Method and apparatus for generating an indication of an object within an operating ambit of heavy loading equipment

• US 9,030,332 B2
• Filed: 06/22/2012
• Issued: 05/12/2015
• Est. Priority Date: 06/27/2011
• Status: Active Grant

• Current Assignee: Motion Metrics International Corp (WEIR Group PLC)
• Original Assignee: Motion Metrics International Corp (WEIR Group PLC)
• Inventors: Tafazoli Bilandi, Shahram, Nabavi, Nima, Ohadi Esfahani, Arya, Bell, Ian Law
• Primary Examiner(s): BLOUNT, ERIC
• Application Number:
  US13/531,166
• Publication Number:
  US 20120327261A1
• Time in Patent Office: 1,054 Days
• Field of Search: 340/945, 340/686.1, 340/686.6, 340435-436, 340679-680, 340/685, 701/301, 348/222.1, 348/E05.031, 348/E05.022, 348/207.99
• US Class Current: 340/686.1
• CPC Class Codes: E02F 9/24 Safety devices , e.g. for preventing overload E02F9/226 takes precedence
• CPC Class Codes: E02F 9/262 with follow-up actions to control the work tool, e.g. controller
• CPC Class Codes: E02F 9/265 with follow-up actions (e.g. control signals sent to actuate the work tool)

Abstract

A method, apparatus and system for generating an indication of an object within an operating ambit of heavy loading equipment is disclosed. The system includes a plurality of sensors disposed about a periphery of the loading equipment, each being operable to generate a proximity signal in response to detecting an object within a coverage region of the sensor, the proximity signal including an indication of at least an approximate distance between the sensor and the object. A processor circuit is operably configured to define an alert region extending outwardly and encompassing swinging movements of outer extents of the loading equipment. The processor circuit is operably configured to receive proximity signals from the plurality of sensors, process the signals to determine a location of the object relative to the loading equipment, and initiate an alert when the location falls within the alert region.

Claims

1. An apparatus for generating an indication of an object within an operating ambit of heavy loading equipment, the apparatus comprising a processor circuit operably configured to:

define an alert region extending outwardly from the loading equipment and encompassing swinging movements of outer extents of the loading equipment during operation;

receive proximity signals from a plurality of sensors disposed about a periphery of the loading equipment, each sensor being operable to generate a proximity signal in response to detecting an object within one of a plurality of detection zones defined for each sensor, said detection zones extending outwardly from said sensor, said proximity signal including information identifying said detection zone within which the object is located, wherein adjacently disposed sensors on the periphery of the loading equipment each have at least one detection zone that overlaps with a detection zone of the adjacently disposed sensor;

process said proximity signals by combining said information identifying respective detection zones associated with the adjacently disposed sensors to determine a location of the object relative to the loading equipment; and

initiate an alert when said location falls within said alert region.

2. The apparatus of claim 1 wherein said processor circuit is operably configured to define said alert region by, for each sensor, associating ones of said plurality of detection zones with said alert region.

3. The apparatus of claim 1 wherein said processor circuit is operably configured to define said alert region by receiving positioning information defining a positioning of each sensor on the periphery of the loading equipment.

4. The apparatus of claim 3 wherein swinging movements of the loading equipment during loading operations occur about a pivot and wherein said processor circuit is operably configured to receive information defining a location of said pivot and a location of said extents of the loading equipment.

5. The apparatus of claim 1 wherein swinging movements of the loading equipment during loading operations occur about a pivot and wherein said processor circuit is operably configured to define said alert region by defining a region extending outwardly from said pivot.

6. The apparatus of claim 5 wherein said processor circuit is operably configured to define said region extending outwardly from said pivot by defining a generally cylindrical sector having a radius dimension corresponding to a distance between said pivot and an outermost extent of said outer extents.

7. The apparatus of claim 1 wherein said processor circuit is operably configured to define said alert region by defining at least one of:

a collision region, wherein objects located within said collision region would be disposed in a collision path of the operating equipment; and

a warning region extending outwardly from said collision region, wherein objects located within said warning region are outside of said collision region but sufficiently close to said collision region to be in danger of encroaching on said collision region.

8. The apparatus of claim 7 wherein swinging movements of the loading equipment during loading operations occur about a pivot and wherein said processor circuit is operably configured to define said collision region by defining a generally cylindrical sector having a radius dimension corresponding to a distance between said pivot and an outermost extent of said outer extents.

9. The apparatus of claim 8 wherein said processor circuit is operably configured to define said warning region by defining a generally hollow cylinder shaped sector extending outwardly from said collision region.

10. The apparatus of claim 7 wherein said processor circuit is further operably configured to:

determine a pattern of movement between an object within the warning zone with respect to the loading equipment;

determine whether said pattern of movement corresponds to a pattern of movement associated with normal operations of the loading equipment; and

wherein initiating said alert comprises issuing an alert only when said pattern of movement does not correspond to a pattern of movement associated with normal operations of the loading equipment.

11. The apparatus of claim 10 wherein swinging movements of the loading equipment during loading operations occur about a pivot and wherein said processor circuit is operably configured to determine whether said pattern of movement of the object corresponds to normal operations of the loading equipment by determining whether movement of the object generally corresponds to a movement about said pivot.

12. The apparatus of claim 1 wherein said processor circuit is operably configured to record location information associated with objects that enter the operating ambit of the loading equipment to facilitate analysis of loading operations.

13. The apparatus of claim 1 wherein the loading equipment comprises at least one camera disposed to capture images of at least a portion of the operating ambit and wherein said processor circuit is operably configured to initiate said alert by causing a view of said at least said portion of the operating ambit to be displayed on a display for viewing by an operator of the loading equipment when the object is located within a field of view of said at least one camera.

14. The apparatus of claim 1 wherein the loading equipment comprises a plurality of cameras disposed to capture images of respective portions of the operating ambit and wherein said processor circuit is operably configured to initiate said alert by selectively displaying a view captured by a camera of said plurality of cameras that is best disposed to provide a view of the object.

16. The apparatus of claim 1 wherein the loading equipment comprises at least one outwardly directed warning light for providing a warning to an object entering the operating ambit of the loading equipment and wherein said processor circuit is operably configured to initiate said alert by activating said at least one warning light.

17. The apparatus of claim 16 wherein the loading equipment comprises a plurality of outwardly directed warning lights disposed about the periphery of the loading equipment and wherein said processor circuit is operably configured to initiate said alert by selectively activating one of said plurality of warning lights that is disposed to provide a visual alert to an operator of the object.

18. The apparatus of claim 1 wherein said processor circuit is operably configured to further determine an object type associated with the object and to generate a signal operable to halt operation of at least one of the object and the loading equipment when said location falls within said alert region.

19. The apparatus of claim 18 wherein said processor circuit is operably configured to determine said object type by at least one of:

performing image analysis on an image of the object captured by a camera disposed to capture images of at least a portion of the operating ambit within which the object is located;

reading a radio frequency identification associated with the object; and

processing the proximity signals produced by said sensors, said sensors being further operably configured to provide information indicative of a shape of detected objects within a coverage region of the sensor.

20. The apparatus of claim 1 wherein the loading equipment comprises one of an electric mining shovel and a hydraulic mining shovel.

21. The apparatus of claim 20 wherein said outer extents comprise a counterweight of said mining shovel.

22. The apparatus of claim 1 wherein said sensor comprises a radar object detection sensor.

23. The apparatus of claim 1 wherein said processor circuit is operably configured to further use said processed proximity signals to generate statistical data representing a number of detections within a coverage region of at least one of said plurality of sensors.

24. The apparatus of claim 23 wherein said processor circuit is operably configured to generate a map representing the number of detections within the coverage region of each of the plurality of sensors.

15. The apparatus of claim I wherein said processor circuit is operably configured to initiate said alert by at least one of:

causing an audible tone to be produced for warning an operator of said loading equipment;

causing an audible tone to be produced for warning an operator of the object;

causing a visual alert to be displayed on a display associated with operations of the loading equipment;

causing a warning light within view of the operator of the object to be activated;

generating a wireless alert signal for receipt by other equipment located in the vicinity of the operating ambit of the loading equipment; and

generating a wireless alert signal for receipt by a dispatch center, the dispatch center being in communication with at least one of an operator of the loading equipment and an operator of the object.

25. A method for generating an indication of an object within an operating ambit of heavy loading equipment, the method comprising:

defining an alert region extending outwardly from the loading equipment and encompassing swinging movements of outer extents of the loading equipment during operation;

receiving proximity signals from a plurality of sensors disposed about a periphery of the loading equipment, each sensor being operable to generate a proximity signal in response to detecting an object within one of a plurality of detection zones defined for each sensor, said detection zones extending outwardly from said sensor, said proximity signal including information identifying said detection zone within which the object is located, wherein adjacently disposed sensors on the periphery of the loading equipment each have at least one detection zone that overlaps with a detection zone of the adjacently disposed sensor;

processing said proximity signals by combining said information identifying respective detection zones associated with the adjacently disposed sensors to determine a location of the object relative to the loading equipment; and

initiating an alert when said location falls within said alert region.

26. The method of claim 25 wherein defining said alert region comprises, for each sensor, associating ones of said plurality of detection zones with said alert region.

27. The method of claim 25 wherein defining said alert region comprises receiving positioning information defining a positioning of each sensor on the periphery of the loading equipment.

28. The method of claim 27 wherein swinging movements of the loading equipment during loading operations occur about a pivot and further comprising receiving information defining a location of said pivot and a location of said extents of the loading equipment.

29. The method of claim 25 wherein swinging movements of the loading equipment during loading operations occur about a pivot and wherein defining said alert region comprises defining a region extending outwardly from said pivot.

30. The method of claim 29 wherein defining said region extending outwardly from said pivot comprises defining a generally cylindrical sector having a radius dimension corresponding to a distance between said pivot and an outermost extent of said outer extents.

31. The method of claim 25 wherein defining said alert region comprises defining at least one of:

a collision region, wherein objects located within said collision region would be disposed in a collision path of the operating equipment; and

a warning region extending outwardly from said collision region, wherein objects located within said warning region are outside of said collision region but sufficiently close to said collision region to be in danger of encroaching on said collision region.

32. The method of claim 31 wherein swinging movements of the loading equipment during loading operations occur about a pivot and wherein defining said collision region comprises defining a generally cylindrical sector having a radius dimension corresponding to a distance between said pivot and an outermost extent of said outer extents.

33. The method of claim 32 wherein defining said warning region comprises defining a generally hollow cylinder shaped sector extending outwardly from said collision region.

34. The method of claim 31 further comprising:

determining a pattern of movement between an object within the warning zone with respect to the loading equipment;

determining whether said pattern of movement corresponds to a pattern of movement associated with normal operations of the loading equipment; and

wherein initiating said alert comprises issuing an alert only when said pattern of movement does not correspond to a pattern of movement associated with normal operations of the loading equipment.

35. The method of claim 34 wherein swinging movements of the loading equipment during loading operations occur about a pivot and wherein determining whether said pattern of movement of the object corresponds to normal operations of the loading equipment comprises determining whether movement of the object generally corresponds to a movement about said pivot.

36. The method of claim 25 further comprising recording location information associated with objects that enter the operating ambit of the loading equipment to facilitate analysis of loading operations.

37. The method of claim 25 wherein the loading equipment comprises at least one camera disposed to capture images of at least a portion of the operating ambit and wherein initiating said alert comprises causing a view of said at least said portion of the operating ambit to be displayed on a display for viewing by an operator of the loading equipment when the object is located within a field of view of said at least one camera.

38. The method of claim 25 wherein the loading equipment comprises a plurality of cameras disposed to capture images of respective portions of the operating ambit and wherein initiating said alert comprises selectively displaying a view captured by a camera of said plurality of cameras that is best disposed to provide a view of the object.

39. The method of claim 25 wherein initiating said alert comprises at least one of:

causing an audible tone to be produced for warning an operator of said loading equipment;

causing an audible tone to be produced for warning an operator of the object;

causing a visual alert to be displayed on a display associated with operations of the loading equipment;

causing a warning light within view of the operator of the object to be activated;

generating a wireless alert signal for receipt by other equipment located in the vicinity of the operating ambit of the loading equipment; and

generating a wireless alert signal for receipt by a dispatch center, the dispatch center being in communication with at least one of an operator of the loading equipment and an operator of the object.

40. The method of claim 25 wherein the loading equipment comprises at least one outwardly directed warning light for providing a warning to an object entering the operating ambit of the loading equipment and wherein initiating said alert comprises activating said at least one warning light.

41. The method of claim 40 wherein the loading equipment comprises a plurality of outwardly directed warning lights disposed about the periphery of the loading equipment and wherein initiating said alert comprises selectively activating one of said plurality of warning lights that is disposed to provide a visual alert to an operator of the object.

42. The method of claim 25 further comprising determining an object type associated with the object and further comprising generating a signal operable to halt operation of at least one of the object and the loading equipment when said location falls within said alert region.

43. The method of claim 42 wherein determining said object type comprises at least one of:

performing image analysis on an image of the object captured by a camera disposed to capture images of at least a portion of the operating ambit within which the object is located;

reading a radio frequency identification associated with the object; and

processing the proximity signals produced by said sensors, said sensors being further operably configured to provide information indicative of a shape of detected objects within a coverage region of the sensor.

44. The method of claim 25 wherein the loading equipment comprises one of an electric mining shovel and a hydraulic mining shovel.

45. The method of claim 44 wherein said outer extents comprise a counterweight of said mining shovel.

46. The method of claim 25 wherein said sensor comprises a radar object detection sensor.

47. The method of claim 25 further comprising using said processed proximity signals to generate statistical data representing a number of detections within a coverage region of at least one of said plurality of sensors.

48. The method of claim 47 further comprising generating a map representing the number of detections within the coverage region of each of the plurality of sensors.

49. A system for generating an indication of an object within an operating ambit of heavy loading equipment, the system comprising:

a plurality of sensors disposed about a periphery of the loading equipment, each sensor being operable to generate a proximity signal in response to detecting an object within one of a plurality of detection zones defined for each sensor, said detection zones extending outwardly from said sensor, said proximity signal including information identifying said detection zone within which the object is located, wherein adjacently disposed sensors on the periphery of the loading equipment each have at least one detection zone that overlaps with a detection zone of the adjacently disposed sensor; and

a processor circuit operably configured to;

define an alert region extending outwardly from the loading equipment and encompassing swinging movements of outer extents of the loading equipment during operation;

receive said proximity signals from said plurality of sensors;

process said proximity signals by combining said information identifying respective detection zones associated with the adjacently disposed sensors to determine a location of the object relative to the loading equipment; and

initiate an alert when said location falls within said alert region.