Patent Publication Number: US-2023150358-A1

Title: Collision avoidance system and method for avoiding collision of work machine with obstacles

Description:
TECHNICAL FIELD 
     The present disclosure relates to a collision avoidance system and a method for avoiding collision of a work machine with one or more obstacles. 
     BACKGROUND 
     Work machines, such as, excavators, motor graders, loaders, and the like may be used at various construction worksites to perform operations, such as, material removal, transportation, and the like. Such work machines typically operate in highly interactive environments with ground crew moving around the work machine, varying road surfaces being cut and repaired, and barriers and obstacles that need to be navigated by the work machine. It may be challenging for an operator to be aware of such dynamic environments and accordingly navigate the work machine. More particularly, a visibility of the operator may be obstructed by portions of the work machine itself or the obstacles present near the work machine. 
     In some examples, if the operator is unaware of the obstacles that may be present in a path of the work machine, there may be a possibility of a collision between the work machine and the obstacle, which may not be desired. In some examples, a collision prevention system may be used to control a movement of the work machine for preventing a movement of the work machine towards the obstacle for averting collision. However, due to limited visibility, the operator may not be aware of the obstacle that may be causing the collision prevention system to control the movement of the work machine. Therefore, it may be desirable to have a means for notifying the machine operator regarding the obstacles that may be causing the collision prevention system to control the movement of the work machine. 
     U.S. Publication Application Number 2012/0287277 describes a display system for a mobile machine operating at a worksite. The display system may have at least one detection device configured to detect objects within a distance of the mobile machine, at least one camera configured to generate a plurality of camera views of the worksite around the mobile machine, a display located within the mobile machine, and a controller in communication with the at least one detection device, the at least one camera, and the display. The controller may be configured to cause an indication of proximity of objects detected by the at least one detection device to be shown on the display, and to automatically cause the camera view of the plurality of camera views associated with a closest objected detected by the at least one detection device to be shown on the display simultaneous with the indication of proximity. 
     SUMMARY OF THE DISCLOSURE 
     In one aspect of the present disclosure, a collision avoidance system for a work machine is provided. The collision avoidance system includes at least one sensor configured to generate a signal indicative of a presence of at least one obstacle in a surrounding area of the work machine. The collision avoidance system also includes at least one imaging device associated with the work machine. The imaging device is configured to capture a visual feed of the surrounding area of the work machine. The collision avoidance system further includes a display device associated with the work machine. The collision avoidance system includes a controller communicably coupled with the sensor, the imaging device, and the display device. The controller is configured to receive the signal indicative of the presence of the obstacle in the surrounding area of the work machine from the sensor. The controller is also configured to determine a position of the obstacle relative to the work machine based on the signal received from the sensor. The controller is further configured to generate a first control signal to at least one of prevent a movement of the work machine, halt the movement of the work machine, and reduce a velocity of the work machine based on the determination of the position of the obstacle. The controller is configured to generate a second control signal for displaying an updated display view based on the determination of the position of the obstacle. The updated display view provides a visual indication of the presence of the obstacle in the surrounding area of the work machine. 
     In another aspect of the present disclosure, a method for avoiding collision of a work machine with at least one obstacle is provided. The method includes generating, by at least one sensor, a signal indicative of a presence of the at least one obstacle in a surrounding area of the work machine. The method also includes capturing, by at least one imaging device associated with the work machine, a visual feed of the surrounding area of the work machine. The method further includes receiving, by a controller, the signal indicative of the presence of the obstacle in the surrounding area of the work machine from the sensor. The controller is communicably coupled to the sensor, the imaging device, and a display device associated with the work machine. The method includes determining, by the controller, a position of the obstacle relative to the work machine based on the signal received from the sensor. The method also includes generating, by the controller, a first control signal to at least one of prevent a movement of the work machine, halt the movement of the work machine, and reduce a velocity of the work machine based on the determination of the position of the obstacle. The method further includes generating, by the controller, a second control signal for displaying an updated display view based on the determination of the position of the obstacle. The updated display view provides a visual indication of the presence of the obstacle in the surrounding area of the work machine. 
     In yet another aspect of the present disclosure, a work machine is provided. The work machine includes a frame. The work machine also includes a plurality of ground engaging members supported by the frame. The work machine further includes a collision avoidance system. The collision avoidance system includes at least one sensor configured to generate a signal indicative of a presence of at least one obstacle in a surrounding area of the work machine. The collision avoidance system also includes at least one imaging device associated with the work machine. The imaging device is configured to capture a visual feed of the surrounding area of the work machine. The collision avoidance system further includes a display device associated with the work machine. The collision avoidance system includes a controller communicably coupled with the sensor, the imaging device, and the display device. The controller is configured to receive the signal indicative of the presence of the obstacle in the surrounding area of the work machine from the sensor. The controller is also configured to determine a position of the obstacle relative to the work machine based on the signal received from the sensor. The controller is further configured to generate a first control signal to at least one of prevent a movement of the work machine, halt the movement of the work machine, and reduce a velocity of the work machine based on the determination of the position of the obstacle. The controller is configured to generate a second control signal for displaying an updated display view based on the determination of the position of the obstacle. The updated display view provides a visual indication of the presence of the obstacle in the surrounding area of the work machine. 
     Other features and aspects of this disclosure will be apparent from the following description and the accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    illustrates a side view of a work machine and an obstacle present around the work machine, according to examples of the present disclosure; 
         FIG.  2    illustrates a block diagram of a collision avoidance system associated with the work machine of  FIG.  1   , according to examples of the present disclosure; 
         FIG.  3    illustrates an updated display view generated on a display device associated with the collision avoidance system of  FIG.  2   , according to one example of the present disclosure; 
         FIG.  4    illustrates an updated display view generated on the display device associated with the collision avoidance system of  FIG.  2   , according to another example of the present disclosure; and 
         FIG.  5    illustrates a flowchart for a method for avoiding collision of the work machine with one or more obstacles, according to examples of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts. Wherever possible, corresponding or similar reference numbers will be used throughout the drawings to refer to the same or corresponding parts. 
       FIG.  1    illustrates an exemplary work machine  100  operating at a worksite  102 . The work machine  100  is embodied as a hydraulic excavator herein. Accordingly, the work machine  100  may perform one or more excavation operations at the worksite  102 . Although shown as the hydraulic excavator, it may be understood that the work machine  100  may alternatively include other work machines, such as, motor graders, loaders, mining shovels, dozers, tractors, or compactors, without any limitations. Further, the work machine  100  may include a manual machine, an autonomous machine, or a semi-autonomous machine. 
     The work machine  100  may move in a forward direction “F” or a reverse direction “R”. The work machine  100  defines a front end  104  and a rear end  106 . Further, the work machine  100  defines a first side  108  embodied as a left side of the work machine  100  in relation to the movement of the work machine  100  in the forward direction “F”. Moreover, the work machine  100  defines a second side (not shown) opposite to the first side  108  and embodied as a right side of the work machine  100  in relation to the movement of the work machine  100  in the forward direction “F”. 
     The work machine  100  includes a lower structure  112  and an upper structure  114  movably coupled with the lower structure  112 . The work machine  100  includes a frame  116 . Specifically, the upper structure  114  includes the frame  116 . The upper structure  114  may support various components of the work machine  100  thereon. The upper structure  114  defines an enclosure  118 . The enclosure  118  allows mounting of a power source (not shown). The power source may provide operating power to the work machine  100  for mobility and operational requirements. The power source may include, but is not limited to, a diesel engine, a gasoline engine, a gaseous fuel powered engine, a dual fuel powered engine, an electric motor, a fuel cell, a battery, and/or a combination thereof, based on application requirements. Additionally, the work machine  100  may include components (not shown) and/or systems (not shown), such as a braking system, a fuel delivery system, an air delivery system, an exhaust system, a drivetrain, a hydraulic system, a transmission system, and so on, based on application requirements. 
     The work machine  100  may also include a work implement  120  disposed proximate to the front end  104 . The work implement  120  may be operably connected to the upper structure  114  by a linkage assembly  122 . The work implement  120  may be used for various material handling operations, material removal operations, and/or material transportation operations. For example, during an excavation operation, the work implement  120  may contact ground surfaces for removing material therefrom. 
     Further, the work machine  100  includes a number of ground engaging members  124  supported by the frame  116 . The ground engaging members  124  may provide support and mobility to the work machine  100  on ground surfaces. As such, the ground engaging members  124  may enable travel/tramming of the work machine  100  on ground surfaces. The work machine  100  includes two ground engaging members  124  (only one ground engaging member  124  is shown in the accompanying figure) disposed at each of the first side  108  and the second side of the work machine  100 . In the illustrated example of  FIG.  1   , the ground engaging members  124  are embodied as tracks. In other examples, the ground engaging members  124  may embody wheels or drums. 
     The work machine  100  includes a turn table  126 . The turn table  126  may be mounted on the lower structure  112 , upon which the upper structure  114 , including an operator cabin  128 , may be pivotally mounted. The operator cabin  128  may be supported by the frame  116 . The operator cabin  128  may move relative to the lower structure  112 . Further, the operator cabin  128  may include one or more input devices  130  (shown in  FIG.  2   ). The input devices  130  may include a lever, a pedal, a button, a knob, a joystick, and the like. In some examples, the input devices  130  may include a first sensor  132  associated therewith. Further, the first sensor  132  may include a single sensor or a combination of sensors. The first sensor  132  may embody a position sensor that may generate a signal “I 1 ” indicative of a position of a corresponding input device  130 . For example, if the input device  130  is being used to effectuate a movement of the linkage assembly  122  or the work implement  120  towards the first side  108  or the second side of the work machine  100 , the signal “I 1 ” from the first sensor  132  may indicate if the linkage assembly  122  or the work implement  120  is moving towards or is disposed at the first side  108  or the second side of the work machine  100 . In another example, if the input device  130  is being used to effectuate a movement of the ground engaging members  124 , the signal “I 1 ” from the first sensor  132  may indicate if the ground engaging members  124  are moving in the forward direction “F” or the reverse direction “R”. In some examples, the input device  130  may be present at a base station (not shown) which may be located remotely with respect to the work machine  100 . For example, the input device  130  may be disposed at the base station that may be located offsite. 
     Further, the work machine  100  may include a second sensor  134  (shown in  FIG.  2   ) that generates signals “I 2 ” indicative of a direction of movement of one or more movable components of the work machine  100 . Further, the second sensor  134  may include a single sensor or a combination of sensors. The second sensor  134  may include an inertial measurement unit (IMU). The IMU may be mounted at any location on the linkage assembly  122 , the work implement  120 , the upper structure  114 , the lower structure  112 , and the like. In an example, the second sensor  134  may include a gyroscopic device. In some examples, the second sensor  134  may include a swing angle sensor. 
     Further, the second sensor  134  may be mounted on the linkage assembly  122  or the work implement  120 , such that the second sensor  134  may generate the signals “I 2 ” indicative of the swing movement of the linkage assembly  122  or the work implement  120 . Furthermore, the second sensor  134  may be mounted on the ground engaging members  124 , such that the second sensor  134  may generate the signals “I 2 ” indicative of the direction of the movement of the ground engaging members  124 . In some examples, the second sensor  134  may be mounted on the turn table  126 , such that the second sensor  134  may generate the signals “I 2 ” indicative of the movement of the upper structure  114  relative to the lower structure  112 . It should be noted that a type of the second sensor  134  mentioned herein does not limit the scope of the present disclosure and the work machine  100  may include any other type of sensor that may provide the desired features. 
     As shown in  FIG.  2   , the present disclosure relates to a collision avoidance system  200  for the work machine  100  (see  FIG.  1   ). The collision avoidance system  200  includes one or more sensors  202  to generate a signal “I 3 ” indicative of a presence of one or more obstacles  142 ,  302 ,  402  (shown in  FIGS.  1 ,  3 , and  4   , respectively) in a surrounding area  140  (shown in  FIG.  1   ) of the work machine  100 . The obstacles  142 ,  302 ,  402  may include an infrastructure, another work machine, a pile of material, a personnel, and the like. Although a single obstacle  142  embodied as a fire hydrant is illustrated in  FIG.  1   , it should be noted that the worksite  102  (see  FIG.  1   ) may include multiple obstacles of different shapes and sizes present thereon. It should be further noted that, although the obstacles  142 ,  302 ,  402  are positioned on the ground surface herein, it may be contemplated that the worksite  102  may include overhead or hanging obstacles that may be either in a suspended form, such as, cranes, or may be movable obstacles, such as, drones, without any limitations. 
     Further, as shown in  FIG.  2   , the sensor  202  may include a single sensor or a combination of sensors. The sensor  202  may be mounted on the work machine  100 . For example, the sensor  202  may be mounted on the upper structure  114  (see  FIG.  1   ) of the work machine  100 . In an example, the sensor  202  may be mounted on top of the operator cabin  128  (see  FIG.  1   ) of the work machine  100 . In some examples, the sensor  202  may include one or more of a perception sensor and a proximity sensor. In an example, the sensor  202  may embody an imaging device  204 ,  206 ,  208 ,  210 . The imaging device  204 ,  206 ,  208 ,  210  may be used to sense the surrounding area  140  of the work machine  100 . For example, the imaging device  204 ,  206 ,  208 ,  210  may capture images or videos of the surrounding area  140  of the work machine  100 . 
     In other examples, the sensor  202  may embody a Light Detection and Ranging (LiDAR) sensor or a Radio Detection and Ranging (RADAR) sensor, without any limitations. In some examples, the sensor  202  may include a combination of the imaging device  204 ,  206 ,  208 ,  210 , the LiDAR sensor, and the RADAR sensor. It should be noted that the present disclosure is not limited by a type of the sensor  202 , and the sensor  202  may include any other type of sensor that provides the desired functionalities. In an example, the signals “I 3 ” generated by the sensor  202  may be used to determine a distance “D 1 ” (shown in  FIG.  1   ) between the obstacle  142 ,  302 ,  402  and the work machine  100  or a bearing angle of the obstacle  142 ,  302 ,  402  from the work machine  100 . For explanatory purposes, the distance “D 1 ” is illustrated between the obstacle  142  and the rearmost portion of the work machine  100 . However, the distance “D 1 ” may be defined between the work machine  100  and a corresponding obstacle  302 ,  402  in a similar manner, without any limitations. 
     The collision avoidance system  200  includes the one or more imaging devices  204 ,  206 ,  208 ,  210  associated with the work machine  100 . The imaging device  204 ,  206 ,  208 ,  210  captures a visual feed  303 ,  403 ,  413  (shown in  FIGS.  3  and  4   , respectively) of the surrounding area  140  of the work machine  100 . It should be noted that, in some examples, the visual feed  303 ,  403 ,  413  may include images or videos. Alternatively, the visual feed  303 ,  403 ,  413  may include an occupancy map instead of the images or the videos. The occupancy map may embody a grid in which each cell of the grid may include an obstacle (such as, the obstacles  142 ,  302 ,  402 ) or a free space. 
     Further, the work machine  100  may include a single imaging device or multiple imaging devices mounted at different locations on the work machine  100 . For example, the work machine  100  may include the single imaging device that may move to capture visuals of the surrounding area  140  of the work machine  100  In the illustrated example, the one or more imaging devices  204 ,  206 ,  208 ,  210  includes a number of imaging devices  204 ,  206 ,  208 ,  210  that capture the visual feed  303 ,  403 ,  413  of the surrounding area  140  of the work machine  100 . Specifically, the collision avoidance system  200  includes four imaging devices  204 ,  206 ,  208 ,  210 . For example, the collision avoidance system  200  includes the imaging device  204  that generates visuals of the surrounding area  140  proximate to the front end  104  (see  FIG.  1   ) of the work machine  100 . The collision avoidance system  200  includes the imaging device  206  that generates visuals of the surrounding area  140  proximate to the rear end  106  (see  FIG.  1   ) of the work machine  100 . The collision avoidance system  200  includes the imaging device  208  that generates visuals of the surrounding area  140  proximate to the first side  108  (see  FIG.  1   ) of the work machine  100 . The collision avoidance system  200  includes the imaging device  210  that generates visuals of the surrounding area  140  proximate to the second side of the work machine  100 . It should be noted that the collision avoidance system  200  may include more than four imaging devices or less than four imaging devices, as per application requirements. 
     The imaging devices  204 ,  206 ,  208 ,  210  may embody a known in the art image capturing device mounted on the work machine  100 , such as, a camera, a camcorder, a closed-circuit television (CCTV), and the like. In an example, the imaging devices  204 ,  206 ,  208 ,  210  may include a digital video camera, such as, an ethernet camera to provide an electronic motion picture acquisition. In some examples, the imaging device  204 ,  206 ,  208 ,  210  may embody monocular lens cameras or a combination of monocular lens cameras and stereo/triple lens cameras, without any limitations. The imaging devices  204 ,  206 ,  208 ,  210  may be mounted at any mounting location on the work machine  100 , such as, the operator cabin  128 , proximate to the enclosure  118  (see  FIG.  1   ), and the like. It should be noted that the present disclosure is not limited by a type of the imaging device  204 ,  206 ,  208 ,  210  or the mounting location of the imaging device  204 ,  206 ,  208 ,  210 . 
     The collision avoidance system  200  further includes a display device  212  associated with the work machine  100 . In an example, the display device  212  may be disposed in the operator cabin  128 . In another example, the display device  212  may be present at the base station located remotely with respect to the work machine  100 . For example, the display device  212  may be disposed at the base station that may be located offsite. In some examples, the display device  212  may embody a touch screen device that may include means to provide outputs to the machine operator and may also include means to receive inputs, that may be physical inputs or virtual inputs, from the machine operator. The display device  212  embodied as the touch screen device may present various control icons thereon for operator assistance. 
     The display device  212  may provide visual outputs as well as audible outputs. The display device  212  may include an electroluminescent (ELD) display, liquid crystal display (LCD), light-emitting diode (LED) display, a thin-film transistor (TFT), and the like. Further, the display device  212  may include a portable handheld device, such as, a mobile phone, a tablet, and the like. It may also be contemplated that the display device  212  may embody a heads-up display unit, without any limitations. 
     Further, the collision avoidance system  200  includes a controller  214  communicably coupled with the sensor  202 , the imaging device  204 ,  206 ,  208 ,  210 , and the display device  212 . The controller  214  may be present onboard the work machine  100 . In an example, the controller  214  may embody a central control unit associated with the work machine  100  that may be capable of controlling numerous machine functions. Alternatively, the controller  214  may embody an off-board controller. The controller  214  may embody a single microprocessor or multiple microprocessors for receiving various input signals from various components of the work machine  100 . Numerous commercially available microprocessors may be configured to perform the functions of the controller  214 . The controller  214  may include a central processing unit, a graphics processing unit, and the like. The controller  214  may also include a processing logic, such as, a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), and the like. 
     The controller  214  includes a memory  216 . The memory  216  may include a flash memory, a random-access memory (RAM), an electrically erasable programmable read-only memory (EEPROM), and the like. The memory  216  may be used to store data, such as, algorithms, instructions, arithmetic operations, and the like. The controller  214  may execute various types of digitally-stored instructions, such as, a software or an algorithm, retrieved from the memory  216 , or a firmware program which may enable the controller  214  to perform a wide variety of operations. 
     The controller  214  receives the signal “I 3 ” indicative of the presence of the obstacle  142 ,  302 ,  402  in the surrounding area  140  of the work machine  100  from the sensor  202 . Further, the controller  214  determines a position of the obstacle  142 ,  302 ,  402  relative to the work machine  100  based on the signal “I 3 ” received from the sensor  202 . The controller  214  may determine the presence of the obstacle  142 ,  302 ,  402  proximate to one or more of the front end  104  of the work machine  100 , the rear end  106  of the work machine  100 , and the one or more sides  108  of the work machine  100 . The side  108  of the work machine  100  may include the first side  108  or the side of the work machine  100  may include the second side. 
     In some examples, the controller  214  may determine the position of the obstacle  142 ,  302 ,  402  based on the analysis of the signal “I 3 ” received from the sensor  202 . In an example, when the sensor  202  includes the imaging device  204 ,  206 ,  208 ,  210 , the controller  214  may determine the position of the obstacle  142 ,  302 ,  402  based on the mounting location of the imaging device  204 ,  206 ,  208 ,  210  i.e., a height and an angle at which the imaging device  204 ,  206 ,  208 ,  210  is mounted. Additionally, the controller  214  may analyze the obstacle  142 ,  302 ,  402  in a field of the view of the corresponding imaging device  204 ,  206 ,  208 ,  210 . Based on the analysis, the controller  214  may determine the distance “D 1 ” between the obstacle  142 ,  302 ,  402  and the work machine  100  or the bearing angle of the obstacle  142 ,  302 ,  402  from the work machine  100 . It should be noted that the parameters i.e., the distance “D 1 ” and the bearing angle mentioned herein are exemplary in nature and the controller  214  may determine the position of the obstacle  142 ,  302 ,  402  based on other parameters not mentioned herein, without any limitations. Further, the controller  214  generates a first control signal “O 1 ” to prevent a movement of the work machine  100 , halt the movement of the work machine  100 , or reduce a velocity of the work machine  100  based on the determination of the position of the obstacle  142 ,  302 ,  402 . The controller  214  may generate the first control signal “O 1 ” based on one or more of the distance “D 1 ” between the obstacle  142 ,  302 ,  402  and the work machine  100  and the bearing angle of the obstacle  142 ,  302 ,  402  from the work machine  100 . 
     It should be further noted that the controller  214  may compare the position of the work machine  100  with the direction of movement of the one or more movable components of the work machine  100  for generating the first control signal “O 1 ”. The movable components may include the linkage assembly  122  (see  FIG.  1   ), the work implement  120  (see  FIG.  1   ), the ground engaging members  124  (see  FIG.  1   ), the upper structure  114 , etc. For this purpose, the controller  214  may be in communication with the first sensor  132  and the second sensor  134 . In some examples, the controller  214  may determine the direction of movement of the work machine  100  itself for generating the first control signal “O 1 ”. In some examples, data received from the first and/or second sensors  132 ,  134 , may assist the controller  214  in determining the direction of movement of the one or more movable components of the work machine  100 . For example, when the obstacle  142 ,  302 ,  402  may be present at the first side  108  of the work machine  100 , and the linkage assembly  122  is swinging towards the first side  108  of the work machine  100 , the first and/or second sensors  132 ,  134 , may generate the signals “I 1 ”, “I 2 ” indicating the movement of the linkage assembly  122  towards the first side  108 . Based on the signals “I 1 ”, “I 2 ” received from the first and/or second sensors  132 ,  134 , indicating the movement of the linkage assembly  122  towards the first side  108  and the signals “I 3 ” received from the sensor  202  indicating the presence of the obstacle  142 ,  302 ,  402  on the first side  108 , the controller  214  may generate the first control signal “O 1 ” to prevent the movement, halt the movement, or reduce the velocity of the work machine  100 . 
     In some examples, the controller  214  may generate the first control signal “O 1 ” if the obstacle  142 ,  302 ,  402  lies within a predetermined distance value “V 1 ” from the work machine  100 . For this purpose, the controller  214  may compare the distance “D 1 ” between the obstacle  142 ,  302 ,  402  and the work machine  100  with the predetermined distance value “V 1 ” between the obstacle  142 ,  302 ,  402  and the work machine  100  for generating the first control signal “O 1 ”. The predetermined distance value “V 1 ” may be stored within the memory  216  associated with the controller  214  and may be retrieved from the memory  216  as and when required. Further, the controller  214  may generate the first control signal “O 1 ” if the distance “D 1 ” between the obstacle  142 ,  302 ,  402  and the work machine  100  is less than the predetermined distance value “V 1 ”. 
     Further, the controller  214  may generate the first control signal “O 1 ” to halt the movement of the work machine  100  or reduce the velocity of the work machine  100  based on the position of the obstacle  142 ,  302 ,  402 . For example, if the distance “D 1 ” between the work machine  100  and the obstacle  142 ,  302 ,  402  is greater than a predefined value “V 2 ”, the controller  214  may generate the first control signal “O 1 ” to reduce the velocity of the work machine  100 . It should be noted that the velocity of the work machine  100  may be determined based on the distance “D 1 ” between the obstacle  142 ,  302 ,  402  and the work machine  100  and/or the bearing angle of the obstacle  142 ,  302 ,  402  from the work machine  100 . 
     However, if the distance “D 1 ” between the work machine  100  and the obstacle  142 ,  302 ,  402  is lesser than the predefined value “V 2 ”, the controller  214  may generate the first control signal “O 1 ” to halt the movement of the work machine  100 . The predefined value “V 2 ” between the work machine  100  and the obstacle  142 ,  302 ,  402  may be stored within the memory  216  associated with the controller  214  and may be retrieved from the memory  216  as and when required. It should be noted that the predetermined distance value “V 1 ” and the predefined value “V 2 ” may be decided on a variety of factors, such as, a size of the work machine  100 , a terrain at the worksite  102 , a size of the worksite  102 , and the like. In some examples, the machine operator may be able to adjust the predetermined distance value “V 1 ” and the predefined value “V 2 ”, as per application requirements. 
     Further, in some examples, the controller  214  may determine the position of the obstacle  142 ,  302 ,  402  before initiating the movement of the work machine  100 , such that the controller  214  generates the first control signal “O 1 ” to prevent the movement of the work machine  100  based on the determination of the position of the obstacle  142 ,  302 ,  402 . More particularly, in a situation wherein the work machine  100  is about to move in the reverse direction “R” and the controller  214  determines a presence of the obstacle  142  proximate to the rear end  106  of the work machine  100 , the controller  214  may generate the first control signal “O 1 ” to prevent the movement of the work machine  100  in the reverse direction “R”. It should be noted that the data corresponding to the movement of the work machine  100  in the reverse direction “R” may be received from the first and/or second sensors  132 ,  134 . 
     Moreover, in some examples, the controller  214  may determine the position of the obstacle  142 ,  302 ,  402  during the movement of the work machine  100 , such that the controller  214  generates the first control signal “O 1 ” to halt the movement of the work machine  100  or reduce the velocity of the work machine  100  based on the determination of the position of the obstacle  142 ,  302 ,  402 . More particularly, in a situation wherein the work machine  100  is moving in the reverse direction “R” and the controller  214  determines a presence of the obstacle  142  proximate to the rear end  106  (see  FIG.  1   ) of the work machine  100 , the controller  214  may generate the first control signal “O 1 ” to halt the movement of the work machine  100  or reduce the velocity of the work machine  100  while the work machine  100  is moving in the reverse direction “R”. It should be noted that the data corresponding to the movement of the work machine  100  or the movable components of the work machine  100  may be received from the first and/or second sensors  132 ,  134 . 
     Further, the first control signal “O 1 ” generated by the controller  214  may be transmitted to the braking system of the work machine  100 , the transmission system of the work machine  100 , the drivetrain of the work machine  100 , or any other component of the work machine  100  that may allow control of the movement of the work machine  100 , without any limitations. In some examples, the velocity of the work machine  100  may be controlled based on a control of the ground engaging members  124 . In such examples, the first control signal “O 1 ” may be transmitted to components, such as, hydraulic valves or hydraulic motors, that may operate the ground engaging members  124 , so that the work machine  100  may move at a desired velocity. In some examples, the controller  214  may generate the first control signal “O 1 ” to control a velocity of the one or more movable components of the work machine  100 . 
     In some examples, the collision avoidance system  200  may allow an operator to override the first control signal “O 1 ” generated by the controller  214 . In such examples, the controller  214  may generate a prompt screen on the display device  212 . The prompt screen may include an option to continue with a control of the work machine  100  based on the first control signal “O 1 ” generated by the controller  214  or override the first control signal “O 1 ” generated by the controller  214 . 
     If the machine operator chooses to continue with the control of the work machine  100 , the controller  214  may control the movement of the work machine  100  based on the generated first control signal “O 1 ”. However, if the machine operator chooses to override the first control signal “O 1 ”, the controller  214  may not intervene with the movements of the work machine  100 . It should be noted that the machine operator may choose to override the first control signal “O 1 ” in situations wherein the obstacle  142 ,  302 ,  402  is small in size, the machine operator may be able to easily navigate the work machine  100  around the obstacle  142 ,  302 ,  402 , and the like. 
     Further, the controller  214  also generates a second control signal “O 2 ” for displaying an updated display view  300 ,  400  (shown in  FIGS.  3  and  4   , respectively) based on the determination of the position of the obstacle  142 ,  302 ,  402 . The updated display view  300 ,  400  provides a visual indication of the presence of the obstacle  142 ,  302 ,  402  in the surrounding area  140  of the work machine  100 . In some examples, the updated display view  300 ,  400  may include images or videos, such that the updated display view  300 ,  400  may include a portion of the surrounding area  140  of the work machine  100  in which the obstacle  142 ,  302 ,  402  is present. In other examples, the updated display view  300 ,  400  may include one or more occupancy maps illustrating the presence of the obstacles  142 ,  302 ,  402  in the surrounding area  120  of the work machine  100 . It should be noted that the updated display view  300 ,  400  may include any other type of graphical representation indicating the presence of the obstacles  142 ,  302 ,  402  in the surrounding area  140  of the work machine  100 , without any limitations. 
     Further, the updated display view  300 ,  400  may be generated on the display device  212 . Specifically, the display device  212  of the display device  212  may display the updated display view  300 ,  400  for notifying the machine operator regarding the presence of the obstacle  142 ,  302 ,  402  around the work machine  100 . It should be noted that the controller  214  may generate the first and second control signals “O 1 ”, “O 2 ” at the same time. In some examples, the controller  214  may generate the first control signal “O 1 ” before generating the second control signal “O 2 ”. In other examples, the controller  214  may generate the second control signal “O 2 ” before generating the first control signal “O 1 ”. 
     Further, the controller  214  may determine the one or more imaging devices  204 ,  206 ,  208 ,  210  from the number of imaging devices  204 ,  206 ,  208 ,  210  that capture the visual feed  303 ,  403 ,  413  of the obstacle  142 ,  302 ,  402 . More particularly, based on the position of the obstacle  142 ,  302 ,  402 , the controller  214  may determine the imaging device  204 ,  206 ,  208 ,  210  that may capture the visuals of the obstacle  142 ,  302 ,  402 . 
     Further, the controller  214  may generate the second control signal “O 2 ” to display the updated display view  300 ,  400 , such that the updated display view  300 ,  400  includes the obstacle  142 ,  302 ,  402 . For example, when the obstacle  142  is present proximate the rear end  106  of the work machine  100 , the controller  214  may generate the second control signal “O 2 ” such that the visuals captured by the imaging device  206  may be displayed on the display device  212 . 
     It should be noted that, in some situations, the obstacle  142 ,  302 ,  402  may be positioned at the worksite  102  such that the visuals of the obstacle  142 ,  302 ,  402  may be captured by more than one imaging device  204 ,  206 ,  208 ,  210 . For example, in a situation wherein the obstacle  142 ,  302 ,  402  may include a huge pile of material disposed partially on the first side  108  and partially at the rear end  106 , the controller  214  may generate the second control signal “O 2 ” such that the updated display view  300 ,  400  includes the visuals captured by the imaging devices  206 ,  208 . For example, the updated display view  300 ,  400  may include a split screen view illustrating two visual feeds of the same pile of material. In such examples, the split screen view may include the two visual feeds arranged one above the other or side-by-side, without any limitations. 
     It may be further possible that more than one obstacle  142 ,  302 ,  402  may be present around the work machine  100  at an instant of time. For example, the obstacle  142 ,  302 ,  402  may include a personnel present at the second side of the work machine  100  and another work machine present proximate to the rear end  106  of the work machine  100 . In such situations, the controller  214  may generate the second control signal “O 2 ” such that the updated display view  300 ,  400  includes visuals from the imaging device  210  that captures the obstacle  142 ,  302 ,  402  embodied as the personnel as well as the visual feed  303 ,  403 ,  413  received from the imaging device  204 ,  206 ,  208 ,  210  that captures the obstacle  142 ,  302 ,  402  embodied as the work machine, without any limitations. Further, based on the generation of the second control signal “O 2 ”, the display device  212  may instantly display the updated display view  300 ,  400  thereon to notify the machine operator regarding the presence of the obstacle  142 ,  302 ,  402 . 
       FIG.  3    illustrates the exemplary updated display view  300  illustrating the visual feed  303  including the obstacle  302 . The obstacle  302  is embodied as a work machine disposed proximal to the second side of the work machine  100 . As shown in  FIG.  3   , the display device  212  may display the updated display view  300  as a full screen view on the display device  212 . It should be noted that the updated display view  300  illustrated herein is exemplary in nature. In addition to the visual feed  303 , the updated display view  300  may include other control icons or notification icons for providing alarms, warnings, operating conditions of one or more components of the work machine  100 , and the like. 
     As illustrated in  FIG.  3   , the display device  212  displays the updated display view  300  illustrating the visual feed  303  from the single imaging device  210  (see  FIG.  2   ). As such, the visual feed  303  may be received from the imaging device  210  mounted at the second side of the work machine  100 . In some examples, the display device  212  may also provide audible outputs for notifying the machine operator regarding the presence of the obstacle  302 . 
     Further, in addition to the visual feed  303 , the updated display view  300  may also include a first indication system  304 . The first indication system  304  may be displayed at any location of the display device  212 . The first indication system  304  may include a first indication  306  that provides a visual depiction of a status of the collision avoidance system  200 . More particularly, the first indication  306  may notify whether the collision avoidance system  200  is activated, if one or more audible outputs are off, or if there is an error in operation of the collision avoidance system  200 . As such, the first indication  306  may indicate diagnosis information of the collision avoidance system  200 . 
     The first indication  306  may include unique features so that the machine operator can easily differentiate between different indications being provided by the first indication  306 . The first indication  306  may include different hatchings or different color codes. For example, if the first indication  306  includes a red color, the first indication  306  may depict that there may be an error in operation of the collision avoidance system  200 . Further, if the first indication  306  includes a yellow color, the first indication  306  may depict that the audible outputs are off. Moreover, if the first indication  306  includes a white color, the first indication  306  may depict that the collision avoidance system  200  is activated. In the illustrated example, the first indication  306  includes a hatching that depicts that the collision avoidance system  200  is activated. 
     The first indication system  304  may also include a second indication  308  that may notify the machine operator regarding the imaging device  204 ,  206 ,  208 ,  210  (see  FIG.  2   ) that is generating the visual feed  303 . The second indication  308  may include unique features so that the machine operator can easily identify the imaging device  204 ,  206 ,  208 ,  210  that is generating the visual feed  303 . The second indication  308  may include different hatchings or different color codes. For example, in the illustrated example of  FIG.  3   , the second indication  308  includes a hatching notifying that the imaging device  210  is generating the visual feed  303 . In other examples, the second indication  308  may include a white color, a yellow color, or a red color notifying that the imaging device  210  is generating the visual feed  303 . 
     The first indication system  304  may further include a third indication  310  that provides a visual depiction of the position of the obstacle  302  relative to the work machine  100 . More particularly, the third indication  310  may notify whether the obstacle  302  lies at a first range of distance “D 2 ” (shown in  FIG.  2   ) from the work machine  100 , a second range of distance “D 3 ” (shown in  FIG.  2   ) from the work machine  100  that may be lesser than the first range of distance “D 2 ”, or a third range of distance “D 4 ” (shown in  FIG.  2   ) from the work machine  100  that may be lesser than the first and second range of distances “D 2 ”, “D 3 ”. The first, second, and third range of distances “D 2 ”, “D 3 ”, “D 4 ” may be prestored in the memory  216  (see  FIG.  2   ). 
     The third indication  310  may include unique features so that the machine operator can easily differentiate between different indications being provided by the third indication  310 . The third indication  310  may include different hatchings or different color codes. For example, if the third indication  310  includes a red color, the first indication  306  may depict that the obstacle  302  lies within the first range of distance “D 2 ” from the work machine  100 . Further, if the third indication  310  includes a yellow color, the third indication  310  may depict that the obstacle  302  lies within the second range of distance “D 3 ” from the work machine  100 . Moreover, if the third indication  310  includes a white color, the third indication  310  may depict that the obstacle  302  lies within the third range of distance “D 4 ” from the work machine  100 . In the illustrated example, the third indication  310  includes a hatching that depicts that the obstacle  302  lies within the third range of distance “D 4 ” from the work machine  100 . 
     It should be noted that the first indication system  304  does not display indications for the front end  104  (see  FIG.  1   ) of the work machine  100  herein as the work machine  100  may move in the reverse direction “R” (see  FIG.  1   ). However, in other examples, wherein the work machine is moving in the forward direction “F” (see  FIG.  1   ), the first indication system  304  may also display indications for the front end  104  of the work machine  100 . 
     Referring now to  FIG.  4   , the updated display view  400  illustrates the visual feed  403 ,  413  including the obstacles  402 ,  142 , respectively. The updated display view  400  may display the visual feeds  403 ,  413  from the imaging devices  206 ,  208  (see  FIG.  2   ) thereon. In the illustrated example of  FIG.  4   , the visual feed  403  is displayed vertically above the visual feed  413 . However, in other examples, the visual feeds  403 ,  413  may be displayed adjacent to each other. Moreover, in examples wherein an additional obstacle (not shown) is present proximate the second side of the work machine  100 , a third visual feed from the imaging device  210  (see  FIG.  2   ) may be depicted on the display device  212 , without any limitations. Accordingly, in various examples, the updated display view  400  may include visuals received from all of the imaging devices  204 ,  206 ,  208 ,  210  (see  FIG.  2   ), without any limitations. It should be noted that the updated display view  400  illustrated herein is exemplary in nature. In addition to the visual feed  403 ,  413 , the updated display view  400  may include other control icons or notification icons for providing alarms, warnings, operating conditions of one or more components of the work machine  100 , and the like. 
     As illustrated in  FIG.  4   , the updated display view  400  illustrates the visual feed  403  including the obstacle  402 . The obstacle  402  is embodied as a personnel present proximal to the first side  108  (see  FIG.  2   ) of the work machine  100 . It should be noted that the visual feed  403  may be received from the imaging device  208  mounted proximate to the first side  108  of the work machine  100 . In some examples, the display device  212  may also provide audible outputs for notifying the machine operator regarding the presence of the obstacle  402 . 
     Further, in addition to the visual feed  403 , the updated display view  400  may also include a second indication system  404  similar to the first indication system  304  explained in relation to  FIG.  4   . The second indication system  404  may be displayed at any location of the display device  212 . The second indication system  404  may include a first indication  406  that provides the visual depiction of the status of the collision avoidance system  200 . In the illustrated example, the first indication  406  includes a hatching that depicts that the collision avoidance system  200  is activated. The second indication system  404  may also include a second indication  408  that may notify the machine operator regarding the imaging device  204 ,  206 ,  208 ,  210  that is generating the visual feed  403 . For example, in the illustrated example of  FIG.  4   , the second indication  408  includes a hatching notifying the machine operator that the imaging device  208  is generating the visual feed  403 . 
     The second indication system  404  may also include a third indication  410  that provides a visual depiction of the position of the obstacle  402  relative to the work machine  100 . More particularly, the third indication  410  may notify whether the obstacle  402  lies within the first range of distance “D 2 ” (see  FIG.  2   ) from the work machine  100 , the second range of distance “D 3 ” (see  FIG.  2   ) from the work machine  100 , or the third range of distance “D 4 ” (see  FIG.  2   ) from the work machine  100 . In the illustrated example, the third indication  410  includes a hatching that depicts that the obstacle  402  lies within the first range of distance “D 2 ” from the work machine  100 . 
     It should be noted that the second indication system  404  does not display indications for the front end  104  (see  FIG.  1   ) of the work machine  100  herein as the work machine  100  may move in the reverse direction “R” (see  FIG.  1   ). However, in other examples, wherein the work machine is moving in the forward direction “F” (see  FIG.  1   ), the second indication system  404  may also display indications for the front end  104  of the work machine  100 . 
     Further, the updated display view  400  illustrates the visual feed  413  including the obstacle  142 . The obstacle  142  is embodied as a fire hydrant present proximal to the rear end  106  of the work machine  100 . It should be noted that the visual feed  413  may be received from the imaging device  206  mounted proximate to the rear end  106  of the work machine  100 . In some examples, the display device  212  may also provide audible outputs for notifying the machine operator regarding the presence of the obstacle  142 . 
     Further, in addition to the visual feed  413 , the updated display view  400  may include a third indication system  414  similar to the first indication system  304  explained in relation to  FIG.  3   . The third indication system  414  may be displayed at any location of the display device  212 . The third indication system  414  may include a first indication  416  that provides the visual depiction of the status of the collision avoidance system  200 . In the illustrated example, the first indication  416  includes a hatching that depicts that the collision avoidance system  200  is activated. 
     The third indication system  414  may also include a second indication  418  that may notify the machine operator regarding the imaging device  204 ,  206 ,  208 ,  210  that is generating the visual feed  413 . More particularly, in the illustrated example of  FIG.  4   , the second indication  418  may notify the machine operator that the imaging device  206  is generating the visual feed  413 . In the illustrated example of  FIG.  4   , the second indication  418  includes a hatching notifying that the imaging device  206  is generating the visual feed  413 . The third indication system  414  may also include a third indication  420  that provides a visual depiction of the position of the obstacle  142  relative to the work machine  100 . More particularly, the third indication  420  may notify whether the obstacle  142  lies within the first range of distance “D 2 ” from the work machine  100 , the second range of distance “D 3 ” from the work machine  100 , or the third range of distance “D 4 ” from the work machine  100 . In the illustrated example, the first indication  416  includes a hatching that depicts that the obstacle  142  lies within the first range of distance “D 2 ” from the work machine  100 . 
     It should be noted that the third indication system  414  does not display indications for the front end  104  of the work machine  100  herein as the work machine  100  may move in the reverse direction “R”. However, in other examples, wherein the work machine is moving in the forward direction “F”, the third indication system  414  may also display indications for the front end  104  of the work machine  100 . 
     INDUSTRIAL APPLICABILITY 
     The present disclosure relates to the collision avoidance system  200  and a method  500  for avoiding collision of the work machine  100  with the one or more obstacles  142 ,  302 ,  402 . The collision avoidance system  200  may collect real time and accurate information regarding the presence of one or more obstacles  142 ,  302 ,  402  around the work machine  100  and accordingly control the movements of the work machine  100  to eliminate any possibility of collision between the obstacles  142 ,  302 ,  402  and the work machine  100 . Thus, the collision avoidance system  200  may provide 360 Degrees viewability around the work machine  100 . 
     Further, in an example, the collision avoidance system  200  may allow the machine operator to override the first control signal “O 1 ” generated by the controller  214 , as per requirements. In some examples, the machine operator may take a decision to override the first control signal “O 1 ” generated by the controller  214  based on assistance provided by the updated display views  300 ,  400  on the display device  212 . Further, the updated display views  300 ,  400  may provide real time visuals of the surrounding area  140  of the work machine  100  to the machine operator. Moreover, the indication systems  304 ,  404 ,  414  generated on the display device  212  may provide a simplified indication of the determinations made by the collision avoidance system  200  and may also notify the machine operator if there is an error in the operation of the collision avoidance system  200 . 
     The collision avoidance system  200  may increase operational safety of the work machine  100  by providing a means to monitor the surrounding area  140  of the work machine  100  and may also take appropriate actions based on detection of the one or more obstacles  142 ,  302 ,  402 . The collision avoidance system  200  may be simple in operation and cost effective. Further, the collision avoidance system  200  may be easily retrofitted on existing work machines, without modifying hardware associated with existing work machines. The collision avoidance system  200  may be used with autonomous, semi-autonomous, or manual machines, without any limitations. Further, the collision avoidance system  200  may embody an inclusive and onboard machine system as the collision avoidance system  200  may not require additional inputs from other work machines or other sensors present at the worksite  102 . 
       FIG.  5    illustrates a flowchart for the method  500  for avoiding collision of the work machine  100  with the one or more obstacles  142 ,  302 ,  402 . At step  502 , the one or more sensors  202  generate the signal “I 3 ” indicative of the presence of the one or more obstacles  142 ,  302 ,  402  in the surrounding area  140  of the work machine  100 . At step  504 , the one or more imaging devices  204 ,  206 ,  208 ,  210  associated with the work machine  100  captures the visual feed  303 ,  403 ,  413  of the surrounding area  140  of the work machine  100 . In some examples, the method  500  includes a step of capturing the visual feed  303 ,  403 ,  413  of the surrounding area  140  of the work machine  100  by the number of imaging devices  204 ,  206 ,  208 ,  210 . 
     At step  506 , the controller  214  receives the signal “I 3 ” indicative of the presence of the obstacle  142 ,  302 ,  402  in the surrounding area  140  of the work machine  100  from the sensor  202 . The controller  214  is communicably coupled to the sensor  202 , the imaging device  204 ,  206 ,  208 ,  210 , and the display device  212  associated with the work machine  100 . At step  508 , the controller  214  determines the position of the obstacle  142 ,  302 ,  402  relative to the work machine  100  based on the signal “I 3 ” received from the sensor  202 . Further, the controller  214  determines the presence of the obstacle  142 ,  302 ,  402  proximate to one or more of the front end  104  of the work machine  100 , the rear end  106  of the work machine  100 , and the one or more sides  108  of the work machine  100 . 
     At step  510 , the controller  214  generates the first control signal “O 1 ” to prevent the movement of the work machine  100 , halt the movement of the work machine  100 , or reduce the velocity of the work machine  100  based on the determination of the position of the obstacle  142 ,  302 ,  402 . Further, the controller  214  may determine one or more of the distance “D 1 ” between the obstacle  142 ,  302 ,  402  and the work machine  100  and the bearing angle of the obstacle  142 ,  302 ,  402  from the work machine  100  for generating the first control signal “O 1 ”. Moreover, the controller  214  may compare the position of the work machine  100  with the direction of movement of the one or more movable components of the work machine  100  for generating the first control signal “O 1 ”. 
     At step  512 , the controller  214  generates the second control signal “O 2 ” for displaying the updated display view  300 ,  400  based on the determination of the position of the obstacle  142 ,  302 ,  402 . The updated display view  300 ,  400  provides a visual indication of the presence of the obstacle  142 ,  302 ,  402  in the surrounding area  140  of the work machine  100 . Further, the display device  212  displays the updated display view  300 ,  400  as the full screen view on the display device  212 . In some examples, the controller  214  may determine the one or more imaging devices  204 ,  206 ,  208 ,  210  from the number of imaging devices  204 ,  206 ,  208 ,  210  that capture the visual feed  303 ,  403 ,  413  of the obstacle  142 ,  302 ,  402 . Further, the controller  214  may generate the second control signal “O 2 ” to display the updated display view  300 ,  400 , such that the updated display view  300 ,  400  includes the obstacle  142 ,  302 ,  402 . 
     It may be desirable to perform one or more of the steps shown in  FIG.  5    in an order different from that depicted. Furthermore, various steps could be performed together. 
     While aspects of the present disclosure have been particularly shown and described with reference to the embodiments above, it will be understood by those skilled in the art that various additional embodiments may be contemplated by the modification of the disclosed machines, systems, and methods without departing from the spirit and scope of what is disclosed. Such embodiments should be understood to fall within the scope of the present disclosure as determined based upon the claims and any equivalents thereof.