Determining object detection region based on articulation angle

Abstract

The controller can determine an articulation angle of the machine using the first sensor arrangement of the machine. The controller can adjust a size of the object detection region based on the articulation angle to obtain an adjusted object detection region. The object detection region can be associated with an articulation joint of the machine.

Description

Technical Field

[0001] This disclosure generally relates to determining an object detection region, and for example to determining an object detection region based on the hinge angle of a machine. Background Technology

[0002] An articulated machine includes front and rear portions configured to hinge relative to each other via an articulated joint. The articulated machine may include an object detection system to detect objects present as obstacles near the articulated joint. For example, the object detection system may detect one or more operators servicing one or more components of the machine near the articulated joint. Detecting an object near the articulated joint may alert operators within the machine's cabin and / or reduce or prevent movement of the machine while the object remains near the articulated joint. However, such an object detection system may falsely detect portions of the articulated machine as obstacles. Falsely detecting portions of the articulated machine as obstacles may disrupt machine operation.

[0003] U.S. Patent No. 10,421,400 (the '400 patent) discloses an environmental monitoring system for a work vehicle, comprising a bending angle data acquisition unit that acquires bending angle data between the front and rear of the vehicle body, and an image data acquisition unit that acquires captured images by taking pictures using multiple cameras. The '400 patent also discloses that the environmental monitoring system further includes a determiner for identifying the bending angle range to which a bending angle belongs from multiple bending angle ranges, a selector for selecting representative images belonging to the determined bending angle range from multiple representative images, and a display controller that causes a display to simultaneously show a generated bird's-eye view image and the selected representative image.

[0004] Although the '400 patent discloses an environmental monitoring system, it does not solve the problem of incorrectly detecting parts of articulated machines as obstacles.

[0005] The controller disclosed herein addresses one or more of the problems described above and / or other problems in the art. Summary of the Invention

[0006] In some embodiments, a method performed by a controller of a machine includes: detecting a change in a hinge angle of the machine based on information from a first sensor device of the machine, wherein the hinge angle is associated with a hinge joint of the machine; and adjusting the size of an object detection area based on the detected change in the hinge angle to obtain an adjusted object detection area, wherein the object detection area is associated with a hinge joint of the machine.

[0007] In some embodiments, a controller for a machine includes: one or more memories; and one or more processors configured to: determine a hinge angle of the machine using a first sensor device of the machine; and adjust the size of an object detection area based on the hinge angle to obtain an adjusted object detection area associated with the hinge joint of the machine.

[0008] In some embodiments, a system includes: one or more sensor devices of a machine; and a controller of the machine, the controller being configured to: determine an articulation angle of the machine based on the one or more sensor devices; and identify a portion of an object detection area associated with an articulated joint of the machine based on the articulation angle of the machine. Attached Figure Description

[0009] Figure 1 This is a diagram of the example machine described in this article.

[0010] Figure 2A and 2B This is a diagram of an example implementation described in this article.

[0011] Figure 3 It is possible to be with Figure 1 A diagram of the example system described herein, implemented in association with the machine.

[0012] Figure 4 This is a flowchart of an example process related to determining the object detection area based on the machine's hinge angle. Detailed Implementation

[0013] This disclosure relates to a process for determining an object detection area based on the hinge angle of a machine. The term "machine" can refer to a machine that performs operations associated with an industry (e.g., mining, construction, agriculture, transportation, or other types of industries). Furthermore, one or more implements can be attached to the machine. The process for determining the object detection area based on the hinge angle of a machine is applicable to articulated machines. The term "articulated machine" can refer to a machine comprising a front portion and a rear portion configured to hinge to each other via an articulated joint of the articulated machine.

[0014] Figure 1 This is a diagram of the example machine 100 described in this article. (See diagram for example.) Figure 1 As shown, machine 100 is embodied as a motorized grader. Alternatively, machine 100 can be another type of articulated machine, such as a wheel loader, dump truck, articulated soil compactor, etc.

[0015] like Figure 1As shown, machine 100 includes a steerable traction device 102, a driven traction device 104, a frame 106 connecting the steerable traction device 102 to the driven traction device 104, a power source 108 supported by the driven traction device 104, and a transmission device (not shown) configured to transmit power from the power source 108 to the driven traction device 104. Machine 100 also includes working implements, such as a lever-circle-plow assembly (DCM) 110 and a control system 112.

[0016] The steerable traction device 102 includes one or more wheels 114 located on each side of the machine 100 (only one side is shown). Additionally or alternatively, the steerable traction device 102 may include tracks, belts, or other traction devices. The wheels 114 may be rotatable about a vertical axis 116 for use during steering.

[0017] Driven traction device 104 includes wheels 120 located on each side of machine 100 (only one side is shown). Additionally or alternatively, driven traction device 104 may include tracks, belts, or other traction devices. Frame 106 may connect steerable traction device 102 to driven traction device 104. Frame 106 may include articulated joints 122 connecting driven traction device 104 to frame 106.

[0018] The power source 108 can be an engine, such as a diesel engine, gasoline engine, natural gas engine, or other type of engine. Alternatively, the power source 108 can be another power source, such as a fuel cell, an energy storage device, or another type of power source.

[0019] DCM 110 includes a tie rod assembly 124 supported by a hydraulic jack assembly at the center of frame 106 and connected to the front portion of frame 106 via a ball joint 126. DCM 110 can be positioned vertically and horizontally relative to frame 106. A circle assembly 128 can be connected to tie rod assembly 124 via an additional hydraulic jack and can be configured to support a plow plate assembly 130 having blade 132. DCM 110 can rotate the circle assembly 128 and plow plate assembly 130 relative to tie rod assembly 124 (e.g., about an axis of rotation). Blade 132 can be positioned horizontally and vertically and oriented relative to circle assembly 128. In some examples, DCM 110 may include another working implement, such as a soil splitter, bucket, or another type of working implement.

[0020] The control system 112 may include one or more buttons, joysticks, levers, user interfaces, etc., for controlling the movement of the machine 100. The control system 112 can control the rotation angles associated with the DCM 110, the pull rod assembly 124, the circle assembly 128, and / or the plow assembly 130. The control system 112 can tilt the wheel 114 about the horizontal axis 118 to counteract the reaction force caused by the DCM 110 engaging the working surface, or adjust the height of the DCM 110. The control system 112 can control the tilt angle of the wheel 114. The control system 112 can further control the articulation angle of the machine 100 (e.g., via articulation joint 122). For example, the control system 112 can articulate the machine 100 with the steerable traction device 102 relative to the driven traction device 104 via articulation joint 122.

[0021] like Figure 1 As shown, machine 100 also includes an operator's compartment 134, a controller 140 (e.g., an electronic control module (ECM)), an articulation area sensor device 150, an articulation sensor device 160, a front section 162, and a rear section 164. The operator's compartment 134 may include a control system 112. The controller 140 may include one or more memories and one or more processors. The controller 140 may receive information identifying objects detected in the object detection area.

[0022] The object detection area may correspond to a detectable area associated with the articulated joint 122, where one or more objects can be detected. The object detection area may include a region within a threshold distance of the articulated joint 122. The object detection area may be defined using a two-dimensional Cartesian coordinate system, a three-dimensional Cartesian coordinate system, etc. In some examples, the object detection area and / or threshold distance may be determined by the controller 140 (e.g., based on identifying the object detection area, the threshold distance, detected objects (e.g., including portions of machine 100), etc.). Additionally or alternatively, the object detection area and / or threshold distance may be determined by an operator associated with machine 100. Information identifying the object detection area and / or the threshold distance may be stored in memory associated with machine 100, memory of controller 140, etc. The object detection area and / or threshold distance are combined below. Figure 2A and 2B discuss.

[0023] The controller 140 can determine the hinge angle portion of the object detection area, as shown below. Figure 2A and 2B To explain in more detail. The hinge angle portion may correspond to a part of the object detection area defined by the hinge angle of machine 100 (e.g., the portion corresponding to the hinge angle), as shown below. Figure 2A and 2BTo explain in more detail. The articulated angle portion can exclude parts of machine 100 (e.g., components of machine 100) to prevent incorrect detection of parts of the articulated machine as obstacles. Controller 140 can determine whether an object is detected in the articulated angle portion and ignore objects identified in the machine portion of the object detection area. The machine portion can correspond to the remaining portion of the excluded articulated angle portion of the object detection area, as described below. Figure 2A and 2B To explain in more detail: A machine part may include a portion of machine 100 (e.g., a component of machine 100).

[0024] The articulated area sensor device 150 may include means for detecting objects in an object detection area (associated with the articulated joint 122) and transmitting (e.g., to the controller 140) object detection information (e.g., sensor data) identifying objects detected in the object detection area. The articulated area sensor device 150 may include a light detection and ranging (LIDAR) device, a sound navigation and ranging (SONAR) device, a radio detection and ranging (RADAR) device, a camera, etc.

[0025] In some examples, the articulated area sensor device 150 may be configured (e.g., by the controller 140, operator, etc.) to identify objects within an object detection area. For example, the articulated area sensor device 150 may be configured (e.g., by the controller 140, operator, etc.) to identify information about the object detection area and / or information about the identification threshold distance.

[0026] The articulation area sensor device 150 may be located at one or more locations on the outer surface of the machine 100, which facilitates the detection of objects in the object detection area. For example, the articulation area sensor device 150 may be located at one or more locations on the outer surface of the machine 100, within a threshold distance of the articulation joint 122.

[0027] In some implementations, the articulated area sensor device 150 may be configured to manually change the object detection orientation (e.g., the orientation in which the articulated area sensor device 150 detects an object). For example, the articulated area sensor device 150 may be configured to change the object detection orientation based on manual adjustments by one or more operators associated with machine 100 (e.g., using input from a user interface in operator room 134, using input from one or more user interfaces of a user device, using manual adjustments based on physical interactions between one or more operators and the articulated area sensor device 150, etc.). Alternatively, the articulated area sensor device 150 may be configured to automatically change the object detection orientation (e.g., based on movement of machine 100, orientation of machine 100, etc.).

[0028] The articulation sensor device 160 may include means for determining the measure of the articulation of machine 100. The measure of articulation may correspond to the articulation angle of machine 100. The articulation sensor device 160 may transmit (e.g., to controller 140) articulation angle information identifying the articulation angle of machine 100. The articulation sensor device 160 may include a rotation sensor, an inertial measurement unit (IMU), an in-cylinder sensor, etc., to determine the measure of the articulation of machine 100.

[0029] In some examples, the articulation sensor device 160 can determine the measure of the articulation between the front portion 162 and the rear portion 164 of the machine 100 via the articulation joint 122. Additionally or alternatively, the articulation sensor device 160 can determine the measure of the articulation of the steerable traction device 102 relative to the driven traction device 104. The measure of the articulation can correspond to the articulation angle of the machine 100. Additionally or alternatively, the articulation sensor device 160 can determine the measure of the steering of the steerable traction device 102 (e.g., the steering angle of the steerable traction device 102) and determine the articulation angle of the machine 100 based on the measure of the steering of the steerable traction device 102.

[0030] The articulation sensor device 160 may be located at one or more locations on the inner or outer surface of the machine 100, the locations of which help determine the articulation angle of the machine 100. For example, the articulation sensor device 160 (e.g., embodied as a rotation sensor and / or IMU) may be located on the articulated joint and may determine the measure of rotation of the articulated joint. The measure of rotation of the articulated joint may correspond to the articulation angle of the machine 100. Alternatively, the articulation sensor device 160 (e.g., embodied as an in-cylinder sensor) may be located on one or more cylinders (not shown) that articulate the machine 100 and may determine the measure of displacement of one or more cylinders. The measure of displacement may correspond to the articulation angle of the machine 100.

[0031] In some examples, the hinge sensor device 160 can monitor the hinge angle of the machine 100 and determine changes in the hinge angle. For example, the hinge sensor device 160 can periodically (e.g., every second, every ten seconds, every thirty seconds, etc.) determine the hinge angle of the machine 100 and determine changes in the hinge angle. For example, the hinge sensor device 160 can compare a hinge angle determined at a first time with a hinge angle determined at a second time, and can determine changes in the hinge angle based on the comparison. The hinge sensor device 160 can include information identifying changes in the hinge angle in the hinge angle information.

[0032] As mentioned above, providing Figure 1 As an example. Other examples may be combined with... Figure 1 The differences mentioned.

[0033] Figure 2A and 2B This is a diagram of the example implementation 200 described herein. (See diagram for example.) Figure 2A As shown, object detection area 210 (corresponding to the combination) Figure 1 The object detection region discussed may include the region within the threshold distance (D) of the articulated joint 122 (corresponding to the combined region). Figure 1 (Discussion threshold distance). This region can have shapes such as circular, elliptical, oval, square, rectangular, etc.

[0034] The object detection region 210 may correspond to a three-dimensional space defined by the region within a threshold distance (D), the top surface of the machine 100 (e.g., a plane parallel to the top surface), and the ground on which the machine 100 travels (e.g., a plane parallel to the ground). As an example, the object detection region 210 may have a shape such as a sphere, a cube, etc. The shape of the object detection region 210 is provided only as an example. Other examples may differ from those described regarding shape.

[0035] like Figure 2A As shown, machine 100 can be hinged to a hinge angle (A). The hinge angle (A) can define the angle between the front portion 162 and the rear portion 164. The hinge angle (A) can correspond to an angle included within the possible hinge angle range of machine 100. In some examples, the value of the hinge angle (A) can indicate one side (e.g., left or right) of the front portion 162 and one side (e.g., left or right) of the rear portion 164 that forms the hinge angle (A).

[0036] For example, the value of the hinge angle (A) that satisfies the threshold angle can indicate the angle formed between the right side of the front portion 162 and the right side of the rear portion 164. Conversely, the value of the hinge angle (A) that does not satisfy the threshold angle can indicate the angle formed between the left side of the front portion 162 and the left side of the rear portion 164. Figure 2A As shown, the hinge angle (A) is formed between the right side of the front portion 162 and the right side of the rear portion 164.

[0037] like Figure 2B As shown, the object detection area 210 may include a hinge angle portion 220 (corresponding to the joint). Figure 1 The hinge angle section under discussion) and machine section 230 (corresponding to the joint) Figure 1(Discussing the machine portion). The hinge angle portion 220 may correspond to a portion of the object detection area 210 defined by the hinge angle (A) formed between the front portion 162 (e.g., one side of the front portion 162) and the rear portion 164 (e.g., one side of the rear portion 164). The hinge angle portion 220 may include the space defined by the hinge angle (A), the front portion 162 (e.g., one side of the front portion 162), and the rear portion 164 (e.g., one side of the rear portion 164).

[0038] For example, such as Figure 2B As shown, the hinge angle portion 220 may correspond to a portion of the object detection region 210 defined by the hinge angle (A) formed between the right side of the front portion 162 and the right side of the rear portion 164. The boundary of the hinge angle portion 220 (e.g., the boundary of the portion of the object detection region 210 corresponding to the hinge angle portion 220) may be defined by the value of the hinge angle (A), the right side of the front portion 162, and the right side of the rear portion 164. As described above, the hinge angle portion 220 may exclude portions of the machine 100 (e.g., components of the machine 100) to prevent erroneous detection of portions of the articulated machine as obstacles. The machine portion 230 may correspond to the remaining portion of the object detection region 210 that excludes the hinge angle portion 220.

[0039] In some examples, based on the value of the hinge angle (A), the controller 140 can identify one side (e.g., left or right) of the front portion 162 forming the hinge angle (A) and one side (e.g., left or right) of the rear portion 164 forming the hinge angle (A) in a manner similar to that described above. Based on the value of the hinge angle (A), the identification side of the front portion 162, and the identification side of the rear portion 164, the controller 140 can identify the hinge angle portion 220 corresponding to the hinge angle (A). For example, the controller 140 can determine the boundary of the hinge angle portion 220, the area associated with the hinge angle portion 220, the size of the hinge angle portion 220, the dimensions associated with the hinge angle portion 220, etc., based on the value of the hinge angle (A), the identification side of the front portion 162 forming the hinge angle (A), and the identification side of the rear portion 164 forming the hinge angle (A).

[0040] In some examples, as machine 100 continues to move, it may further hinge in a direction corresponding to the hinge angle (A), thus reducing the space defined by the hinge angle (A), the front portion 162, and the rear portion 164. In this regard, controller 140 may analyze the hinge angle portion 220 (instead of machine portion 230) to prevent machine 100 from further hinged in such a direction if an object is located within the hinge angle portion.

[0041] In some examples, controller 140 may determine one or more hinge angle portions that are included in the possible hinge angle range of machine 100 in a manner similar to that described above. For example, controller 140 may obtain information identifying the possible hinge angle range of machine 100 (e.g., from memory associated with machine 100) and may determine one or more hinge angle portions corresponding to one or more hinge angles (included in the possible hinge angle range of machine 100).

[0042] Controller 140 may store in association in a data structure information identifying one or more hinge angles and information identifying one or more hinge angle portions corresponding to one or more hinge angles, as follows: Figure 3 The information identifying one or more hinge angles may include one or more values ​​of the one or more hinge angles. The information identifying one or more hinge angle portions may include information such as the boundaries of the one or more hinge angle portions, the regions associated with the one or more hinge angle portions, the size of the one or more hinge angle portions, and the dimensions associated with the one or more hinge angle portions.

[0043] As mentioned above, providing Figure 2A and 2B As an example, other examples can be combined. Figure 2A and 2B The descriptions are different.

[0044] Figure 3 It is possible to be with Figure 1 A diagram of the example system 300 described herein, implemented in association with a machine (e.g., machine 100). Figure 3 As shown, system 300 includes controller 140, articulated area sensor device 150, articulated sensor device 160, user device 330, and data storage device 340.

[0045] The controller 140 may include one or more processors 310 (referred to herein solely as "processor 310" and collectively as "processor 310") and one or more memories 320 (referred herein solely as "memory 320" and collectively as "memory 320"). The processor 310 is implemented in hardware, firmware, and / or a combination of hardware and software. The processor 310 is a central processing unit (CPU), graphics processing unit (GPU), accelerated processing unit (APU), microprocessor, microcontroller, digital signal processor (DSP), field-programmable gate array (FPGA), application-specific integrated circuit (ASIC), or another type of processing unit. The processor 310 can be programmed to perform functions.

[0046] Memory 320 includes random access memory (RAM), read-only memory (ROM), and / or another type of dynamic or static storage device (e.g., flash memory, magnetic storage, and / or optical storage) that stores information and / or instructions for use by processor 310 to perform functions. For example, when performing a function, controller 140 (e.g., using processor 310 and memory 320) can obtain information identifying an object detection area, object detection information (e.g., from hinge area sensor device 150), and hinge angle information (e.g., from hinge sensor device 160). Controller 140 can identify a hinge angle portion of the object detection area corresponding to the hinge angle of machine 100 and analyze a portion of the object detection information corresponding to the hinge angle portion to determine whether an object is detected in the hinge angle portion.

[0047] In some cases, the controller 140 may use one or more object detection techniques (e.g., Single Shot Detector (SSD) technology, You Only See Once (YOLO) technology, etc.) to analyze a portion of the object detection information (e.g., when the object detection information includes image data) to determine whether an object is detected in the hinge angle portion.

[0048] The articulation area sensor device 150 can be configured to send object detection information (e.g., lidar data, sonar data, radar data, image data, etc.) to the controller 140 so that the controller 140 can analyze the object detection information and determine, based on the analysis, whether an object is detected in the articulation angle portion. In some examples, the articulation area sensor device 150 can (e.g., by the controller 140 and / or the operator) be configured to detect objects in the articulation angle portion and ignore objects in the machine portion. Alternatively, the articulation area sensor device 150 can (e.g., by the controller 140 and / or the operator) be configured to transmit a portion of the object detection information corresponding to the articulation angle portion (e.g., the portion identifying the object detected in the articulation angle portion) and ignore the remaining portion of the object detection information (e.g., ignoring the portion of the object detection information corresponding to the machine portion).

[0049] By configuring the articulation area sensor device 150 to detect objects in the articulation angle portion and transmit object detection information corresponding to the articulation angle portion, the articulation area sensor device 150 can prevent parts of the machine 100 from being mistakenly detected as obstacles. In some examples, the articulation area sensor device 150 can be configured to transmit object detection information to the controller 140 based on a request from the controller 140.

[0050] Additionally or alternatively, the articulated area sensor device 150 may be configured to periodically (e.g., every thirty seconds, every minute, every five minutes, upon triggering, etc.) transmit object detection information to the controller 140. In some examples, the articulated area sensor device 150 may be pre-configured with a time period for transmitting object detection information. Alternatively, the time period for transmitting object detection information may be determined by an operator associated with machine 100. Alternatively, the time period for transmitting object detection information may be determined by the controller 140 (e.g., based on historical object detection data about machine 100). Historical object detection data may include historical data regarding the time period for transmitting object detection information, the movement frequency of machine 100, etc.

[0051] The articulation sensor device 160 can be configured to transmit articulation angle information to the controller 140, enabling the controller 140 to determine the articulation angle of the machine 100 and the articulation angle portion of the object detection area corresponding to the articulation angle (ignoring the machine portion of the object detection area). The articulation sensor device 160 can be configured to transmit articulation angle information to the controller 140 based on a request from the controller 140.

[0052] Additionally or alternatively, the articulation sensor device 160 may be configured to periodically (e.g., every second, every ten seconds, every thirty seconds, upon triggering, etc.) transmit articulation angle information to the controller 140. In some examples, the articulation sensor device 160 may be pre-configured with a time period for transmitting the articulation angle information. Alternatively, the time period for transmitting the articulation angle information may be determined by an operator associated with machine 100. Alternatively, the time period for transmitting the articulation angle information may be determined by the controller 140 (e.g., based on articulation history data about machine 100). The articulation history data may include historical data regarding the time period for transmitting the articulation angle information, the movement frequency of machine 100, etc.

[0053] User device 330 may include a smartphone, laptop computer, tablet computer, remote control for remotely controlling machine 100, etc. User device 330 may be used to control the operation of machine 100, configure controller 140, configure hinge area sensor device 150, configure hinge sensor device 160 and / or configure data storage device 340.

[0054] Data storage device 340 may include means for storing data structures (e.g., databases, linked lists, tables, etc.). The data structures may store information related to different hinge angles of the identification machine 100 and the corresponding size information of different hinge angle portions of the object detection area associated with the hinge angles. The information for identifying the hinge angles may include the value of the hinge angle.

[0055] The size information of the hinge angle portion may include information that can be used to identify the hinge angle portion, such as information identifying the boundary of the hinge angle portion, the area associated with the hinge angle portion, the size of the hinge angle portion, and the dimensions associated with the hinge angle portion. The hinge angle portion may be based on the amount of space between the front portion 162 and the rear portion 164 of the machine 100, resulting from the machine 100 hinged to the hinge angle.

[0056] The controller 140 can use size information to adjust the size of the object detection area to determine whether an object is detected in the hinge section. In this respect, the size of the object detection area may increase as the hinge angle increases, and conversely, the size of the object detection area may decrease as the hinge angle decreases.

[0057] In the data structure, the information for identifying the first hinge angle can be associated with the first size information of the first hinge angle portion of the object detection area, the information for identifying the second hinge angle can be associated with the second size information of the second hinge angle portion of the object detection area, and so on.

[0058] In some embodiments, information for identifying different hinge angles and / or for identifying the size of different hinge angle portions of the object detection area can be provided by the controller 140 (to the data storage device 340), as described above. Figure 2A and 2B Discussion. Additionally or alternatively, information identifying different hinge angles and / or the size information of different hinge angle portions of the object detection area can be provided by an operator associated with machine 100 (to data storage device 340). The operator can use an operator-associated device to provide information identifying different hinge angles and / or the size information of different hinge angle portions. The operator-associated device may include user device 330, a user interface included in operator room 134, etc.

[0059] For example, an operator can use the device to obtain information identifying a machine 100 hinged to a first hinge angle (e.g., from memory associated with the machine 100). The information identifying the machine 100 (hinged to the first hinge angle) may include a three-dimensional depiction of the machine 100 hinged to the first hinge angle. The three-dimensional depiction may include information identifying an object detection area. The three-dimensional depiction, including the object detection area, may be provided to the operator via a display of the device.

[0060] The operator can interact with the display to select a first hinge angle portion (of the object detection area). For example, the operator can interact with the display (e.g., with haptic feedback) to select information identifying the first hinge angle portion (e.g., selecting the boundary of the first hinge angle portion, the area associated with the first hinge angle portion, the size of the first hinge angle portion, the dimensions associated with the first hinge angle portion, etc.). Additionally or alternatively, the operator can use the device to input text information for identifying the first hinge angle portion.

[0061] An operator can use the device and store, in association, information identifying the first hinge angle and first size information identifying the portion of the first hinge angle in the data structure of the data storage device 340. The operator can perform similar actions to store, in association, information identifying the second hinge angle and second size information identifying the portion of the second hinge angle in the data storage device 340, and so on.

[0062] In some embodiments, the controller 140 may obtain information from the hinge area sensor device 150, the hinge sensor device 160, and / or the data storage device 340 to determine whether object detection information corresponding to the hinge angle of the machine 100 is detected in the hinge angle portion, as described in more detail below. In some examples, the controller 140 may obtain hinge angle information, including information identifying the hinge angle of the machine 100, from the hinge sensor device 160. The controller 140 may determine the hinge angle of the machine 100 based on the information identifying the hinge angle. The controller 140 may determine the hinge angle to determine whether an object is detected in the hinge angle portion corresponding to the hinge angle, and thereby prevent parts of the machine 100 from being mistakenly detected as obstacles.

[0063] In some examples, controller 140 can transmit hinge angle requests containing hinge angle information to hinge sensor device 160, and can receive hinge angle information from hinge sensor device 160 based on the hinge angle requests. For example, controller 140 can periodically transmit hinge angle requests containing hinge angle information to hinge sensor device 160 (e.g., every second, every ten seconds, every thirty seconds, etc.). The time period for transmitting hinge angle requests can be determined by controller 140 (e.g., based on historical data about machine 100). Historical data can be stored in memory associated with machine 100 and can include historical data about the time period for transmitting hinge angle requests containing hinge angle information, the movement frequency of machine 100, etc.

[0064] Additionally or alternatively, controller 140 may periodically receive hinge angle information from hinge sensor device 160 in a manner similar to that described herein. Additionally or alternatively, controller 140 may transmit a hinge angle request to hinge sensor device 160 based on controller 140 detecting one or more events, and may receive hinge angle information from hinge area sensor device 150 based on the hinge angle request. For example, one or more events may include receiving an object detection request from an operator associated with machine 100 to determine whether an object has been detected in an object detection area. The operator may transmit the object detection request via a user interface of operator room 134, via user device 330, etc.

[0065] Additionally or alternatively, one or more events may include detecting movement of machine 100 based on input from control system 112, detecting steering of machine 100 based on input from control system 112 (e.g., steering of steerable traction device 102 and / or wheel 114), etc.

[0066] In some examples, controller 140 can detect changes in the hinge angle of machine 100 based on hinge angle information. For example, the hinge angle information may include information identifying changes in the hinge angle, as described above. Additionally or alternatively, controller 140 can compare a hinge angle (identified in the hinge angle information) with a hinge angle (identified in previous hinge angle information). Controller 140 can determine a change in the hinge angle based on this comparison. Controller 140 can determine whether an object is detected in the hinge angle portion of the object detection area corresponding to the hinge angle based on detecting the change in the hinge angle.

[0067] The controller 140 can adjust the size of the object detection area based on the hinge angle to obtain an adjusted object detection area, as described herein. The controller 140 can adjust the size of the object detection area to obtain the adjusted object detection area in order to determine whether an object is detected within the adjusted object detection area, thereby preventing parts of the machine 100 from being mistakenly detected as obstacles.

[0068] In some examples, controller 140 may obtain information about the object detection region from memory associated with controller 140. Controller 140 may obtain the object detection region information based on determining the hinge angle, receiving an object detection request, or receiving a request to identify the object detection region.

[0069] After obtaining information about the object detection area, the controller 140 can obtain size information associated with the hinge angle from the data storage device 340. For example, after receiving the hinge angle information, the controller 140 can use the information about the hinge angle (included in the hinge angle information) to obtain size information. The size information can identify the hinge angle portion of the object detection area corresponding to the hinge angle. The controller 140 can identify the hinge angle portion (corresponding to the hinge angle) of the object detection area based on the size information (obtained using the information about the hinge angle).

[0070] The controller 140 can adjust the size of the object detection region based on the hinge angle portion (corresponding to the hinge angle) to obtain an adjusted object detection region. The controller 140 can adjust the size of the object detection region to correspond to the hinge angle portion. For example, the controller 140 can identify the boundary of the hinge angle portion (e.g., identified in size information) and adjust the size of the object detection region based on the boundary of the hinge angle portion. Therefore, the size of the object detection region can be adjusted to correspond to the size of the boundary of the hinge angle portion, regardless of the object detected in the machine part (associated with the hinge angle).

[0071] The controller 140 may increase the size of the adjusted object detection area as the hinge angle increases (e.g., as the final hinge angle of the machine 100 increases). Alternatively, the controller 140 may decrease the size of the adjusted object detection area as the hinge angle decreases (e.g., as the final hinge angle of the machine 100 decreases). In some examples, the size of the object detection area (before adjustment) may correspond to a default size or a size based on the last adjustment of the object detection area (e.g., based on an adjustment of a previous portion of the hinge angle).

[0072] The controller 140 may store information about the adjusted object detection region in a memory associated with the controller 140. This information may include the size of the adjusted object detection region, its boundaries, and other details. In some embodiments, the controller 140 may use this information to configure the articulated area sensor device 150 so that it detects objects within the adjusted object detection region (rather than detecting objects within the entire object detection region).

[0073] For example, controller 140 may obtain information about the adjusted object detection area (e.g., from memory associated with controller 140) and / or information about the size of the hinge angle portion (e.g., using hinge angle information). Controller 140 may configure hinge area sensor device 150 to detect objects located within the hinge angle portion and ignore objects located outside the hinge angle portion (e.g., objects located within the machine portion) using the information about the adjusted object detection area and / or the information about the size of the hinge angle portion. In this respect, hinge area sensor device 150 may include information about objects detected within the hinge angle portion and exclude information about objects detected within the machine portion in the object detection information.

[0074] In some examples, controller 140 may determine whether the speed of machine 100 meets a threshold speed before adjusting the size of the object detection area. For example, controller 140 may use a speed sensor device (not shown) of machine 100 to determine the speed of machine 100. The speed sensor device may include means for detecting and / or monitoring the speed of machine 100 (e.g., engine speed sensor, accelerometer, etc.). Information identifying the threshold speed may be stored in memory associated with machine 100. The threshold speed may be determined by an operator associated with machine 100, determined by controller 140 (e.g., based on historical data identifying threshold speeds associated with objects in the object detection area), etc.

[0075] The controller 140 can obtain information about the speed of the identification machine 100 from the speed sensor, obtain information about the identification threshold speed from the memory associated with the machine 100, and compare the speed with the threshold speed to determine whether the speed meets the threshold speed. If the speed of the machine 100 does not meet the threshold speed, the controller 140 can continue to adjust the size of the object detection area. If the speed of the machine 100 meets the threshold speed, the controller 140 can stop adjusting the size of the object detection area and determine whether an object is detected in the adjusted object detection area (e.g., because the speed of the machine 100 that meets the threshold speed can prevent the machine 100 from further hinged in the direction corresponding to the hinge angle).

[0076] The controller 140 can determine, based on information from the articulated area sensor device 150, that an object has been detected in the adjusted object detection area. By determining that an object has been detected in the adjusted object detection area, the controller 140 can prevent parts of the machine 100 from being mistakenly detected as obstacles.

[0077] To determine whether an object is detected in the adjusted object detection area, the controller 140 may transmit a detection area request containing object detection information to the hinge area sensor device 150. For example, the controller 140 may transmit the detection area request to the hinge area sensor device 150 (e.g., based on determining the hinge angle of the machine 100, based on adjusting the size of the object detection area, etc.) and obtain object detection information from the hinge area sensor device 150. Alternatively, the controller 140 may transmit a detection area request to the hinge area sensor device 150 based on receiving an object detection request, and obtain object detection information from the hinge area sensor device 150 based on the detection area request.

[0078] Alternatively, controller 140 may periodically (e.g., in a manner similar to that described herein with respect to transmitting hinge angle requests) transmit detection region requests to hinge region sensor device 150 and obtain object detection information from hinge region sensor device 150. In some cases, the object detection request may include information identifying the adjusted object detection region and / or identifying the size information of the hinge angle portion so that hinge region sensor device 150 detects objects included in the hinge angle portion of the object detection region (rather than detecting objects included in the entire object detection region).

[0079] Alternatively, controller 140 may obtain object detection information previously received from articulated area sensor device 150 (hereinafter referred to as "previous object detection information") from a memory (e.g., memory 320) associated with controller 140. For example, if the previous object detection information was obtained from articulated area sensor device 150 within a threshold time period from the receipt of the detection area request (before the detection area request), controller 140 may obtain the previous object detection information from the memory associated with controller 140.

[0080] The controller 140 can analyze object detection information to determine whether any object is detected in the adjusted object detection area. For example, based on information used to identify the adjusted object detection area and / or based on an object detection request (including information to identify the adjusted object detection area and / or information to identify the size of the hinge angle portion (as described above)), the object detection information can include information about objects located within the hinge angle portion and exclude information about objects located outside the hinge angle portion (e.g., within part of machine 100).

[0081] Alternatively, if the object detection information includes information about the entire object detection area, the controller 140 can analyze the object detection information (e.g., using information identifying the adjusted object detection area and / or information identifying the size of the hinge angle portion). Based on this analysis, the controller 140 can determine whether an object is detected in the portion of the object detection information corresponding to the adjusted object detection area, and ignore any information outside the portion of the object detection information corresponding to the adjusted object detection area (e.g., ignoring any objects detected outside the portion of the object detection information corresponding to the adjusted object detection area).

[0082] For example, controller 140 can use size information (identifying the hinge angle portion) to identify a portion of the object detection information corresponding to the adjusted object detection area. Alternatively, controller 140 can obtain information identifying the adjusted object detection area from a memory associated with controller 140 and use the information identifying the adjusted object detection area to identify a portion of the object detection information corresponding to the adjusted object detection area. Controller 140 can analyze the portion of the object detection information corresponding to the adjusted object detection area to determine whether an object is detected in that portion of the object detection information corresponding to the adjusted object detection area (without analyzing any information outside that portion of the object detection information corresponding to the adjusted object detection area).

[0083] Controller 140 can analyze a portion of the object detection information (corresponding to the hinge angle) to determine whether such a portion includes information indicating that an object has been detected in that portion. As a result of the analysis, controller 140 can detect the object. In some examples, controller 140 can use one or more object detection techniques (e.g., Single Shot Detector (SSD), You Only See Once (YOLO), etc.) to analyze the portion of the object detection information corresponding to the hinge angle to determine whether an object has been detected in that portion of the object detection information corresponding to the hinge angle.

[0084] The controller 140 can perform actions based on objects detected in the adjusted object detection area, as described herein. In some examples, the controller 140 can prevent the movement of the machine 100. For example, the controller 140 can prevent the machine 100 from hinged, prevent the machine 100 from turning, prevent the machine 100 from moving forward and backward, etc. Additionally or alternatively, the controller 140 can cause notifications to be provided to the operator. For example, notifications may include auditory notifications (e.g., alarms), visual notifications, etc. Additionally or alternatively, the controller 140 can cause the machine 100 to hinge in a direction opposite to the direction in which the machine 100 hinges to achieve a hinge angle. For example, the controller 140 can cause the machine 100 to hinge in the opposite direction until the machine 100 reaches a specific position.

[0085] Additionally or alternatively, controller 140 may use a machine learning model to identify (or predict) the action to be performed (e.g., based on the detection of an object in an adjusted object detection region). The machine learning model may be trained using historical data (e.g., via controller 140, another device, and / or system). Historical data may include historical data on object identification, object detection regions, adjusted object detection regions, hinge angle portions, actions performed based on object detection, etc. As a result of training, the machine learning model may be used to identify (or predict) the action to be performed based on the detection of an object in the adjusted object detection region. In some implementations, the machine learning model may be updated (or retrained) based on information about object identification, the adjusted object detection region, and the actions performed based on the detection of an object in the adjusted object detection region.

[0086] Additionally or alternatively, controller 140 may transmit object detection information indicating that an object has been detected in the adjusted object detection area to a device associated with the operator. For example, controller 140 may transmit the object detection information to user device 330, a user interface of the machine 100's control room (e.g., control room 134), etc. The object detection information may include information such as identifying the object detection area, the object's position within the object detection area, and the object's position relative to the machine 100.

[0087] In some examples, based on the transmission indication that an object has been detected, controller 140 can receive information from a device associated with the operator indicating that the object is a part of machine 100. Based on the received information indicating that the object is a part of machine 100, controller 140 can update the size information (identifying the hinge angle portion) to exclude portions of the identified part from the hinge angle portion. For example, controller 140 can update the boundary of the hinge angle portion to remove portions of the identified part. Controller 140 can use the updated size information to update data storage device 340.

[0088] Provided as an example Figure 3 The number and arrangement of the devices and networks shown. In practice, with Figure 3 Compared to those shown, there may be additional devices, fewer devices, different devices, or devices with different arrangements. Furthermore, Figure 3 The two or more devices shown can be implemented within a single device, or Figure 3 The single device shown can be implemented as multiple distributed devices. Additionally or alternatively, a group of devices in system 300 (e.g., one or more devices) can perform one or more functions performed by another group of devices in system 300.

[0089] Figure 4This is a flowchart of an example process 400 associated with adjusting the object detection area based on the hinge angle. In some implementations, Figure 4 One or more process blocks can be executed by a controller (e.g., controller 140). In some implementations, Figure 4 One or more process blocks may be executed by another device or group of devices separate from or including the controller, such as articulated area sensor devices (e.g., articulated area sensor device 150), articulated sensor devices (e.g., articulated sensor device 160), and data storage devices (e.g., data storage device 340). Additionally or alternatively, the controller may use a processor (e.g., processor 310) and / or memory (e.g., memory 320) to execute these blocks. Figure 4 One or more process blocks.

[0090] like Figure 4 As shown, process 400 may include determining the hinge angle of the machine using a first sensor device of the machine (block 410). For example, a controller may use the machine's hinge sensor device to determine the hinge angle of the machine, as described herein. The first sensor device may include a hinge sensor device.

[0091] Further as Figure 4 As shown, process 400 may include adjusting the size of an object detection region based on the hinge angle to obtain an adjusted object detection region, which is associated with the hinge joint of the machine (block 420). For example, a controller may adjust the size of the object detection region based on the hinge angle to obtain the adjusted object detection region, as described herein. In some examples, adjusting the size of the object detection region includes adjusting the size of the object detection region based on the hinge angle.

[0092] In some examples, adjusting the size of the object detection region based on the hinge angle includes either increasing the size of the object detection region as the hinge angle increases, or decreasing the size of the object detection region as the hinge angle decreases. In some examples, adjusting the size of the object detection region also includes adjusting the size of the object detection region when the machine speed does not meet a threshold speed.

[0093] In some examples, adjusting the size of the object detection region includes: obtaining size information of a portion of the object detection region from a data structure associated with the machine and using information about the hinge angle, and adjusting the size of the object detection region based on the size information; and the method also includes: receiving information from the device indicating that the object is a part of the machine.

[0094] Process 400 may further include determining that an object has been detected in the adjusted object detection region based on information from the second sensor device. For example, the controller may determine that an object has been detected in the adjusted object detection region based on information from the second sensor device, as described herein. The second sensor device may include an articulated area sensor device, and the information from the second sensor device may include object detection information.

[0095] Process 400 may also include performing an action based on the detection of an object in the adjusted object detection area. For example, the controller may perform an action based on the detection of an object in the adjusted object detection area, as described herein. In some examples, performing the action includes preventing the machine from moving. In some examples, performing the action includes transmitting information indicating that an object has been detected in the adjusted object detection area to a device associated with the machine's operator.

[0096] Additionally or alternatively, the controller may transmit object detection information indicating that an object has been detected in the adjusted object detection area to a device associated with the operator. For example, the controller may transmit the object detection information to a user interface in the machine's operator's cab (e.g., operator's cab 134), an operator's user device (e.g., user device 330), etc. The object detection information may include information identifying the object detection area, the object's position within the object detection area, the machine's outline, the object's position relative to the machine, etc.

[0097] In some examples, based on the transmission indicating that an object has been detected, the controller can receive information from a device associated with the operator indicating that the object is a part of the machine. Based on the received information indicating that the object is a part of the machine, the controller can update the size information (identifying the hinge angle portion) to exclude portions of the identified part from the hinge angle portion. For example, the controller can update the boundary of the hinge angle portion to remove portions identifying the part. The controller can use the updated size information to update the data storage device.

[0098] although Figure 4 An example block of process 400 is shown, but in some implementations, it is different from... Figure 4 Compared to those shown, process 400 may include additional blocks, fewer blocks, different blocks, or blocks with different arrangements. Additionally or alternatively, two or more blocks of process 400 may be executed in parallel.

[0099] Industrial applicability

[0100] This disclosure relates to a process for determining an object detection area based on the hinge angle of a machine to prevent the erroneous detection of machine parts as obstacles. Erroneously detecting machine parts as obstacles can waste machine resources used to warn the machine operator of obstacles, can waste machine resources used to stop machine movement based on obstacle detection, can waste computational resources used by the operator to indicate that an obstacle is a part of the machine (e.g., a component of the machine), and can waste machine resources used to restore machine operation and movement, etc.

[0101] The disclosed process for determining an object detection region based on a machine's hinge angle can address the aforementioned problem of erroneously detecting parts of a machine as obstacles. For example, a controller (e.g., controller 140) can identify a portion of the object detection region corresponding to the machine's hinge angle and determine whether an object is detected within that portion of the object detection region corresponding to the machine's hinge angle. Several advantages can be associated with the disclosed process for determining an object detection region based on a machine's hinge angle.

[0102] For example, by identifying a portion of the object detection area corresponding to the hinge angle of the machine, this process can prevent parts of the articulated machine from being mistakenly detected as obstacles to the articulated machine. By preventing parts of the articulated machine from being mistakenly detected as obstacles, this process can prevent (or limit) any interruption to the operation of the articulated machine. By preventing parts of the articulated machine from being mistakenly detected as obstacles, this process can preserve computational or machine resources that would otherwise be used by the operator to warn the operator of the articulated machine, to prevent the movement of the machine, or to indicate that an object is a part of the articulated machine. By preventing parts of the articulated machine from being mistakenly detected as obstacles, this process can preserve machine resources that would otherwise be used to restore the operation and movement of the machine.

[0103] The foregoing disclosure provides illustrations and descriptions, but is not intended to be exhaustive or to limit the embodiments to the precise forms disclosed. As used herein, the articles “a” and “an” and “group” are intended to include one or more items and are interchangeable with “one or more”. Furthermore, as used herein, the article “the” is intended to include one or more items referenced in combination with the article “the” and is interchangeable with “the one or more”. Additionally, the phrase “based on” is intended to mean “at least partially based on”, unless explicitly stated otherwise. Furthermore, for ease of description, spatially relative terms such as “below,” “under,” “above,” “up,” etc., may be used herein to describe the relationship of one element or feature to one or more other elements or features, as illustrated in the figures. In addition to the orientations shown in the figures, spatially relative terms are intended to cover different orientations of devices, apparatuses, and / or elements in use or operation. Devices may be otherwise oriented (rotated 90 degrees or otherwise oriented), and the spatially relative descriptive terms used herein may be interpreted accordingly.

Claims

1. A method executed by a controller of a machine, the method comprising: The change in the hinge angle of the machine is detected based on information from the first sensor device of the machine. The hinge angle is associated with the hinge joint of the machine; and Based on the detected change in the hinge angle, the size of the object detection area is adjusted to obtain the adjusted object detection area. The object detection area is associated with the hinge joint of the machine. Adjusting the size of the object detection area includes: From the data storage device associated with the machine and using information identifying the hinge angle, size information of a hinge angle portion of the object detection area corresponding to the hinge angle is obtained; and Adjust the size of the object detection area based on the size information; The method further includes: Based on information from the second sensor device, it is determined that an object has been detected in the adjusted object detection area; and An action is performed based on the detection of an object in the adjusted object detection area. The actions described include: Information indicating that an object has been detected in the adjusted object detection area is transmitted to a device associated with the operator of the machine; and The method further includes: Receive information from the device associated with the operator of the machine indicating that the object is a part of the machine; Update the size information to exclude portions of the component from the object detection area; and The data storage device is updated using the updated size information.

2. The method according to claim 1, wherein adjusting the size of the object detection area based on the change in the hinge angle comprises: The size of the adjusted object detection area increases as the hinge angle increases; or The size of the adjusted object detection area decreases as the hinge angle decreases.

3. The method according to claim 1 or 2, further comprising: Detect whether the speed of the machine meets the threshold speed; and Adjusting the size of the object detection area includes: When the speed of the machine does not meet the threshold speed, the size of the object detection area is adjusted.

4. A controller for a machine, the controller comprising: One or more memory units; as well as One or more processors, the processors being configured to: The hinge angle of the machine is determined using the first sensor device of the machine; as well as The size of the object detection area is adjusted based on the hinge angle to obtain the adjusted object detection area. The object detection area is associated with the hinge joint of the machine. Adjusting the size of the object detection area includes: From the data storage device associated with the machine and using information identifying the hinge angle, size information of a hinge angle portion of the object detection area corresponding to the hinge angle is obtained; and Adjust the size of the object detection area based on the size information; The one or more processors are further configured to: Based on information from the second sensor device, it is determined that an object has been detected in the adjusted object detection area; and An action is performed based on the detection of an object in the adjusted object detection area. The actions described include: Information indicating that an object has been detected in the adjusted object detection area is transmitted to a device associated with the operator of the machine; and The one or more processors are further configured to: Receive information from the device associated with the operator of the machine indicating that the object is a part of the machine; Update the size information to exclude portions of the component from the object detection area; and The data storage device is updated using the updated size information.

5. The controller of claim 4, wherein the one or more processors are further configured to: Generate size information for identifying a portion of the object detection region corresponding to the hinge angle; and The size information is stored in a data structure in association with information identifying the hinge angle before determining the hinge angle; and When adjusting the size of the object detection area, the one or more processors are configured to: The size information is obtained from the data structure using information identifying the hinge angle; and The size of the object detection area is adjusted based on the size information.

6. The controller according to claim 4 or 5, The first sensor device includes a hinged sensor device. The second sensor device includes a hinged area sensor device, and The size of the object detection area is based on the amount of space between the front and rear portions of the machine, resulting from the machine being hinged to the hinge angle.

7. The controller according to claim 4 or 5, wherein the one or more processors are further configured to: Detect whether the speed of the machine meets the threshold speed; and When adjusting the size of the object detection area, the one or more processors are configured to: When the speed of the machine does not meet the threshold speed, the size of the object detection area is adjusted.

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