BLADE DETECTION AVOIDANCE FOR AN EXCAVATOR WITH ULTRASONIC SYSTEMS

Description

FIELD OF THE DISCLOSURE

The present disclosure relates to blade detection avoidance for a work machine, and in particular to avoiding notification of the blade for the work machine.

BACKGROUND OF THE DISCLOSURE

An excavator includes an upper carriage that is rotatably assembled via a rotary joint to a lower carriage wherein the upper carriage can rotate about the lower carriage via the rotary joint. A blade is operably attached to the lower carriage wherein the blade is configured to excavate or dig holes in a ground surface or perform some other grading operation. Also assembled with the excavator is a detection system including one or more sensors that detect objects when any of the upper carriage, the blade, and/or the lower carriage move.

One of the sensors includes an angle sensor that measures the orientation of the upper carriage relative to the lower carriage between 0 and 360 degrees. As the upper carriage rotates about the lower carriage, one or more of the sensors detect objects around the excavator as well as parts of the lower carriage as being within a travel path of the blade. The location of the detected objects and parts of the lower carriage are then provided to the operator and a warning may be generated to the operator to take action to avoid collision between the object and the blade. However, the detected parts of the lower carriage are not of concern since the upper carriage will not actually hit or damage the lower carriage while the blade moves. As such, the detected parts of the lower carriage are a false warning and a distraction to the operator. The operator is concerned about the detected objects that may damage the excavator if contact of the object is not avoided by the blade.

Thus there is a need for improvement for blade detection avoidance.

SUMMARY

A system of one or more computers can be configured to perform particular operations or actions by virtue of having software, firmware, hardware, or a combination of them installed on the system that in operation causes or cause the system to perform the actions. One or more computer programs can be configured to perform particular operations or actions by virtue of including instructions that, when executed by data processing apparatus, cause the apparatus to perform the actions. One general aspect includes a method of operating a work machine including an upper frame rotatably assembled with a lower frame via a rotary joint. The method also includes determining, by a controller of the work machine, a reference frame translation module based on output provided by an angle sensor coupled to at least one of the upper frame and the lower frame, where the angle sensor is configured to measure a swing angle of the upper frame relative to the lower frame. The method also includes determining, by the controller of the work machine, an exclusion zone based on the reference frame translation module and a radius range of motion of the work implement relative to the lower frame. The method also includes determining, by the controller of the work machine and with the aid of an object detection system, whether an object detected by the object detection system is interior or exterior to the exclusion zone. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.

Implementations may include one or more of the following features. The method May include: determining, by the controller of the work machine, a current position of the work implement relative to the lower frame; and determining, by the controller of the work machine, a dynamic exclusion zone based on the current position of the work implement. The work implement is a blade. When the swing angle is greater than 0° then the lower measured angle is equal to the swing angle, and when the swing angle is less than 0° then the lower measured angle is 360° plus the swing angle. The determining the exclusion zone includes determining a static arc based on output provided by an implement movement sensor coupled to the work implement, where the implement movement sensor is configured to measure a range of motion of the work implement relative to the lower frame. The determining the exclusion zone includes determining a static arc based on data for the work implement mounted on the lower frame. The static arc is measured relative to a longitudinal axis of the work machine. The radius range of motion of the work implement relative to the lower frame includes a maximum radius of movement of the work implement and a minimum radius of movement of the of the work implement. The determining the object detected by the object detection system is exterior to the exclusion zone, then sending, via the controller, a warning to an operator of the work machine. Implementations of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium.

One general aspect includes of a work machine includes an upper frame rotatably assembled with a lower frame via a rotary joint, where the rotary joint is configured to enable rotation of the upper frame about the lower frame. The machine also includes a work implement assembled with the lower frame. The machine also includes a controller operably coupled with one of the upper frame, the lower frame, or the work implement, where the controller includes a memory having instructions stored therein that are executable by a processor to cause the processor to: determine a reference frame translation module based on output provided by an angle sensor coupled to at least one of the upper frame and the lower frame, where the angle sensor is configured to measure a swing angle of the upper frame relative to the lower frame; determine an exclusion zone based on the reference frame translation module and a radius range of motion of the work implement relative to the lower frame; and determine with the aid of an object detection system, whether an object detected by the object detection system is interior or exterior to the exclusion zone. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.

Implementations may include one or more of the following features. The work machine where the work machine is an excavator and the work implement is a blade. The implement movement sensor is configured to measure the radius range of movement of the work implement. The processor is further configured to: determine a current position of the work implement relative to the lower frame; and determine a dynamic exclusion zone based on the current position of the work implement. The processor is further configured to: determine a lower measured angle of the upper frame relative to the lower frame based on the swing angle, where when the swing angle is greater than 0° then the lower measured angle is equal to the swing angle, and when the swing angle is less than 0° then the lower measured angle is 360° plus the swing angle. To determine the exclusion zone includes determining a static arc based on output provided by an implement movement sensor coupled to the work implement, where the implement movement sensor is configured to measure a range of motion of the work implement relative to the lower frame. To determine the exclusion zone includes determining a static arc based on data for the work implement mounted on the lower frame. The static arc is measured relative to a longitudinal axis of the work machine. The radius range of motion of the work implement relative to the lower frame includes a maximum radius of movement of the work implement and a minimum radius of movement of the of the work implement. To determine the object detected by the object detection system is exterior to the exclusion zone, then send, via the controller, a warning to an operator of the work machine. Implementations of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium.

BRIEF DESCRIPTION OF THE DRAWINGS

The above-mentioned aspects of the present disclosure and the manner of obtaining them will become more apparent and the disclosure itself will be better understood by reference to the following description of the embodiments of the disclosure, taken in conjunction with the accompanying drawings, wherein:

FIG. 1 illustrates a side view of an exemplary embodiment of a work machine;

FIG. 2 illustrates a schematic of a control system operably coupled with the work machine of FIG. 1;

FIG. 3 illustrates an exclusion zone for the blade being in the maximum lowered position;

FIG. 4 illustrates an exclusion zone for the blade being in the maximum raised position;

FIG. 5 illustrates an upper frame rotated about a lower frame via a rotary joint of the work machine of FIG. 1;

FIG. 6 illustrates the upper frame rotated about the lower frame via the rotary joint of the work machine of FIG. 1;

FIG. 7 illustrates an exemplary environment of the controller of the control system of FIG. 2;

FIG. 8 illustrates an illustrative method-of operating the work machine of FIG. 1; and

FIG. 9 illustrates an exemplary embodiment of a user interface of the work machine of FIG. 1.

Corresponding reference numerals are used to indicate corresponding parts throughout the several views.

DETAILED DESCRIPTION

The embodiments of the present disclosure described below are not intended to be exhaustive or to limit the disclosure to the precise forms in the following detailed description. Rather, the embodiments are chosen and described so that others skilled in the art may appreciate and understand the principles and practices of the present disclosure.

Some of the benefits of the present disclosure includes detecting objects that are outside of an exclusion zone and alerting the operator for these objects but not alerting an operator when any objects are within an exclusion zone. The exclusion zone is defined in part by a range of motion of an upper frame relative to a lower frame defined by swing angle and a range of motion of an attached implement. In particular, the present disclosure excludes detection of a lower carriage of the work machine and the implement when alerting operator of the work machine for objects that are outside of the exclusion zone. Beneficially, the operator is not distracted by unnecessary or false alerts while operating the work machine which improves productivity. In one embodiment, the implement is a blade and the work machine is an excavator. The present disclosure blocks out specific X, Y mapped object locations for a given angular range between an upper carriage and the lower carriage of the work machine or excavator for an exclusion or static arc such that an operator is not alerted of any objects within the angular range and static arc. The present disclosure also blocks out a radius range of the blade or implement relative to the work machine such that an operator is not alerted of any objects within the radius range of the blade. In a preferred embodiment, the radius range of the blade or implement is relative to the lower carriage. The present disclosure combines the exclusion or static arc and the radius range in an exclusion zone and determines if any detected objects are within the exclusion zone. If any detected objects are within the exclusion zone, then these objects are ignored and the operator is not alerted. If any objects are outside of the exclusion zone, then the operator is alerted to the presence of these objects.

The present disclosure determines an exclusion zone that is defined in part by the physical boundaries of a work machine, operating boundaries of the upper frame relative to the lower frame, and operating boundaries of an implement such as a blade attached to the work machine. Beneficially, the operator is not interrupted for possible identification of the lower carriage, blade or implement, and any objects that are within a travel path of the work machine. If objects are outside of the exclusion zone then the present disclosure may identify these objects and/or alert the operator of the presence of these objects. Beneficially, the operator is only alerted by real warnings of the objects outside the exclusion zone. Optionally, as the implement moves, the exclusion zone can be dynamically revised or adjusted to account for the current or real-time position of the blade. In some embodiments, the dynamic adjustment of the exclusion zone is determined with an implement movement sensor mounted or assembled on a blade frame member of the blade or mounted on the blade itself. In some embodiments, the dynamic adjustment of the exclusion zone targets specific angles to ignore blade detections within those targeted specific angles wherein the blade is currently located as determined by the implement movement sensor.

Referring now to FIG. 1, is a side view of an exemplary embodiment of a work machine 100 includes an upper frame 102 that is supported for movement relative to an underlying surface (i.e., the ground) on a pair of tracks 104, 106 assembled together on a lower frame 105. The upper frame 102 is rotatable about the lower frame 105 via a rotary joint 107 that is operably positioned between the upper frame 102 and the lower frame 105. The rotary joint 107 is a rotatable axis about which the upper frame 102 rotates about the lower frame 105.

An operator cab 108 of the work machine 100 is coupled to the upper frame 102 and defines an interior compartment 110 that is sized to accommodate an operator in use of the work machine 100. A number of operator controls and/or input devices (not shown) are disposed in the interior compartment 110 and accessible by the operator to control operation of the work machine 100 through a control system 602 (see FIG. 2) operably coupled with the work machine 100.

The illustrative work machine 100 includes at least one work implement 112 that is coupled to the lower frame 105. The at least one work implement 112 has a blade 118 that is configured for interaction with the underlying surface in use of the machine 100. In the illustrative embodiment, the blade 118 engages the underlying surface (e.g., soil, rock, etc.) in use thereof. In other embodiments, however, the blade 118 may be embodied as, or otherwise include, another suitable device.

In the illustrative embodiment, the work machine 100 is embodied as, or otherwise includes, an excavator adapted for use in one or more construction applications. Of course, it should be appreciated that in other embodiments, the work machine 100 may be embodied as, or otherwise include, other equipment adapted for use in other suitable applications. For example, in some embodiments, the work machine 100 may be embodied as, included in, or otherwise adapted for use with, equipment used in lawn and garden, tillage, landscaping and ground care, golf and sports turf, forestry, engine and drivetrain, or government and military applications.

To control operation of the work implement 112, the work machine 100 illustratively includes a control system 602 (see FIG. 2). The control system 602 may be coupled to and mounted on the upper frame 102 or on the work machine 100. The control system 602 includes an implement movement sensor 302 mounted to the work implement 112 that is configured to provide sensor input and a controller 604 communicatively coupled to the implement movement sensor 302. In some embodiments, the implement movement sensor 302 included in the control system 602 is mounted to the lower frame 105. In other embodiments, the implement movement sensor 302 is mounted to the blade 118 or another suitable location.

The controller 604 includes memory 606 having instructions stored therein that are executable by a processor 608 to cause the processor 608 to receive the sensor input from the implement movement sensor 302 and to determine a blade range of motion of the corresponding work implement 112, and in particular the blade 118, relative to the lower frame 105 in response to receipt of sensor input from the implement movement sensor 302 that is indicative of a characteristic of movement of the blade 118 in use of the work machine 100. The blade range of motion of the blade 118 includes movement of the blade 118 from a fully lowered position to a fully raised position, and any position therebetween.

Control by the controller 604 facilitates monitoring and/or evaluation of the performance of the blade 118 in use of the work machine 100, among other things. In the illustrative embodiment in FIG. 3, when the blade 118 is in a fully or maximum lowered position 152, the sensor input provided by the implement movement sensor 302 is indicative of a characteristic of movement of the blade 118 to the maximum lowered position 152. In FIG. 1, the blade 118 is in the maximum lowered position 152 and a measurement from a center of the rotary joint 107 is illustrated as the radius 606 in FIG. 1. FIG. 3 illustrates an exclusion zone 162 for the blade 118 being in the maximum lowered position 152. The exclusion zone 162 is discussed below in further detail.

In the illustrative embodiment in FIG. 4, when the blade 118 is in a fully or maximum raised position 154, the sensor input provided by the implement movement sensor 302 is indicative of a characteristic of movement of the blade 118 to the maximum raised position 154 and a measurement from a center of the rotary joint 107 is illustrated as the radius 604 in FIG. 1. FIG. 4 illustrates an exclusion zone 172 for the blade 118 being in the maximum raised position 154. The exclusion zone 172 is discussed below in further detail.

In the illustrative embodiment, the implement movement sensor 302 is embodied as, or otherwise includes, any device or collection of devices capable of sensing movement of the blade 118 to which the implement movement sensor 302 is mounted. In some embodiments, the implement movement sensor 302 may be embodied as, or otherwise include, a linear potentiometer, a rotary potentiometer, an accelerometer, an inertial sensor or inertial measurement device (IMU), a Hall effect sensor, a proximity sensor, a capacitive transducer, or the like. Of course, in other embodiments, it should be appreciated that the implement movement sensor 302 may be embodied as, or otherwise include, another suitable device.

The controller 604 can further utilize information from a location system 644, including a GPS 530, as well as a relative position of the blade 118 or other component that can contact an object 400 or object 402, i.e., detected object, in connection with determining a location of the detected object in an exclusion zone. Object 400 is identified as an object that is contained within the maximum radius of exclusion zone 162 that corresponds to the maximum lowered position 152 of the blade 118. Object 402 is identified as an object that is contained within the minimum radius of exclusion zone 172 that corresponds to the maximum raised position 154 of the blade 118. Information regarding the location and/or depth of the detected object in the field can be used by the controller 604, and/or a mapping system (not illustrated) to map a location of the detected objects 400, 402 relative to the location of the exclusion zone.

An object detection system 320 included in the control system 602 may be coupled to the work machine 100. The object detection system 320 includes any collection of devices capable of cooperatively providing detection input indicative of a presence or absence of one more objects in an agricultural field. The object detection system 320 proactively detects the presence or absence of objects 400, 402 in the exclusion zones 162, 172 or the presence or absence of objects 404, 406 outside the exclusion zones 162, 172 which may be established based on coupling location of the object detection system 320 to the work machine 100 and the blade 118.

The work machine 100 has a Global Positioning System (GPS) 530 coupled thereto. It should be appreciated that the GPS 530 may be integrated with the electrical components of the control system 602. The GPS 530 is illustratively mounted on the operator cab 110. However, in other embodiments, it should be appreciated that the GPS 530 may be mounted in another suitable location, such as on another portion of the work machine 100.

In one embodiment, the work machine 100 may include antenna 532 coupled thereto and mounted on the operator cab 110. Of course, it should be appreciated that, in other embodiments, the antenna 532 may be coupled to and mounted on another suitable portion of the work machine 100. The antenna 532 is communicatively coupled to the GPS 530 and adapted for use therewith. In some embodiments, rather than being externally coupled to the GPS 530, the antenna 532 may be integrated with and/or included in the GPS 530. In any case, the antenna 532 is configured to receive signals from satellites or the like so that the location of the antenna 532 may be determined by the GPS 530. Put another way, the physical location of the antenna 532 may be the basis for establishing the location identified by the GPS 530.

Additionally, one or more sensors 304, such as, for example, a rotation angle or rotational position sensor(s) are assembled with the upper frame 102 and/or the lower frame 105, and the control system 602. The angle sensor 304 is configured to determine an amount of swing or rotation of the upper frame 102 relative to the lower frame 105 as the work machine 100 moves in a forward direction.

Referring now to FIG. 2, in the illustrative embodiment, the control system 602 includes the sensors 302, 304, the object detection system 320, a dashboard 638, and a location system 644. Each of the devices and/or systems 302, 304, 320, 638, and 644 is communicatively coupled to the controller 604. In some embodiments, the control system 602 may include a receiver unit 646 communicatively coupled to the controller 604.

The processor 608 of the illustrative controller 604 may be embodied as, or otherwise include, any type of processor, controller, or other computer circuit capable of performing various tasks such as computer functions and/or controlling the functions of the blade 118. For example, the processor 608 may be embodied as a single or multi-core processor(s), a microcontroller, or other processor or processing/controlling circuit. In some embodiments, the processor 608 May be embodied as, include, or otherwise be coupled to an FPGA, an application specific integrated circuit (ASIC), reconfigurable hardware or hardware circuitry, or other specialized hardware to facilitate performance of the functions described herein. Additionally, in some embodiments, the processor 608 may be embodied as, or otherwise include, a high-power processor, an accelerator co-processor, or a storage controller. In some embodiments still, the processor 608 may include more than one processor, controller, or computer circuit.

The memory device 606 of the illustrative controller 604 may be embodied as any type of volatile (e.g., dynamic random access memory (DRAM), etc.) or non-volatile memory capable of storing data therein. Volatile memory may be embodied as a storage medium that requires power to maintain the state of data stored by the medium. Non-limiting examples of volatile memory may include various types of random access memory (RAM), such as dynamic random access memory (DRAM) or static random access memory (SRAM). One particular type of DRAM that may be used in a memory module is synchronous dynamic random access memory (SDRAM). In particular embodiments, DRAM of a memory component may comply with a standard promulgated by JEDEC, such as JESD79F for DDR SDRAM, JESD79-2F for DDR2 SDRAM, JESD79-3F for DDR3 SDRAM, JESD79-4A for DDR4 SDRAM, JESD209 for Low Power DDR (LPDDR), JESD209-2 for LPDDR2, JESD209-3 for LPDDR3, and JESD209-4 for LPDDR4 (these standards are available at www.jedec.org). Such standards (and similar standards) may be referred to as DDR-based standards and communication interfaces of the storage devices that implement such standards may be referred to as DDR-based interfaces.

In some embodiments, the memory device 606 may be embodied as a block addressable memory, such as those based on NAND or NOR technologies. The memory device 606 may also include future generation nonvolatile devices, such as a three dimensional crosspoint memory device (e.g., Intel 3D XPoint™ memory), or other byte addressable write-in-place nonvolatile memory devices. In some embodiments, the memory device 606 may be embodied as, or May otherwise include, chalcogenide glass, multi-threshold level NAND flash memory, NOR flash memory, single or multi-level Phase Change Memory (PCM), a resistive memory, nanowire memory, ferroelectric transistor random access memory (FeTRAM), anti-ferroelectric memory, magnetoresistive random access memory (MRAM) memory that incorporates memristor technology, resistive memory including the metal oxide base, the oxygen vacancy base and the conductive bridge Random Access Memory (CB-RAM), or spin transfer torque (STT)-MRAM, a spintronic magnetic junction memory based device, a magnetic tunneling junction (MTJ) based device, a DW (Domain Wall) and SOT (Spin Orbit Transfer) based device, a thyristor based memory device, or a combination of any of the above, or other memory. The memory device May refer to the die itself and/or to a packaged memory product. In some embodiments, 3D crosspoint memory (e.g., Intel 3D XPoint™ memory) may comprise a transistor-less stackable cross point architecture in which memory cells sit at the intersection of word lines and bit lines and are individually addressable and in which bit storage is based on a change in bulk resistance.

In the illustrative embodiment, the control system 602 includes the object detection system 320. The object detection system 320 may be embodied as, or otherwise include, any one of the following: a camera detection system 610, a radar detection system 616, a lidar detection system 624, and an ultrasonic detection system 630. Of course, it should be appreciated that in other embodiments, the object detection system 320 may include one or more of the systems 610, 616, 624, 630. Additionally, according to certain embodiments, the object detection system 320 can include at least one detection system, such as, for example, the ultrasonic detection system 630 and/or a pressure detection system, that is/are utilized to detect the presence of an object above, on, or protruding from the surface of the ground.

The illustrative camera detection system 610 is embodied as, or otherwise includes, any device or collection of devices capable of detecting and/or imaging objects 400, 402 in an agricultural field that are within the exclusion zones 162, 172 and any objects 404, 406 in the agricultural field that are outside of the exclusion zones 162, 172. The illustrative system 610 includes one or more camera(s) 612 and one or more light source(s) 614 communicatively coupled to the controller 604. Each camera 612 is configured to capture and/or store images of an agricultural field to locate and identify objects. In some embodiments, each camera 612 may be embodied as, or otherwise include, a digital camera, a panoramic camera, or the like, for example. Additionally, in some embodiments, each camera 612 may be included in, coupled to, or otherwise adapted for use with, a vision system. It should also be appreciated that each camera 612 has a viewable area associated therewith that may be illuminated with the aid of the one or more light source(s) 614. Each light source 614 may be embodied as, or otherwise include, any device capable of producing light to facilitate capture and/or identification of objects present in an agricultural field. It should be appreciated in some embodiments, the detection system 610 may include other suitable components in addition to, or as an alternative to, the aforementioned devices.

The illustrative radar detection system 616 is embodied as, or otherwise includes, any device or collection of devices capable of detecting and/or imaging, based on radio waves, objects in an agricultural field that are within the exclusion zones 162, 172 and any objects in the agricultural field that are outside of the exclusion zones 162, 172. The illustrative system 616 includes one or more transmitter(s) 618, one or more antenna(s) 620, and one or more signal processor(s) 622 communicatively coupled to the controller 604. Each transmitter 618 is embodied as, or otherwise includes, any device or collection of devices capable of emitting radio waves or radar signals in predetermined directions toward objects located in an agricultural field. Each antenna or receiver 620 is embodied as, or otherwise includes, any device or collection of devices capable of receiving radar signals emitted by the transmitter(s) 618 that are reflected and/or scattered by the objects. Each signal processor 622 is embodied as, or otherwise includes, any device or collection of devices (e.g., one or more processor(s)) capable of amplifying, processing, and/or conditioning radar signals received by the antenna(s) 620 to recover useful radar signals. It should be appreciated in some embodiments, the detection system 616 may include other suitable components in addition to, or as an alternative to, the aforementioned devices.

The illustrative lidar detection system 624 is embodied as, or otherwise includes, any device or collection of devices capable of detecting and/or imaging, using ultraviolet, visible, or near infrared light, objects in an agricultural field that are within the exclusion zones 162, 172 and any objects in the agricultural field that are outside of the exclusion zones 162, 172. The illustrative detection system 624 includes one or more laser(s) 626 and one or more image capture device(s) 628 communicatively coupled to the controller 604. Each laser 626 may be embodied as, or otherwise include, any device or collection of devices capable of emitting ultraviolet, visible, or near infrared light toward objects in an agricultural field. Each image capture device 628 may be embodied as, or otherwise include, any device or collection of devices capable of illuminating a viewable area in an agricultural field, sensing light reflected by the objects thereto, and processing the signals reflected by the objects to develop three-dimensional representations of the objects. In some embodiments, each image capture device 628 may be embodied as, or otherwise include, a flash lidar camera that has a light source, a sensor, and a controller. Furthermore, it should be appreciated that in some embodiments, the detection system 624 may include other suitable components in addition to, or as an alternative to, the aforementioned devices, such as one or more phased array(s), microelectromechanical device(s), scanner(s), and photodetector(s), for example.

The illustrative ultrasonic detection system 630 is embodied as, or otherwise includes, any device or collection of devices capable of detecting and/or imaging, based on ultrasonic sound waves, objects in an agricultural field that are within the exclusion zones 162, 172 and any objects in the agricultural field that are outside of the exclusion zones 162, 172.

The illustrative ultrasonic detection system 630 includes one or more signal generator(s) and one or more receiver(s) 634 communicatively coupled to the controller 604. Each signal generator 632 may be embodied as, or otherwise include, any device or collection of devices capable of generating and emitting ultrasonic sound waves toward objects in an agricultural field. Each receiver 634 may be embodied as, or otherwise include, any device or collection of devices capable of receiving sound waves provided thereto from the objects and converting the sound waves into measurable electrical signals. It should be appreciated that in some embodiments, the detection system 630 may include other suitable components in addition to, or as an alternative to, the aforementioned devices, such as one or more signal processor(s), for example.

The dashboard 638 of the illustrative control system 602 includes a display 640, a speaker 641, and a user interface 642. The display 640 is configured to output or display various indications, messages, and/or prompts to an operator, which may be generated by the control system 602. The speaker 641 is configured to output any sounds, alerts, or alarms which may be generated by the control system 602. The user interface 642 is configured to provide various inputs to the control system 602 based on various actions, which may include actions performed by an operator.

The illustrative location system 644 includes the GPS 530 and the antenna 532. The location system 644 is capable of providing a location of the blade 118 to the controller 604 in use of the work machine 100. The location system 644 is capable of providing locations of the upper frame 102 and/or the lower frame 105 to the controller 604 in use of the work machine 100. As described in greater detail below, with the aid of the location system 644, the controller 604 is configured to map a location of one or more objects present in an agricultural field to generate event data for the field, including the location of objects that were detected by the object detection system 320 while the work machine 100 and/or associated agricultural implement 112 was/were moving along the field.

The receiver unit 646 may be included in the control system 602 in some embodiments as indicated above. Of course, it should be appreciated that in other embodiments, the receiver unit may be omitted from the control system 602. In some embodiments, the receiver unit 646 may include a light receiver 648 that is configured to receive light and/or energy originating from, or otherwise provided by, the camera detection system 610. Additionally, in some embodiments, the receiver unit 646 may include a radio wave receiver 650 that is configured to receive radar signals originating from, or otherwise provided by, the radar detection system 616. Furthermore, in some embodiments, the receiver unit 646 may include an ultrasonic sound wave receiver 652 that is configured to receive ultrasonic sound waves originating from, or otherwise provided by, the ultrasonic detection system 630. Finally, in some embodiments, the receiver unit 646 may include a laser receiver 654 that is configured to receive ultraviolet, visible, or near infrared light originating from, or otherwise provided by, the lidar detection system 624.

Referring now to FIG. 5, in the illustrative embodiment, the upper frame 102 is rotated about the lower frame 105 via the rotary joint 107 of the work machine 100. A longitudinal axis LA of the lower frame 105 is illustrated wherein the longitudinal axis LA represents a centerline of the lower frame 105 between the tracks 104, 106. Rotation of the upper frame 102 in direction 502 represents a positive swing of the upper frame 102 relative to the lower frame 105 and a forward direction 506 of the work machine 100. Rotation of the upper frame 102 in direction 504 represents a negative swing of the upper frame 102 relative to the lower frame 105 and the forward direction 506 of the work machine 100. Movement of the upper frame 102 relative to the lower frame 105 is determined by the angle sensor 304 and the controller 604 and this movement and information is provided to a reference frame translation module 702 contained in an environment 700 of the controller 604 as illustrated in FIG. 7. The reference frame translation module 702 is configured to determine or translate polar coordinates of the location of the upper frame 102 to a lower frame reference that is measured relative to the lower frame 105 such as a Cartesian coordinate system. The reference frame translation module 702 is configured to determine a swing angle 510 based on the sensor input provided by the angle sensor 304. The swing angle 510 is illustrated when the upper frame 105 is rotated in direction 502, however a different or opposite swing angle is intended when the upper frame 105 is rotated in direction 504. The reference frame translation module 702 is configured to determine based on the swing angle 510 being greater or larger than 0 degrees or positive, a lower measured or θ angle being equal to the swing angle 510. The reference frame translation module 702 is configured to determine based on the swing angle being less or smaller than 0 degrees or negative (i.e., the upper frame 105 is rotated in direction 504), the lower measured or θ angle is 360 degrees plus the negative swing angle.

Referring now to FIG. 6, in the illustrative embodiment, the upper frame 102 is rotated about the lower frame 105 via the rotary joint 107 of the work machine 100 to the swing angle 510 as shown in FIG. 5. A blade range of motion of the blade 118 relative to the lower frame 105 is determined by the implement movement sensor 302 and the controller 604 and this blade range of motion is provided to an exclusion zone module 704 and/or a dynamic exclusion zone module 706 contained in the environment 700 of the controller 604 as illustrated in FIG. 7. The exclusion zone module 704 is configured to analyze the blade range of motion of the blade 118 relative to the lower frame 105. The exclusion zone module 704 is configured to determine an exclusion arc or static arc 602 based on the sensor input provided by the implement movement sensor 302, measurements of the range of motion of the blade 118, or a look-up table that includes these measurements for the designated or particular blade 118 mounted on the lower frame 105. In a preferred embodiment, the exclusion arc or static arc 605 is defined in the Cartesian coordinates of the lower frame 105 but other coordinate systems can be used as desired. An example of the exclusion arc or static arc 602 can be defined from 320 degrees to 40 degrees however other angle ranges can be used to define the exclusion arc or static arc 602 that correspond to the particular blade 118 assembled with the work machine 100. The exclusion arc or static arc 602 is configurable to accommodate multiple machine sizes and platforms and therefore will vary accordingly.

The exclusion zone module 704 is also configured to determine a maximum radius 605 of the blade 118. The maximum range of motion of the blade 118 determines the maximum radius 605. The exclusion zone module 704 is configured to determine a minimum radius 606 of the blade 118. The minimum range of motion of the blade 118 determines the minimum radius 606. Together the maximum and minimum radii 605, 606 determine a radius range 608 for movement of the blade 118 as illustrated in FIG. 1. Together the radius range 608 and the exclusion arc or static arc 602 determine the limits for the exclusion zone. As described below, the present disclosure identifies objects 400, 402 that fall within the exclusion zones 162, 172 and then the present disclosure does not trigger an alert or warning to an operator of the objects 400, 402. The dynamic exclusion zone module 706 adjusts or modifies the exclusion zone to form a dynamic exclusion zone in response to movement of the blade 118 relative to the lower frame 105. The dynamic exclusion zone reflects a current position of the blade 188 that can be between the maximum and minimum radii 605 and 606. The dynamic exclusion zone can be more precise as it relates to a real-time position of the blade 188.

Referring now to FIG. 7, in the illustrative embodiment, the controller 604 establishes an environment 700 during operation. The illustrative environment 700 includes the reference frame translation module 702, the exclusion zone module 704, and the dynamic exclusion zone module 706. Each of the modules, logic, and other components of the environment 700 may be embodied as hardware, firmware, software, or a combination thereof. As such, in some embodiments, one or more modules of the environment 700 may be embodied as circuitry or a collection of electrical devices. In such embodiments, one or more of the reference frame translation module 702, the exclusion zone module 704, and the dynamic exclusion zone module 706 may form a portion of the processor(s) 608 and/or other components of the controller 604. Additionally, in some embodiments, one or more of the illustrative modules may form a portion of another module and/or one or more of the illustrative modules may be independent of one another. Further, in some embodiments, one or more of the modules of the environment 700 may be embodied as virtualized hardware components or emulated architecture, which may be established and maintained by the processor(s) 608 or other components of the controller 604.

Turning now to FIG. 8, is an illustrative method 800 of operating the work machine 100 may be embodied as, or otherwise include, a set of instructions that are executable by the control system 602 and the controller 604. The method 800 corresponds to, or is otherwise associated with, performance of the blocks described below in the illustrative sequence of FIG. 8. It should be appreciated, however, that the method 800 may be performed in one or more sequences different from the illustrative sequence.

The illustrative method 800 begins with block 802. In block 802, the controller 604 detects any objects 400, 402, 404, and/or 406 by receiving the detection input associated with the object detection system 320. Of course, it should be appreciated that in block 802, the controller 604 may receive detection input provided by any one or more of the camera detection system 610, the radar detection system 616, the lidar detection system 624, and the ultrasonic detection system 630. Regardless, from block 802, the method 800 subsequently proceeds to block 804.

In block 804, the controller 604 determines the exclusion zones 162, 172. In block 804, the controller 604 executes the reference frame translation module 702 and the exclusion zone module 704 to determine the exclusion zones 162, 172. In some embodiments, in block 804, the controller 604 executes the dynamic exclusion zone module 706 to determine the dynamic exclusion zone of the current position of the blade 118.

In block 806, the controller 604 determines whether any of the detected objects from block 802 are located or mapped within the exclusion zone 162, 172 or the dynamic exclusion zone from block 804. If the detected objects are located or mapped within either of the exclusion zone 162, 172 or dynamic exclusion zone, then the objects are identified as objects 400, 402, and the method 800 continues to block 808. In block 808, the controller 604 ignores the objects 400, 402 and does not alert the operator of any of the objects 400, 402.

In block 806 if the detected objects are not located or mapped to be within either of the exclusion zone 162, 172 or dynamic exclusion zone, then the objects are identified as objects 404, 406, and the method 800 continues to block 810. In block 810, the controller 604 can provide an alert or warning to an operator in the cab 110 that the object 404, 406 is outside of the exclusion zone 162, 172 of the blade 118. The type of warning provided by the controller 604 at block 810 can be predetermined, or preset by the operator. For example, according to certain embodiments, the operator can opt to enable one or more audible and/or visual alerts being used to notify the operator of the object 404, 406. For example, the operator can select to have an audible alert or sound emit from the speaker 641 and/or horn of the work machine 100, and/or be provided with a visual alert, such as, for example, an illumination or message on the display 640 and/or window shade, as well as illumination of lights on the dashboard 638, among other types of alerts. Further, the intensity of such an alert(s), such as, for example, a loudness and/or brightness, among other settings, can be preset by the operator.

In block 812, the controller 604 determines in response to such an alert or warning from block 810, that the operator acknowledged the alert or warning. If the operator does not acknowledge the alert or warning, then the controller 604 does not receive any acknowledgement and the method 800 continues to step 814. In step 814, the controller 604 implements a precautionary step to avoid contact with the objects 404, 406. Some of these precautionary steps can include reduction in speed of the work machine 100, movement of the blade 118 to another position, and/or changing direction of the movement of work machine 100.

If the operator does acknowledge the alert or warning, then the controller 604 receives an acknowledgement from the operator and the method 800 continues to step 816. In step 816, the operator continues operation of the work machine 100 and the blade 118.

Illustrated in FIG. 9, is an illustrative embodiment of the user interface 642 with the work machine 100 from FIG. 2. The user interface 642 illustrates a blade detection avoidance icon 902 that can be operatively coupled to the control system 602 wherein the blade detection avoidance icon 902 is operable between an engaged condition and a disengaged condition. In the engaged condition, the blade detection avoidance icon 902 indicates that detection of the blade 118 is being avoided by the control system 602. In the disengaged condition, the blade detection avoidance icon 902 indicates that the control system 602 is not detecting and/or tracking the blade 118. In one embodiment, the blade detection avoidance icon 902 is automatically disengaged when the upper frame 102 is rotated about the rotary joint 107 relative to the lower frame 105 beyond the limits or angle range of the exclusion arc or static arc 602. In this same embodiment, the blade detection avoidance icon 902 is automatically engaged when the upper frame 102 is rotated about the rotary joint 107 relative to the lower frame 105 within the limits or angle range of the exclusion arc or static arc 602.

While this disclosure has been described with respect to at least one embodiment, the present disclosure can be further modified within the spirit and scope of this disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the disclosure using its general principles. Further, this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this disclosure pertains.