Pedestrian warning with spectra that do not affect camera-based object detection at night

Abstract

A pedestrian warning system for a work vehicle at a work site includes a sensor system that captures an image of an identified target located at the work site. An electronic data processor is communicatively connected to the sensor system, and the electronic data processor determines whether the identified target from the captured image is an expected target based on one or more identification characteristics associated with the identified target. When the intended target is identified, an alert is generated directed to the intended target, including operating one or more lights mounted on the work vehicle. The one or more lamps operate in a spectral range that is not visible to the sensor system. The sensor system may include an optical filter to block light corresponding to the spectral range of the one or more lamps. The lamp may operate with a stroboscopic function.

Description

Technical Field

[0001] The present disclosure generally relates to pedestrian warning systems, and more particularly, to warning systems and methods for alerting pedestrians near a vehicle without interfering with camera-based object detection of any sensors on the vehicle. Background Art

[0002] In industrial applications, job site safety procedures are important for ensuring the safety of pedestrians, operators, workers, and other personnel located in the job site. Generally, for safety purposes, when a pedestrian is located in the job site, an alarm on the work vehicle is triggered to warn the operator that an unauthorized person or pedestrian is in the work area and may be dangerous. These alarms are intended to warn the operator, who must then take action to avoid the pedestrian or move the pedestrian out of the work area. These steps that the operator must take reduce the operator's productivity and the overall job being performed in the work area because the operator must stop the job to take action.

[0003] To address these issues, some conventional methods use strobe lights to flash at unauthorized persons or pedestrians in the work area. Other conventional methods include audible alarms for warning unauthorized persons in the work area. Disadvantages of such methods include ineffective notification of pedestrians because many pedestrians simply ignore the strobe lights and do not take action to leave the work area. These pedestrians have become desensitized to backup alarms or similar audible alarms. Another disadvantage is that during nighttime, when various image sensors on the work vehicle are used to detect objects or view the work area itself, the strobe lights interfere with the imaging being performed by these image sensors.

[0004] Accordingly, there is a need in the art for an improved pedestrian warning system that provides enhanced visibility and warning to pedestrians but does not interfere with cameras or other image-based object detection at night. Summary of the Invention

[0005] According to one embodiment of the present disclosure, a pedestrian warning system for a work vehicle at a job site, the pedestrian warning system comprising: a sensor system configured to capture an image of an identified target located at the job site, the sensor system being operatively connected to the work vehicle; an electronic data processor communicatively connected to the sensor system, the electronic data processor including a non-transitory computer-readable storage medium having machine-readable instructions that, when executed by the electronic data processor, cause the electronic data processor to: determine whether the identified target from the captured image is an expected target based on one or more identification characteristics associated with the identified target; wherein an alert is generated pointing to the expected target when the expected target is identified, including: the electronic data processor is further configured to generate a control signal for operating one or more lights mounted on the work vehicle, wherein the one or more lights are configured to operate in one or more spectral ranges that are not visible to the sensor system.

[0006] In one example, the sensor system includes a plurality of imaging devices operatively connected to the work vehicle, wherein the plurality of imaging devices are configured to capture monocular images or monocular videos, or stereoscopic images or stereoscopic videos of the identified target located at the job site.

[0007] In one example, the sensor system includes one or more filters that block light in the spectral range in which the one or more lights are configured to operate.

[0008] In one example, the one or more filters block light having a wavelength greater than about 650 nm, and the one or more lights operate at a wavelength greater than about 600 nm.

[0009] In one example, the one or more filters block light having a wavelength greater than about 600 nm, and the one or more lights operate at a wavelength greater than about 600 nm.

[0010] In one example, the one or more filters block light having a wavelength greater than about 600 nm and block light having a wavelength less than about 425 nm, and the one or more lights operate at a wavelength greater than about 600 nm and at a wavelength less than about 425 nm.

[0011] In one example, the one or more filters block light having a wavelength greater than about 650 nm and block light having a wavelength between about 550 nm and 575 nm, and the one or more lights operate at a wavelength greater than about 650 nm and at a wavelength between about 550 nm and 575 nm.

[0012] In one example, the electronic data processor is further configured to generate a control signal for causing the one or more lights to operate in an intermittent manner toward the intended target.

[0013] In one example, the electronic data processor is further configured to generate a control signal for causing the audible alert unit to operate toward the intended target.

[0014] In one example, the sensor system includes one or more of a thermal imager, a near-infrared imaging device, a short-wave infrared device, a light detection and ranging device, a radar device, an ultrasonic device, and / or a scanner operably connected to the work vehicle.

[0015] In one example, the one or more identification characteristics for the identified target being a person include clothing, wearable devices, and / or facial identification features stored in a database accessible by the electronic data processor.

[0016] According to another embodiment of the present disclosure, a method for warning an intended target at a work site having a work vehicle, the method comprising: capturing, via a sensor system, one or more images of an identified target located at the work site; determining, via an electronic data processor communicatively coupled to the sensor system and including a non-transitory computer-readable storage medium having machine-readable instructions, based on one or more identification characteristics associated with the identified target, whether the identified target from the captured images is the intended target; and wherein, when the intended target is identified, generating an alert directed at the intended target, including: the electronic data processor causing one or more lights mounted on the work vehicle to operate in one or more spectral ranges invisible to the sensor system.

[0017] In one example of this embodiment, capturing an image of a person includes: capturing a monocular image or monocular video of a person, or a stereoscopic image or stereoscopic video, via a plurality of imaging devices.

[0018] In one example of this embodiment, generating the alert includes: activating a strobe light on the work vehicle, or triggering a sound file toward the identified target, to notify the identified target located at the work site.

[0019] In one example of this embodiment, the sensor system includes one or more filters that block light from the spectral range, and the one or more lamps are configured to operate within the spectral range.

[0020] In one example of this embodiment, the one or more filters block light having a wavelength greater than about 650 nm, and the one or more lamps operate at a wavelength greater than about 650 nm.

[0021] In one example of this embodiment, the one or more filters block light having a wavelength greater than about 600 nm, and the one or more lamps operate at a wavelength greater than about 600 nm.

[0022] In one example of this embodiment, the one or more filters block light having a wavelength greater than about 600 nm and block light having a wavelength less than about 425 nm, and the one or more lamps operate at a wavelength greater than about 600 nm and at a wavelength less than about 425 nm.

[0023] In one example of this embodiment, the one or more filters block light having a wavelength greater than about 650 nm and block light having a wavelength between about 550 nm and 575 nm, and the one or more lamps operate at a wavelength greater than about 650 nm and at a wavelength between about 550 nm and 575 nm.

[0024] In one example of this embodiment, it further includes: generating an audible alert towards the intended target via an audible alert unit. Description of the Drawings

[0025] For a detailed description of the drawings, reference is made to the accompanying drawings, in which:

[0026] Figure 1 is an illustration of a work vehicle including a pedestrian warning system according to an embodiment;

[0027] Figure 2 is a block diagram of a pedestrian warning system according to an embodiment;

[0028] Figure 3 is a block diagram of a vehicle electronic unit and a remote processing center according to an embodiment;

[0029] Figure 4 is a block diagram of a vehicle data storage device according to an embodiment;

[0030] Figure 5 illustrates for Figure 1Quantum efficiency graph of the imaging device of the work vehicle, which illustrates the red channel, green channel, and blue channel and the corresponding wavelengths (nm) for each of the colored lights visible to the imaging device;

[0031] Figure 6 Illustrates the wavelengths blocked by one or more optical filters associated with the Figure 5 imaging device;

[0032] Figure 7 Illustrates the wavelengths blocked by one or more optical filters associated with the Figure 5 imaging device;

[0033] Figure 8 Illustrates the wavelengths blocked by one or more optical filters associated with the Figure 5 imaging device;

[0034] Figure 9 Illustrates the wavelengths blocked by one or more optical filters associated with the Figure 5 imaging device; and

[0035] Figure 10 Is a flowchart of a method for identifying people located at a work site and warning these people.

[0036] Throughout the various figures, the same reference numerals are used to indicate the same elements. Detailed Description

[0037] The embodiments of the present disclosure described below are not intended to be exhaustive or to limit the present disclosure to the precise forms in the following detailed description. Rather, the embodiments are selected and described so that those skilled in the art can understand and appreciate the principles and practices of the present disclosure.

[0038] Refer to Figure 1 and Figure 2 , according to one embodiment, a work vehicle 100 with a pedestrian warning system 150 is shown. The pedestrian warning system 150 monitors the activities of people located within a work site 170. Although the work vehicle 100 is shown in Figure 1 as including a construction vehicle (e.g., a loader), it should be noted that in other embodiments, the work vehicle 100 may vary depending on the application and / or specification requirements. For example, in other embodiments, the work vehicle 100 may include a forestry vehicle, an agricultural vehicle, or a lawn vehicle, where the embodiments discussed herein are for illustrative purposes only to assist in understanding the present disclosure.

[0039] The work vehicle 100 may include an operator cab 104 supported by wheels 108 and a frame 112. The boom assembly 114 may be connected to the frame 112 and may extend in length between a proximal end 113 and a distal end 115. An implement 116 may be connected to the boom assembly 114 at its distal end 115, and the implement 116 may include a conventional loader bucket as shown. However, it should be noted that Figure 1 this is merely one embodiment, and in other embodiments, the implement 116 may include, for example, a ripper, a hammer, or a fork. One or more lights 118 may be attached to the work vehicle 100, and specifically, the one or more lights 118 may be mounted on the frame 112. The one or more lights 118 are configured to operate within one or more spectral ranges that do not interfere with or disrupt the operation of the sensor system 154 described below. The one or more lights 118 may be mounted at other locations on the work vehicle 100. An audible alarm unit 160 may be attached to the work vehicle 100, and specifically, the audible alarm unit 160 may be mounted on the frame 112.

[0040] As Figure 2 shown, the pedestrian warning system 150 may include a sensor system 154 that is communicatively connected to an electronic data processor 152, a user interface 156, the one or more lights 118, and the audible alarm unit 160 via a communication bus 158. In some embodiments, the sensor system 154 may include a plurality of imaging devices 155 that are mounted at various different positions to the frame of the work vehicle 100 to capture peripheral imaging data of the work site 170 in which the work vehicle 100 operates. For example, the imaging device 155 may be mounted to the front portion of the work vehicle 100 to capture images of the surrounding environment and people 127 disposed in front of or to the side of the work vehicle 100. The imaging device 155 may have a wide field of view that spans approximately 90 degrees to 180 degrees along the central axis of the device or the central axis of a support structure attached to the device within a defined range. In other embodiments, the imaging device 155 may optionally be mounted to the rear of the work vehicle 100 to capture images of people or other objects disposed in the rear field of view. In other alternative embodiments, the imaging device 155 may include a network of wired or wirelessly connected imaging devices 155 that are disposed on multiple work vehicles and / or remotely located at various different positions throughout the work site 170.

[0041] Although in Figure 1In [the figure], imaging device 155 is shown as including a camera such as a stereo camera, but it should be noted that in other embodiments, imaging device 155 may also include, but is not limited to: a thermal imager, an infrared imaging device, a near-infrared imaging (NIR) device, a short-wave infrared (SWIR) device, a light detection and ranging device (LIDAR), a radar device, an ultrasonic device, a scanner, other suitable sensing devices, or combinations thereof. For example, as will be discussed herein, imaging device 155 may include multiple stereo cameras or aerial sensing devices, the multiple stereo cameras capturing 2D or 3D images of person 127, the aerial sensing device, such as a drone, having one or more cameras attached thereto, the one or more cameras capturing an aerial view of job site 170. Additionally, NIR and SWIR cameras cannot utilize the light from the lamps on the machine because the lamps typically only emit visible light. Therefore, NIR and SWIR camera systems may require their own lighting sources that are connected to the cameras and pulsed synchronously with image capture.

[0042] The electronic data processor 152 may be locally arranged as part of vehicle electronic unit 200 ( Figure 3 ), or remotely arranged at remote processing center 222. In various embodiments, electronic data processor 152 may include a microprocessor, a microcontroller, a central processing unit, a programmable logic array, a programmable logic controller, an application specific integrated circuit, logic circuitry, an arithmetic logic unit, a graphics processing unit (GPU), a field programmable gate array (FPGA), or other suitable programmable circuitry adapted to perform data processing and / or system control operations. For example, electronic data processor 152 may process image and classification data associated with persons located at job site 170 and provide alerts to those detected as unauthorized.

[0043] As will be understood by those skilled in the art, Figure 1 and Figure 2 are provided for illustrative and example purposes only and are in no way intended to limit the present disclosure or its application. In other embodiments, the arrangement and / or structural configuration of pedestrian warning system 150 may vary. For example, in some embodiments, pedestrian warning system 150 may include additional sensors, or may be configured to monitor activities at multiple job sites or the activities of a fleet of work vehicles.

[0044] Now refer to Figure 3, as discussed previously, the electronic data processor 152 can be arranged in the vehicle electronic unit 200 and can be configured to process images captured by the imaging device 155. For example, the electronic data processor 152 can be configured to execute a plurality of instructions stored on the vehicle data storage device 206 to identify people, vehicles, animals, and / or other objects arranged in the image. In addition to the electronic data processor 152, the vehicle electronic unit 200 can include a vehicle data storage device 206, a vehicle wireless communication device 212, an operator interface (i.e., the display 106), and a vehicle data bus 204 that are communicatively docked with the main data bus 202, respectively.

[0045] As depicted, various devices (i.e., the vehicle data storage device 206, the vehicle wireless communication device 212, the user interface 106, and the vehicle data bus 204) can convey information, such as signals (e.g., image data), to the electronic data processor 152 via the main data bus 202. In other embodiments, the electronic data processor 152 can manage data transmission to and from the remote processing system 222 via the network 225 and the wireless infrastructure 220. For example, the electronic data processor 152 can collect and process image data from the main data bus 202 for transmission to or from the processing center 222.

[0046] The vehicle data storage device 206 stores information and data for access by the electronic data processor 152 or the vehicle data bus 204. The vehicle data storage device 206 can include an electronic memory; a non-volatile random access memory; an optical storage device; a magnetic storage device; or another device for storing and accessing electronic data on any recordable, rewritable, or readable electronic, optical, or magnetic storage medium. Additionally, the vehicle data storage device 206 can include one or more software modules or data structures that record and store data collected by the imaging device 155 or other network devices connected to or capable of communicating with the vehicle data bus 204. For example, in some embodiments, the one or more software modules and / or data structures can include an object recognition module 207 and an alert generation module 211, and as will be discussed with reference to Figure 4 discussed.

[0047] Now referring to Figure 4 , a block diagram of the vehicle data storage device 206 according to an embodiment is shown. As referred to in Figure 3As discussed, the electronic data processor 152 may be configured to communicate with the vehicle data storage device 206 to access each of the modules stored in the vehicle data storage device 206. The vehicle data storage device 206 may include computer-executable code for implementing the object recognition module 207 and the alert generation module 211. As used herein, the term "module" may include a hardware and / or software system that operates to perform one or more functions. Each module may be implemented in a variety of suitable configurations and should not be limited to any particular embodiment illustrated herein unless such limitations are expressly stated. Moreover, in the various embodiments described herein, each module corresponds to a defined function; however, it should be understood that in other embodiments, each function may be distributed across more than one module, or multiple defined functions may be implemented by a single module that performs those multiple functions.

[0048] The object recognition module 207 may identify people 127, objects 128, other vehicles (not shown) in which people may be present, and / or animals (not shown) located at the job site 170. These people 127, vehicles, and / or animals should not be at the job site 170 and are thus the intended targets of the alert generation module 211. The object recognition module 207 may identify objects 128 that may not be the intended targets of the alert generation module 211, which may include rocks, boulders, or other ground objects.

[0049] To identify people 127 captured in an image by the imaging device 155, the object recognition module 207 may perform a comparative analysis of the recognition characteristics 125 (such as clothing, wearable devices, and / or facial identification features) with those stored in a database. For example, the object recognition module 207 may analyze clothing items such as protective wear (e.g., hats or glasses), uniforms, or color-coded safety vests, or facial identification features such as the shape, size, and / or relative arrangement of eyes, nose, mouth, and face to identify people 127. In other embodiments, to identify people 127 captured in an image by the imaging device 155, the object recognition module 207 relies on other sensor technologies. For example, machine learning techniques may be applied to radar to better identify people 127 using Doppler information.

[0050] Additionally, various wearable devices (including but not limited to headphones, voice generation devices, wearable fabrics, wrist or hand devices (e.g., smartwatches), smart glasses, Bluetooth-enabled devices, GPS tracking devices, other suitable communication devices) may be used to identify people 127. For example, a person such as a site manager may need to use a unique headset or a voice generation device such as a handheld transceiver to communicate with and / or alert workers, observers, or others located off-site.

[0051] To identify an animal captured in an image by the imaging device 155, the object recognition module 207 can perform a comparative analysis of recognition features 125 such as shape, size, or other discriminative features with those stored in the database. To identify a vehicle captured in an image by the imaging device 155, the object recognition module 207 can perform a comparative analysis of recognition features 125 such as shape, size, or other discriminative features with those stored in the database.

[0052] The alert generation module 211 can communicate with the object recognition module 207 to generate multiple alerts associated with a person 127 who is the intended target of the alert generation module 211 from the object recognition module 207. For example, the alert generation module 211 can generate an alert, which can include but is not limited to a visual alert, an auditory alert, or a combination thereof. For example, the alert generation module 211 can generate a visual alert or an auditory alert, such as a strobe light or a siren, that is triggered when the person 127 is detected as the intended target. When an object 128 is recognized, the alert generation module 211 will not communicate with the object recognition module 207 and will not generate any alerts.

[0053] The alert generation module 211 can generate an alert via the one or more lights 118 or the auditory alert unit 160 that is directed at the aforementioned person 127, vehicle, or animal. The one or more lights 118 are configured to operate within one or more spectral ranges without disturbing or interrupting the operation of the imaging device 155 such that the image captured by the imaging device 155 is not altered by the operation of the one or more lights 118. Additionally or alternatively, the imaging device 155 is configured to operate, for example, using a filter or other mechanism to prevent light from the one or more lights 118 from interfering with the operation of the imaging device 155 such that the image captured by the imaging device 155 is not altered by the operation of the one or more lights 118. For example, in one embodiment, the one or more lights 118 can be brake lights associated with the work vehicle 170. Alternatively or additionally, the one or more lights 118 can include additional lights such as strobe lights, floodlights, spotlights, and / or laser lights to exemplify several types of lights that can operate at certain wavelengths without interfering with the imaging device 155 such that the image captured by the imaging device 155 is not altered by the operation of the one or more lights 118. As further described below, the imaging device 155 can include one or more filters corresponding to the wavelengths of light illuminated by the one or more lights 118.

[0054] Figure 5Illustrated is a quantum efficiency graph for imaging device 155, which shows the red, green, and blue channels and corresponding wavelengths (nm) for each of those colors of light that are visible to and will be captured in an image by imaging device 155.

[0055] In one embodiment, imaging device 155 may include an optical filter that blocks light having a wavelength greater than about 650 nm, as Figure 6 shown. In this same embodiment, the one or more lamps 118 are configured to operate at a wavelength greater than about 650 nm such that person 127 can visually see the one or more lamps 118, yet the operation of imaging device 155 is not affected such that any image captured while the one or more lamps 118 are operating is not affected by the one or more lamps 118.

[0056] In another embodiment, imaging device 155 may include an optical filter that blocks light having a wavelength greater than about 600 nm or 625 nm, as Figure 7 shown. In this same embodiment, the one or more lamps 118 are configured to operate at a wavelength greater than about 600 nm or 625 nm such that person 127 can visually see the one or more lamps 118, yet the operation of imaging device 155 is not affected such that any image captured while the one or more lamps 118 are operating is not affected by the one or more lamps 118. By moving the blocking filter down to about 600 nm or 625 nm, an additional additional visible light spectrum can be provided to person 127 to make the light more easily visible to person 127.

[0057] In yet another embodiment, imaging device 155 may include two optical filters that together block light having a wavelength greater than about 600 nm and less than 425 nm, as Figure 8 shown. In this same embodiment, the one or more lamps 118 are configured to operate at a wavelength greater than about 600 nm such that person 127 can visually see the one or more lamps 118 that appear red, yet the operation of imaging device 155 is not affected such that any image captured while the one or more lamps 118 are operating is not affected by the one or more lamps 118. The one or more lamps 118 are configured to operate at a wavelength less than about 425 nm such that person 127 can visually see the one or more lamps 118 that appear purple, yet the operation of imaging device 155 is not affected such that any image captured while the one or more lamps 118 are operating is not affected by the one or more lamps 118.

[0058] In yet another embodiment, the imaging device 155 may include a plurality of optical filters that together block light having a wavelength greater than about 650 nm and light between approximately 550 nm and 575 nm, as Figure 9 shown. In this same embodiment, the one or more lights 118 are configured to operate at wavelengths greater than about 650 nm such that a person 127 can visually see the one or more lights 118 as red, yet the operation of the imaging device 155 is not affected such that any images captured while the one or more lights 118 are operating are not affected by the one or more lights 118. The one or more lights 118 may also be configured to operate at wavelengths between approximately 550 nm and 575 nm such that a person 127 can visually see the one or more lights 118 as green or yellow-green, yet the operation of the imaging device 155 is not affected such that any images captured while the one or more lights 118 are operating are not affected by the one or more lights 118. In this embodiment, the one or more lights 118 are configured to operate at wavelengths greater than about 650 nm and between approximately 550 nm and 575 nm.

[0059] The operation of the one or more lights 118 toward the intended target may be in a strobe or other intermittent mode of operation to draw the attention of the intended target recognized by the object recognition module 211. It has been found that such strobe or other intermittent operation of the one or more lights 118 at specific wavelengths is unique, especially in cases where the intended target has become desensitized to a reverse warning or similar audible warning. One problem with strobing any type of light near the imaging device 155 is that it may potentially interfere with the night-time performance of the imaging device 155. However, strobing the one or more lights 118 at wavelengths not in the spectrum in which the imaging device 155 is designed to see or capture images will not interfere with the night-time performance of the imaging device 155. As described above, the imaging device 155 may include optical filters or other means to filter out the wavelengths in the spectrum at which the one or more lights 118 operate. The foregoing describes the operating ranges in which the strobing or other intermittent operation of the one or more lights 118 and the corresponding optical filters of the imaging device 155 enable the strobing or other intermittent operation of the one or more lights 118 to draw the attention of the intended target. These operating ranges of the one or more lights 118 will draw the attention of pedestrians or the intended target while being ignored by the imaging device 155.

[0060] The operation of the audible alarm unit 160 towards the intended target can be carried out towards the intended target identified by the object recognition module 211 as described above, to attract their attention. The operation of the one or more lights 118 and the audible alarm unit 160 can be carried out together towards the intended target, or sequentially, or some combination of operations, to gain their attention.

[0061] In operation, now referring to Figure 10 , a flowchart of a method 500 for warning one or more intended targets located in the work site 170 is shown. At 502, the imaging device 155 can be configured to manually or automatically capture an image of a person 127 located in the work site 170 across a defined range, for example, within a radius of 90 degrees to 180 degrees. In one embodiment, the defined range points to the rear of the vehicle 100. In another embodiment, the defined range points to the front of the vehicle 100. In other embodiments, the defined range points to the side of the work vehicle 100 and either the front or rear direction of the work vehicle 100. For manual operation, the operator can input a start command via the user interface 156 to activate the imaging device 155. In other embodiments, for example, when the system is in the automatic mode, the imaging device 155 can be configured to receive a start bit or handshake from the electronic data processor 152 when the vehicle starts to begin capturing image data. This also adjusts the field of view based on the detected scene or environment.

[0062] Once the image is captured at 502, the image data is sent to the electronic data processor 152 for processing at 504. As discussed with reference to Figure 4 , each module (i.e., the object recognition module 207 and the alarm generation module 211) can be configured to implement various different functions and interact with each other to determine whether a person 127 located in the work site 170 is an intended target, and if the person 127 is an intended target, to send an alarm to the person 127.

[0063] At 506, a comparative analysis of the captured image with the stored reference data is performed by the electronic data processor 152 to identify the person 127 or object 128 located in the image. In some embodiments, the object recognition module 207 can identify other categories, such as additional vehicles, animals, or other attributes, which should not be located on the work site 170. The object recognition module 207 can also utilize machine learning or other data processing techniques to fuse the image data with other sensor data to obtain a more comprehensive set of perceptual features.

[0064] At 508, the electronic data processor 152 determines whether a person 127 is present at the job site 170 and is thus an intended target. In some embodiments, the electronic data processor 152 determines whether other classes, such as additional vehicles or animals, are present at the job site 170 and are thus an intended target. If no intended target is present, the method 500 proceeds to step 502. If an intended target is present, the method 500 for warning a person 127 located at the job site 170 proceeds to step 510.

[0065] At 510, the alert generation module 211 may communicate with the object recognition module 207 to generate one or more alerts in response to an intended target detected around the work vehicle 100. For example, the alert generation module 211 may associate a first type of alert in response to the person 127 being recognized as an intended target. As another example, the alert generation module 211 may associate a second type of alert in response to a vehicle being recognized as an intended target. As yet another example, the alert generation module 211 may associate a third type of alert in response to an animal being recognized as an intended target. The first set of alerts, the second set of alerts, or the third set of alerts may include, but are not limited to, visual alerts, auditory alerts, or combinations thereof. The first set of alerts, the second set of alerts, or the third set of alerts may be unique auditory or visual alerts for each specific class. For example, the person 127 may receive a visual alert, while the vehicle and / or animal may receive an auditory alert. For example, in some embodiments, the auditory alert may include a beep, a chime, or an alarm, or a verbal notification that is activated when an intended target is detected. The auditory alert may also include a subtle "reminder" chime or notification that is activated. Visual alerts, such as strobe lights, may be activated in response to the presence of a detected intended target.

[0066] Without in any way limiting the scope, interpretation, or application of the appended claims, a technical effect of one or more of the exemplary embodiments disclosed herein is a pedestrian warning system and method. The pedestrian warning system and method are particularly advantageous because they provide real-time monitoring of an industrial job site by generating alerts and warnings when unauthorized persons, vehicles, and / or animals are located around the work vehicle.

[0067] Although the present disclosure has been described with respect to at least one embodiment, the present disclosure may be further modified within the spirit and scope of the present disclosure. Accordingly, this application is intended to cover any variations, uses, or adaptations of the present disclosure using its general principles. In addition, this application is intended to cover departures from the present disclosure within the known or customary scope of the art to which the present disclosure pertains.

Claims

1. A pedestrian warning system for a work vehicle at a work site, the pedestrian warning system comprising: a sensor system configured to capture images of identified objects located at the work site, the sensor system operably connected to the work vehicle; an electronic data processor communicatively coupled to the sensor system, the electronic data processor comprising a non-transitory computer-readable storage medium having machine-readable instructions that, when executed by the electronic data processor, cause the electronic data processor to: determining whether the identified target from the captured image is an expected target based on one or more identifying characteristics associated with the identified target; Wherein, when the expected target is identified, an alarm is generated directed to the expected target, including: the electronic data processor is also configured to generate a control signal for operating one or more lights installed on the work vehicle, wherein the one or more lights are configured to operate within one or more spectral ranges that are invisible to the sensor system.

2. The pedestrian warning system according to claim 1, wherein: The sensor system includes a plurality of imaging devices operably connected to the work vehicle, wherein the plurality of imaging devices are configured to capture monocular images or monocular videos, or stereoscopic images or stereoscopic videos of identified targets located at the work site.

3. The pedestrian warning system according to claim 1, wherein: The sensor system includes one or more filters that block light in the spectral range, and the one or more lamps are configured to operate in the spectral range.

4. The pedestrian warning system according to claim 3, wherein: The one or more filters block light having wavelengths greater than about 600 nm, and the one or more lamps operate at wavelengths greater than about 600 nm.

5. The pedestrian warning system according to claim 3, wherein: The one or more filters block light having a wavelength greater than about 600 nm and block light having a wavelength less than about 425 nm, and the one or more lamps operate at wavelengths greater than about 600 nm and less than about 425 nm.

6. The pedestrian warning system according to claim 3, wherein: The one or more filters block light having wavelengths greater than about 650 nm and block light having wavelengths between about 550 nm and 575 nm, and the one or more lamps operate at wavelengths greater than about 650 nm and at wavelengths between about 550 nm and 575 nm.

7. The pedestrian warning system according to claim 1, wherein: The electronic data processor is further configured to generate a control signal for causing the one or more lights to operate in an intermittent manner toward the intended target, and / or, wherein the electronic data processor is further configured to generate a control signal for causing an audible alarm unit to operate toward the intended target.

8. The pedestrian warning system according to claim 1, wherein: The sensor system includes one or more of a thermal imager, a near infrared imaging device, a short wave infrared device, a light detection and ranging device, a radar device, an ultrasonic device, and / or a scanner operably connected to the work vehicle.

9. The pedestrian warning system according to claim 1, wherein: The one or more identifying characteristics of the identified target being a person include clothing, wearable devices, and / or facial identification features stored in a database accessible by the electronic data processor.

10. A method for warning an intended target at a work site having a work vehicle at the work site, the method comprising: capturing, via a sensor system, one or more images of an identified target located at the work site; determining, via an electronic data processor communicatively coupled to the sensor system, whether the identified target from the captured image is an expected target based on one or more identification characteristics associated with the identified target, the electronic data processor including a non-transitory computer-readable storage medium having machine-readable instructions; as well as Wherein, when the expected target is identified, an alarm directed to the expected target is generated, including: the electronic data processor causes one or more lights installed on the work vehicle to operate in one or more spectral ranges that are invisible to the sensor system.

11. The method according to claim 10, wherein: Capturing an image of a person includes: capturing a monocular image or a monocular video, or a stereoscopic image or a stereoscopic video of the person through multiple imaging devices.

12. The method according to claim 10, wherein: Generating an alarm includes activating a strobe light on the work vehicle or triggering a sound file toward the identified target to notify the identified target located at the work site.

13. The method according to claim 10, wherein: The sensor system includes one or more filters that block light from the spectral range in which the one or more lamps are configured to operate.

14. The method according to claim 13, wherein: The one or more filters block light having wavelengths greater than about 650 nm, and the one or more lamps operate at wavelengths greater than about 650 nm; or wherein the one or more filters block light having a wavelength greater than about 600 nm, and the one or more lamps operate at a wavelength greater than about 600 nm; or wherein the one or more filters block light having a wavelength greater than about 600 nm and block light having a wavelength less than about 425 nm, and the one or more lamps operate at a wavelength greater than about 600 nm and less than about 425 nm; or wherein the one or more filters block light having a wavelength greater than about 650 nm and block light having a wavelength between about 550 nm and 575 nm, and wherein the one or more lamps operate at a wavelength greater than about 650 nm and at a wavelength between about 550 nm and 575 nm.

15. The method according to claim 10, further comprising: An audible alarm is generated via an audible alarm unit toward the intended target.

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