SYSTEM AND METHOD FOR RETRIGGERING A DETECTION-BASED PROXIMITY WARNING SYSTEM - Patent application

Abstract

A proximity warning system (100) including a camera (104) positioned on a machine (10), a processor (1210), and one or more memory devices (1250) including instructions for execution by the processor. The system includes instructions for receiving (202) image data from the camera (104) depicting an object (20) within a field of view (FOV) of the camera (104). The system includes instructions for deriving (204) a first distance between the object (20) and the machine (10) based on the image data, and an alarm (108) is triggered (206) when the first distance is less than a first threshold distance D1. The system may include instructions for receiving (208) a request to snooze the alarm (108) and stop the alarm (108). Additional image data may be received (210) from the camera (104), and a second distance between the object (20) and the machine (10) is derived (212) based on the additional image data. The system includes instructions for disabling snooze and re-triggering (214) the alarm (108) when the second distance is less than a second threshold distance (D2).

Description

[Technical Field]

[0001] This patent application is directed to proximity warning systems, and more particularly to retriggering of proximity-based proximity warning systems. [Background technology]

[0002] Proximity warning systems used on machines such as excavators typically have a method for acknowledging or snoozing an audible alert that an object is near and / or approaching the machine. Failure to snooze the audible alarm, and failure to snooze for a sufficient period of time, can lead to the safety system being ignored or even deactivated by the operator.

[0003] Considering the possibility that further concerns may arise while the alarm system is snoozed, efforts have been made to establish criteria for retriggering snoozed alarms. For example, U.S. Patent No. 8,275,847 to Lewis (hereinafter "Lewis") describes an interactive maintenance management system (IMMS) that includes an alarm processing system for handling alarms indicating current or impending equipment failure. The IMMS may be used in industrial settings, such as open-pit mining, to reduce equipment downtime and reduce or prevent equipment failures. Lewis's IMMS uses a flexible response system to track, analyze, and improve the performance of the alarm processing system. Because Lewis targets alarms related to equipment failures, the criteria for retriggering alarms defined by Lewis are not appropriate for proximity alarm systems. For example, Lewis retriggers snoozed alarms for necessary maintenance / repair after a maintenance facility becomes available.

[0004] Thus, there remains room for improvement in proximity warning systems used on machines to warn operators of nearby and / or approaching objects.The example systems and methods described herein are directed to overcoming one or more of the above-mentioned deficiencies and / or other problems in the prior art. Summary of the Invention

[0005] In some embodiments, a proximity warning system may include one or more cameras positioned on a machine, one or more processors, and one or more memory devices. The memory devices may include instructions for execution by the one or more processors. The system may include instructions for receiving image data from the one or more cameras depicting an object located within the field of view of the one or more cameras. The system may include instructions for deriving a first distance between the object and the machine based on the image data, and an alarm is triggered when the first distance is less than a first threshold distance. The system may also include instructions for receiving a request to snooze the alarm and stop the alarm. Additional image data depicting the object may be received from the one or more cameras, and a second distance between the object and the machine is derived based on the additional image data. The system may include instructions for canceling the snooze and retriggering the alarm when the second distance is less than a second threshold distance.

[0006] In some embodiments, the system further includes instructions for receiving a second request to snooze the alarm, receiving additional image data depicting the object from the one or more cameras, deriving a third distance between the object and the machine based on the additional image data, and canceling the second snooze and retriggering the alarm when the third distance is less than a third threshold distance. According to some embodiments, the first threshold distance corresponds to a visual alarm, and the second and third threshold distances correspond to audible and / or tactile alarms, respectively. In some embodiments, the first threshold distance is 9 meters from the machine, the second threshold distance is 6 meters from the machine, and the third threshold distance is 3 meters from the machine. In further embodiments, the one or more cameras include a camera positioned behind the machine and cameras positioned on the left and right sides of the machine, respectively. In some embodiments, the one or more cameras include an object identification system that identifies whether the object is a person, thereby enabling the alarm to distinguish the object as a person.

[0007] In some embodiments, a proximity warning system may include one or more cameras positioned on a machine, one or more processors, and one or more memory devices. The memory device may include instructions for execution by the one or more processors. The system may include instructions for receiving image data from the one or more cameras depicting an object located within the field of view of the one or more cameras. The system may include instructions for deriving a first distance between the object and the machine based on the image data, and an alarm is triggered when the first distance is less than a first threshold distance. The system may also include instructions for receiving a request to snooze the alarm and stop the alarm. Upon receiving a request to snooze the alarm, a buffer zone distance may be defined. Additional image data depicting the object may be received from the one or more cameras, and a second distance between the object and the machine is derived based on the additional image data. The system may include instructions for canceling the snooze and retriggering the alarm when the second distance is less than a second threshold distance and a difference between the first distance and the second distance is greater than the buffer zone distance.

[0008] In some aspects, the buffer zone distance is proportional to the first distance. According to some aspects, the buffer zone distance is inversely proportional to the velocity of the object. In some aspects, the system further includes instructions for receiving a second request to snooze the alarm, receiving further image data from the one or more cameras depicting the object, deriving a third distance between the object and the machine based on the further image data, and canceling the second snooze and retriggering the alarm when the third distance is less than a third threshold distance and a difference between the second distance and the third distance is greater than the buffer zone distance.

[0009] In some embodiments, a proximity warning system may include one or more cameras positioned on a machine, one or more processors, and one or more memory devices. The memory device may include instructions for execution by the one or more processors. The system may include instructions for receiving, from the one or more cameras, image data depicting an object located within the field of view of the one or more cameras. The system may include instructions for deriving a first distance between the object and the machine based on the image data, and an alarm is triggered when the first distance is less than a first threshold distance. The system may also include instructions for receiving a request to snooze the alarm and stop the alarm. Upon receiving the request to snooze the alarm, a closing speed between the machine and the object is derived based on the image data. The system may also include instructions for calculating a period during which the object is located less than a second threshold distance, and for canceling the snooze and retriggering the alarm when the period is less than a time threshold (e.g., 2 seconds). [Brief explanation of the drawings]

[0010] The systems and methods described herein can be better understood by reference to the following detailed description in conjunction with the accompanying drawings, where like reference numbers indicate identical or functionally similar elements. [Figure 1]FIG. 1 illustrates a method for retriggering a detection-based proximity warning system in accordance with an embodiment of the disclosed technology. [Figure 2] FIG. 2 is a flow diagram illustrating the method shown in FIG. [Figure 3] FIG. 3 illustrates a method for retriggering a detection-based proximity warning system according to a further embodiment of the disclosed technology. [Figure 4] FIG. 4 is a flow diagram illustrating the method shown in FIG. [Figure 5] FIG. 5 illustrates a method for retriggering a detection-based proximity warning system according to a further embodiment of the disclosed technology. [Figure 6] FIG. 6 is a flow diagram illustrating the method shown in FIG. [Figure 7] FIG. 7 is a block diagram illustrating an overview of an apparatus in which some implementations may operate. [Figure 8] FIG. 8 is a block diagram illustrating an overview of an environment in which some implementations may operate. [Figure 9] FIG. 9 is a block diagram illustrating components that may be used in a system employing the disclosed technology in some implementations. DETAILED DESCRIPTION OF THE INVENTION

[0011] The headings provided herein are for convenience only and do not necessarily affect the scope of the embodiments. Additionally, the drawings are not necessarily to scale. For example, the dimensions of some of the elements in the figures may be expanded or reduced to help improve understanding of the embodiments. Furthermore, while the disclosed technology is susceptible to various modifications and alternative forms, specific embodiments are illustrated in the drawings and described in detail below. However, this is not intended to unnecessarily limit the described embodiments. Rather, the embodiments are intended to cover all suitable modifications, combinations, equivalents, and alternatives falling within the scope of the present disclosure.

[0012] Various embodiments of the above-described systems and methods will now be described in further detail. The following description provides specific details for a thorough understanding and enabling description of these embodiments. However, those skilled in the art will understand that the techniques and technologies discussed herein may be practiced without many of these details. Likewise, those skilled in the art will also understand that the technology may include many other features not described in detail herein. Furthermore, some known structures or functions may not be shown or described in detail below to avoid unnecessarily obscuring the relevant description.

[0013] The terms used below, although used in conjunction with the detailed description of some specific examples of embodiments, are to be interpreted in their broadest reasonable sense. Indeed, although some terms may be emphasized below, any terms intended to be interpreted in any limited manner are expressly and specifically defined as such in this section.

[0014] Proximity warning systems used on machines such as hydraulic excavators typically have a method for acknowledging or snoozing an audible alert that an object is near and / or approaching the machine. The snooze period can range from a few minutes to a few hours, depending on the application. During that period, circumstances may change such that it is desirable to cancel the snooze and retrigger the alarm. Disclosed herein are systems and methods for detection-based proximity warning systems, including a method for retriggering the system after being snoozed. These methods include retriggering the alarm when an object moves between defined warning zones around the machine. These methods also include retriggering the alarm when the object's predicted track moves the object between warning zones within a selected threshold period. Image-based detection systems can vary widely depending on the complexity of the image. In other words, the distance of a detected object can vary within a margin of error. Accordingly, methods are also disclosed for using buffer zones to help prevent false alarms when objects are near distance thresholds that define different zones.

[0015] FIG. 1 illustrates a machine 10, such as an excavator, configured with a detection-based proximity warning system 100 in accordance with an embodiment of the disclosed technology. The proximity warning system 100 may include a controller 102 and multiple cameras 104. In some embodiments, the system may include a camera 104(R) positioned rearward of the machine 10 and two cameras 104(S) positioned on the left and right sides of the machine 10, respectively. The illustrated three-camera configuration provides a field of view (FOV) of approximately 270 degrees, although wider or narrower fields of view may also be used. In some embodiments, a different number and position of cameras may be used. The controller 102 may include one or more processors and one or more memory devices that store instructions for controlling the warning system, including a method for retriggering the system after snoozing.

[0016] The camera 104 may be any type of analog or digital image sensor, digital camera, and / or digital video camera. For example, the camera 104 may be a high dynamic range (HDR) camera, a photosensitive camera, and / or a supersonic camera. In some embodiments, the camera may provide two-dimensional image data, three-dimensional image data, an image sequence, gray image data, and / or color image data. In some embodiments, the system 100 may further include any known type of sensor, such as one or more light detection and ranging (LIDAR) sensors, one or more voice navigation range (SONAR) sensors, one or more radio detection and ranging (RADAR) sensors, or any other suitable sensor type. In some embodiments, the camera includes an object identification system capable of identifying whether an object is a person, machine, vehicle, or other obstacle. In some embodiments, an alarm system is configured to distinguish objects as people, machines, vehicles, or other obstacles to further inform the operator about the nature of objects around the machine 10. In some embodiments, the camera may provide image data including, for example, distance, azimuth angle, and speed for each object within the FOV.

[0017] The detection-based proximity warning system 100 may include multiple warning zones within the FOV. In some embodiments, the warning zones may be defined by threshold distances from the machine. For example, as shown in FIG. 1 , a first threshold distance D1 may define a caution zone, a second threshold distance D2 may define a warning zone, and a third threshold distance D3 may define a critical zone, where the threshold distances may define concentric arc-shaped regions centered on the machine 10. In some embodiments, the first threshold distance D1 is 9 meters from the machine, the second threshold distance D2 is 6 meters from the machine, and the third threshold distance D3 is 3 meters from the machine. In some embodiments, the thresholds may be configurable. Each warning zone may correspond to a different alarm type that is triggered (i.e., activated) when an object gets closer to the machine 10 than the corresponding threshold distance. For example, a caution zone may correspond to a visual alarm (e.g., a flashing light), a warning zone may correspond to a combination of an audible alarm (e.g., a speaker or siren) and a visual alarm, and a critical zone may correspond to an audible, visual, and tactile alarm (e.g., a vibrating mechanism). In some embodiments, the alarms may be output visually on a display of machine 10, which may include a user interface that an operator can use to control machine operation.

[0018] When an object 20, such as a person, crosses a first distance threshold D1 and enters the attention zone, an alarm (e.g., an audible alarm 108) is triggered. When the alarm is initially triggered, an operator may snooze the alarm, for example, through the machine's control display or via a manual button 106. The snooze period may range from several minutes to several hours, depending on the application. Within that period, circumstances may change such that it is desirable to cancel the snooze and retrigger (i.e., reactivate) the alarm. For example, if an object moves near the machine within the snooze period, it may be necessary to cancel the snooze and alert the operator. Thus, if an object 20 crosses a second distance threshold D2 and enters the attention zone, the snooze is canceled and the alarm is retriggered, alerting the operator that the object has moved near the machine or that the machine is approaching the object. Note that the distance between the object and the machine may change due to movement of the object 20 and / or the machine 10.

[0019] Because the attention zone may only correspond to a visual alarm, in some embodiments the system does not allow the operator to snooze the visual attention zone alarm. Visual alarms are less distracting than audible and / or tactile alarms and are therefore less likely to be deactivated. Thus, in some embodiments, a snooze mechanism is activated when object 20 enters the attention zone, and the alarm is retriggered if object 20 crosses a third distance threshold D3 and enters the critical zone.

[0020] FIG. 2 is a flow diagram illustrating a method 200 corresponding to FIG. 1 for controlling an alarm system, including retriggering an alarm, according to an embodiment of the disclosed technology. In step 202, the system receives image data from one or more cameras depicting an object located within the field of view of the one or more cameras. In step 204, the system derives a first distance between the object and the machine based on the image data. In step 206, the system triggers an alarm when the first distance is less than a first threshold distance. In step 208, the system receives a request to snooze the alarm and silence it. In step 210, the system receives additional image data from one or more cameras depicting the object. In step 212, the system derives a second distance between the object and the machine based on the additional image data. In step 214, the system unsnoozes and retriggers the alarm when the second distance is less than a second threshold distance. In some embodiments, the method may also include receiving a second request to snooze the alarm, receiving further image data depicting the object, deriving a third distance between the object and the machine based on the further image data, and canceling the second snooze and retriggering the alarm when the third distance is less than a third threshold distance.

[0021] FIG. 3 illustrates another method for retriggering a detection-based proximity alert using a buffer zone, according to a further embodiment of the disclosed technology. An alert is triggered when an object 20 crosses a first distance threshold D1 and enters the attention zone. When the alert is initially triggered, an operator may snooze the alert. Upon receiving a request to snooze the alert, the system defines a buffer zone distance Db that reflects the surface of the object 20. (As shown in FIG. 3, the buffer zone has approximately the same shape as the object 20; alternatively, the buffer zone may be a circle with the center of the object as its center.) In some implementations, the buffer zone distance Db may be directly proportional to the first distance. In some implementations, the buffer zone distance Db may be inversely proportional to the object's velocity. The buffer zone distance Db may also be defined based on the type of object, e.g., different distances for people and vehicles.

[0022] Image-based detection systems can vary widely in accuracy depending on the complexity of the image. In other words, the distance of a detected object can vary within a margin of error. The buffer zone prevents false alarms when an object is close to the distance thresholds that define the different zones. Thus, if object 20 crosses a second distance threshold D2 and enters the alert zone, snooze is canceled and the alarm is retriggered only if the object moves closer to machine 10 by the buffer zone distance Db (such distance may be measured in a straight line from machine 10 to object 20). The buffer zone also acts to consolidate multiple detections that are within threshold distance of each other.

[0023] FIG. 4 is a flow diagram illustrating a method 400 corresponding to FIG. 3 for controlling an alarm system, including retriggering an alarm, according to an embodiment of the disclosed technology. In step 402, the system receives image data from one or more cameras depicting an object located within the field of view of the one or more cameras. In step 404, the system derives a first distance between the object and the machine based on the image data. In step 406, the system triggers an alarm when the first distance is less than a first threshold distance. In step 408, the system receives a request to snooze the alarm and silence it. In step 410, upon receiving the request to snooze the alarm, the system defines a buffer zone distance. In step 412, the system receives additional image data from one or more cameras depicting the object. In step 414, the system derives a second distance between the object and the machine based on the additional image data. In step 416, the system cancels the snooze and retriggers the alarm when the second distance is less than a second threshold distance and the difference between the first distance and the second distance is greater than the buffer zone distance. In some embodiments, the method may also include receiving a second request to snooze the alarm, receiving further image data depicting the object, deriving a third distance between the object and the machine, and canceling the second snooze when the third distance is less than a third threshold distance and the difference between the second distance and the third distance is greater than a buffer zone distance.

[0024] FIG. 5 illustrates another method for retriggering a detection-based proximity alarm using an object's path trajectory or track (e.g., speed) in accordance with a further embodiment of the disclosed technology. An alarm is triggered when an object 20 crosses a first distance threshold D1 and enters the attention zone. When the alarm is initially triggered, an operator may snooze the alarm. Upon receiving a request to snooze the alarm, the system derives the closing speed S between the machine and the object 20. If the object's speed S and distance D1 result in the object 20 entering the next threat zone (e.g., the D2 attention zone) within a configurable threshold period t, the snooze is lifted and the alarm is retriggered. Using object track information to lift the snooze and retrigger the alarm can provide a faster retrigger for rapidly approaching objects, providing the operator with more reaction time.

[0025] FIG. 6 is a flow diagram illustrating a method 600 corresponding to FIG. 5 for controlling an alarm system, including retriggering an alarm, according to an embodiment of the disclosed technology. In step 602, the system receives image data from one or more cameras depicting an object located within the field of view of the one or more cameras. In step 604, the system derives a first distance between the object and the machine based on the image data. In step 606, the system triggers an alarm when the first distance is less than a first threshold distance. In step 608, the system receives a request to snooze the alarm and silence the alarm. In step 610, upon receiving the request to snooze the alarm, the system derives a closing speed S between the machine and the object based on the image data. In step 612, the system calculates a time period T during which the object is located less than a second threshold distance. In step 614, the system cancels the snooze and retriggers the alarm when the time period T is less than a time threshold t. In some embodiments, the time threshold t may be 2 seconds.

[0026] The above-described systems and methods for retriggering proximity alerts can be used in combination with each other and in conjunction with various alert retriggering events. For example, a snooze alert can be retriggered when a machine's hydraulic lock transitions from engaged (locked) to disengaged (unlocked), when the machine travels a configurable fixed distance, and / or when the machine travels above a configurable speed threshold. If desired, the systems outlined above may be configured to retrigger an object alert when an object has not been detected for a predetermined period of time, e.g., 10 minutes.

[0027] The right system The techniques disclosed herein may be embodied as dedicated hardware (e.g., circuits), as programmable circuitry appropriately programmed with software and / or firmware, or as a combination of dedicated and programmable circuitry. Accordingly, embodiments may include a machine-readable medium having stored thereon instructions that can be used to cause a computer, microprocessor, processor, and / or microcontroller (or other electronic device) to perform a process. Machine-readable media may include, but are not limited to, optical disks, compact disk read-only memories (CD-ROMs, DVDs, Blu-ray Discs), magneto-optical disks, ROMs, random access memories (RAMs), erasable programmable read-only memories (EPROMs), electrically erasable programmable read-only memories (EEPROMs), magnetic or optical cards, flash memories, or other types of media / machine-readable media suitable for storing electronic instructions.

[0028] Some implementations are discussed in more detail below with reference to the figures. FIG. 7 is a block diagram illustrating an overview of a device in which some implementations of the disclosed technology may operate. The device may include hardware components of a device 1200. The device 1200 may include one or more input devices 1220 that provide input and signal actions to a CPU (processor) 1210. Actions are typically mediated by a hardware controller that interprets signals received from the input devices and communicates the information to the CPU 1210 using a communication protocol. The input devices 1220 may include, for example, a mouse, keyboard, touchscreen, infrared sensor, touchpad, wearable input device, camera or image-based input device, microphone, or other user input device.

[0029] CPU 1210 may be a single processing unit or multiple processing units within a device, or may be distributed across multiple devices. CPU 1210 may be coupled to other hardware devices using a bus, such as a PCI bus or a SCSI bus. CPU 1210 may communicate with a hardware controller for a device, such as display 1230. Display 1230 may be used to display text and graphics. In some embodiments, display 1230 provides graphical and textual visual feedback to a user. In some implementations, display 1230 includes an input device as part of the display, such as when the input device is a touchscreen or equipped with a line-of-sight monitoring system. In some implementations, the display is separate from the input device. Examples of display devices include an LCD display screen, an LED display screen, a projection display, a holographic display, or an augmented reality display (such as a head-up display or head-mounted device). Other I / O devices 1240 may also be coupled to the processor, such as a network card, a video card, an audio card, audible and / or visual alarms, USB, FireWire or other external devices, sensors, cameras, printers, speakers, CD-ROM drives, DVD drives, disk drives, or Blu-ray devices.

[0030] In some implementations, the device 1200 also includes a communication device capable of communicating with a network node on a wireless or wired basis. The communication device can communicate with another device or a server over a network using, for example, the TCP / IP protocol. The device 1200 can utilize the communication device to distribute operations across multiple network devices.

[0031] The CPU 1210 may have access to memory 1250. Memory may include one or more of a variety of hardware devices for volatile and non-volatile storage, and may include both read-only and writable memory. For example, memory may include random access memory (RAM), CPU registers, read-only memory (ROM), and writable non-volatile memory such as flash memory, hard drives, floppy disks, CDs, DVDs, Blu-ray disks, magnetic storage devices, tape drives, and device buffers. Memory is not a propagating signal separate from the underlying hardware; therefore, memory is non-transitory. The memory 1250 may include program memory 1260, which stores programs and software such as an operating system 1262, a proximity alarm system 1264, and other application programs 1266. The memory 1250 may also include data memory 1270, which may include database information, etc., that may be provided to the program memory 1260 or any element of the device 1200.

[0032] Some implementations may be operational with numerous other general purpose or special purpose computing system environments or configurations. Examples of known computing systems, environments, and / or configurations that may be suitable for use with the present technology include, but are not limited to, personal computers, server computers, handheld or laptop computers, cellular or mobile telephones, wearable electronic devices, game consoles, tablet devices, microprocessor systems, microprocessor-based systems, programmable consumer electronics, network PCs, microcomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.

[0033] 8 is a block diagram illustrating an overview of an environment 1300 in which some implementations of the disclosed technology may operate. The environment 1300 may include one or more client computing devices 1305A-D, examples of which may include device 1200. The client computing devices 1305 may operate in a networked environment using logical connections to one or more remote computers, such as a server computing device 1310, via a network 1330.

[0034] In some implementations, server computing device 1310 may be an edge server that receives client requests and coordinates fulfillment of those requests through other servers, such as servers 1320A-C. Server computing devices 1310 and 1320 may include computing systems, such as device 1200. Although each server computing device 1310 and 1320 is logically represented as a single server, each server computing device may be a distributed computing environment encompassing multiple computing devices located in the same or different geographical physical locations. In some implementations, each server computing device 1320 corresponds to a group of servers.

[0035] Each of the client computing device 1305 and the server computing devices 1310 and 1320 may act as a server or a client to other server / client devices. The server 1310 may be connected to a database 1315. Each of the servers 1320A-C may be connected to a corresponding database 1325A-C. As described above, each server 1320 may correspond to a group of servers, each of which may share a database or have its own database. The databases 1315 and 1325 may contain (e.g., store) information. Although the databases 1315 and 1325 are logically represented as a single unit, each of the databases 1315 and 1325 may be in a distributed computing environment encompassing multiple computing devices and may be located within their corresponding servers or may be located in the same or different geographical physical locations.

[0036] The network 1330 may be a local area network (LAN) or a wide area network (WAN), but may also be other wired or wireless networks. The network 1330 may also be the Internet or some other public or private network. The client computing devices 1305 may be connected to the network 1330 via a network interface, such as by wired or wireless communication. Although the connections between the servers 1310 and 1320 are shown as separate connections, these connections may be any type of local, wide area, wired, or wireless network, including the network 1330 or separate public or private networks.

[0037] 9 is a block diagram illustrating components 1400 that may be used in a system employing the disclosed technology in some implementations. Components 1400 include hardware 1402, general-purpose software 1420, and specialized components 1440. As noted above, systems implementing the disclosed technology may use a variety of hardware, including a processing unit 1404 (e.g., a CPU, GPU, APU, etc.), working memory 1406, storage memory 1408, and input and output devices 1410. Components 1400 may be implemented on a client computing device, such as client computing device 1305, or on a server computing device, such as server computing device 1310 or 1320.

[0038] General-purpose software 1420 may include various applications, including an operating system 1422, local programs 1424, and a basic input / output system (BIOS) 1426. Specialized components 1440 may be subcomponents of general-purpose software applications 1420, such as local programs 1424. Specialized components 1440 may include a proximity alert module 1444, a camera module 1446, an image data calculation module 1448, a snooze control module 1450, and components that can be used to transfer data and control specialized components, such as interface 1442. In some implementations, components 1400 may be in a computing system distributed across multiple computing devices or may be an interface to a server-based application that executes one or more of specialized components 1440.

[0039] Those skilled in the art will appreciate that the components illustrated in Figures 7-9 above, and each of the flow diagrams described above, may be modified in various ways. For example, the order of logic may be rearranged, substeps may be performed in parallel, illustrated logic may be omitted, or other logic may be included. In some implementations, one or more of the above-described components may perform one or more of the processes described herein. [Industrial Applicability]

[0040] In some embodiments, the proximity alert system may include a proximity alert module 1444, a camera module 1446, an image data calculation module 1448, and a snooze control module 1450 ( FIG. 9 ). During operation, the camera module 1446 may receive image data from one or more cameras depicting an object located within the field of view of the one or more cameras. The image data calculation module 1448 may derive a first distance between the object and the machine based on the image data. The proximity alert module 1444 may trigger an alert when the first distance is less than a first threshold distance. The snooze control module 1450 may receive a request to snooze the alert and stop the alarm.

[0041] In some embodiments, the camera module 1446 may receive additional image data depicting the object from one or more cameras, and the image data calculation module 1448 may derive a second distance between the object and the machine based on the additional image data. The snooze control module 1450 may cancel the snooze and retrigger the alarm when the second distance is less than a second threshold distance.

[0042] In some embodiments, the snooze control module 1450 may also define a buffer zone distance upon receiving a request to snooze the alarm. The camera module 1446 may receive additional image data depicting the object from one or more cameras, and the image data calculation module 1448 may derive a second distance between the object and the machine based on the additional image data. The snooze control module 1450 may cancel the snooze and retrigger the alarm when the second distance is less than a second threshold distance and the difference between the first distance and the second distance is greater than the buffer zone distance.

[0043] In some embodiments, upon receiving a request to snooze the alarm, the image data calculation module 1448 may derive an approach rate between the machine and the object based on the image data. The image data calculation module 1448 may also calculate a period during which the object is located less than a second threshold distance. The snooze control module 1450 may cancel the snooze and retrigger the alarm when the period is less than the time threshold.

[0044] remarks : The above description and drawings are illustrative and should not be construed as limiting. Numerous specific details are set forth to provide a thorough understanding of the present disclosure. However, in some instances, well-known details are not described to avoid obscuring the description. Furthermore, various modifications may be made without departing from the scope of the embodiments.

[0045] References herein to "one embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present disclosure. Appearances of the phrase "in one embodiment" in various places throughout the specification do not necessarily all refer to the same embodiment, nor are they separate or alternative embodiments that exclude other embodiments from one another. Furthermore, various features are described that are exhibited in some embodiments but not in other embodiments. Similarly, various requirements are described that may be required in some embodiments but not in other embodiments.

[0046] The terms used herein generally have their ordinary meanings within the art, the context of the disclosure, and within the specific context in which each term is used. It will be understood that the same thing can be said in multiple ways. Thus, for any one or more of the terms discussed herein, alternative phrases and synonyms may be used, and whether a term is recited or discussed herein does not carry any particular significance. Synonyms are provided for some terms. The description of one or more synonyms does not exclude the use of other synonyms. The use of examples anywhere in this specification, including examples of any term discussed herein, is illustrative only and is not intended to further limit the scope and meaning of the disclosure or the scope and meaning of any exemplary term. Similarly, this disclosure is not limited to the various embodiments provided herein. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. In case of conflict, the present specification, including definitions, will control.

Claims

1. A proximity warning system (100), comprising: one or more cameras (104) positioned on the machine (10); one or more processors (1210); When executed by the one or more processors (1210), the one or more processors (1210) receiving (202) image data from the one or more cameras (104) depicting an object (20) located within a field of view (FOV) of the one or more cameras (104); deriving (204) a first distance between the object (20) and the machine (10) based on the image data; triggering (206) an alarm (108) when the first distance is less than a first threshold distance (D1); receiving (208) a first request to snooze the alarm (108) to silence the alarm (108) for a first predetermined period of time; receiving (210) additional image data describing the object (20) from the one or more cameras (104); deriving (212) a second distance between the object (20) and the machine (10) based on the additional image data; and canceling the first requested snooze and retriggering the alarm (108) (214) when the second distance is less than a second threshold distance (D2) that is less than the first threshold distance (D1) during the first predetermined period of time. receiving a second request to snooze the retriggered alarm (108) and silence the retriggered alarm (108) for a second predetermined period; receiving additional image data from the one or more cameras (104) depicting the object (20); deriving a third distance between the object (20) and the machine (10) based on the further image data; 2. The system (100) of claim 1, further comprising instructions for canceling the second requested snooze and retriggering the alarm (108) when the third distance is less than a third threshold distance (D3) that is less than the second threshold distance (D2) during the second predetermined period.

3. 3. The system (100) of claim 2, wherein the first threshold distance (D1) corresponds to a visual alarm (108), and the second threshold distance (D2) and the third threshold distance (D3) correspond to audible and tactile alarms (108), respectively.

4. A proximity warning system (100), comprising: one or more cameras (104) positioned on the machine (10); one or more processors (1210); When executed by the one or more processors (1210), the one or more processors (1210) receiving (402) image data from the one or more cameras (104) depicting an object (20) located within a field of view (FOV) of the one or more cameras (104); deriving (404) a first distance between the object (20) and the machine (10) based on the image data; triggering (406) an alarm (108) when the first distance is less than a first threshold distance (D1); receiving (408) a first request to snooze the alarm (108) to silence the alarm (108) for a first predetermined period of time; defining (410) a buffer zone distance (Db) upon receiving the first request to snooze the alarm (108); receiving (412) additional image data from the one or more cameras (104) depicting the object (20); deriving (414) a second distance between the object (20) and the machine (10) based on the additional image data; During the first predetermined period, the second distance is less than a second threshold distance (D2), which is less than the first threshold distance (D1); and and canceling the first requested snooze and retriggering the alarm (108) (416) when the difference between the first distance and the second distance is greater than the buffer zone distance (Db).

5. The system (100) of claim 4, wherein the buffer zone distance (Db) is proportional to the first distance.

6. The system (100) of claim 5, wherein the buffer zone distance (Db) is inversely proportional to the velocity of the object (20). receiving a second request to snooze the retriggered alarm (108) to silence the retriggered alarm (108) for a second predetermined period; receiving additional image data from the one or more cameras (104) depicting the object (20); deriving a third distance between the object (20) and the machine (10) based on the further image data; During the second predetermined period, the third distance is less than a third threshold distance (D3), which is less than the second threshold distance (D2); and 5. The system (100) of claim 4, further comprising instructions for canceling the second requested snooze and retriggering the alarm (108) when a difference between the second distance and the third distance is greater than the buffer zone distance (Db).

8. 8. The system (100) of claim 7, wherein the first threshold distance (D1) corresponds to a visual alarm (108), and the second distance (D2) and the third threshold distance (D3) correspond to audible and tactile alarms (108), respectively.

9. A proximity warning system (100), comprising: one or more cameras (104) positioned on the machine (10); one or more processors (1210); When executed by the one or more processors (1210), the one or more processors (1210) receiving (602) image data from the one or more cameras (104) depicting an object (20) located within a field of view (FOV) of the one or more cameras (104); deriving (604) a first distance between the object (20) and the machine (10) based on the image data; triggering (606) an alarm (108) when the first distance is less than a first threshold distance (D1); receiving (608) a request to snooze the alarm (108) to silence the alarm (108) for a predetermined period of time; upon receiving the request to snooze the alarm (108), deriving (610) a closing speed (S) between the machine (10) and the object (20) based on the image data; Calculating (612) a time period (T) during which the object (20) is located at a distance less than a second threshold distance (D2) that is less than the first threshold distance (D1); and canceling the snooze and retriggering (614) the alarm (108) when the period (T) is less than a time threshold (t) during the predetermined period.

10. The system (100) of claim 9, wherein the time threshold (t) is 2 seconds.

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