LIFTING DEVICE EFFICIENT LOAD DELIVERY, LOAD MONITORING, COLLISION AVOIDANCE, AND LOAD HAZARD AVOIDANCE

• US 20110187548A1
• Filed: 01/31/2011
• Published: 08/04/2011
• Est. Priority Date: 02/01/2010
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Cameron, John, Maynard, Kurt
• Granted Patent: US 8,618,949 B2
• Time in Patent Office: Days
• US Class Current: 340/685
• CPC Class Codes: B66C 13/46 Position indicators for suspended loads or for crane elements
• CPC Class Codes: B66C 15/04 for preventing collisions, e.g. between cranes or trolleys operating on the same track
• CPC Class Codes: B66C 15/045 electrical

Abstract

A lifting device sensor unit is disclosed. In one embodiment, the sensor unit comprises a housing configured to removably couple about a load line of a lifting device. A first global navigation satellite system (GNSS) receiver is coupled with the housing and is configured for determining a sensor unit position in three dimensions. A load monitor is coupled with the housing and is configured for monitoring a load coupled with the load line, including monitoring a load position and a load orientation of the load. A wireless transceiver is coupled with the housing and is configured for wirelessly providing information including the load position, the load orientation, and the sensor unit position, to a display unit located apart from the sensor unit.

Claims

1. A lifting device sensor unit, said sensor unit comprising:

a housing configured to removably couple about a load line of a lifting device;

a first global navigation satellite system (GNSS) receiver coupled with said housing and configured for determining a sensor unit position in three dimensions;

a load monitor coupled with said housing and configured for monitoring a load coupled with said load line, including monitoring a load position and a load orientation of said load; and

a wireless transceiver coupled with said housing and configured for wirelessly providing information including said load position, said load orientation, and said sensor unit position, to a display unit located apart from said sensor unit.

2. The sensor unit of claim 1, further comprising:

a second GNSS receiver coupled with said housing and configured for determining an angular orientation of said sensor unit.

3. The sensor unit of claim 1, further comprising:

a collision monitor coupled with said housing and configured monitoring for collision related hazards in a vicinity of said lifting device.

4. The sensor unit of claim 3, further comprising:

an avoidance action initiator coupled with said housing configured for initiating at least one hazard avoidance action in response to a monitored occurrence of said collision related hazard.

5. The sensor unit of claim 1, further comprising:

a power source coupled with said housing and configured for providing electrical power for operating electrical components of said sensor unit.

6. The sensor unit of claim 5, further comprising:

a power source charger coupled with said housing and configured for generating a charge for charging said power source.

7. The sensor unit of claim 1, further comprising:

a protective bumper disposed on a portion of an external surface of said housing.

8. The sensor unit of claim 1, further comprising:

a load line positioner coupled with said housing and configured for adjustably positioning said sensor unit along said load line.

9. The sensor unit of claim 1, further comprising:

a lift plan generator coupled with said housing and configured for generating a lift plan for lifting said load to a destination associated with said load.

10. The sensor unit of claim 1, wherein said load monitor is selected from the group of a camera, a plurality of cameras, an ultrasonic sensor, a laser scanner, a bar code scanner, a radio frequency identification device transceiver, and an inertial sensor.

11. The sensor unit of claim 1, wherein said load monitor is further configured for monitoring for load related hazards in a vicinity of said load.

12. The sensor unit of claim 1, wherein said load monitor is configured for monitoring for one or more object identifiers coupled with said load or one or more other objects in a field of view of said load monitor from said lifting device sensing unit.

13. The sensor unit of claim 1, wherein said transceiver is further configured for wirelessly communicating with a second sensor unit coupled with a second lifting device.

14. The sensor unit of claim 1, wherein said transceiver is further configured for accessing load cell information of said lifting device, said load cell information indicative of said lifting device taking or releasing said load with said load line.

15. The sensor unit of claim 1, wherein said housing includes a power source access hatch for accessing a power source of said sensor unit while said sensor unit is coupled with said load line.

16. The sensor unit of claim 1, wherein said housing includes recharge contacts, said recharge contacts accessible for recharging a power source of said sensor unit while said sensor unit is coupled with said load line.

17. The sensor unit of claim 1, wherein at least a portion of said housing is radio frequency transparent to GNSS signals for facilitating receipt of said GNSS signals by said first GNSS receiver.

18. The sensor unit of claim 1, wherein said housing comprises at least two portions configured for removably coupling with one another about said load line.

19. A lifting device sensor system, said system comprising:

a display unit; and

a lifting device sensor unit comprising;

a housing configured to removably couple about a load line of a lifting device;

a first global navigation satellite system (GNSS) receiver coupled with said housing and configured for determining a sensor unit position in three dimensions;

a load monitor coupled with said housing and configured for monitoring a load coupled with said load line, including monitoring a load position and a load orientation of said load; and

a wireless transceiver coupled with said housing and configured for wirelessly providing information including said load position, said load orientation, and said sensor unit position to said display unit, wherein said display unit is located apart from said sensor unit.

20. The system of claim 19, wherein said load monitor is configured for monitoring for one or more object identifiers in a downward field of view of said load monitor from said lifting device sensing unit, said one or more object identifiers coupled with said load or other objects.

21. The system of claim 20, further comprising one or more of said object identifiers.

22. The system of claim 19, wherein said wireless transceiver is further configured for wirelessly acquiring a GNSS position of a point on a body of said lifting device.

23. The system of claim 22, further comprising an additional GNSS receiver coupled with said body of said lifting device.

24. The system of claim 19, wherein said display unit comprises a hand-holdable unit.

25. The system of claim 19, wherein said display unit is located in an operator cab of said lifting device.

26. A method of monitoring a lifting device load, said method comprising:

determining a three dimensional position of a sensor unit coupled with a load line of a lifting device, said determining performed by a first global navigation satellite system (GNSS) receiver coupled with a housing of said sensor unit;

monitoring a load position and a load orientation of a load coupled with said load line, said monitoring performed by a load monitor coupled with said housing; and

wirelessly providing information from said sensor unit to a display unit located apart from said sensor unit, said information including said load position, said load orientation, and said sensor unit position.

27. The method as recited in claim 26, wherein said wirelessly providing information from said sensor unit to a display unit located apart from said sensor unit comprises:

wirelessly providing said information for display on a hand-holdable unit.

28. The method as recited in claim 26, wherein said wirelessly providing information from said sensor unit to a display unit located apart from said sensor unit comprises:

wirelessly providing said information for display in an operator cab of said lifting device.

29. The method as recited in claim 26, wherein said wirelessly providing information from said sensor unit to a display unit located apart from said sensor unit comprises:

wirelessly providing image information captured by said load monitor.

30. The method as recited in claim 26, wherein said wirelessly providing information from said sensor unit to a display unit located apart from said sensor unit comprises:

wirelessly providing laser scanner information captured by said load monitor.

31. The method as recited in claim 26, wherein said wirelessly providing information from said sensor unit to a display unit located apart from said sensor unit comprises:

wirelessly providing bar code information captured by said load monitor.

32. The method as recited in claim 26, wherein said wirelessly providing information from said sensor unit to a display unit located apart from said sensor unit comprises:

wirelessly providing RFID information captured by said load monitor.

33. The method as recited in claim 26, wherein said wirelessly providing information from said sensor unit to a display unit located apart from said sensor unit comprises:

wirelessly providing load related hazard information related to a load related hazard located in a vicinity of said load.

34. The method as recited in claim 26 further comprising:

determining said three dimensional position of said sensor unit using an inertial sensor; and

wirelessly providing said three dimensional position of said sensor unit to said display unit.

35. The method as recited in claim 26 further comprising:

determining that said sensor unit has not moved for a selected period of time; and

initiating a shut-down sequence of said sensor unit in response to said determining that said sensor unit has not move for a selected period of time.

36. A lifting device collision avoidance sensor unit, said collision avoidance sensor unit comprising:

a housing configured to removably couple about a load line of a lifting device;

a global navigation satellite system (GNSS) receiver coupled with said housing and configured for determining a collision avoidance sensor unit position in three dimensions;

a wireless transceiver coupled with said housing and configured for wirelessly accessing a body position of said lifting device;

a geofence generator coupled with said housing and configured for generating a geofence from said collision avoidance sensor unit position and said body position;

a collision monitor coupled with said housing and configured for monitoring for a collision related hazard indicated by encroachment between said geofence and a second geofence associated with a second lifting device; and

an avoidance action initiator coupled with said housing configured for initiating at least one collision hazard avoidance action in response to occurrence of said collision related hazard being detected by said collision monitor.

37. A method of lifting device collision avoidance, said method comprising:

determining a three dimensional position of a collision avoidance sensor unit coupled with a load line of a first lifting device, said determining performed by a first global navigation satellite system (GNSS) receiver coupled with a housing of said collision avoidance sensor unit;

generating a geofence for said first lifting device based at least in part on said collision avoidance sensor unit position;

monitoring for a collision related hazard indicated by encroachment between said first geofence and a second geofence associated with a second lifting device; and

initiating at least one collision hazard avoidance action in response to a monitored occurrence of said collision related hazard.

38. The method as recited in claim 37, further comprising:

wirelessly providing said first geofence and said second geofence from said collision avoidance sensor unit to a display unit located apart from said collision avoidance sensor unit.

39. The method as recited in claim 37, wherein initiating at least one collision hazard avoidance action in response to a monitored occurrence of said collision related hazard comprises:

wirelessly providing a collision alert to a display unit located apart from said collision avoidance sensor unit.

40. The method as recited in claim 37, wherein said initiating at least one collision hazard avoidance action in response to a monitored occurrence of said collision related hazard comprises:

sounding a warning.

41. The method as recited in claim 37, wherein said initiating at least one collision hazard avoidance action in response to a monitored occurrence of said collision related hazard comprises:

illuminating an indicator.

42. A lifting device load hazard avoidance sensor unit, said load hazard avoidance unit comprising:

a housing configured to removably couple about a load line of a lifting device;

a global navigation satellite system (GNSS) receiver coupled with said housing and configured for determining a load hazard avoidance sensor unit position in three dimensions;

a load monitor coupled with said housing and configured for monitoring a load coupled with said load line, said load monitor further configured for monitoring for a load related hazard in a vicinity of said load; and

said avoidance action initiator coupled with said housing and configured for initiating at least one load related hazard avoidance action in response to a monitored occurrence of said load related hazard.

43. A method of lifting device load hazard avoidance, said method comprising:

determining a three dimensional position of a load hazard avoidance sensor unit coupled with a load line of a lifting device, said determining performed by a first global navigation satellite system (GNSS) receiver coupled with a housing of said load hazard avoidance sensor unit;

monitoring for a load related hazard in a vicinity of a load coupled with said load line, said monitoring performed by a load monitor coupled with said housing; and

initiating at least one load related hazard avoidance action in response to a monitored occurrence of said load related hazard.

44. The method as recited in claim 43, wherein said monitoring for a load related hazard in a vicinity of a load coupled with said load line comprises:

monitoring for an imminent collision between said load and an object in the vicinity of said load.

45. The method as recited in claim 43, wherein said monitoring for a load related hazard in a vicinity of a load coupled with said load line comprises:

monitoring for a loss of visibility of person beneath said load.

46. The method as recited in claim 43, wherein said initiating at least one load related hazard avoidance action in response to a monitored occurrence of said load related hazard comprises:

wirelessly providing a load hazard alert to be output by a display unit located apart from said load hazard avoidance sensor unit.

47. The method as recited in claim 43, wherein said initiating at least one load related hazard avoidance action in response to a monitored occurrence of said load related hazard comprises:

sounding a warning.

48. The method as recited in claim 43, wherein said initiating at least one load related hazard avoidance action in response to a monitored occurrence of said load related hazard comprises:

illuminating an indicator.

49. The method as recited in claim 43 further comprising:

determining said three dimensional position of said sensor unit using an inertial sensor; and

wirelessly providing said three dimensional position of said sensor unit to said display unit.

50. A lifting device sensor system comprising:

a display unit;

a lifting device sensor unit comprising;

a housing configured to removably couple about a load line of a lifting device;

a first global navigation satellite system (GNSS) receiver coupled with said housing and configured for determining a sensor unit position in three dimensions;

a load monitor coupled with said housing and configured for monitoring a load coupled with said load line, including monitoring a load position and a load orientation of said load; and

a wireless transceiver coupled with said housing and configured for wirelessly providing information including said load position, said load orientation, and said sensor unit position; and

a computer system located remotely from said lifting device sensor unit, said computer system configured for wirelessly receiving said information and for supplying some portion of this received information to a display unit located on a job site of said lifting device, wherein said display unit is located apart from said sensor unit.

51. A lifting device collision avoidance system comprising:

a lifting device collision avoidance sensor unit configured for coupling with a load line of a lifting device; and

a computer system located remotely from said lifting device collision avoidance sensor unit and configured for receiving wirelessly reported information from said lifting device collision avoidance sensor unit and utilizing said wirelessly reported information for;

generating a geofence for a first lifting device based at least in part on a collision avoidance sensor unit position received in said wirelessly reported information;

monitoring for a collision related hazard indicated by encroachment between said first geofence and a second geofence associated with a second lifting device; and

initiating at least one collision hazard avoidance action in response to a monitored occurrence of said collision related hazard.

52. A lifting device load hazard avoidance system comprising:

lifting device load hazard avoidance sensor unit configured for coupling with a load line of a lifting device; and

a computer system located remotely from said lifting device load hazard avoidance sensor unit and configured for receiving wirelessly reported information from said lifting device load hazard avoidance sensor unit and utilizing said wirelessly reported information for monitoring for a load related hazard in a vicinity of said load and initiating at least one load related hazard avoidance action in response to a monitored occurrence of said load related hazard.

53. A hook block sensor assembly comprising:

a housing configured to removably couple about a lifting hook of a lifting device;

a first global navigation satellite system (GNSS) receiver coupled with said housing and configured for determining a hook block sensor assembly position in three dimensions;

a load monitor coupled with said housing and configured for monitoring a load coupled with said lifting hook, including monitoring a load position and a load orientation of said load; and

a wireless transceiver coupled with said housing and configured for wirelessly providing information including said load position, said load orientation, and said hook block sensor assembly position, to a display unit located apart from said hook block sensor assembly.

54. The hook block sensor assembly of claim 53, further comprising:

a second GNSS receiver coupled with said housing and configured for determining an angular orientation of said hook block sensor assembly.

55. The hook block sensor assembly of claim 53, further comprising:

a collision monitor coupled with said housing and configured monitoring for collision related hazards in a vicinity of said lifting hook.

56. The hook block sensor assembly of claim 55, further comprising:

an avoidance action initiator coupled with said housing configured for initiating at least one hazard avoidance action in response to a monitored occurrence of said collision related hazard.

57. The hook block sensor assembly of claim 53, further comprising:

a power source coupled with said housing and configured for providing electrical power for operating electrical components of said hook block sensor assembly.

58. The hook block sensor assembly of claim 57, further comprising:

a power source charger coupled with said housing and configured for generating a charge for charging said power source.

59. The hook block sensor assembly of claim 53, further comprising:

a protective bumper disposed on a portion of an external surface of said housing.

60. The hook block sensor assembly of claim 53, further comprising:

a lift plan generator coupled with said housing and configured for generating a lift plan for lifting said load to a destination associated with said load.

61. The hook block sensor assembly of claim 53, wherein said load monitor is selected from the group of a camera, a plurality of cameras, an ultrasonic sensor, a laser scanner, a bar code scanner, a radio frequency identification device transceiver, and an inertial sensor.

62. The hook block sensor assembly of claim 53, wherein said load monitor is further configured for monitoring for load related hazards in a vicinity of said load.

63. The hook block sensor assembly of claim 53, wherein said load monitor is configured for monitoring for one or more object identifiers coupled with said load or one or more other objects in a field of view of said load monitor from said hook block sensor assembly.

64. The hook block sensor assembly of claim 53, wherein said transceiver is further configured for wirelessly communicating with a second sensor unit coupled with a second lifting device.

65. The hook block sensor assembly of claim 53, wherein said transceiver is further configured for accessing load cell information of said lifting device, said load cell information indicative of said lifting device taking or releasing said load with said lifting hook.

66. The hook block sensor assembly of claim 53, wherein said housing includes a power source access hatch for accessing a power source of said lifting hook sensor assembly while said lifting hook sensor assembly is coupled with said lifting hook.

67. The hook block sensor assembly of claim 53, wherein said housing includes recharge contacts, said recharge contacts accessible for recharging said power source of said hook block sensor assembly while said hook block sensor assembly is coupled with said lifting hook.

68. The hook block sensor assembly of claim 53, wherein at least a portion of said housing is radio frequency transparent to GNSS signals for facilitating receipt of said GNSS signals by said first GNSS receiver.

69. The hook block sensor assembly of claim 53, wherein said housing comprises at least two portions configured for removably coupling with one another about said lifting hook.

70. A lifting device sensor unit, said sensor unit comprising:

a housing configured to removably couple about a load line of a lifting device;

a first global navigation satellite system (GNSS) receiver coupled with said housing and configured for determining a sensor unit position in three dimensions;

an inertial sensor coupled with said housing and configured for augmenting said first GNSS receiver in determining a sensor unit position in three dimensions;

a load monitor coupled with said housing and configured for monitoring a load coupled with said load line, including monitoring a load position and a load orientation of said load; and

a wireless transceiver coupled with said housing and configured for wirelessly providing information including said load position, said load orientation, and said sensor unit position, to a display unit located apart from said sensor unit.