Blade Detection Avoidance for an Excavator with Ultrasonic Systems

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.

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.

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.

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

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, is a side view of an exemplary embodiment of a work machineincludes an upper framethat is supported for movement relative to an underlying surface (i.e., the ground) on a pair of tracks,assembled together on a lower frame. The upper frameis rotatable about the lower framevia a rotary jointthat is operably positioned between the upper frameand the lower frame. The rotary jointis a rotatable axis about which the upper framerotates about the lower frame.

An operator cabof the work machineis coupled to the upper frameand defines an interior compartmentthat is sized to accommodate an operator in use of the work machine. A number of operator controls and/or input devices (not shown) are disposed in the interior compartmentand accessible by the operator to control operation of the work machinethrough a control system(see) operably coupled with the work machine.

The illustrative work machineincludes at least one work implementthat is coupled to the lower frame. The at least one work implementhas a bladethat is configured for interaction with the underlying surface in use of the machine. In the illustrative embodiment, the bladeengages the underlying surface (e.g., soil, rock, etc.) in use thereof. In other embodiments, however, the blademay be embodied as, or otherwise include, another suitable device.

In the illustrative embodiment, the work machineis 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 machinemay be embodied as, or otherwise include, other equipment adapted for use in other suitable applications. For example, in some embodiments, the work machinemay 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, the work machineillustratively includes a control system(see). The control systemmay be coupled to and mounted on the upper frameor on the work machine. The control systemincludes an implement movement sensormounted to the work implementthat is configured to provide sensor input and a controllercommunicatively coupled to the implement movement sensor. In some embodiments, the implement movement sensorincluded in the control systemis mounted to the lower frame. In other embodiments, the implement movement sensoris mounted to the bladeor another suitable location.

The controllerincludes memoryhaving instructions stored therein that are executable by a processorto cause the processorto receive the sensor input from the implement movement sensorand to determine a blade range of motion of the corresponding work implement, and in particular the blade, relative to the lower framein response to receipt of sensor input from the implement movement sensorthat is indicative of a characteristic of movement of the bladein use of the work machine. The blade range of motion of the bladeincludes movement of the bladefrom a fully lowered position to a fully raised position, and any position therebetween.

Control by the controllerfacilitates monitoring and/or evaluation of the performance of the bladein use of the work machine, among other things. In the illustrative embodiment in, when the bladeis in a fully or maximum lowered position, the sensor input provided by the implement movement sensoris indicative of a characteristic of movement of the bladeto the maximum lowered position. In, the bladeis in the maximum lowered positionand a measurement from a center of the rotary jointis illustrated as the radiusin.illustrates an exclusion zonefor the bladebeing in the maximum lowered position. The exclusion zoneis discussed below in further detail.

In the illustrative embodiment in, when the bladeis in a fully or maximum raised position, the sensor input provided by the implement movement sensoris indicative of a characteristic of movement of the bladeto the maximum raised positionand a measurement from a center of the rotary jointis illustrated as the radiusin.illustrates an exclusion zonefor the bladebeing in the maximum raised position. The exclusion zoneis discussed below in further detail.

In the illustrative embodiment, the implement movement sensoris embodied as, or otherwise includes, any device or collection of devices capable of sensing movement of the bladeto which the implement movement sensoris mounted. In some embodiments, the implement movement sensormay 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 sensormay be embodied as, or otherwise include, another suitable device.

The controllercan further utilize information from a location system, including a GPS, as well as a relative position of the bladeor other component that can contact an objector object, i.e., detected object, in connection with determining a location of the detected object in an exclusion zone. Objectis identified as an object that is contained within the maximum radius of exclusion zonethat corresponds to the maximum lowered positionof the blade. Objectis identified as an object that is contained within the minimum radius of exclusion zonethat corresponds to the maximum raised positionof the blade. Information regarding the location and/or depth of the detected object in the field can be used by the controller, and/or a mapping system (not illustrated) to map a location of the detected objects,relative to the location of the exclusion zone.

An object detection systemincluded in the control systemmay be coupled to the work machine. The object detection systemincludes 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 systemproactively detects the presence or absence of objects,in the exclusion zones,or the presence or absence of objects,outside the exclusion zones,which may be established based on coupling location of the object detection systemto the work machineand the blade.

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

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

Additionally, one or more sensors, such as, for example, a rotation angle or rotational position sensor(s) are assembled with the upper frameand/or the lower frame, and the control system. The angle sensoris configured to determine an amount of swing or rotation of the upper framerelative to the lower frameas the work machinemoves in a forward direction.

Referring now to, in the illustrative embodiment, the control systemincludes the sensors,, the object detection system, a dashboard, and a location system. Each of the devices and/or systems,,,, andis communicatively coupled to the controller. In some embodiments, the control systemmay include a receiver unitcommunicatively coupled to the controller.

The processorof the illustrative controllermay 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. For example, the processormay be embodied as a single or multi-core processor(s), a microcontroller, or other processor or processing/controlling circuit. In some embodiments, the processorMay 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 processormay be embodied as, or otherwise include, a high-power processor, an accelerator co-processor, or a storage controller. In some embodiments still, the processormay include more than one processor, controller, or computer circuit.

The memory deviceof the illustrative controllermay 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 devicemay be embodied as a block addressable memory, such as those based on NAND or NOR technologies. The memory devicemay 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 devicemay 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 systemincludes the object detection system. The object detection systemmay be embodied as, or otherwise include, any one of the following: a camera detection system, a radar detection system, a lidar detection system, and an ultrasonic detection system. Of course, it should be appreciated that in other embodiments, the object detection systemmay include one or more of the systems,,,. Additionally, according to certain embodiments, the object detection systemcan include at least one detection system, such as, for example, the ultrasonic detection systemand/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 systemis embodied as, or otherwise includes, any device or collection of devices capable of detecting and/or imaging objects,in an agricultural field that are within the exclusion zones,and any objects,in the agricultural field that are outside of the exclusion zones,. The illustrative systemincludes one or more camera(s)and one or more light source(s)communicatively coupled to the controller. Each camerais configured to capture and/or store images of an agricultural field to locate and identify objects. In some embodiments, each cameramay be embodied as, or otherwise include, a digital camera, a panoramic camera, or the like, for example. Additionally, in some embodiments, each cameramay be included in, coupled to, or otherwise adapted for use with, a vision system. It should also be appreciated that each camerahas a viewable area associated therewith that may be illuminated with the aid of the one or more light source(s). Each light sourcemay 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 systemmay include other suitable components in addition to, or as an alternative to, the aforementioned devices.

The illustrative radar detection systemis 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,and any objects in the agricultural field that are outside of the exclusion zones,. The illustrative systemincludes one or more transmitter(s), one or more antenna(s), and one or more signal processor(s)communicatively coupled to the controller. Each transmitteris 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 receiveris embodied as, or otherwise includes, any device or collection of devices capable of receiving radar signals emitted by the transmitter(s)that are reflected and/or scattered by the objects. Each signal processoris 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)to recover useful radar signals. It should be appreciated in some embodiments, the detection systemmay include other suitable components in addition to, or as an alternative to, the aforementioned devices.

The illustrative lidar detection systemis 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,and any objects in the agricultural field that are outside of the exclusion zones,. The illustrative detection systemincludes one or more laser(s)and one or more image capture device(s)communicatively coupled to the controller. Each lasermay 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 devicemay 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 devicemay 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 systemmay 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 systemis 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,and any objects in the agricultural field that are outside of the exclusion zones,.

The illustrative ultrasonic detection systemincludes one or more signal generator(s) and one or more receiver(s)communicatively coupled to the controller. Each signal generatormay 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 receivermay 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 systemmay 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 dashboardof the illustrative control systemincludes a display, a speaker, and a user interface. The displayis configured to output or display various indications, messages, and/or prompts to an operator, which may be generated by the control system. The speakeris configured to output any sounds, alerts, or alarms which may be generated by the control system. The user interfaceis configured to provide various inputs to the control systembased on various actions, which may include actions performed by an operator.

The illustrative location systemincludes the GPSand the antenna. The location systemis capable of providing a location of the bladeto the controllerin use of the work machine. The location systemis capable of providing locations of the upper frameand/or the lower frameto the controllerin use of the work machine. As described in greater detail below, with the aid of the location system, the controlleris 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 systemwhile the work machineand/or associated agricultural implementwas/were moving along the field.

The receiver unitmay be included in the control systemin 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. In some embodiments, the receiver unitmay include a light receiverthat is configured to receive light and/or energy originating from, or otherwise provided by, the camera detection system. Additionally, in some embodiments, the receiver unitmay include a radio wave receiverthat is configured to receive radar signals originating from, or otherwise provided by, the radar detection system. Furthermore, in some embodiments, the receiver unitmay include an ultrasonic sound wave receiverthat is configured to receive ultrasonic sound waves originating from, or otherwise provided by, the ultrasonic detection system. Finally, in some embodiments, the receiver unitmay include a laser receiverthat is configured to receive ultraviolet, visible, or near infrared light originating from, or otherwise provided by, the lidar detection system.

Referring now to, in the illustrative embodiment, the upper frameis rotated about the lower framevia the rotary jointof the work machine. A longitudinal axis LA of the lower frameis illustrated wherein the longitudinal axis LA represents a centerline of the lower framebetween the tracks,. Rotation of the upper framein directionrepresents a positive swing of the upper framerelative to the lower frameand a forward directionof the work machine. Rotation of the upper framein directionrepresents a negative swing of the upper framerelative to the lower frameand the forward directionof the work machine. Movement of the upper framerelative to the lower frameis determined by the angle sensorand the controllerand this movement and information is provided to a reference frame translation modulecontained in an environmentof the controlleras illustrated in. The reference frame translation moduleis configured to determine or translate polar coordinates of the location of the upper frameto a lower frame reference that is measured relative to the lower framesuch as a Cartesian coordinate system. The reference frame translation moduleis configured to determine a swing anglebased on the sensor input provided by the angle sensor. The swing angleis illustrated when the upper frameis rotated in direction, however a different or opposite swing angle is intended when the upper frameis rotated in direction. The reference frame translation moduleis configured to determine based on the swing anglebeing greater or larger than 0 degrees or positive, a lower measured or θ angle being equal to the swing angle. The reference frame translation moduleis configured to determine based on the swing angle being less or smaller than 0 degrees or negative (i.e., the upper frameis rotated in direction), the lower measured or θ angle is 360 degrees plus the negative swing angle.

Referring now to, in the illustrative embodiment, the upper frameis rotated about the lower framevia the rotary jointof the work machineto the swing angleas shown in. A blade range of motion of the bladerelative to the lower frameis determined by the implement movement sensorand the controllerand this blade range of motion is provided to an exclusion zone moduleand/or a dynamic exclusion zone modulecontained in the environmentof the controlleras illustrated in. The exclusion zone moduleis configured to analyze the blade range of motion of the bladerelative to the lower frame. The exclusion zone moduleis configured to determine an exclusion arc or static arcbased on the sensor input provided by the implement movement sensor, measurements of the range of motion of the blade, or a look-up table that includes these measurements for the designated or particular blademounted on the lower frame. In a preferred embodiment, the exclusion arc or static arcis defined in the Cartesian coordinates of the lower framebut other coordinate systems can be used as desired. An example of the exclusion arc or static arccan be defined from 320 degrees to 40 degrees however other angle ranges can be used to define the exclusion arc or static arcthat correspond to the particular bladeassembled with the work machine. The exclusion arc or static arcis configurable to accommodate multiple machine sizes and platforms and therefore will vary accordingly.

The exclusion zone moduleis also configured to determine a maximum radiusof the blade. The maximum range of motion of the bladedetermines the maximum radius. The exclusion zone moduleis configured to determine a minimum radiusof the blade. The minimum range of motion of the bladedetermines the minimum radius. Together the maximum and minimum radii,determine a radius rangefor movement of the bladeas illustrated in. Together the radius rangeand the exclusion arc or static arcdetermine the limits for the exclusion zone. As described below, the present disclosure identifies objects,that fall within the exclusion zones,and then the present disclosure does not trigger an alert or warning to an operator of the objects,. The dynamic exclusion zone moduleadjusts or modifies the exclusion zone to form a dynamic exclusion zone in response to movement of the bladerelative to the lower frame. The dynamic exclusion zone reflects a current position of the bladethat can be between the maximum and minimum radiiand. The dynamic exclusion zone can be more precise as it relates to a real-time position of the blade.

Referring now to, in the illustrative embodiment, the controllerestablishes an environmentduring operation. The illustrative environmentincludes the reference frame translation module, the exclusion zone module, and the dynamic exclusion zone module. Each of the modules, logic, and other components of the environmentmay be embodied as hardware, firmware, software, or a combination thereof. As such, in some embodiments, one or more modules of the environmentmay be embodied as circuitry or a collection of electrical devices. In such embodiments, one or more of the reference frame translation module, the exclusion zone module, and the dynamic exclusion zone modulemay form a portion of the processor(s)and/or other components of the controller. 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 environmentmay be embodied as virtualized hardware components or emulated architecture, which may be established and maintained by the processor(s)or other components of the controller.

Turning now to, is an illustrative methodof operating the work machinemay be embodied as, or otherwise include, a set of instructions that are executable by the control systemand the controller. The methodcorresponds to, or is otherwise associated with, performance of the blocks described below in the illustrative sequence of. It should be appreciated, however, that the methodmay be performed in one or more sequences different from the illustrative sequence.

The illustrative methodbegins with block. In block, the controllerdetects any objects,,, and/orby receiving the detection input associated with the object detection system. Of course, it should be appreciated that in block, the controllermay receive detection input provided by any one or more of the camera detection system, the radar detection system, the lidar detection system, and the ultrasonic detection system. Regardless, from block, the methodsubsequently proceeds to block.

In block, the controllerdetermines the exclusion zones,. In block, the controllerexecutes the reference frame translation moduleand the exclusion zone moduleto determine the exclusion zones,. In some embodiments, in block, the controllerexecutes the dynamic exclusion zone moduleto determine the dynamic exclusion zone of the current position of the blade.

In block, the controllerdetermines whether any of the detected objects from blockare located or mapped within the exclusion zone,or the dynamic exclusion zone from block. If the detected objects are located or mapped within either of the exclusion zone,or dynamic exclusion zone, then the objects are identified as objects,, and the methodcontinues to block. In block, the controllerignores the objects,and does not alert the operator of any of the objects,.

In blockif the detected objects are not located or mapped to be within either of the exclusion zone,or dynamic exclusion zone, then the objects are identified as objects,, and the methodcontinues to block. In block, the controllercan provide an alert or warning to an operator in the cabthat the object,is outside of the exclusion zone,of the blade. The type of warning provided by the controllerat blockcan 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,. For example, the operator can select to have an audible alert or sound emit from the speakerand/or horn of the work machine, and/or be provided with a visual alert, such as, for example, an illumination or message on the displayand/or window shade, as well as illumination of lights on the dashboard, 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, the controllerdetermines in response to such an alert or warning from block, that the operator acknowledged the alert or warning. If the operator does not acknowledge the alert or warning, then the controllerdoes not receive any acknowledgement and the methodcontinues to step. In step, the controllerimplements a precautionary step to avoid contact with the objects,. Some of these precautionary steps can include reduction in speed of the work machine, movement of the bladeto another position, and/or changing direction of the movement of work machine.

If the operator does acknowledge the alert or warning, then the controllerreceives an acknowledgement from the operator and the methodcontinues to step. In step, the operator continues operation of the work machineand the blade.