distance 34 of the object 32 sensed from a corresponding sensor position 38. In a non-limiting example, a larger number of indicators 40 are activated when one of the sensors 36 senses that the object 32 has moved or has otherwise been positioned closer to the sensor 36. In a particular embodiment, a first number of the plurality of indicators 40 are configured to be activated based on a first distance of the object 32 from a corresponding sensor position. In a non-limiting example, three adjacent indicators 40 are activated based on the object 32 being within ten meters of the sensor 36, the sensor 36 having a sensor position 38 corresponding to the position of the indicator 40 located at the center of the three adjacent indicators 40. A second number of the plurality of indicators 40 are configured to be activated based on a second distance of the object 32 from a corresponding sensor position. In the non-limiting example, five adjacent indicators 40, or two additional indicators 40 at each end, are activated based on the object 32 being within five meters of the sensor 36. The sensor 36 has a sensor position 38 corresponding to the position of the indicator 40 located at the center of the five adjacent indicators 40. In a similar embodiment, as the position of the object 32 changes relative to each sensor position 38, other sensors 36 or groups of sensors 36 can be activated and / or deactivated to indicate the relative position and / or distance of the object 32 from the work vehicle 10. In a non-limiting example, an illustrative embodiment of the indicator 40 may include a series of lights aligned on a rope light or similar configuration. Various embodiments of the indicator 40 described herein may be implemented on a light strip; or via a similar configuration; or via a visual or auditory indicator 40 (referred to as a non-limiting example) installed on, in, or at the operator station 18 (such as adjacent to or around the operator 20), or on one or more pillars 24, at or adjacent to one or more bases of windows in the operator station 18, and / or at or adjacent to the edge of the roof of the operator station 18.

[0021] In various embodiments of this disclosure, the output of each of the plurality of indicators 40 is varied based on, or configured to vary based on, the distance 34 of the object 32 from the corresponding sensor position 38. In some embodiments, the plurality of indicators 40 visually indicate based on sensing the presence or position of the object 32, or are configured to visually indicate. In a non-limiting example, one or more of the indicators 40 are lamps that illuminate respectively to visually indicate the presence or position of the object 32. In another non-limiting example, the output, as the light intensity from each lamp, is modulated or varied based on the distance 34 of the object 32 from the corresponding sensor position 38.

[0022] In some embodiments, the plurality of indicators 40 provide audible indication or are configured to provide audible indication based on sensing the presence or location of the object 32. In a non-limiting example, one or more of the indicators 40 are transducers or loudspeakers that are respectively actuated to generate pulses, vibrations, or sound waves to audibly indicate the presence or location of the object 32. In another non-limiting example, the output transducer, as the volume or actuation intensity from each transducer or loudspeaker, is modulated or altered based on the distance 34 of the object 32 from the corresponding sensor position 38.

[0023] like Figure 3As illustrated in the figure, in an embodiment of this disclosure, the system 30 includes an interface member 60 coupled to or configured to be coupled to the operator 20 of the work vehicle 10. The interface member 60 includes one or more indicators 40 as described in one or more embodiments herein, the one or more indicators 40 being positioned or configured to be positioned in, on, or at the interface member 60 to indicate to the operator 20 of the work vehicle 10 the position of the object 32 relative to the operator 20. In the illustrated embodiment, the interface member 60 includes glasses 62, headphones 64, jaw interaction device 66, headwear, another device, and / or any combination thereof, these interface members 60 being mounted on, to, or at the operator 20, or mounted adjacent to the operator 20, to include, mount, support, or otherwise provide one or more of the indicators 40 for visual or auditory indication according to any embodiment described herein. Additionally, in the illustrated embodiment, the interface component 60 may include augmented reality and / or interactive features or functions to provide engagement with the operator 20 and / or one or more auditory or visual cues. In a non-limiting example, the right and left lenses of the interface component 60 may include one or more lights or other visual indicators that are activated and / or modulated based on the presence and / or position of the object 32 on the right or left side of the operator 20 and / or the work vehicle 10. Similarly, in another non-limiting example, the right and left earpieces of the interface component 60 may include one or more speakers 70, transducers, or other auditory indicators, each of which is activated and / or modulated based on the presence and / or position of the object 32 on the right or left side of the operator 20 and / or the work vehicle 10. Any indicator 40 (e.g., an indicator 40 installed in or on the operator station 18 and in or on the interface member 60, as described in the various embodiments of this disclosure) or indication function can be used interchangeably and / or in conjunction with other indicators 40 or indication functions.

[0024] In another embodiment, the system 30 and / or the work vehicle 10 includes a dynamic adapter that modulates or alters, or is configured to modulate or alter, indications made by the indicators 40 and / or other operations of the system 30 and / or the work vehicle 10, based on previous or historical inputs from observed, sensed behavior of the operator 20, or other inputs from behavior of the operator 20 following a previous indication event. In embodiments of this disclosure, the system 30 and / or the work vehicle 10 includes one or more operator sensors, instruments, and / or one or more control input devices, one or more data storage devices, and / or one or more controllers to receive inputs of the operator 20's behavior or other data related to the operator 20, and based on the inputs, to send outputs to separate controllers or one or more of the indicators 40. In a non-limiting example used for illustration, the output from the dynamic adapter is based on an input that indicates that the operator 20 has not responded adequately to previous instructions from one or more indicators 40 due to insufficient or lack of changes to the vehicle controls of the work vehicle 10. Data input to the dynamic adapter may be stored, processed, and / or used by the dynamic adapter and / or another controller in the form of a model, or stored, processed, and / or used using algorithms for the operation of the dynamic adapter, the larger system 30, and / or any other operation of the work vehicle 10 or any other system.

[0025] Now refer to this disclosure Figure 3 This disclosure also provides a method 100 for instructing the operator 20 of the work vehicle 10 on the relative position of an object 32 located at a distance 34 from the work vehicle 10. The method 100 includes, at step 110, sensing the object 32 by one or more sensors 36 positioned at one or more of the plurality of sensor locations 38 on the work vehicle 10. The method 100 further includes, at step 112, activating one or more indicators 40 positioned relative to the operator 20 at one or more indicator locations 42 based on the sensing of the object 32 by the one or more sensors 36. Each of the sensor locations 38 is positioned adjacent to, aligned with, or oriented in a manner corresponding to or otherwise corresponding to the one or more indicator locations 42, in order to indicate the relative position of the object 32 to the operator 20 of the work vehicle 10.

[0026] The method 100 of a particular embodiment further includes: sensing the object 32 by the one or more sensors 36 by sensing a distance 34 between the object 32 and the one or more sensors 36; and activating the one or more indicators 40 based on the distance 34 of the object 32. As discussed in further detail above, the method 100 of the embodiment further includes: activating a first number of indicators 40 among the one or more indicators 40 based on a first distance of the object 32; and activating a second number of indicators 40 among the one or more indicators 40 based on a second distance of the object 32. In the embodiment, the first number of indicators 40 among the one or more indicators 40 is different from the second number of indicators 40 among the one or more indicators 40. Also described in further detail above, the method 100 of the particular embodiment may further include: modulating or changing the output of the one or more indicators 40 based on the distance 34 of the object 32, for example, changing the light intensity for visual indication, or changing the amount, frequency, or other characteristics or output of sound or vibration for auditory indication. Any details, features, or functions of the work vehicle 10 or system 30 constitute part of one or more embodiments of the method 100 of this disclosure.

[0027] Without limiting the scope, interpretation, or application of the claims described below in any way, it will be understood that the work vehicle 10, the system 30, and the method 100 of the embodiments of this disclosure improve the operator 20's ability to identify (one or more) the object 32 and / or determine the location and / or distance 34 of the object 32. By providing visual and / or auditory cues to the operator 20 when one or more of the object 32 is sensed approaching the work vehicle 10, the visual and / or auditory cues can reduce or minimize disturbances to the tasks, controls, and operations performed by the operator 20. Additionally, the indicator 40 can increase the operator 20's alertness, regardless of whether the operator 20 has noticed any (one or more) object 32. Finally, the work vehicle 10, the system 30, and the method 100 improve the operator 20's perception of one or more of the objects 32 under certain conditions or events that affect the operator 20's ability to detect the area of ​​the work vehicle 10 or the area around the work vehicle 10 (such as during periods of excessive activity, noise, light, darkness, and / or dust / debris).

[0028] As used herein, “for example” is used to list examples in a non-exhaustive manner and has the same meaning as alternative descriptive phrases such as “including,” “including but not limited to,” and “including but not limited to.” As used herein, unless otherwise limited or modified, a list of elements separated by conjunctions (e.g., “and”) and also preceded by the phrases “one or more,” “at least one,” or “at least,” or similar phrases indicates a configuration or arrangement that may include individual elements in the list or any combination thereof. For example, “at least one of A, B, and C” and “one or more of A, B, and C” each indicate that there may be only A, only B, only C, or any combination of two or more of A, B, and C (A and B; A and C; B and C; or A, B, and C). As used herein, the singular forms “a,” “an,” and “described” are intended to also include the plural forms unless the context clearly indicates otherwise. Additionally, the phrases “including,” “comprising,” and similar phrases are intended to specify the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0029] While this disclosure has been illustrated and described in detail in the accompanying drawings and the preceding description, such illustrations and descriptions are to be considered non-limiting in nature. It should be understood that one or more illustrative embodiments have been shown and described, and protection is intended for all changes and modifications falling within the spirit of this disclosure. Alternative embodiments of this disclosure may not include all the features described but will still benefit from at least some of the advantages of such features. Those skilled in the art can devise their own implementations that incorporate one or more features of this disclosure and fall within the spirit and scope of the appended claims.

Claims

1. A method for instructing an operator of a work vehicle on the relative position of an object at a distance from the work vehicle, the method comprising: The object is sensed by at least one of a plurality of sensors located at multiple sensor positions on the work vehicle; and Based on the sensing of the object by at least one of the plurality of sensors, at least one of the plurality of indicators positioned relative to the operator at a plurality of indicator positions is activated and the output of at least one of the plurality of indicators is directed toward the operator, each of the plurality of sensor positions corresponding in a direction to at least one of the plurality of indicator positions; Each of the plurality of indicator positions is configured in an azimuth angle relative to the position of the operator at the operator station located on the work vehicle, and corresponds in direction to at least one of the plurality of sensor positions on the work vehicle, such that the operator associates an indication from one of the plurality of indicators with a corresponding sensor among the plurality of sensors.

2. The method of claim 1, wherein, Sensing the object with at least one of the plurality of sensors includes sensing the distance of the object from at least one of the plurality of sensors, and activating at least one of the plurality of indicators includes activating at least one of the plurality of indicators based on the distance of the object.

3. The method according to claim 2, further comprising: A first number of indicators among the plurality of indicators are activated based on a first distance from the object; and A second number of indicators among the plurality of indicators are activated based on a second distance from the object.

4. The method of claim 2, further comprising: The output of at least one of the plurality of indicators is modulated based on the distance to the object.

5. The method of claim 1, wherein, Activating at least one of a plurality of indicators includes providing a visual indication using the at least one of the plurality of indicators.

6. The method of claim 1, wherein, Activating at least one of the plurality of indicators includes providing an auditory indication using the at least one of the plurality of indicators.

7. An object indicating system for instructing an operator of a work vehicle on the relative position of an object located at a distance from the work vehicle, the object indicating system comprising: Multiple sensors are configured to be positioned at multiple sensor locations on the work vehicle and configured to sense the object; and A plurality of indicators having outputs, the plurality of indicators being configured to be positioned at a plurality of indicator positions corresponding in an direction to the plurality of sensor positions, being configured to be activated based on the sensing of the object, and being oriented to direct the outputs of the plurality of indicators toward the operator; Each of the plurality of indicator positions is configured in an azimuth angle relative to the position of the operator at the operator station located on the work vehicle, and corresponds in direction to at least one of the plurality of sensor positions on the work vehicle, such that the operator associates an indication from one of the plurality of indicators with a corresponding sensor among the plurality of sensors located on the work vehicle.

8. The object indication system of claim 7, wherein, Each of the plurality of sensors is configured to sense the distance of the object from a corresponding sensor position among the plurality of sensor positions, and each of the plurality of indicators is configured to activate based on the distance of the object from the corresponding sensor position.

9. The object pointing system of claim 8, wherein, A first number of the plurality of indicators is configured to activate based on a first distance of the object from the corresponding sensor position, and a second number of the plurality of indicators is configured to activate based on a second distance of the object from the corresponding sensor position.

10. The object indication system of claim 8, wherein, The output of each of the plurality of indicators is configured to vary based on the distance of the object from the corresponding sensor position.

11. The object indication system of claim 7, wherein, The plurality of indicators are configured to provide visual indication based on the sensing of the object.

12. The object indication system of claim 7, wherein, The plurality of indicators are configured to provide auditory indication based on the sensing of the object.

13. The object indication system of claim 7, further comprising an interface component configured to be coupled to the operator of the work vehicle, the interface component including a plurality of indicators configured to be positioned at the interface component to indicate to the operator of the work vehicle the position of the object relative to the operator.

14. The object pointing system of claim 7, wherein, The relative position of the object is its position relative to the working vehicle.

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