System and method for collision avoidance for deformable machines

Abstract

A collision avoidance system and method for a mobile machine includes determining a boundary area (118) and providing notifications (234) and / or control commands (232) to prevent a collision with another object (116). A first security zone associated with a first portion and a second portion of the mobile machine is determined (408). A second security zone associated with the second portion of the mobile machine is determined (410). A boundary zone (118) is determined from a combination of the first security zone (408) and the second security zone (410). Notifications (234) and / or control commands (232) are provided based on a relationship of the object (116) to the border region (118).

Description

Technical Field

[0001] The present disclosure relates generally to systems and methods for collision avoidance for transformable machines, and more particularly to systems and methods for determining the proximity of an object to a determined safety boundary. Background Art

[0002] Many activities require or benefit from collision detection and avoidance systems. For example, operators of large, outreaching machinery must navigate job and construction sites not only while driving the machine, but also while operating the machine's extended reach. For example, operators of excavators must be aware of building structures, materials, people, or other large vehicles while driving the excavator and operating the excavator's bucket, arm, and boom. Failure to do so can result in collision-related incidents that can cause extensive and severe damage, including property damage that causes delays or serious personal injury. To reduce the likelihood of an accident or collision, operators of large machinery often rely on collision detection and avoidance systems.

[0003] Generally, collision warning and avoidance systems (CAAS) are classified into two types. The first type of CAAS involves large machines that do not change shape. Using simple calculations, this type of system defines various "zones" based on the boundaries of the machine, safety tolerances, and stopping distances. While this type of system is ideal because it requires limited computing power, allowing for easy installation on the machine, this type of system is insufficient for shape-shifting machines (such as excavators and power shovels) because they do not account for rotational changes and shape changes when defining safety zones.

[0004] The second type of CAAS applies complex derivative functions and takes into account multiple variables (vehicle / object dynamics, speed, steering, etc.) to calculate multiple trajectories for multiple points of the machine. Using this information, the system must then calculate the probability of each possible collision and then filter out potential collisions that do not meet the probability threshold. This second type of system requires high levels of computing power and sensors that may not be compatible with the small computers and engine control modules (ECMs) commonly found on some transforming vehicles.

[0005] Korean Patent Application Publication No. KR 2021 0047 985 ("the '985 Publication"), published on May 3, 2021, describes a collision avoidance system for construction equipment. The system disclosed in the '985 Publication uses information about detected moving obstacles, swing dynamics, and driving operation information to calculate a collision time with the obstacle. The '985 Publication uses a series of equations and derivatives and is an example of a type of CAAS that requires a high level of computing power and resources.

[0006] The methods and systems disclosed in the present disclosure may solve one or more of the above problems and / or other problems in the art. However, the scope of the present disclosure is defined by the appended claims, rather than by the ability to solve any specific problem. Summary of the invention

[0007] In one aspect, a collision avoidance system for a mobile machine includes: determining a first safety zone associated with a first portion and a second portion of the mobile machine, the second portion of the mobile machine being movable relative to the first portion of the mobile machine; determining a second safety zone associated with the second portion of the mobile machine; determining a boundary zone based on a combination of the first safety zone and the second safety zone; and providing notifications and / or control commands based on a relationship of an object to the boundary zone.

[0008] In another aspect, the system may include: the first safety zone and the second safety zone are geometric shapes. In another aspect, the geometric shape may include one of a rectangle or a sector.

[0009] In one aspect, the mobile machine is an excavator and the first portion is a propulsion chassis of the machine and the second portion is a forearm assembly of the mobile machine. In another aspect, the first safety zone is a function of the speed and direction of movement of the first and second portions of the machine. Alternatively, another aspect may include: the second safety zone is a function of the speed and direction of movement of the second portion of the machine.

[0010] In one aspect, the first safety zone is a function of outputs from a first positioning sensor associated with the first portion of the mobile machine and a second positioning sensor associated with the second portion of the machine, and the second safety zone is a function of outputs from the second positioning sensor associated with the second portion of the machine. In another aspect, the first safety zone and the second safety zone are also a function of GPS positioning data. Additionally, in another aspect, providing a notification or control command includes an emergency stop control command. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate various exemplary embodiments and, together with the description, serve to explain the principles of the disclosed embodiments.

[0012] Figure 1 is a diagram of an exemplary environment illustrating a vehicle system for collision avoidance according to aspects of the present disclosure.

[0013] Figure 2 Illustrated Figure 1 Illustration of an exemplary controller system for a vehicle system.

[0014] Figure 3 Provides a description for Figure 1 A flowchart of an exemplary method of a vehicle system.

[0015] Figure 4 Illustrated Figure 1 Vehicle systems, Figure 2 The controller system and Figure 3 Schematic diagram of an exemplary embodiment of a method. DETAILED DESCRIPTION

[0016] Both the foregoing general description and the following detailed description are exemplary and illustrative only and do not limit the claimed features. As used herein, the terms "comprising," "including," "having," "having," "containing," "including," or other variations thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but may also include other elements not expressly listed or inherent to such process, method, article, or apparatus. In this disclosure, relative terms (e.g., such as "about," "substantially," and "approximately") are used to indicate possible variations of ±10% of the stated value unless otherwise indicated.

[0017] Figure 1 is a diagram illustrating an exemplary environment of an excavator 100 according to aspects of the present disclosure. Although the present disclosure will be described in conjunction with the excavator 100, other mobile machines are contemplated, such as, for example, articulated / dump trucks, backhoe loaders, mining shovels, cold planers, bulldozers, skid steer loaders, motor graders, etc.

[0018] The excavator 100 may include a lower portion or lower frame 111, an upper portion or upper frame 113, and an arm assembly 115 that are all movable relative to each other. The lower frame 111 may include a lower frame that includes, for example, a pair of tracks 112 and a track frame 109. The upper frame 113 may include, for example, a cab 117 and an engine 119. The upper frame 113 is rotatably coupled to the lower frame 111 to rotate independently of the tracks 112. For example, while the direction of travel of the excavator 100 may be north, the upper frame 113 may face northwest. The relative rotational movement between the upper frame 113 and the lower frame 111 is an example of the deformation capability of the excavator 100.

[0019] The arm assembly 115 may be coupled to the upper frame 113 to controllably extend toward and away from the upper frame 113. The arm assembly 115 of the excavator 100 may include a bucket 102 for digging and pushing ground material, or for grabbing and transporting material. Materials (such as dirt or gravel) may be transported in the bucket 102, or alternatively, heavy materials (such as concrete pipes) may be tied to the bucket 102 and lifted / transported in this manner. The arm assembly 115 of the excavator 100 may also include a stick 104 and a boom 106, both of which may provide hydraulic support and mobility for the bucket 102. Extension and retraction of the arm assembly 115 may be achieved by manipulating the positioning of the stick 104 and the boom 106. Extension and retraction of the arm is another deformation capability of the excavator 100.

[0020] The excavator 100 may also include various sensors, controllers, and / or transceivers / receivers that provide readings, measurements, and / or data related to the excavator 100. In an exemplary embodiment, a positioning sensor may include a bucket inertial measurement unit (IMU) 120 that determines the reeling or implement positioning of the bucket. A camera 122 may provide data for identifying an object, such as object 116, including video or image monitoring. A global positioning system or GPS 124 may utilize signals in conjunction with satellite position to provide precise positioning, timing, and navigation information about the excavator 100. Another positioning sensor may be a chassis IMU 126 that determines the angular velocity or acceleration of the chassis 110 and the angular velocity or acceleration of the arm assembly 115. Other sensors 128 represent various sensors that may be generally used to determine information for positioning, navigation, and / or object detection. Examples of other sensors 128 may include boom and stick IMUs, LIDAR, radar, infrared, stereo / triple-lens cameras, and the like.

[0021] like Figure 2 As will be discussed in greater detail in , the controller 220 may receive input information from various sensors and transceivers / receivers and process the information using a processor and / or memory device to determine various outputs associated with the excavator 100 .

[0022] In an exemplary embodiment, the excavator 100 may be operated by an operator 108. However, the excavator may also be autonomous or semi-autonomous. In an exemplary embodiment, the operator 108 may utilize a display 114 that provides a graphical user interface (GUI) 140. In the exemplary embodiment, the graphical user interface (GUI) 140 is depicted as a map relative to the excavator 100. The graphical user interface (GUI) 140 may include a representation relative to the GUI excavator 148, such as a GUI object 146 and a GUI boundary area 142. In the exemplary embodiment, the GUI object 146 is a representation of a pickup truck indicated as object 116. Although the object 116 is moving in the exemplary embodiment, the object 116 may be stationary and may include objects of various sizes and shapes. In addition, in the exemplary embodiment, the GUI boundary area 142 is a representation of the boundary area 118. The boundary area 118 may be a partitioned area that depicts an area where object collisions may occur. The boundary area 118 may be determined in a variety of ways and may produce a variety of geometric shapes, as will be discussed in more detail below.

[0023] The alert 130 may be used to provide various notifications to the operator 108. The type of notification may be generally related to object detection or collision avoidance, and will be discussed in more detail below. The alert may be visual (such as indicated by a flashing light), audible, or a combination of both.

[0024] Figure 2 200. The controller 220 receives input 202, processes the input information, and provides one or more outputs 228. The controller 220 may be embodied as a single microprocessor (CPU) or multiple microprocessors, memory 222, auxiliary storage devices, and / or any other components for completing tasks consistent with the present disclosure. The memory 222 or auxiliary storage device associated with the controller 220 may store information that may help the controller 220 perform its functions (such as Figure 3300 ). In addition, the memory 222 or auxiliary storage device associated with the controller 220 may also store data received from various inputs 202 associated with the controller system 200. Many commercially available microprocessors may be configured to perform the functions of the controller 220. The controller 220 may be embodied as a non-transitory machine-readable medium that stores information that, when executed by the controller 220, causes the controller system 200 to execute instructions and may be implemented by a computer. It should be understood that the controller 220 may be easily embodied as a general-purpose machine controller capable of controlling many other machine functions. Alternatively, a dedicated machine controller may be provided. In addition, one or more operations of the controller 220 may be performed remotely from the excavator 100 and communicated to the excavator 100. Various other known circuits may be associated with the controller 220, including signal conditioning circuitry, communication circuitry, actuation circuitry, and other appropriate circuitry.

[0025] Inputs 202 to the controller 220 may include, for example, chassis speed data 204 (speed and direction of travel of the upper frame 113 and the lower frame 111) received from the chassis IMU 126. Using other information in combination with the speed and direction determined from the chassis IMU 126, other information such as the attitude, orientation, position, speed, acceleration, and rotational speed of the chassis of the excavator 100 may be obtained. Similarly, bucket speed data 206 may be received in the controller 220 using angular velocity or acceleration determined from the chassis IMU 126. Other bucket information such as attitude, orientation, position, speed, acceleration, and rotational speed may also be obtained. Position data 208 may be determined using information obtained from the GPS 124. Optionally, the position data 208 may be received by using a navigation map system and initially indicating a starting point manually or using the GPS 124. Object detection data 210 may be determined using, for example, a camera 122, LIDAR, radar, infrared, or other sensory / information collector. As an exemplary embodiment, the camera 122 may use motion detection to identify moving objects. Alternatively, a radar system may be used to identify stationary objects based on transmitted and reflected energy waves. As will be understood and appreciated by those skilled in the art, other components may be included for detecting objects when the machine is moving or stopped.

[0026] The operator input data 212 may be manually input by the operator 108 and may relate to various information. For example, when determining the boundary zone 118, an exemplary embodiment of the operator input data 212 may include an operator preference. For example, the operator may prefer to define the boundary zone 118 by the safety zone of the upper frame 113 and the lower frame 111 plus the swing zone of the arm assembly 115. Alternatively, the operator preference may include the boundary zone 118, which is defined by a rectangle surrounding the safety zone of the upper frame 113 and the lower frame 111 and the swing zone of the arm assembly 115. In another exemplary embodiment, the operating preference may be related to the warning 130. For example, the operator 108 may be asked to provide an operating preference regarding whether the warning 130 is visual (such as indicated by a flashing light), audible, or a combination of audio and visual. The operator input data 212 may also relate to a desired safety distance. The excavator 100 may have a preset safety distance of 20 feet. Alternatively, the operator 108 may enter a safety distance of 30 feet. The operator input data 212 may include input from the operator 108 that specifies the devices that may be used for navigation. For example, the operator 108 may provide the operator input data 212 that specifies that the GPS 124 and the camera 122 are to be utilized to determine navigation and orientation. Alternatively, the operator input data 212 may include a default setting that specifies that a radar system is to be utilized to identify stationary objects. The operator input data 212 may include other operating preferences that may use the input of the operator 108 to override the default operating preferences.

[0027] The input 202 to the controller 220 may also include brake response time delay data 214. In one example embodiment, the brake response time delay data 214 may relate to the distance and time that the machine will travel relative to the detection of the object. For example, the brake response time delay data may include the time point of initial object detection by a perception sensor (such as a camera 122, LIDAR, radar, infrared or other sensory / information collector). The brake response time delay data 214 may also include the time elapsed and the distance traveled from the first detection of the object by the device and the time it took to confirm the existence of the object. The brake response time delay data 214 may also include the time elapsed and the distance traveled when determining the risk level and selecting and sending the action plan. When selecting the action plan, the brake response time delay data 214 may also include the time elapsed and the distance traveled to account for the reaction time of the operator 108 or the controller 220 when engaging the braking system. The brake response time delay data 214 may also include the time elapsed and the distance traveled when braking. The brake response time delay data 214 may also include a boundary region 118 when the machine reaches a final stopping point, as will be discussed in greater detail below.

[0028] The controller 220 may utilize the input 202 and combine it with information in the memory 222. The memory information may include various information that may be associated with the excavator 100. For example, the memory information may include the geometry of the machine or information related to the size of the machine. In an exemplary embodiment, the information of the geometry of the excavator 100 may include track size, implement size, chassis size, arm size and geometry (e.g., maximum length of the arm, arc of rotation of the arm based on the positioning of the boom 106 and the stick 104), or other relevant information.

[0029] The information in the memory 222 may also include a series of maps or data charts. In one example embodiment, the map may include an emergency stop map that relates the speed or acceleration of the excavator 100 to the stopping distance. For example, the emergency stop map may include speeds ranging from 1 mph to 25 mph and the corresponding distance that the excavator 100 will continue to travel before coming to a complete stop for each specific speed value. The emergency stop map may include that at 5 mph, the distance that the excavator 100 will travel before coming to a complete stop will be 10 feet. The emergency stop map may also specify that at 10 mph, the distance that the excavator 100 will travel before coming to a complete stop will be 15 feet.

[0030] The emergency stop map may be one-dimensional (such as in the example embodiment most recently described), or may be two-dimensional and include another variable related to the stopping distance. For example, another exemplary embodiment may include a two-dimensional emergency stop map that relates the speed or acceleration of the excavator 100 and the amount of load in the bucket to the stopping distance. As an example, the two-dimensional emergency stop map may include that at 5 mph and with a 1500 pound load in the bucket, the distance the excavator 100 will travel before stopping will be 20 feet. Or the two-dimensional emergency stop map may include that at 10 mph and with a 500 pound load in the bucket, the distance the machine will travel before stopping will be 17 feet. Other variables known in the art may be used to create multiple one-dimensional or two-dimensional emergency stop maps.

[0031] The information in the memory 222 may also include a forearm assembly stop map that relates the rotational speed or rotational acceleration of the upper frame 113 and the forearm assembly 115 to the stop rotational distance. For example, the forearm assembly stop map may include speeds ranging from 1 mph to 10 mph and the corresponding distance (in degrees or radians) that the forearm assembly 115 will continue to rotate before reaching a complete stop for each specific rotational speed / acceleration value. The forearm assembly stop map may include that at a rotational speed of 5 degrees per second, the distance that the bucket and assembly forearm will travel before reaching a complete stop will be 20 degrees. The forearm assembly stop map may also include that at 10 degrees per second, the distance that the bucket and assembly forearm will travel before reaching a complete stop will be 27 degrees. Other rotational distances and corresponding rotational speeds may also be included in the forearm assembly stop map.

[0032] Alternatively, in another exemplary embodiment, the arm assembly stop map can be a two-dimensional map and include another variable related to the rotation stop distance. In this exemplary embodiment, the two-dimensional arm assembly stop map can use the rotation speed or acceleration of the upper frame 113 and the arm assembly 115 and the load in the bucket to provide the rotation stop distance of the bucket and arm assembly. As an example, if the arm assembly / bucket has a rotation speed of 10 degrees per second and there are 1000 pounds of material in the bucket, the two-dimensional arm assembly stop map can determine that the arm assembly / bucket will rotate 30 degrees. Alternatively, if the arm assembly / bucket has a rotation speed of 10 degrees per second and there are 2000 pounds of material in the bucket, the two-dimensional arm assembly stop map can include that the arm assembly / bucket will rotate 40 degrees. Other rotation distances corresponding to the rotation speed and bucket load can also be considered in the two-dimensional arm assembly stop map. In addition, other variables known in the art can be considered in the one-dimensional or two-dimensional arm assembly stop map.

[0033] In addition, the memory 222 may include a safety margin. The safety margin may be associated with the direction of travel of the excavator 100 and provide an additional additional safety distance when determining a possible collision. For example, the memory 222 may require that a safety margin of 5 feet be included in all directions. Alternatively, the safety margin may be associated with the rotation of the arm assembly 115 and the bucket 102. The safety margin associated with the arm assembly 115 and the bucket 102 may require a safety margin of an additional 30 degrees of rotation to be considered in the emergency stop zone to avoid a possible collision. Alternatively, the safety margin may be expressed in time and require that the machine stop within 1 second after the collision. Since time is a function of distance and rate, the safety margins are similar and can be converted from one expression to another with little calculation required.

[0034] Processing the input 202 in the controller 220 may allow the controller 220 to determine an output 228, including, for example, a border zone display 230, a control command 232, and / or a notification 234. In addition to the outputs provided herein, the controller 220 may provide additional outputs. The border zone display 230 may represent the border zone 118 and be displayed to the operator 108 as a GUI border zone 142 on the GUI display 114 (see Figure 1 ). Determining the boundary region 118 will be described below in conjunction with Figure 3 Discuss in more detail.

[0035] In another exemplary embodiment, the control command 232 may be one of the outputs 228. In another exemplary embodiment, the control command 232 may include commands related to collision avoidance when an object is detected to cross the boundary zone 118. For example, the control command may include an emergency stop that automatically terminates the operation of the excavator 100 by cutting off all power to any powertrain, hydraulic system, or engine and removing operating controls from the operator 108 when the controller 220 determines that the object is crossing the boundary zone 118. Alternatively, another exemplary embodiment of the control command 232 may include disabling most operating controls from the operator 108 and placing the machine in a standby mode when it is determined that the object is about to cross the boundary zone 118. Or in another exemplary embodiment, the control command 232 may include removing or suspending all power to the excavator 100 until the operator 108 provides an override indication to continue operating the machine. In another exemplary embodiment, the output 228 may include a control command 232 that overrides the steering control of the operator 108 and steers the excavator 100 to avoid a collision with another object. For example, the output 228 may include a control command 232 that causes the excavator 100 to turn left to avoid a collision with an object in front of the excavator 100. In another exemplary embodiment, the control command 232 may include overriding controls made by the operator 108 related to the arm of the excavator 100. For example, if the movement of the arm assembly 115 is limited to avoid a collision with an object, the control command 232 may be to limit the movement of the arm of the excavator 100 regardless of the control of the operator 108. Other variations of the control command 232 may also be used as is common and understood in the art.

[0036] The output 228 of the controller system 200 may also or alternatively include a notification 234. In one exemplary embodiment, the notification 234 may be an alert that notifies the operator 108 of the potential collision by providing a visual alert notification (such as a flashing light) or an audible notification, or a combination of both audio and visual, to the operator 108 using the alert 130. Alternatively, the notification 234 may include providing a visual notification, such as a flashing or blinking display, to the graphical user interface (GUI) 140 of the display 114. Other variations of the notification 234 may be used as is common and understood in the art.

[0037] Figure 3 A flow chart depicting a method 300 of an exemplary method for collision detection and avoidance is provided. In an exemplary embodiment, the process may include: 302 determining a first safety zone associated with a first portion of a mobile machine. The first portion of the machine may include a lower frame 111 and an upper frame 113. In this exemplary embodiment, the upper frame 113 includes a fully extended arm assembly 115, however, other embodiments may consider various degrees of extension associated with the arm assembly 115 when determining the first safety zone.

[0038] Using information from input 202, such as the speed and direction of the excavator 100, and information in memory 222, such as an emergency stop map and a safety margin, the controller 220 can provide a first safety zone. In this example embodiment, the first safety zone can provide a boundary of the distance that the upper frame 113 and the lower frame 111 of the excavator 100 will continue to travel if the power of the excavator 100 is momentarily removed, or an indication of this distance plus a safety margin from memory 222. The safety margin allows for an additional safety distance beyond the location where the vehicle is expected to stop. With the upper frame 113 and the lower frame 111 stationary, the speed of the excavator 100 will be 0 miles per hour, but the first safety zone will extend beyond the outline of the excavator 100 because, in this exemplary embodiment, the safety margin is taken into account when determining the first safety zone.

[0039] In the exemplary embodiment, the method 300 may include: 304 determining a second safety zone associated with a second portion of the mobile machine, the second portion of the machine being movable relative to the first portion of the machine. In the exemplary embodiment, the second portion of the mobile machine may be responsible for the rotation of the upper frame 113, and in particular the rotation of the arm assembly 115. The second safety zone associated with the second portion of the mobile machine may include an emergency stop zone for the arm assembly 115, plus a safety margin. By utilizing input 202 related to the speed and rotation direction of the arm assembly 115, the emergency stop zone for the arm assembly 115 may indicate boundaries identifying the size of a sector (arc) corresponding to how far the arm assembly 115 of the excavator 100 will continue to traverse after the emergency stop (terminating all power to the vehicle) is activated. In the exemplary embodiment, determining the second safety zone may include adding a safety margin from the controller 220 and the memory 222, which will provide an additional safety distance and buffer zone beyond the expected stopping position of the arm assembly 115.

[0040] In the exemplary embodiment, the process may include: 306 determining a border zone based on a combination of the first safety zone and the second safety zone. In the exemplary embodiment, determining the border zone 118 may include: identifying a larger border of the combination of the first safety zone and the second safety zone. This may result in irregular and asymmetrical shapes, for example, a rectangular shape corresponding to the first safety zone and a sector corresponding to the second safety zone. This embodiment may produce a border zone that fits closely to the perimeter of the excavator 100 and produces fewer control commands and / or notifications, and the border zone may be displayed on the display 114 for viewing by the operator 108.

[0041] Alternatively, an exemplary embodiment of the border area may be defined by a rectangle surrounding both the first safety zone and the second safety zone. This exemplary embodiment may result in a larger border area and may generate more control commands and / or notifications. Other shapes that surround both the first safety zone and the second safety zone may be considered, such as a circle or a square. Additionally, the shape of the border area may be a two-dimensional or three-dimensional polygon. In other exemplary embodiments, the shape of the border area may be any other polygonal, geometric, symmetrical, or irregular shape.

[0042] In the exemplary embodiment, the method may include: 308 providing a notification or control command based on the relationship of the object to the boundary zone. In an exemplary embodiment, the relationship of the object to the boundary zone may include the object crossing or passing into the boundary zone. The object may be detected by the operator 108 through visual determination that it has passed through the boundary zone 118. Alternatively, the method may utilize a sensor or device to determine the speed and direction of the object relative to the boundary zone when the machine is completely stopped. In an exemplary embodiment, the machine may utilize LIDAR to determine the speed and direction of the object by sending light waves and measuring the reflected light waves. Alternatively, an infrared system may be used to detect thermal energy from individuals walking on the construction site. Other exemplary embodiments for determining the speed and direction of the object relative to the boundary zone when the machine is completely stopped may utilize cameras, radars, or other devices.

[0043] In an exemplary embodiment, providing a notification or control command may occur at the moment when the first object intersects the boundary area, and may include various notification outputs. In an exemplary embodiment, the notification may utilize the alert 130 to generate a visual notification, an auditory notification, or a combination of visual / auditory notifications, as discussed in conjunction with 234. In another embodiment, the notification 234 may be provided through a graphical user interface (GUI) 140 of the display 114. The notification 234 may include displaying the boundary area 118 according to the first safety zone and the second safety zone on the graphical user interface (GUI) 140 of the display 114. The exemplary embodiment may also include the display 114 flashing, blinking, or providing a text description related to the first object entering the boundary area 118. In another embodiment, a color notification 234 may be provided on the display 114 or by utilizing the alert 130. For example, the notification 234 may include a yellow warning flash indicating that a collision may occur. Alternatively, the notification 234 may include a red warning flash indicating that a collision is about to occur. In another exemplary embodiment, the notification 234 may be a gray flash indicating that another object exists and that the object may potentially pose a collision threat. Other types of notifications 234 known in the art may also be included in other exemplary embodiments.

[0044] Providing control commands 232 may include various instructions from controller 220. As previously described, one example embodiment may include providing control commands 232 that output an emergency response that causes a sudden stop of system power of excavator 100. Other control commands may exist, including those discussed previously with respect to control commands 232 and control commands known in the art, and may also be considered in additional embodiments.

[0045] Industrial Applicability

[0046] The disclosed methods for collision detection and avoidance can be used for any suitable machine that is capable of colliding with other objects. The operator 108 can use the collision detection and avoidance system to ensure safety when operating a mobile machine. The controller system 200 can process data and information input 202 in real time by providing a boundary zone display 230, executing control commands 232, and / or providing notifications 234 to help prevent collisions. The disclosed methods for collision detection and avoidance can find particular applicability in machines operating in industries including construction, mining, farming, etc. Non-limiting examples of machines can include commercial machines such as excavators and other earth-moving vehicles.

[0047] Figure 4 The operation of the controller system 200 and Figure 3 400 depicts the boundary zone 118 at two different time points T=0 and T=1. In this embodiment, the controller 220 may have information from the input 202 and information in the memory 222. The input 202 may include chassis speed data 204 (the travel speed and direction of the upper frame 113 and the lower frame 111) received from the chassis IMU 126. In this example, the controller 220 is capable of processing the data input 202 and determining that the excavator 100 is traveling at a speed of 3 miles per hour (mph) in a direction from east to west. Other inputs 202 may include bucket speed data 206 received from the chassis IMU 126 and may be used by the controller 220 to determine angular velocity and / or other information, such as attitude, orientation, positioning, speed, acceleration, and rotational speed. In this example, using the chassis IMU 126, the controller 220 may determine that the arm assembly 115 is rotating clockwise at a rotational speed of 15 degrees per second.

[0048] The controller 220 may also determine a first safety zone and a second safety zone, and determine a boundary zone by combining the first safety zone and the second safety zone. With respect to the first safety zone corresponding to the linear travel distance of the arm assembly 115, the excavator upper frame 113, and the lower frame 111 (not shown), the controller 220 may use the informational input 202 and the memory 222 to determine a stop zone 406 that indicates the path that the excavator 100 will travel if the emergency stop control command 232 is triggered. In the exemplary embodiment, the controller 220 may use the emergency stop map to determine that the excavator 100 will travel 20 feet before stopping at the boundary of the stop zone 406. The controller 220 may use the memory 222 to determine the first safety zone 408 by including a safety margin added to the stop zone 406. In the exemplary embodiment, the first safety zone 408 demarcates an additional distance from the stop zone 406 to provide an additional safety distance. For example, the controller 220 may determine the first safety zone 408 by determining the speed and / or acceleration of the excavator 100 using the position data 208 and the chassis speed data 204. The controller 220 may access the memory 222 to add an additional 5 feet of safety margin from the stop zone 406 to determine the boundaries of the first safety zone 408. Therefore, in the exemplary embodiment, the first safety zone 408 will be 25 feet in front of the excavator 100, and a distance of 5 feet will be added to the rear and sides of the stop zone 406 to establish the first safety zone 408.

[0049] At T=0, the arm assembly 115 rotates in a clockwise direction at a rotation speed. The rotation speed and / or acceleration of the arm assembly 115 and the excavator upper frame 113 can be determined using input data (such as bucket speed data 206, position data 208, and chassis speed data 204). The swing zone or second safety zone 410 can be determined using the arm assembly stop map. In this embodiment, the second safety zone 410 shows the rotation path as a sector that the arm assembly 115 will pass through if an emergency stop is triggered. For example, an emergency stop when the arm assembly 115 is rotating clockwise may cause the arm to rotate an additional 90 degrees (approximately). In another exemplary embodiment, a safety margin may also be considered to determine the second safety zone.

[0050] At T=0, the controller 220 may combine the first safety zone and the second safety zone to form the boundary zone 118. In the exemplary embodiment, the boundary zone 118 is defined as a rectangle surrounding the first safety zone 408 and the second safety zone 410. However, as previously described, other embodiments may determine the boundary zone 118 using alternative methods that produce geometrically different or irregular shapes and / or polygons.

[0051] For example, the border zone of another embodiment may simply be an irregular shape that is a combination of the first safety zone 408 and the second safety zone 410. In this alternative embodiment, the stationary object 422 will not trigger the control command 232 and / or the notification 234 at T=0 because the stationary object 422 will be outside the border zone that is an irregular shape that includes the first safety zone 408 and the second safety zone 410.

[0052] Re-reference Figure 4 In an exemplary embodiment, at T=0, the controller 220 may utilize object detection data 210 from the camera 122, LIDAR, radar, infrared, or other sensory / information collector to determine the object's origin and direction of travel when the machine is stopped. In this exemplary embodiment, a stationary object 422 will be detected, and the controller 220 will utilize the object detection data 210 (including the object's origin and direction of travel) to monitor the situation. In an exemplary embodiment, the controller 220 may be prepared to output an emergency safety stop control command 232 at the moment the detected object is about to intersect the boundary zone 118. At the moment the object intersects the boundary zone 118, the emergency stop control command 232 will stop all operating movements. Alternatively, or in addition, the controller 220 may output a notification 234 to the operator 108, such as an audio, visual notification, or a combination of audio and visual notifications.

[0053] In the exemplary embodiment, at T=1, the arm assembly 115 has rotated approximately 15 degrees and continues to rotate in a clockwise direction at the same rotational speed determined from the bucket speed data 206. The second safety zone 410 represents a rotational path across multiple sectors of the arm assembly 115 in the event of an emergency stop being triggered, and the second safety zone 410 at T=1 is also rotated 15 degrees compared to the second safety zone 410 at T=0. In the exemplary embodiment, at T=1, the controller 220 may include a control command 232, such as an emergency stop when the arm assembly 115 rotates clockwise, because the controller 220 can use the arm assembly stop map to determine that the emergency stop control command will cause the arm assembly 115 to rotate an additional 90 degrees (approximately) and impact the moving object 420. Likewise, in the exemplary embodiment, the boundary zone 118 is a rectangle that surrounds the first safety zone 408 and the second safety zone 410. In this exemplary embodiment, once the moving object 420 intersects the boundary zone 118, the moving object 420 will trigger the controller 220 to execute the emergency stop control command 232. At the moment of intersection with the boundary zone 118, the emergency stop control command will stop all operating movements. In another embodiment, the controller 220 can determine the speed and position or initial and final positions of the object relative to the boundary zone 118, and execute the emergency stop control command 232 by comparing the final position of the object with the boundary zone 118. Alternatively, another embodiment may include a safety zone with respect to time, and when determining when to issue the emergency stop control command 232, the final position of the object 420 can be compared with the later time between the first safety zone and the second safety zone. Other embodiments with respect to when to issue the control command 232 may exist and / or include a notification 234 provided to the operator 108 for notifying that there is a potential collision, a visual notification, or a combination of audio and visual notifications.

[0054] Thus, the method is able to prevent and detect possible collisions with other objects for deformable heavy machinery without requiring extensive calculations or high computing power from the device. Instead, collision avoidance is achieved using minimal calculations and standard sensors that are compatible with both small and large / heavy machinery.

[0055] It will be apparent to those skilled in the art that various modifications and variations may be made to the disclosed system without departing from the scope of the present disclosure. Other embodiments of the system will be apparent to those skilled in the art by consideration of the specification and practice of the system disclosed herein. The specification and examples are intended to be considered exemplary only, with the true scope of the present disclosure being indicated by the following claims and their equivalents.

Claims

1. A collision avoidance system for a mobile machine, the collision avoidance system comprising: determining a first safety zone (408) associated with a first portion and a second portion of the mobile machine, the second portion of the mobile machine being movable relative to the first portion of the mobile machine; determining a second safety zone associated with the second portion of the mobile machine (410); determining a boundary zone (118) based on a combination of the first safety zone (408) and the second safety zone (410); and A notification (234) and / or a control command (232) is provided based on the relationship of the object (116) to the boundary region (118).

2. The system of claim 1, wherein the first safety zone (408) and the second safety zone (410) are geometric shapes.

3. The system of claim 2, wherein the geometric shape comprises one of a rectangle or a sector.

4. The system of claim 1, wherein the mobile machine is an excavator (100), and the first portion is a propulsion chassis of the machine, and the second portion is an arm assembly (115) of the mobile machine.

5. The system of claim 1, wherein the first safety zone (408) is a function of a speed and a direction of movement of the first portion and the second portion of the machine.

6. The system of claim 5, wherein the second safety zone (410) is a function of the speed and the direction of movement of the second portion of the machine.

7. The system of claim 1, wherein the first safety zone (408) is a function of outputs (228) from a first positioning sensor associated with the first portion of the machine and a second positioning sensor associated with the second portion of the machine, and the second safety zone (410) is a function of outputs (228) from the second positioning sensor associated with the second portion of the machine.

8. The system of claim 1, wherein the first safety zone (408) and the second safety zone (410) are also a function of GPS (124) positioning data.

9. The system of claim 1, wherein providing the notification (234) or control command (232) comprises an emergency stop control command (232).

10. A computer-implemented collision avoidance method for a mobile machine, the method comprising: determining a first safety zone (408) associated with a first portion and a second portion of the mobile machine, the second portion of the mobile machine being movable relative to the first portion of the mobile machine; determining a second safety zone associated with the second portion of the mobile machine (410); determining a boundary zone (118) based on a combination of the first safety zone (408) and the second safety zone (410); and A notification (234) and / or a control command (232) is provided based on the relationship of the object (116) to the boundary region (118).

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