Computer Vision Assisted Work Tool Recognition and Installation

Abstract

A method for installing a work tool for a machine is provided. The method includes detecting, at an electronic controller unit of a machine, a work tool based upon a first input signal from a sensor coupled to the electronic controller unit. The method includes determining, at the electronic controller unit, a first three-dimensional location of the work tool relative to the machine. The method includes detecting, at the electronic controller unit, an occlusion of the work tool. The method includes determining, at the electronic controller unit, a second three-dimensional location of the work tool upon the detecting of the occlusion based on the first three-dimensional location. The method includes controlling, at the electronic controller unit, a motion of the machine for installing the work tool based upon the second three-dimensional location.

We claim: 
     
         1 . A method for installing a work tool for a machine, comprising:
 detecting, at an electronic controller unit of a machine, a work tool based upon a first input signal from a sensor coupled to the electronic controller unit;   determining, at the electronic controller unit, a first three-dimensional location of the work tool relative to the machine;   detecting, at the electronic controller unit, an occlusion of the work tool;   determining, at the electronic controller unit, a second three-dimensional location of the work tool upon the detecting of the occlusion based on the first three-dimensional location; and   controlling, at the electronic controller unit, a motion of the machine for installing the work tool based upon the second three-dimensional location.   
     
     
         2 . The method of  claim 1 , further comprising:
 classifying, at the electronic controller unit, the detected work tool based upon a match with a known work tool in a database; and   selecting automatically, at the electronic controller unit, an output mode of the machine based upon the classifying.   
     
     
         3 . The method of  claim 2 , wherein the controlling the motion of the machine is performed based upon the selecting of the output mode. 
     
     
         4 . The method of  claim 2 , further comprising:
 determining, at the electronic controller unit, a relative position of the machine with respect to an attachment coupler of the work tool using a third three-dimensional location of the attachment coupler, wherein the controlling is performed based upon the determining.   
     
     
         5 . The method of  claim 1 , further comprising:
 tracking, at the electronic controller unit, the work tool based on the first input signal from the sensor; and   outputting, at an output device coupled to the electronic controller unit, a three-dimensional scene of the tracked work tool based upon at least one of the first three-dimensional location or the second three-dimensional location of the work tool, wherein the outputting includes displaying the occlusion of the work tool.   
     
     
         6 . The method of  claim 5 , wherein the tracking includes tracking a linear motion, an angular motion, or both, of the machine or a machine component. 
     
     
         7 . The method of  claim 1 , further comprising:
 determining, at the electronic controller unit, a dead-reckoning of the machine based upon a second input signal from an inertial measurement unit coupled to the electronic controller unit; and   combining, at the electronic controller unit, the first input signal and the second input signal to update the second three-dimensional location of the work tool upon the detecting of the occlusion.   
     
     
         8 . The method of  claim 1 , further comprising:
 outputting continuously, at the electronic controller unit, an updated position of the work tool and an attachment coupler of the work tool to a machine control system;   installing, using the electronic controller unit, the work tool to the machine at the attachment coupler based on the updated position; and   indicating, from the electronic controller unit, to the machine control system that the installing is complete.   
     
     
         9 . The method of  claim 1 , wherein the detecting the occlusion of the work tool includes detecting a machine component between the sensor and the work tool, the machine component blocking a field of view of the sensor. 
     
     
         10 . A work tool installation system, comprising:
 a machine attachable to a work tool, the machine including:
 a sensor; and 
 an electronic controller unit coupled to the sensor, the electronic controller unit configured to:
 detect the work tool based upon a first input signal from the sensor, 
 determine a first three-dimensional location of the work tool relative to the machine, 
 detect an occlusion of the work tool, 
 determine a second three-dimensional location of the work tool, when the occlusion is detected, based on the first three-dimensional location, and 
 control a motion of the machine for installing the work tool based upon the second three-dimensional location. 
 
   
     
     
         11 . The work tool installation system of  claim 10 , wherein the electronic controller unit is further configured to:
 classify the detected work tool based upon a match with a known work tool in a database, and   select an output mode of the machine based upon the match.   
     
     
         12 . The work tool installation system of  claim 11 , wherein the electronic controller unit is further configured to control the motion of the machine based upon the output mode. 
     
     
         13 . The work tool installation system of  claim 11 , wherein the electronic controller unit is further configured to:
 determine a relative position of the machine with respect to an attachment coupler of the work tool using a third three-dimensional location of the attachment coupler, wherein the electronic controller unit is configured to control the motion of the machine based upon the determined relative position.   
     
     
         14 . The work tool installation system of  claim 10 , wherein the electronic controller unit is further configured to:
 track the work tool based on the first input signal from the sensor, and   output, at an output device controlled by the electronic controller unit, a three-dimensional scene of the tracked work tool based upon at least one of the first three-dimensional location or the second three-dimensional location of the work tool, wherein the outputted three-dimensional scene includes the occlusion of the work tool.   
     
     
         15 . The work tool installation system of  claim 14 , wherein the electronic controller unit is configured to track a linear motion, an angular motion, or both, of the machine or a machine component. 
     
     
         16 . The work tool installation system of  claim 10 , further comprising:
 an inertial measurement unit on the machine coupled to the electronic controller unit,   wherein the electronic controller unit is further configured to:
 determine a dead-reckoning of the machine based upon a second input signal from the inertial measurement unit, and 
 combine the first input signal and the second input signal to update the second three-dimensional location of the work tool when the occlusion is detected. 
   
     
     
         17 . The work tool installation system of  claim 10 , wherein the electronic controller unit is further configured to:
 output continuously an updated position of the work tool and an attachment coupler of the work tool to a machine control system;   install the work tool to the machine at the attachment coupler based on the updated position; and   indicate to the machine control system that the work tool is installed.   
     
     
         18 . The work tool installation system of  claim 10 , wherein the occlusion is detected by detecting a machine component between the sensor and the work tool, the machine component blocking a field of view of the sensor. 
     
     
         19 . The work tool installation system of  claim 10 , wherein the sensor is at least one camera on the machine. 
     
     
         20 . An electronic controller unit of a machine comprising:
 a memory including computer executable instructions for recognizing and installing a work tool to a machine; and   a processor coupled to the memory and configured to execute the computer executable instructions, the computer executable instructions when executed by the processor cause the processor to:
 detect the work tool based upon a first input signal from a sensor, 
 determine a first three-dimensional location of the work tool relative to the machine, 
 detect an occlusion of the work tool, 
 determine a second three-dimensional location of the work tool, when the occlusion is detected, based on the first three-dimensional location, and 
 control a motion of the machine for installing the work tool based upon the second three-dimensional location.