System and method of monitoring payload volume utilization on a work vehicle
A work vehicle with a grapple volume utilization system comprises a frame, a boom assembly, an image capture device, and a controller. The boom assembly is coupled to the frame wherein the boom assembly includes an arch section pivotally coupled to the frame, a boom section pivotally coupled to the arch section, and a grapple pivotally coupled to the boom section. The image capture device is coupled to one of the frame and the boom assembly wherein the image capture device has a field of view that includes the grapple and is configured to output image data of the grapple. The controller includes a processor and a non-transitory computer readable medium having a program instruction permitting the controller to monitor the grapple arms, calculates a grapple volume utilization based on the image data and performs an action associated with the work vehicle based in part on the grapple volume utilization.
1 . A non-transitory computer readable medium comprising:
a program instruction for permitting a monitoring system having a controller to indicate a grapple volume utilization of a work vehicle, the work vehicle including a pair of grapple arms for moving a payload, the program instructions when executed causing a processor of the controller to:
receive an image data of the pair of the grapple arms from an image capture device coupled to the work vehicle;
determine a grapple volume between the grapple arms based on a position of the grapple relative to one another;
identify an object of interest within the grapple arms of the image data;
determine one or more characteristics of the object of interest;
calculate a grapple volume utilization based on the one or more characteristics; and
re-orient one or more of a boom and a grapple head based at least in part on the grapple volume utilization in real-time based on the calculated grapple volume utilization and the characteristics of the object of interest.
2 . The non-transitory computer readable medium of claim 1 , wherein the program instructions when executed further cause the processor of the controller to determine the position of the grapple arms from the image data using a machine vision algorithm that segments the object of interest from the background and discriminates between multiple objects within the grapple.
3 . The non-transitory computer readable medium of claim 1 , wherein the program instructions when executed further cause the processor of the controller to determine the position of the grapple arms from an extension sensor of a grapple actuator, the extension sensor of the grapple actuator indicative of a tong angle relative to a grapple head.
4 . The non-transitory computer readable medium of claim 1 , wherein the program instructions when executed further cause the processor of the controller to determine the position of the grapple arms by a sensing device having a sensing path between a frame of the work vehicle and the grapple, the sensing device configured to output a signal indicative of a distance between the frame and a frame facing surface of the grapple.
5 . The non-transitory computer readable medium of claim 1 , wherein the program instructions when executed further cause the processor of the controller to determine the position of the grapple arm by a sensing device having a sensing path between a boom of the work vehicle and the grapple, the sensing device configured to output a signal indicative of a distance between the frame and a frame facing surface of the grapple.
6 . The non-transitory computer readable medium of claim 2 , wherein a characteristic of the object of interest includes one of a girth of the object of interest, a cross-sectional size of the object of interest, a material of the object of interest, and a diameter of the object of interest.
7 . A grapple payload volume utilization system comprising: a frame with a ground-engaging mechanism;
a boom assembly coupled to the frame, wherein the boom assembly includes:
an arch section pivotally coupled to the frame and moveable relative to the frame by an arch actuator,
a boom section pivotally coupled to the arch section and moveable relative to the arch section by a boom actuator; and
a grapple pivotally coupled to the boom section and moveable by a grapple actuator;
an image capture device coupled to one of the frame and the boom assembly, the image capture device having a field of view including the grapple and configured to output an image data of the grapple; and
a controller including a processor and a non-transitory computer readable medium having a program instruction permitting the controller to monitor the grapple arms, the program instruction when executed cause the processor of the controller to:
receive the image data of the grapple from the image capture device;
determine a grapple volume based on a position of the grapple arms relative to each other;
identify an object of interest between the grapple arms, from the image data;
determine a characteristic of the object of interest;
calculate a grapple volume utilization based on the characteristic; and re-orient one or more of a boom and a grapple head based in part on the grapple volume utilization and the characteristic of the object of interest
wherein the system is configured to provide real-time operator guidance based on the calculated grapple volume utilization and the determined characteristic of the object of interest.
8 . The grapple payload volume utilization system of claim 7 , wherein the program instructions when executed cause the processor of the controller to determine the position of the grapple arms from the image data using a machine vision algorithm that segments the object of interest from the background and discriminates between multiple objects within the grapple.
9 . The grapple payload volume utilization system of claim 7 , wherein the program instructions when executed cause the processor of the controller to determine the position of the grapple arms is determined from an extension sensor of a grapple actuator, wherein the extension sensor of the grapple actuator is indicative of a tong angle relative to a grapple head.
10 . The grapple payload volume utilization system of claim 7 , wherein the program instructions when executed cause the processor of the controller to determine the position of the grapple arms by a sensing device having a sensing path between a frame of the work vehicle and the grapple, wherein the sensing device configured to output a signal indicative of a distance between the frame and a frame facing surface of the grapple.
11 . The grapple payload volume utilization system of claim 7 , wherein the program instructions when executed cause the processor of the controller to determine the position of the grapple arm by a sensing device having a sensing path between a boom of the work vehicle and the grapple, wherein the sensing device configured to output a signal indicative of a distance between the frame and a flame facing surface of the grapple.
12 . The grapple payload volume utilization system of claim 7 , wherein a characteristic of the object of interest comprises one of a girth of the object of interest, a cross-sectional size of the object of interest, a material of the object of interest, and a diameter of the object of interest.
13 . A method of monitoring a grapple payload volume utilization for a work vehicle comprises:
receiving an image data of a pair of grapple arms from an image capture device coupled to the work vehicle;
determining a grapple volume based on a position of the grapple arms relative to each other;
identifying an object of interest within the grapple arms of the image data;
determining one or more characteristics of the object of interest;
calculating a grapple volume utilization based on the one or more characteristics; and
re-orienting one or more of a boom and a grapple head based at least in part on the grapple volume utilization
wherein the method further comprises providing real-time operator guidance based on the calculated grapple volume utilization and the determined characteristic of the object of interest.
14 . The method of claim 13 wherein the position of the grapple arms is determined from one of the image data using a machine vision algorithm that segments the object of interest from the background and discriminates between multiple objects within the grapple, and an extension sensor of a grapple actuator indicative of a tong angle relative to a grapple head data.
15 . The method of claim 13 wherein the position of the grapple arm is determined by a sensing device having a sensing path between a frame of the work vehicle and the grapple, the sensing device configured to output a signal indicative of a distance between the frame and a frame facing surface of the grapple.
16 . The method of claim 13 wherein the position of the grapple arm is determined by a sensing device having a sensing path between a boom of the work vehicle and the grapple, the sensing device configured to output a signal indicative of a distance between the frame and a frame facing surface of the grapple.
17 . The method of claim 13 wherein a characteristic of the object of interest includes one of a girth of the object of interest, a cross-sectional size of the object of interest, a material of the object of interest, and a diameter of the object of interest.