Object detection external to vehicle
Disclosed embodiments include power machines such as loaders, and systems used on power machines, configured to detect the presence of an object in a zone adjacent the rear or sides of the power machine and to responsively control the power machine to stop or slow work functions.
1. A power machine comprising:
a power system including a power source, a power conversion system driven by the power source, a traction system coupled to and receiving power from the power conversion system to implement travel functions and move the power machine, and work actuators coupled to and receiving power through the power conversion system to implement work functions;
user inputs actuable by an operator of the power machine and configured to responsively provide user input signals to control the travel functions of the power machine;
at least one object detection sensor configured to detect a presence of an object within one or more monitored zones surrounding the power machine and to responsively provide object detection signals indicative of detection of the presence of the object;
a zone illumination system configured to illuminate a boundary of any of the monitored zones in which the presence of the object was detected; and
a controller coupled to the user inputs, the at least one object detection sensor, the zone illumination system, and the power conversion system, the controller configured to receive the user input signals and the object detection signals and to responsively control the power conversion system to control the traction system, wherein upon detection of the object within the one or more monitored zones the controller controls the zone illumination system to illuminate the boundary of any of the monitored zones in which the presence of the object was detected.
2. The power machine of claim 1 , wherein the controller is further configured such that, upon detection of the object within the one or more monitored zones, the controller controls the power conversion system to slow or stop performance of the travel function.
3. The power machine of claim 2 , wherein the controller is configured such that, upon detection of the object within the one or more monitored zones, the controller controls the power conversion system to slow or stop the travel functions of the power machine using the traction system, despite user input signals commanding travel, to prevent a collision with the object.
4. The power machine of claim 3 , wherein the controller is configured such that, upon detection of the object within the one or more monitored zones, the controller controls the power conversion system to allow at least some work functions using the work actuators.
5. The power machine of claim 1 , wherein the power conversion system includes left and right drive pumps driven by the power source and coupled, respectively, to the left and right drive motors.
6. The power machine of claim 5 , wherein the power conversion system includes:
an implement pump driven by the power source; and
a control valve receiving pressurized hydraulic fluid from the implement pump and selectively providing the pressurized fluid to the work actuators.
7. The power machine of claim 6 , and further comprising:
a frame;
a lift arm assembly pivotally coupled to the frame;
an implement carrier pivotally coupled to the lift arm assembly;
wherein the work actuators include a lift actuator, coupled between the frame and the lift arm assembly and configured to raise and lower the lift arm assembly, and a tilt actuator pivotally coupled between the lift arm assembly and the implement carrier and configured to rotate the implement carrier relative to the lift arm assembly.
8. The power machine of claim 1 , wherein the controller controls the zone illumination system to illuminate all or part of the monitored zones in which the presence of the object was detected by illuminating a portion of ground within the monitored zones in which the presence of the object was detected.
9. The power machine of claim 1 , wherein the controller controls the zone illumination system to illuminate the boundary of any of the monitored zones in which the presence of the object was detected by using a laser to trace the boundary of any of the monitored zones in which the presence of the object was detected.
10. The power machine of claim 1 , wherein the controller controls the zone illumination system to illuminate all or part of the monitored zones in which the presence of the object was detected by illuminating the detected object.
11. A power machine comprising:
a power system comprising:
a power source, a power conversion system driven by the power source, a traction system including left and right drive motors coupled to and receiving power through the power conversion system to implement travel functions and move the power machine, and work actuators coupled to and receiving power through the power conversion system to implement work functions;
user inputs actuable by an operator of the power machine and configured to responsively provide user input signals to control the work and travel functions of the power machine;
at least one object detection sensor configured to detect a presence of an object within one or more monitored zones surrounding the power machine and to responsively provide object detection signals indicative of detection of the presence of the object;
a controller coupled to the user inputs, the at least one object detection sensor, and the power conversion system, the controller configured to receive the user input signals and the object detection signals and to responsively control the power conversion system to control the traction system and work actuators and thereby control work and travel functions of the power machine, wherein upon detection of the object within the one or more monitored zones the controller controls the power conversion system to slow or stop performance of at least one of the travel functions and the work functions using the traction system and the work actuators, altering normal control responsive to the user input signals;
a zone illumination system coupled to the controller and configured to illuminate all or part of any of the monitored zones in which the presence of the object was detected, wherein upon detection of the object within the one or more monitored zones the controller controls the zone illumination system to illuminate a boundary of the monitored zones in which the presence of the object was detected.
12. The power machine of claim 11 , wherein the controller is configured such that, upon detection of the object within the one or more monitored zones, the controller controls the power conversion system to slow or stop the travel functions of the power machine using the traction system, despite user input signals commanding travel, to prevent a collision with the object.
13. The power machine of claim 12 , wherein the controller is configured such that, upon detection of the object within the one or more monitored zones, the controller controls the power conversion system to allow at least some work functions using the work actuators.
14. The power machine of claim 11 , wherein the power conversion system includes left and right drive pumps driven by the power source and coupled, respectively, to the left and right drive motors.
15. The power machine of claim 14 , wherein the power conversion system includes:
an implement pump driven by the power source; and
a control valve receiving pressurized hydraulic fluid from the implement pump and selectively providing the pressurized fluid to the work actuators.
16. The power machine of claim 15 , and further comprising:
a frame;
a lift arm assembly pivotally coupled to the frame;
an implement carrier pivotally coupled to the lift arm assembly;
wherein the work actuators include a lift actuator, coupled between the frame and the lift arm assembly and configured to raise and lower the lift arm assembly, and a tilt actuator pivotally coupled between the lift arm assembly and the implement carrier and configured to rotate the implement carrier relative to the lift arm assembly.
17. The power conversion system of claim 11 , wherein the controller controls the zone illumination system to illuminate all or part of the monitored zones in which the presence of the object was detected by illuminating a portion of ground within the monitored zones in which the presence of the object was detected.
18. The power machine of claim 11 , wherein the controller controls the zone illumination system to illuminate all or part of the monitored zones in which the presence of the object was detected by illuminating the detected object.
19. The power machine of claim 11 , wherein the zone illumination system includes a laser, and wherein the controller controls the laser of the zone illumination system to illuminate the boundary of the monitored zones in which the presence of the object was detected.