| 主权项 |
1. A system for tracking a cable tethered from a machine along a worksite at or above a surface of the worksite during operation, the system comprising:
a laser scanner configured to emit a laser beam and scan a surrounding area of the machine within a field of view of the laser scanner; a color camera configured to generate images of the surrounding area of the machine within a field of view of the color camera; a location unit configured to generate a location of the machine; a processing device disposed on the machine and in communication with the laser scanner, the color camera and the location unit, the processing device comprising:
a reconstruction module configured to receive data from the laser scanner and generate a three dimensional model of the surrounding area of the machine within the field of view of the laser scanner;an image module configured to receive data from the color camera and generate a two dimensional color image of the surrounding area of the machine within the field of view of the color camera;a first cable detection module configured to receive the three dimensional model from the reconstruction module, the first cable detection module further configured to search for a cylindrical object in the three dimensional model and determine a first location of the cable with respect to the machine based on the location of the cylindrical object within the three dimensional model;a second cable detection module configured to receive the color image from the image module, the second cable detection module further configured to search for a pair of parallel lines in the color image and determine a second location of the cable with respect to the machine based on the location of the pair of parallel lines within the color image; anda fusion module configured to receive the location of the machine from the location unit, the first location of the cable from the first cable detection module and the second location from the second cable detection module, the fusion module further configured to generate a location of the cable based on the location of the machine, the first location of the cable and the second location of the cable; and a server remotely located with respect to the machine and disposed in communication with the processing device, the server configured to record locations of the cable at different instances of time and generate a map of the cable based on the locations of the cable. |
