System and method for operating a vehicle with a winch

Abstract

A method of operating a vehicle having a winch includes obtaining at least one image of a winch cable as the winch cable is unwound from the winch using at least one sensor on the vehicle. A location of the winch cable is tracked within the at least one image, and a cable obstruction area is determined for the winch cable as the winch cable is rewound using a winch motor. The method further includes identifying at least one object relative to the cable obstruction area within the at least one image, and determining an alert based on a type of the at least one object and a location of the at least one object relative to the cable obstruction area as the winch cable is rewound.

Description

Technical Field

[0001] This disclosure relates to a vehicle having a winch, and more particularly, to monitoring the operation of the winch. Background Technology

[0002] Vehicle rescue operations often involve using winches to retrieve vehicles that have become immobile due to adverse terrain conditions or mechanical failure. In off-road environments, vehicles frequently encounter situations where they cannot perform standard driving movements due to factors such as deep mud, snow, sand, or steep slopes. Traditional rescue methods (such as towing or pushing) often prove unsuitable in these situations due to limited access, unstable ground conditions, or the risk of causing additional damage to the vehicle. Winch pulling has become a preferred solution because it provides controlled, stable force application while maintaining a safe distance between the rescue vehicle and the stranded vehicle.

[0003] Current winch traction systems typically comprise several key components: an electric or hydraulic motor, a drum assembly, steel or synthetic ropes, and various attachments and accessories. These systems are generally mounted on the front or rear of a vehicle, particularly on specialized rescue vehicles and off-road capable vehicles. The effectiveness of a winch system depends not only on its inherent pulling capacity but also on factors such as the pulling angle, rope length, and the strategic use of auxiliary equipment (such as rope pulleys and tree protectors). Summary of the Invention

[0004] This document discloses a method for operating a vehicle equipped with a winch. The method includes using at least one sensor on the vehicle to acquire at least one image of the winch cable as it is unwound from the winch. The position of the winch cable is tracked within the at least one image, and a cable setback zone is determined for the winch cable when it is rewound using a winch motor. The method also includes identifying at least one object relative to the cable setback zone within the at least one image, and determining an alarm based on the type of the at least one object and its position relative to the cable setback zone when the winch cable is rewound.

[0005] In one aspect of this disclosure, at least one sensor includes an optical sensor.

[0006] In one aspect of this disclosure, the cable obstruction area defines a three-dimensional space surrounding the winch cable.

[0007] In one aspect of this disclosure, the method includes displaying at least one image from a sensor on a vehicle display, and highlighting the location of a cable obstruction area in the at least one image.

[0008] In one aspect of this disclosure, the method includes issuing an alarm when the location of at least one object is within a cable obstruction area and the type of at least one object includes a pedestrian.

[0009] In one aspect of this disclosure, the alarm includes disabling the winch motor to stop the winch cable rewinding.

[0010] In one aspect of this disclosure, the alarm includes highlighting at least one object in the area obstructed by the cable on a vehicle display.

[0011] In one aspect of this disclosure, the alarm includes either an auditory indicator or a visual indicator.

[0012] In one aspect of this disclosure, the alarm includes displaying a message on a vehicle display.

[0013] In one aspect of this disclosure, the winch cable is rewound when the current applied to the winch motor exceeds a predetermined threshold current.

[0014] In one aspect of this disclosure, an object detection algorithm is used to track the position of the winch cable.

[0015] This document discloses a non-transitory computer-readable storage medium embodying programming instructions operable, when executed by a processor, to perform a method. The method includes using at least one sensor on a vehicle to obtain at least one image of a winch cable as it is unwound from a winch. The position of the winch cable is tracked within the at least one image, and a cable obstruction area is identified for the winch cable when it is rewound using a winch motor. The method also includes identifying at least one object relative to the cable obstruction area within the at least one image, and determining an alarm based on the type of the at least one object and its position relative to the cable obstruction area when the winch cable is rewound.

[0016] In one aspect of this disclosure, the cable obstruction area defines a three-dimensional space surrounding the winch cable.

[0017] In one aspect of this disclosure, the method includes issuing an alarm when the location of at least one object is within a cable obstruction area and the type of at least one object includes a pedestrian.

[0018] In one aspect of this disclosure, the alarm includes disabling the winch motor to stop the winch cable rewinding.

[0019] In one aspect of this disclosure, the alarm includes highlighting at least one object in the area obstructed by the cable on a vehicle display.

[0020] In one aspect of this disclosure, the alarm includes one of an audible indicator, a visual indicator, or a message on a vehicle display.

[0021] This document discloses a vehicle. The vehicle includes a wheel-supported passenger compartment, a winch including a winch cable and a winch motor, and optical sensors associated with the vehicle having a field of view around the vehicle, and a controller electrically communicating with the winch and optical sensors. The winch motor is configured to unwind or rewind the winch cable. The controller is configured to acquire at least one image of the winch cable using the optical sensors when the winch cable is unwinding, and to track the position of the winch cable within the at least one image using an object tracking algorithm. The method is also configured to determine a cable obstruction area for the winch cable when the winch motor is activated to rewind the winch cable into the winch, and to identify at least one object relative to the cable obstruction area within the at least one image. Using the cable obstruction area, the controller is configured to determine an alarm based on the type of the at least one object and the position of the at least one object relative to the cable obstruction area when the winch cable is rewinding.

[0022] In one aspect of this disclosure, the controller is configured to issue an alarm when the location of at least one object is within a cable obstruction area and the type of at least one object includes a pedestrian.

[0023] In one aspect of this disclosure, the alarm includes at least one of the following: disabling the winch motor to stop the winch cable rewinding, or highlighting at least one object in the area of ​​cable obstruction on a vehicle display in the passenger compartment.

[0024] Option 1. A method for operating a vehicle equipped with a winch, the method comprising:

[0025] At least one image of the winch cable is obtained using at least one sensor on the vehicle when the winch cable is unwound from the winch.

[0026] Track the position of the winch cable within at least one image;

[0027] When using a winch motor to rewind the winch cable, identify areas of cable obstruction for the winch cable;

[0028] Identify at least one object relative to a cable obstruction region within at least one image; and

[0029] When the winch cable is rewound, an alarm is determined based on the type of the at least one object and its position relative to the cable obstruction area.

[0030] Option 2. The method according to Option 1, wherein at least one sensor includes an optical sensor.

[0031] Option 3. The method according to Option 1, wherein the cable obstruction area defines a three-dimensional space surrounding the winch cable.

[0032] Option 4. The method according to Option 1, comprising displaying at least one image from a sensor on a vehicle display, and highlighting the location of the cable obstruction area in the at least one image.

[0033] Option 5. The method according to Option 1, including issuing an alarm when the location of at least one object is within the cable obstruction area and the type of at least one object includes a pedestrian.

[0034] Option 6. The method according to Option 5, wherein the alarm includes disabling the winch motor to stop the winch cable rewinding.

[0035] Option 7. The method according to Option 5, wherein the alarm includes highlighting at least one object in the area of ​​cable obstruction on the vehicle display.

[0036] Option 8. The method according to Option 5, wherein the alarm includes one of an auditory indicator or a visual indicator.

[0037] Option 9. The method according to Option 5, wherein the alarm includes displaying a message on a vehicle display.

[0038] Option 10. The method according to Option 1, wherein when the current applied to the winch motor exceeds a predetermined threshold current, the winch cable is rewound.

[0039] Option 11. According to the method of Option 1, wherein an object detection algorithm is used to track the position of the winch cable.

[0040] Option 12. A non-transitory computer-readable storage medium embodying programming instructions, which, when executed by a processor, are operable to perform a method comprising:

[0041] At least one image of the winch cable is obtained using sensors on the vehicle when the winch cable is unwound from the winch.

[0042] Track the position of the winch cable within at least one image;

[0043] When using a winch motor to rewind the winch cable, identify areas of cable obstruction for the winch cable;

[0044] Identify at least one object relative to the cable obstruction region within at least one image; and

[0045] When the winch cable is rewound, an alarm is determined based on the type of the at least one object and the position of the at least one object relative to the cable obstruction area.

[0046] Option 13. The medium according to Option 12, wherein the cable obstruction area defines a three-dimensional space surrounding the winch cable.

[0047] Option 14. The medium according to Option 12, wherein the method includes issuing an alarm when the location of at least one object is within the cable obstruction area and the type of at least one object includes a pedestrian.

[0048] Option 15. The medium according to Option 14, wherein the alarm includes disabling the winch motor to stop the winch cable rewinding.

[0049] Option 16. The medium according to Option 14, wherein the alarm includes highlighting at least one object in the area of ​​cable obstruction on the vehicle display.

[0050] Option 17. The medium according to Option 14, wherein the alarm includes one of an audible indicator, a visual indicator, or a message on a vehicle display.

[0051] Option 18. A vehicle comprising:

[0052] A passenger cabin supported by multiple wheels;

[0053] A winch, the winch including a winch cable and a winch motor, the winch motor being configured to unwind or rewind the winch cable;

[0054] An optical sensor associated with the vehicle, the optical sensor having a field of view surrounding the vehicle; and

[0055] The controller, which is in electrical communication with the winch and optical sensors, is configured to:

[0056] At least one image of the winch cable is obtained during the unwinding of the winch cable using an optical sensor;

[0057] The position of the winch cable within at least one image is tracked using an object tracking algorithm;

[0058] When the winch motor is activated to rewind the winch cable back into the winch, identify the cable obstruction area for the winch cable.

[0059] Identify at least one object in at least one image relative to a cable obstruction area; and

[0060] When the winch cable is rewound, an alarm is determined based on the type of at least one object and the position of at least one object relative to the cable obstruction area.

[0061] Option 19. The vehicle according to Option 18, wherein the controller is configured to issue an alarm when the location of at least one object is within the cable obstruction area and the type of at least one object includes a pedestrian.

[0062] Option 20. The vehicle according to Option 19, wherein the alarm includes at least one of the following: disabling the winch motor to stop winch cable rewinding, or highlighting at least one object in the cable obstruction area on a vehicle display in the passenger compartment. Attached Figure Description

[0063] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0064] Figure 1 The illustration schematically depicts a vehicle equipped with a winch and sensors.

[0065] Figure 2 Is operation and Figure 1 A flowchart illustrating an example method for using a winch related to a vehicle.

[0066] Figure 3 schematic diagram from Figure 1 Images obtained from sensors on the vehicle show an example area where a cable is obstructed.

[0067] Figure 4 schematic diagram from Figure 1 Images obtained from sensors on the vehicle show another example of a cable obstruction area. Detailed Implementation

[0068] Those skilled in the art will recognize that the descriptive use of terms such as “above,” “below,” “upward,” “downward,” “top,” “bottom,” “left,” and “right” in the figures does not constitute a limitation on the scope of this disclosure, which is defined by the appended claims. Furthermore, this teaching may be described herein in accordance with functional and / or logical block components and / or various processing steps.

[0069] When operating a vehicle, especially in off-road conditions, it may become stuck and no longer be able to generate momentum in the forward or backward directions. In these situations, the vehicle may need to be pulled from its current position to overcome obstacles or reach an area with improved traction. For vehicles equipped with winches, the vehicle can perform self-rescue by attaching the winch cable to an anchor (such as another vehicle or a fixed object). The winch consists of an electric motor powered by the vehicle or a remote power source, which pulls the winch cable back or winds it into the winch. The winch can then pull the vehicle from its current position to a new position, where the vehicle will be able to continue moving under its own power.

[0070] like Figure 1As shown, vehicle 10 includes a body 12 that at least partially defines a passenger compartment 14 and is supported by wheels 16 configured to engage a road surface 28. In the illustrated example, vehicle 10 is depicted as a truck; however, this disclosure applies to other vehicle types, such as sport utility vehicles (SUVs) or other off-road related vehicles. Vehicle 10 is also equipped with a winch 18 having a winch cable 22 driven by a winch motor 26 to rewind the winch cable 22 and pull vehicle 10 over obstacles 30 in the path of vehicle 10. The operation of vehicle 10 and winch 18 is at least partially controlled by a controller 24 configured to at least partially perform the method 100 for operating winch 18 described below. A vehicle display 36 is located within the passenger compartment 14 for displaying information to the occupants of vehicle 10.

[0071] The electronic controller 24 is configured to communicate with the sensors 32 on the vehicle 10 to receive corresponding sensing data relating to the surrounding environment of the vehicle 10. The electronic controller 24 may alternatively be referred to as a control module, control unit, controller, vehicle 10 controller, computer, etc. The electronic controller 24 may include a computer and / or processor, and includes software, hardware, memory, algorithms, connections (such as the sensors 32), etc., for managing and controlling the operation of the vehicle 10. Therefore, the following description and... Figure 2 The overall representation can be embodied as a program or algorithm that can be partially operated on the electronic controller 24. It should be understood that the electronic controller 24 may include devices capable of analyzing data from (multiple) sensors 32, comparing data, making decisions necessary to control the operation of the vehicle 10, and performing tasks necessary to control the operation of the vehicle 10.

[0072] The electronic controller 24 may be embodied as one or more digital computers or hosts, each having one or more processors, read-only memory (ROM), random access memory (RAM), electrically programmable read-only memory (EPROM), optical drive, magnetic drive, etc., high-speed clock, analog-to-digital (A / D) circuitry, digital-to-analog (D / A) circuitry, input / output (I / O) circuitry, I / O devices, communication interfaces, and signal conditioning and buffering electronics. Computer-readable storage may include non-transitory / tangible media involved in providing data or computer-readable instructions. Storage may be non-volatile or volatile. Non-volatile media may include, for example, optical discs or magnetic disks and other permanent storage. Example volatile media may include dynamic random access memory (DRAM), which may constitute main memory. Other examples of embodiments for storage include floppy disks, hard disks, magnetic tapes or other magnetic media, CD-ROMs, DVDs and / or other optical media, and other possible storage devices such as flash memory.

[0073] The electronic controller 24 includes a tangible, non-transitory memory on which computer-executable instructions, including one or more algorithms, are recorded for adjusting the operation of the motor vehicle 10.

[0074] Figure 2 The diagram illustrates a flowchart of a method 100 for operating a winch on vehicle 10. Method 100 begins at box 102. At box 102 (“Release Winch Cable”), winch cable 22 is released or unwound from winch 18. When winch cable 22 is released, it can be unwound from winch 18 and attached to anchor 20. Figure 1 ) or another vehicle ( Figures 3 to 4 Furthermore, although Figure 1 The illustration shows vehicle 10 pulling itself relative to anchor 20 via a winch, where the anchor is fixed to prevent movement, but vehicle 10 can be operated as an anchor to pull another vehicle 66 using winch cable 22. Figures 3 to 4 When the winch cable 22 is at least partially unwound from the winch 18, method 100 proceeds to frame 104.

[0075] At box 104 (“Acquiring an Image”), at least one image of the winch cable 22 in the unwound position is acquired using a sensor 32 on the vehicle 10 (such as a forward-facing optical camera, radar, or lidar). For example, the at least one image may include a series of images illustrating the operation of the winch cable 22 from its initial unwound position from the winch 18 to its rewinding into the winch 18. The sensor 32 is positioned to include a field of view encompassing the winch cable 22 on the front of the vehicle 10. Figure 3 and Figure 4 The illustration shows an example image 60 obtained by at least one sensor 32. In one example, at least one image 60 may be shown on a vehicle display 36 on the vehicle 10.

[0076] Although Figure 1 The winch 18 is shown in the front of the vehicle 10 in the illustrated example, but the winch 18 may be located on other parts of the vehicle 10. For example, the winch 18 may be located at the rear of the vehicle 10, and the sensor 32 may include a rear-view camera having a field of view of the winch 18 located at the rear of the vehicle 10. With at least one image acquired, method 100 proceeds to block 106.

[0077] At box 106 (“Tracking the Winch Cable”), method 100 tracks the position of the winch cable 22 in at least one image obtained in box 104. In one example, method 100 utilizes an object tracking algorithm to identify the position of the winch cable 22 in at least one image 60. To aid in identifying the winch cable 22 in at least one image 60, the color of the winch cable 22 can be input into the object tracking algorithm to help identify the winch cable 22 in image 60. For example, the winch cable 22 may include a high-contrast color (such as neon green) to improve the object tracking algorithm's ability to identify the winch cable 22 in at least one image.

[0078] If the location of the winch cable 22 cannot be determined from at least one image 60 when the winch cable 22 is unwound, this may indicate that the sensor 32 is obstructed by something such as mud or tree branches. Method 100 may issue an alarm to check the sensor 32 for obstruction so that an object tracking algorithm can identify the winch cable 22. In one example, the alarm may be displayed on the vehicle display 36 on the dashboard in the passenger compartment 14 of the vehicle 10. Once a clear view of the winch cable 22 is provided to the sensor 32, the winch cable 22 can be tracked using an object tracking algorithm such as OpenCV, DeepSORT, or another object tracking algorithm.

[0079] Furthermore, when at least one image 60 is displayed on the vehicle display 36, the winch cable 22 can, for example, use a high-contrast color 61 (in... Figures 3 to 4 The bounding box 63 (shown as textured) is highlighted to help the operator of vehicle 10 more easily identify the location of winch cable 22 in image 60. As winch cable 22 is tracked, method 100 proceeds to box 108.

[0080] At box 108 (“Determine Cable Obstruction Area”), method 100 determines a cable obstruction area relative to winch cable 22. The cable obstruction area defines a region, such as a region in three-dimensional (3D) space surrounding winch cable 22, which should remain clear of certain types of objects during operation of winch 18.

[0081] For example, the operator of vehicle 10 or other persons around vehicle 10 may unwind the winch cable 22 from the winch 18 during operation. In this case, when the winch cable 22 is not under load or is not being rewound by the winch motor 26, a person can directly engage the winch cable 22 to help guide it. However, when the winch cable 22 is under tension, such as when the winch motor 26 is rewinding the winch cable 22, method 100 determines a cable obstruction area that should be free of certain types of objects, such as pedestrians, when the winch cable 22 is under load or being rewound.

[0082] Furthermore, method 100 can distinguish between when the winch cable 22 is being rewound and when the vehicle 10 is being pulled under tension by monitoring the current supplied to the winch motor 26. For example, when the current level sent to the winch motor 26 exceeds a predetermined threshold current level, method 100 can determine that certain types of objects should not be located in the cable obstruction area. In one example, the predetermined threshold current level corresponds to a level greater than the current required to simply rewound the winch cable 22 back into the winch 18.

[0083] Figure 3 and Figure 4 The illustration shows two example cable obstruction areas used in image 60. (See image 60.) Figure 3 As shown, a first triangle 62 extends from the front of vehicle 10 to a winch attachment point 67 on another vehicle 66. Similarly, a second triangle 64 extends from the winch attachment point 67 to the front of vehicle 10. In this example, the cable obstruction area 68A may include the locations of the first and second triangles 62 and 64 or the location of their intersection. Furthermore, although image 60 is a two-dimensional image, and the first and second triangles 62 and 64 are illustrated as two-dimensional objects in image 60, for the purpose of identifying objects within cable obstruction areas 68A, 68B, the first and second triangles 62 and 64 represent conical shapes extending along a central longitudinal axis coinciding with the winch cable 22 in three-dimensional space.

[0084] Figure 4 The illustration shows another example of a cable obstruction area 68B used in image 60. Figure 4 In the illustrated example, triangle 72 extends from the front of vehicle 10 by a point that extends along the trajectory of winch cable 22 by at least twice the distance of winch cable 22. Similar to the example above. Figure 3 Triangle 72 illustrates the cable obstruction area 68B. Furthermore, due to the two-dimensional limitations of image 60, triangle 72 is represented in two dimensions. However, to identify objects within the cable obstruction area 68B, the triangle represents a conical shape in three-dimensional space, extending along a central longitudinal axis coinciding with the winch cable 22.

[0085] In yet another example, triangle 72 can be extended to a point at infinity, such that the opposite sides of triangle 72 are substantially parallel and form a cylinder around winch cable 22 in three-dimensional space. With the winch cable obstruction area determined, method 100 proceeds to block 110.

[0086] At box 110 (“Identifying (Multiple) Objects”), method 100 utilizes an object detection algorithm to identify additional objects in an image 60 captured by sensor 32 adjacent to winch cable 22. For example, as Figure 3 and Figure 4As shown, the object detection algorithm can identify another vehicle 66 or pedestrian 92 in image 60. As the object in image 60 is identified, method 100 proceeds to box 112.

[0087] At box 112 (“Determine Alarm”), method 100 determines whether an alarm should be issued regarding the operation of winch 18. Method 100 determines whether an alarm should be issued based on the type of object and the object's position relative to cable obstruction areas 68A, 68B. For example, if the detected object is a pedestrian and at least a portion of the pedestrian is within cable obstruction areas 68A, 68B, then method 100 can determine that an alarm should be issued.

[0088] If method 100 determines that an alarm should be issued, method 100 may generate an alarm in several different ways. In one example, the alarm may include instructing vehicle 10 to activate its horn (auditory indicator) or flash external lights (visual indicator) to notify pedestrian 92 of his or her position relative to cable obstruction areas 68A, 68B. In another example, method 100 may deactivate winch motor 26 by terminating power to winch motor 26 or unwinding winch cable 22 to release tension in winch cable 22. In yet another example, method 100 may provide a message on vehicle display 36 that the pedestrian is located in cable obstruction areas 68A, 68B. Furthermore, method 100 may use a bounding box to highlight pedestrian 92 or other objects in image 60 and display a highlighted version of image 60 on vehicle display 36. Thus, method 100 may return to box 110 to continue monitoring objects relative to the cable obstruction area.

[0089] The terms “a” and “an” do not indicate a limitation of quantity, but rather the presence of at least one of the referenced items. Unless the context clearly indicates otherwise, the term “or” means “and / or”. Throughout the specification, the reference to “an aspect” means that a particular element described in connection with that aspect (e.g., a feature, structure, step, or characteristic) is included in at least one aspect described herein and may or may not be present in other aspects. Furthermore, it should be understood that the described elements may be combined in suitable manner in each aspect.

[0090] Although the foregoing disclosure has been described with reference to exemplary embodiments, those skilled in the art will understand that various changes can be made and equivalents can be substituted for its elements without departing from its scope. Furthermore, many modifications can be made to suit particular circumstances or materials to the teachings of this disclosure without departing from its scope. Therefore, this disclosure is not intended to be limited to the specific embodiments disclosed, but will include embodiments falling within its scope.

Claims

1. A method of operating a vehicle having a winch, the method comprising: At least one image of the winch cable is obtained using at least one sensor on the vehicle when the winch cable is unwound from the winch. Track the position of the winch cable within at least one image; When using a winch motor to rewind the winch cable, identify areas of cable obstruction for the winch cable; Identify at least one object relative to a cable obstruction region within at least one image; as well as When the winch cable is rewound, an alarm is determined based on the type of the at least one object and its position relative to the cable obstruction area.

2. The method according to claim 1, wherein, At least one sensor includes an optical sensor.

3. The method according to claim 1, wherein, The cable obstruction area defines the three-dimensional space surrounding the winch cable.

4. The method of claim 1, further comprising displaying at least one image from a sensor on a vehicle display, and highlighting the location of a cable obstruction area in the at least one image.

5. The method of claim 1, further comprising issuing an alarm when the location of at least one object is within the cable obstruction area and the type of at least one object includes a pedestrian.

6. The method according to claim 5, wherein, The alarm includes disabling the winch motor to stop the winch cable from rewinding.

7. The method according to claim 5, wherein, The alarm includes highlighting at least one object in the area obstructed by the cable on the vehicle's display.

8. The method according to claim 5, wherein, Alarms include either an audible indicator or a visual indicator.

9. The method according to claim 5, wherein, The alert includes displaying a message on the vehicle's display screen.

10. The method according to claim 1, wherein, When the current applied to the winch motor exceeds a predetermined threshold current, the winch cable is rewound.

Images