Work tool collision avoidance method and system for a work machine

A work tool collision avoidance system for a work machine, the work machine traveling along a path of travel on a ground surface, the system comprising:

• a frame;
• a boom arm coupled to the frame;
• an object detector coupled to one or more of the boom arm and the frame, the object detector creating an object signal, the object detector configured to detect an object around the work machine, the object detector oriented towards the ground surface along a direction of the path of travel of the work machine, the object detector generating an object signal;
• a work tool coupled to one or more of the boom arm and the frame, the work tool moving;
• a processor communicatively coupled to the object detector to process the object signal, the processor configured to monitor the object signal in real-time to detect an object at least partially buried in the ground surface, the object in the path of travel of the work tool, the processor determining a distance between the object and a distance threshold, the distance threshold being a minimum distance from the work machine to avoid collision with the work tool,
• wherein processing the object signal comprises detecting a ground surface irregularity from an image derived from the object signal, comparing the ground surface irregularity to a plurality of synthesized images, recognizing the object based on the plurality of synthesized images, and defining a bounded area in the image around the detected ground surface irregularity;
• and
• a controller communicatively coupled to the processor, the controller sending a control signal to one or more of a machine control system and a work tool control system to modify one or more of:
• a movement of the work tool based on the object reaching the distance threshold, and
• a movement of the work machine based on the object reaching the distance threshold.