US20180284788A1

US20180284788A1 - System and method for management of hazardous conditions by a mobile machine

Info

Publication number: US20180284788A1
Application number: US15/880,618
Authority: US
Inventors: Donald Remboski; Dani Shafriri; Assi Biton; Arik Greenberger; Jacqueline A. Dedo
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-01-26
Filing date: 2018-01-26
Publication date: 2018-10-04
Also published as: US20180284148A1; US10877060B2

Abstract

A system for detecting and avoiding dangerous conditions by a mobile machine having a body, an actuated machine component, and a dangerous condition sensor including a non-contact electrical power sensor, a wind speed or direction sensor, a tilt sensor, or a terrain type sensor is provided. The system includes a supervisory controller located in the mobile machine and in communication with a server for communicating data objects storing information related to hazardous conditions, and for receiving information regarding hazardous conditions manually designated or detected by a remote source. An interlock limits operation of the mobile machine to prevent operation in an unsafe condition. Hazardous conditions are categorized as a danger condition, a limited-operation condition, and/or a warning condition. A user signaling device including audio and visual signaling devices alert an operator of a hazard. A method of detecting and avoiding dangerous conditions by the mobile machine is also provided.

Description

CROSS REFERENCE TO RELATED APPLICATION

This Utility Patent Application claims the benefit of U.S. Provisional Patent Application Ser. No. 62/450,592 filed Jan. 26, 2017 entitled “SYSTEM, COMPUTER PROGRAM PRODUCT AND METHOD FOR MEASURMENTS” which is hereby incorporated by reference in its entirety.

BACKGROUND

1. Field of the Invention

A system and method for distributed sensing, communicating, and reacting to hazardous conditions by a mobile machine is provided.

2. Description of the Prior Art

Current methods for sensing, communicating, and reacting to hazardous conditions rely on the continuous vigilance of staff on a work site to set appropriate alerts to hazards and to enforce procedures to avoid those hazards. A brief lapse in vigilance can lead to an accident. Current systems and methods employ warning flags, signs, and fences with associated procedures, training and enforcement.
Tall machines such as cranes and aerial work platforms are subject to strong forces due to wind acting on the aerial structures of the machine. When these forces become too large for safe operation of the machine, due to concern for tip-over, vibrations, or personnel getting blown off of an aerial platform, it is necessary cease machine operations and secure the machine against the wind. Current solutions for monitoring high winds rely on personnel to read instruments and communicate to each other regarding wind hazards.
A leading cause of death and injury among users of aerial work platforms and cranes is electrocution due to contact with high-voltage overhead power lines. Existing methods for mitigating risks due to such energized conductors involve safety briefings for users of aerial equipment operating near power lines, coupled with warning signs underneath the power lines.
A need exists for automatically detecting, avoiding, and reporting hazardous conditions by a mobile machine and for automatically reacting to hazardous conditions detected or reported by others. In particular, needs exists for detecting and responding to hazardous conditions caused by high winds or energized electrical conductors.

SUMMARY OF THE INVENTION

The invention provides for a system and method for detecting and avoiding dangerous conditions by a mobile machine. The system includes a dangerous condition sensor disposed upon the mobile machine for detecting a condition associated with a hazardous condition presenting a potential danger to the mobile machine. An interlock is included for limiting operation of the mobile machine.
A supervisory controller located in the mobile machine includes a first processor and a first computer readable storage media and is in communication with the dangerous condition sensor and the interlock. The supervisory controller is configured to cause the interlock to limit operation of the mobile machine in response to the hazardous condition associated with the condition detected by the dangerous condition sensor.
As shown in FIG. 2, the system also includes a server located remotely from the mobile machine and including a second processor and a second computer readable storage media. A communications module is in communication with the supervisory controller for communicating with the server via an external network and using a communications channel. The system also includes one or more data objects including information regarding the hazardous condition, and a database located in at least one of the first computer readable storage media or the second computer readable storage media of the server and storing a plurality of the data objects.
According to an aspect of the invention, the dangerous condition sensor may include a wind speed sensor. According to an alternative or additional aspect, the dangerous condition sensor may include a non-contact electrical power sensor.
The present disclosure also provides a method of detecting and avoiding dangerous conditions by a mobile machine. The method includes detecting a condition associated with a potential danger to the mobile machine using a dangerous condition sensor. The method also includes identifying a hazardous condition based on the detection of the condition associated with a potential danger to the mobile machine using the dangerous condition sensor disposed on the mobile machine with a supervisory controller located in the mobile machine.
The method proceeds with the step of communicating from the supervisory controller the detection of the condition associated with the potential danger to the mobile machine to a server located remotely from the mobile machine via an external network and using a communications channel with a communications module in communication with the supervisory controller. The method includes storing a data object including information regarding the hazardous condition in a database located in at least one of a first computer readable storage media of the supervisory controller or a second computer readable storage media of the server. The method also includes limiting operation of the mobile machine using an interlock in response to the hazardous condition.

BRIEF DESCRIPTION OF THE DRAWINGS

Other advantages of the present invention will be readily appreciated, as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings wherein:

FIG. 1 is side view of an example mobile machine;

FIG. 2 is a schematic top view including another example mobile machine;

FIG. 3 shows an example map illustrating a rooftop jobsite;

FIG. 4 is a block diagram of an example embodiment of components within a system for detecting and avoiding dangerous conditions by a mobile machine;

FIG. 5 is a block diagram of a non-contact electrical power sensor;

FIG. 6 is a block diagram of an example embodiment of a supervisory controller and a server in accordance with an aspect of the disclosure;

FIG. 7 is a flow chart illustrating steps of a method for detecting and avoiding dangerous conditions by a mobile machine;

FIG. 8 is a continuation of the flow chart of FIG. 7; and

FIG. 9 is a continuation of the flow chart of FIG. 8.

DESCRIPTION OF THE ENABLING EMBODIMENT

Referring to the Figures, wherein like numerals indicate corresponding parts throughout the several views, a system 20 for detecting and avoiding dangerous conditions by a mobile machine 22 is disclosed.
As shown in FIG. 2, the system 20 includes a mobile machine 22 having a body 24 containing a powerplant 26. As shown in FIG. 1, the powerplant 26 is coupled to a drivetrain 28 for locomotion. The powerplant 26 may include, for example, one or more electric motors and/or an internal combustion engine. The drivetrain 28 may include a transmission, one or more drive shafts, clutches, etc. for moving the mobile machine 22. The drivetrain 28 may include wheels as shown in FIG. 1, although treads, legs, or other such devices conveying force to the ground may be used. The mobile machine 22 may alternatively have both fixed and moveable components such with a tower crane commonly used in the construction of large buildings. In such instances, the drivetrain 28 may be used, for example, for moving a part of the mobile machine 22, such as a trolley, but not the entirety of the mobile machine 22.
As shown in FIG.1, the mobile machine 22 includes an actuated machine component 32 attached to the body 24 and movable between a plurality of positions relative to the body 24 by one or more actuators 33. As shown in FIG. 1, the actuated machine component 32 is an arm holding an aerial lift platform for supporting persons in an elevated position. The actuated machine component 32 could also be an arm for moving a tool such as an excavator bucket or a grabber or a saw. The actuated machine component 32 may be provided in another form such as, for example, a fork for lifting a load, a crane boom, or a blade of an earthmoving machine.
As shown in FIGS. 1 and 2, the mobile machine 22 also includes a dangerous condition sensor 34 disposed upon the mobile machine 22 for detecting a condition associated with a potential danger to the mobile machine 22. The dangerous condition sensor 34 includes one or more of a non-contact electrical power sensor 36, a wind speed sensor 38, a wind direction sensor 40, a tilt sensor 42, or a terrain type sensor 44. Other types of dangerous condition sensors 34 may also be used with the present invention such as, for example, a machine vision system 20 for detecting and identifying a potential danger to the mobile machine 22 by sight. The tilt sensor 42 may detect uneven or sloping ground upon which the mobile machine 22 is located. The tilt sensor 42 may also detect the mobile machine 22 being tipped-over, or leaning such as, from over-extension and/or over loading. The terrain type sensor 44 may detect uneven or rough terrain based on, for example, vibrations, suspension travel, and/or wheel slip. The terrain type sensor 44 may be able to distinguish operation on paved surfaces from dirt or sand or other types of terrain. The wind speed sensor 38 and the wind direction sensor 40 may be combined into a single device such as an omnidirectional anemometer.
As shown in FIG. 1, either or both of the wind speed sensor 38 or the wind direction sensor 40 may be mounted to the actuated machine component 32 opposite from the body 24. In other words, the sensing part or parts of the wind speed sensor 38 are preferably located at or near the highest point of the mobile machine 22. This configuration allows for a mobile machine 22 to detect potentially hazardous wind at the precise place where such wind can act to cause a danger to the mobile machine 22 or persons working thereupon or nearby from, for example, tipping. In this way, air currents can be detected directly that otherwise could be missed by other methods such as weather forecasts, or stationary weather monitoring devices.
As shown in FIG. 5, the non-contact electrical power sensor 36 includes an electric field sensor 46. The electric field sensor 46 includes an antenna 48 of an electrically conductive material in electrical communication with a voltage amplifier 50 to generate an E-field signal 52. The voltage amplifier 50 may be an inverting op-amp circuit as shown in FIG. 5, with an input resistor R₁and a first feedback resistor R_F1connected between the output and inverting input of the op-amp. The entire non-contact electrical power sensor 36 may be mounted to the actuated machine component 32 opposite from the body 24 as shown in FIG. 1. Alternatively, the antenna 48 may be placed at that location, with the voltage amplifier 50 and/or other parts of the non-contact electrical power sensor 36 being located remotely therefrom (e.g. within the body 24 of the mobile machine 22). In other words, the sensing part or parts of the non-contact electrical power sensor 36 are preferably located at or near the highest point of the mobile machine 22.
As shown in FIG. 5, the non-contact electrical power sensor 36 also includes a magnetic field sensor 54. The magnetic field sensor 54 includes a coil 56 of wire in electrical communication with a transimpedance amplifier 58 generating a B-field signal 60 corresponding to an induced electrical current i_pin the coil 56 by interaction with a magnetic field. In other words, the transimpedance amplifier 58 converts currents induced in the coil 56 of wire by time-varying magnetic fields into a voltage representing the B-field signal 60. The coil 56 of wire preferably has a relatively low number of turns. The coil 56 of wire also has a diameter of about 6 inches. The coil 56 of wire may be wound around and/or imbedded within a non-conductive material such as rubber or plastic to provide stability and protection against damage due to vibration and/or contact with persons or objects. The transimpedance amplifier 58 may be an inverting op-amp circuit as shown in FIG. 5, with a second feedback resistor R_F2connected between the output and inverting input of the op-amp. The entire non-contact electrical power sensor 36 may be mounted to the actuated machine component 32 opposite from the body 24 as shown in FIG. 1. Alternatively, the coil 56 may be placed at that location, with the transimpedance amplifier 58 and/or other parts of the non-contact electrical power sensor 36 being located remotely therefrom (e.g. within the body 24 of the mobile machine 22).
As also shown in FIG. 5, the non-contact electrical power sensor 36 further includes a sensor controller 62 in communication with the voltage amplifier 50 and the transimpedance amplifier 58 to determine proximity to an energized conductor 64 by comparing the E-field signal 52 and the B-field signal 60 to predetermined signatures of different types of energized conductors 64 and to determine potential hazardous conditions 66 therefrom (e.g. distance thereto, etc.). The sensor controller 62 may include signal processing hardware or software to identify characteristics of energized conductors 64 and to determine proximity thereto. For example, the sensor controller 62 can differentiate energized conductors 64 which are high voltage overhead power lines, bus bars, etc. which could form a potential hazard, from other less dangerous energized conductors 64 such as wiring used for lighting, receptacles, etc. The sensor controller 62 may also control the gain of either or both of the voltage amplifier 50 and/or the transimpedance amplifier 58.
The sensor controller 62 may be programmable as to the field strength and field strength expected in the work area and the frequencies of interest. For example, when working in a residential setting that is not near very-high-voltage transmission lines and is in North America, signal processing by the sensor controller 62 is preferably responsive to relatively weak electric fields generated by the 220 volt, 60 Hertz supply lines running from a utility pole to the residence. Thus amplifier gain is preferably set relatively high and filtering is preferably set to pass a narrow band around 60 Hz. In another example, for a factory in Europe that uses high voltage overhead buss bars, the signal processing by the sensor controller 62 is preferably set to respond to relatively stronger electric and magnetic fields (lower amplifier gain) with filtering around the 50 Hertz mains frequency. In another example, for machines operated near equipment driven by a variable frequency motor drive it may be necessary to allow a broader range of frequencies to pass through the filtering stage. The magnetic field sensor 54 is important to sense the presence of transformers or electric motors, which usually fed by high voltage wiring. These settings by the sensor controller 62 combine to form a “recipe” for detecting energized conductors 64 that is optimized for the location where the mobile machine 22 is used. These settings by the sensor controller 62 may be automatically recorded, saved, shared, and loaded for use with particular jobsite locations, regions, or location types for example, a “recipe” for use in North American factories may differ from a “recipe” for European outdoor mining jobsites.
As illustrated in FIGS. 2 and 4, the system 20 includes an interlock 70 for limiting operation of the mobile machine 22 to prevent operation in an unsafe condition. Specifically, as shown on FIG. 4, one or more of the interlocks 70 are functionally connected to limit the operation of an associated one of the actuators 33 and/or the powerplant 26 and/or the drivetrain 28. The interlock 70 may take the form of a hardware or software device. The interlock 70 may take the form of a mechanical part that physically interrupts some operation of the mobile machine 22. The interlock 70 may include, for example, an electrical or electro-mechanical device that provides or interrupts electrical current to a part of the mobile machine 22 such as an actuator 33. The Details regarding use of the interlocks 70 to prevent operation of the mobile machine 22 in an unsafe condition are provided in subsequent paragraphs.
As also shown in FIGS. 2 and 4, the system 20 includes a user signaling device 72, 74 including an audio signaling device 72 and a visual signaling device 74 for providing a corresponding signal to an operator of the mobile machine 22. In the boom-lift type elevated work platform example of mobile machine 22 shown in FIG. 1, an operator may drive the mobile machine 22 from the elevated work platform opposite the body 24, and may do so without the aid of a fixed instrument cluster. In such an example, the audio signaling device 72 is preferably a loud beeper or buzzer, which can be easily noticed from a range of expected operating positions and in a wide range of environments. Likewise, the visual signaling device 74 used with a boom-lift type elevated work platform is preferably a bright blinking light such as a strobe. For other types of mobile machines 22, such as an earthmover operated from a fixed cab, the task of signaling the operator of the mobile machine 22 may be done by the audio signaling device 72 being a speaker or buzzer that is sufficiently loud and distinguishable to be heard above the ambient sounds in the cab. Likewise, the visual signaling device 74 used with a mobile machine 22 operated from a fixed cab may be a warning light on an instrument cluster or a warning message on a display screen.
As shown in FIG. 2, the system 20 includes a location device 30 disposed upon the mobile machine 22 for determining a position and orientation of the mobile machine 22. The location device 30 may include one or more of a GPS, a compass, a range finder or precise measuring equipment such as instruments used in surveying. The location device 30 may include components in stationary locations and/or may include a combination of one or more stationary components and one or more mobile components disposed upon the mobile machine 22 such as, for example, a radar or laser reflecting from one or more corresponding reflectors.
As best shown in FIG. 4, the system 20 also includes a supervisory controller 76 located in the mobile machine 22 and including a first processor 78 and a first computer readable storage media 80 and in communication with the dangerous condition sensor 34 and the interlock 70 and the user signaling device 72, 74 and the location device 30.
As best shown in FIG. 2, the system 20 includes a server 82 located remotely from the mobile machine 22. The server 82 includes a second processor 84 and a second computer readable storage media 86 and is in regular communications with the supervisory controller 76 by a communications module 88, such as a Wi-Fi radio or a cellular data modem, located in the mobile machine 22. The communications module 88 allows the supervisory controller 76 to communicate with the server 82 via an external network 90 and using a communications channel 92. The external network 90 which may be, for example, the Internet, a local-area network (LAN), or a wide-area network (WAN). The external network 90 may include a virtual network, such as a virtual private network (VPN) to provide secured communications.
The supervisory controller 76 is responsive to a hazardous condition 66 detected by at least one of the dangerous condition sensors 34 or by a remote source 94 independent of the mobile machine 22. The remote source 94 may include, for example, another machine, a stationary sensor, or a weather report. The supervisory controller 76 is also responsive to hazardous conditions 66 associated with designated hazards 68 which may be provided, for example, by a land survey (e.g. showing unstable soil types or steep grades), or by engineering drawings (e.g. showing drop-offs from an elevated position or man-made hazardous conditions 66 such as electrical wires, gas, or water lines), or which may be manually reported by a machine operator. The designated hazards 68 may be stored, for example, as information by the server 82 and reported to the supervisory controller 76. With reference to FIG. 2, the remote source 94 may communicate directly with the server 82, which may store and report information regarding hazardous conditions 66 detected by the remote source 94. Alternatively or additionally, remote sources 94 may communicate directly with the supervisory controller 76 and may report hazardous conditions 66 without using the server 82. This may allow peer-to-peer type operation, or relaying information from the server 82 through a remote source 94 and to the supervisory controller 76 in cases where direct communication between the server 82 and the supervisory controller 76 is unavailable.
Each of the hazardous conditions 66 are associated with one of a plurality of condition categories 98, 100, 102 including: a danger condition 98 associated with a prohibition of any operation of the mobile machine 22, and a limited-operation condition 100 requiring the mobile machine 22 to be operated in a limited mode, and a warning condition 102 for signaling an operator of a potential danger. FIG. 3 illustrates map 112 of a rooftop jobsite including examples of hazardous conditions 66 having such condition categories 98, 100, 102 and which are further explained in the subsequent paragraphs. A limited-operation condition 100 is illustrated on FIG. 3 by the area around and below overhead power lines. Another limited-operation condition 100 may be, for example, operation on pitched ground having a grade more than, for example, 10%. Yet another example of a limited-operation condition 100 is winds above a limited operation threshold, such as 45 mph. The limited mode may allow, for example, a boom-lift type elevated work platform to be driven with the work platform in lowered configuration, for example, no more than feet above the ground. The limited mode may allow, for example, the mobile machine 22 to be operated at a low speed significantly lower than the maximum speed possible away from any hazardous conditions 66.
A danger condition 98 associated with a specific area is illustrated on FIG. 3 by the area adjacent the peripheral edge of the rooftop jobsite. The danger condition 98 may allow for more limited operation than the limited mode, such as, for example, moving the mobile machine 22 only in a direction away from a specific hazard or allowing the actuated machine component 32 to be returned to a specific safe state, for example, allowing an elevated work platform to be lowered, but disallowing it to be raised. A danger condition 98 may exist in all locations where the mobile machine 22 may be operating such as in a large jobsite area due to, for example, high wind, lightning, a tornado, or flash flooding being reported nearby.
A warning condition 102 associated with a specific area for signaling an operator of a potential danger is also illustrated on FIG. 3 by the line near the peripheral edge of the rooftop jobsite and spaced inwardly from the danger condition 98 area. A warning condition 102 may also exist in all locations where the mobile machine 22 may be operating such as in a large jobsite area due to, for example, strong winds, or weather conditions that could cause danger such as, for example, a tornado watch or a possible thunderstorm.
The interlock 70 may limit the operation of the actuated machine component 32 within a predetermined distance of one of the hazardous conditions 66 to minimize risks from the one of the hazardous conditions 66. For example, the interlock 70 may automatically lower, or prevent lifting of, a boom-lift type elevated work platform in response a command by the supervisory controller 76, responsive one of the hazardous conditions 66 associated with such a limited-operation condition 100, as described above.
The interlock 70 may limit the speed of the mobile machine 22 while exposed to or within a predetermined distance of one of the hazardous conditions 66 having a limited-operation condition 100 or a danger condition 98 associated therewith. For example, the supervisory controller 76 may command the interlock 70 to limit the speed of the mobile machine 22 by, for example, limiting the output of the powerplant 26 or limiting the gearing of the drivetrain 28. As another example, a mobile machine 22 subjected to a limited-operation condition 100 caused by a non-level grade may be exposed to a danger of tipping. A boom-lift type elevated work platform, such as the type shown in FIG. 1, may include an interlock 70 that limits the amount that the boom can extend in such a case to mitigate the risk of tipping-over, particularly with the boom in an extended position. Likewise, a mobile machine 22 that is a crane may be de-rated in
Substitute specification its lifting capacity in response to the same steep grade hazardous condition 66 to mitigate the risk of tipping.
The interlock 70 may prevent the mobile machine 22 from being moved to within a predetermined distance of one of the hazardous conditions 66 having a danger condition 98 associated therewith by preventing at least one of operation of the powerplant 26, transmission of power through the drivetrain 28, or steering in a direction toward the one of the hazardous conditions 66 having the danger condition 98 associated therewith.
As shown in FIG. 6, a data object 104 includes information regarding one of the hazardous conditions 66 including type of hazard, a location of the hazard, which may include a location in 3-dimensional space, such as, for example, x and y coordinates and an elevation for overhead power lines. Elevation data may come from a combination of sources. For example, a base elevation of the mobile machine 22 from static sources such as a map or from a dynamic source, such as from a laser level, augmented GPS, or other such device, may be combined with height information regarding the extension of the actuated machine component 32 to determine a precise elevation where, for example, a wind speed sensor 38 and/or a non-contact electrical power sensor 36 has detected the hazardous condition 66. The data object 104 may also a time associated with transient-type ones of the hazardous conditions 66 such as for temporary construction hazardous conditions 66 (e.g. holes) or for weather-related hazardous conditions 66 such as high wind or lightning.
The system 20 includes a database 106 located in at least one of the first computer readable storage media 80 of the supervisory controller 76 or the second computer readable storage media 86 of the server 82 and storing a plurality of the data objects 104. The database 106 may be distributed therebetween, such as, for example, the server 82 and storing the data objects 104 related to a wide geographic area, and with the supervisory controller 76 holding a copy of only those ones of the data objects 104 pertinent to the mobile machine 22. The ones of the data objects 104 pertinent to the mobile machine 22 may be those related to hazardous conditions 66 within a geographic proximity to the mobile machine 22 or those which impact the mobile machine 22 due to their physically distributed nature (e.g. high winds or lightning). The ones of the data objects 104 stored on the local machine may be updated by the server 82 as the mobile machine 22 moves to different geographic areas.
According to an aspect, the communications module 88 may be in direct communication with at least one other vehicle for directly communicating the data objects 104 therebetween. This may provide for a mesh-type network or a peer-to-peer networking capacity, for example, if the server 82 is not available.
As shown in FIG. 2, the system 20 includes a user interface device 108 displaying the hazardous conditions 66 as graphic items 110 on a map 112, which may be similar to the map 112 of FIG. 3. The graphic items 110 on the map 112 are dynamically updated as hazardous conditions 66 are identified or discovered on the job site. In this way, the operator of the mobile machine 22 always has an up-to-date copy of the map, showing any and all known hazardous conditions 66 as soon as those hazardous conditions 66 are identified or discovered by anyone on the job site.
The system 20 also includes a reporting control 114 on the user interface device 108 for manual entry of a new one of the hazardous conditions 66 as a designated hazard 68 and for communicating the designated hazard 68 to one of the supervisory controller 76 or the server 82. For example, an operator of the mobile machine 22 may see a dangerous condition such as an open floor hatch as shown on FIG. 3. The operator may use the reporting control 114 on the user interface device 108 to note that dangerous condition as designated hazard 68. The system 20 may then include that designated hazard 68 in its record of hazardous conditions 66 and may show that designated hazard 68 to other mobile machines 22 and/or persons in the area, which may all benefit from knowledge of the designated hazard 68.
As shown in FIG. 6, the system 20 also includes an interaction record 96 storing information regarding interactions between the mobile machine 22 and any of the hazardous conditions 66 and including locations and times of any warnings and details regarding interactions any of the hazardous conditions 66 having a limited-operation condition 100 or a danger condition 98 associated therewith. The interaction record 96 may be used for operator training and process improvement purposes.
The user interface device 108 may include one of a smartphone or a tablet such as an iPad or a device running the Android operating system 20. The user interface device 108 may include a personal computer or laptop, netbook, and/or may include a custom hardware configuration such as a touch screen, keyboard, mouse, trackpad, or other input and output devices. According to an aspect, the user interface device 108 may include a graphical user interface (GUI).
As shown in FIGS. 7-9, a method 200 of detecting and avoiding dangerous conditions by a mobile machine 22 is also provided.
The method 200 includes 202 providing locomotion of the mobile machine 22 using a powerplant 26 coupled to a drivetrain 28.
The method 200 also includes 204 determining a position and orientation of the mobile machine 22 using a location device 30 disposed upon the mobile machine 22.
The method 200 also includes 206 detecting a condition associated with a potential danger to the mobile machine 22 using a dangerous condition sensor 34 being at least one of a non-contact electrical power sensor 36, a wind speed sensor 38, a wind direction sensor 40, a tilt sensor 42, or a terrain type sensor 44 disposed upon the mobile machine 22.
The method 200 also includes 208 generating an E-field signal 52 using the non-contact electrical power sensor 36 and an electric field sensor 46 including an antenna 48 of an electrically conductive material in electrical communication with a voltage amplifier 50.
The method 200 also includes 210 generating a B-field signal 60 corresponding to an induced electrical current i_pin a coil 56 of wire of a magnetic field sensor 54 by interaction with a magnetic field.
The method 200 also includes 212 comparing the E-field signal 52 and the B-field signal 60 to predetermined signatures of energized conductors 64 using a sensor controller 62 in communication with the voltage amplifier 50 and a transimpedance amplifier 58 coupled to the coil 56.
The method 200 also includes 214 determining a proximity of the mobile machine 22 to an energized conductor 64 to determine potential hazardous condition 66 using the comparison of the E-field signal 52 and the B-field signal 60 to predetermined signatures of different types of energized conductors 64.
The method 200 also includes 216 identifying a hazardous condition 66 based on the detection of the condition associated with a potential danger to the mobile machine 22 using the dangerous condition sensor 34 disposed on the mobile machine 22 with a supervisory controller 76 located in the mobile machine 22.
The method 200 also includes 218 designating a hazardous condition 66 by an operator of the mobile machine 22 using a reporting control 114 on a user interface device 108.
The method 200 also includes 220 responding to a hazardous condition 66 by the supervisory controller 76.
The method 200 also includes 222 limiting operation of the mobile machine 22 to prevent operation in an unsafe condition and/or to limit exposure of the mobile machine 22 to an unsafe condition using an interlock 70. According to an aspect, the hazardous condition 66 may be associated with one of a plurality of condition categories 98, 100, 102 including at least one of: a danger condition 98 associated with a prohibition of any operation of the mobile machine 22, or a limited-operation condition 100 requiring the mobile machine 22 to be operated in a limited mode, or a warning condition 102 for signaling an operator of a potential danger.
The method 200 also includes 224 preventing movement of the mobile machine 22 to within a predetermined distance of one of the hazardous conditions 66 having a danger condition 98 associated therewith by preventing at least one of: operating a powerplant 26, transmitting power through a drivetrain 28, or steering in a direction toward the one of the hazardous conditions 66 having the danger condition 98 associated therewith.
The method 200 also includes 226 limiting operation of an actuated machine component 32 of the mobile machine 22 within a predetermined distance of the hazardous condition 66 to minimize risks from the hazardous condition 66.
The method 200 also includes 228 preventing the mobile machine 22 from being operated with an actuated machine component 32 in a predetermined configuration with the mobile machine 22 being exposed to one of the hazardous conditions 66 having a limited-operation condition 100. For example, an elevated work platform type of mobile machine 22, may be prevented from moving and/or from raising the elevated work platform in areas near an overhead power line that could be contacted by the elevated work platform in an extended position. As another example, a crane having a boom may not be able to operate with the boom extended in an area having a steep grade that could cause the crane to be unstable or to tip.
The method 200 also includes 230 limiting a speed of the mobile machine 22 in response to the mobile machine 22 being exposed to one of the hazardous conditions 66 having a limited-operation condition 100.
The method 200 also includes 232 providing a corresponding signal to an operator of the mobile machine 22 using at least one of an audio signaling device 72 or a visual signaling device 74 in response to determining the potential hazardous condition 66;
The method 200 also includes 234 communicating from the supervisory controller 76 the detection of the condition associated with the potential danger to the mobile machine 22 to a server 82 located remotely from the mobile machine 22 via an external network 90 and using a communications channel 92 with a communications module 88 in communication with the supervisory controller 76.
The method 200 also includes 236 storing a plurality of data objects 104 in a database 106 located in at least one of a first computer readable storage media 80 of the supervisory controller 76 or a second computer readable storage media 86 of the server 82, with each of the data objects 104 including information regarding a corresponding one of the hazardous conditions 66.
The method 200 also includes 238 storing information regarding interactions between the mobile machine 22 and any of the hazardous conditions 66 using an interaction record 96. The interaction record 96 may be stored in one or both of the supervisory controller and/or the server. The interaction record 96 may also include locations and times of any warnings and details regarding interactions any of the hazardous conditions 66 having a limited-operation condition 100 or a danger condition 98 associated therewith. The interaction record 96 may be used for operator training and process improvement purposes.
The method 200 also includes 240 directly communicating the detection of the hazardous condition 66 to another mobile machine 22 using a communications module 88 located in the mobile machine 22 being in direct communication with the another mobile machine 22.
The method 200 also includes 242 displaying the hazardous conditions 66 as graphic items 110 on a map 112 using a user interface device 108.
The method 200 may further include 250 verifying the functionality of one of the dangerous condition sensors 34 disposed on the mobile machine 22 by one of: 250A comparing readings from the one of the dangerous condition sensors 34 with independent data, or 250B artificially triggering the one of the dangerous condition sensors 34. The independent data may include readings from one or more remote sources 94 or previously recorded data such as, for example, data objects 104 in the database 106. Artificial triggering may include, for example, creating an electric field and/or magnetic field of known intensity to excite an electric field sensor 46 and/or a magnetic field sensor 54. Such artificial triggering may include, for example, blowing upon a wind speed sensor 38 and/or a wind direction sensor 40 or causing air movement relative thereto by, for example, moving the mobile machine 22 or an actuated machine component 32 upon which the wind speed sensor 38 and/or the wind direction sensor 40 is mounted.
The method 200 further includes 260 providing a warning signal to an operator of the mobile machine 22 using at least one of an audio signaling device 72 or a visual signaling device 74.
The method 200 further includes 262 overriding a warning signal by a qualified operator input. This step may apply to block the effect of step 260 For example, where regular and/or extended work is to be performed at a location causing a warning to be enunciated by the audio signaling device 72 and/or the visual signaling device 74, a qualified operator may acknowledge or silence such warnings to prevent them from being a nuisance. Warnings may be time limited and/or reset whenever the mobile machine 22 moves away from the hazardous condition 66. A warning override may be done by a dedicated hardware such a button or switch or may be integrated on the user interface device 108. The step of 262 overriding a warning may be done remotely from the mobile machine 22, such as, for example, by a jobsite supervisor and may be performed by interaction with the server 82. The use of such a warning override may be recorded and stored, for example, by the supervisory controller 76 or by the server 82 and may be used for operator training and process improvement purposes.
The method 200 also includes 262 overriding the limiting of operation of the mobile machine 22 by an interlock override provided by a qualified operator input. In other words, an interlock 70 that would otherwise limit the operation of the mobile machine 22 may be overridden or blocked from limiting the operation of the mobile machine 22 by an interlock override. The interlock override may be, for example, a manual control that prevents the interlock 70 from limiting the operation of the mobile machine 22. This may allow, for example, an operator to approach high voltage wiring after having been warned of proximity to the hazardous condition 66. Some hazardous conditions 66 may be designated as non-over rideable. For example, a hazardous condition 66 related to specifically high wind or lightning proximity may require ceasing of operation for compliance with safety regulations. Those type of hazardous conditions 66 may be configured as non-over rideable and may cause the mobile machine 22 to be limited in operation which cannot be overridden by manual override of the machine operator. An interlock override may be done by a dedicated hardware such a button or switch or may be integrated on the user interface device 108. The step of 262 overriding the limiting of operation of the mobile machine 22 may be done remotely from the mobile machine 22, such as, for example, by a jobsite supervisor and may be performed by interaction with the server 82. For example, a trainee operator may be prevented from overriding an interlock locally at the mobile machine, but may request for a supervisor or trainer to remotely override the interlock. Such an arrangement would prevent a trainee operator from improperly overriding an interlock where doing so causes unsafe operation. The use of such an interlock override may be recorded and stored, for example, by the supervisory controller 76 or by the server 82 and may be used for operator training and process improvement purposes.
The system, methods and/or processes described above, and steps thereof, may be realized in hardware, software or any combination of hardware and software suitable for a particular application. The hardware may include a general purpose computer and/or dedicated computing device or specific computing device or particular aspect or component of a specific computing device. The processes may be realized in one or more microprocessors, microcontrollers, embedded microcontrollers, programmable digital signal processors or other programmable device, along with internal and/or external memory. The processes may also, or alternatively, be embodied in an application specific integrated circuit, a programmable gate array, programmable array logic, or any other device or combination of devices that may be configured to process electronic signals. It will further be appreciated that one or more of the processes may be realized as a computer executable code capable of being executed on a machine readable medium.
The computer executable code may be created using a structured programming language such as C, an object oriented programming language such as C++, or any other high-level or low-level programming language (including assembly languages, hardware description languages, and database programming languages and technologies) that may be stored, compiled or interpreted to run on one of the above devices as well as heterogeneous combinations of processors processor architectures, or combinations of different hardware and software, or any other machine capable of executing program instructions.
Thus, in one aspect, each method described above and combinations thereof may be embodied in computer executable code that, when executing on one or more computing devices performs the steps thereof. In another aspect, the methods may be embodied in systems that perform the steps thereof, and may be distributed across devices in a number of ways, or all of the functionality may be integrated into a dedicated, standalone device or other hardware. In another aspect, the means for performing the steps associated with the processes described above may include any of the hardware and/or software described above. All such permutations and combinations are intended to fall within the scope of the present disclosure.
Obviously, many modifications and variations of the present invention are possible in light of the above teachings and may be practiced otherwise than as specifically described while within the scope of the appended claims.

Claims

What is claimed is:

1. A system for detecting and avoiding dangerous conditions by a mobile machine and comprising:

a dangerous condition sensor disposed upon the mobile machine for detecting a condition associated with a hazardous condition presenting a potential danger to the mobile machine;

an interlock for limiting operation of said mobile machine;

a supervisory controller located in the mobile machine and including a first processor and a first computer readable storage media and in communication with said dangerous condition sensor and said interlock;

said supervisory controller configured to cause said interlock to limit operation of said mobile machine in response to said hazardous condition associated with said condition detected by said dangerous condition sensor;

a server located remotely from the mobile machine and including a second processor and a second computer readable storage media;

a communications module in communication with said supervisory controller for communicating with said server via an external network and using a communications channel;

a data object including information regarding said hazardous condition; and

a database located in at least one of the first computer readable storage media or the second computer readable storage media of said server and storing a plurality of said data objects.

2. The system for detecting and avoiding dangerous conditions by a mobile machine as set forth in claim 1, wherein said mobile machine includes a body with an actuated machine component attached to said body and movable between a plurality of positions relative to said body; and

wherein said interlock limits the operation of said actuated machine component within a predetermined distance of one of said hazardous conditions to minimize risks from said one of said hazardous conditions.

3. The system for detecting and avoiding dangerous conditions by a mobile machine as set forth in claim 1, wherein said hazardous conditions are associated with one of a plurality of condition categories; and

wherein said plurality of condition categories includes at least one of: a danger condition associated with a prohibition of any operation of said mobile machine, or a limited-operation condition requiring said mobile machine to be operated in a limited mode, or a warning condition for signaling an operator of a potential danger.

4. The system for detecting and avoiding dangerous conditions by a mobile machine as set forth in claim 3, wherein said interlock prevents said mobile machine from being moved to within a predetermined distance of one of said hazardous conditions having a danger condition associated therewith by preventing at least one of: operation of a powerplant, transmission of power through a drivetrain, or steering in a direction toward said one of said hazardous conditions having said danger condition associated therewith.

5. The system for detecting and avoiding dangerous conditions by a mobile machine as set forth in claim 3, wherein said mobile machine includes a body with an actuated machine component attached to said body and movable between a plurality of positions relative to said body; and

wherein said interlock prevents said mobile machine from being operated with said actuated machine component in a predetermined configuration with said mobile machine being exposed to one of said hazardous conditions having a limited-operation condition.

6. The system for detecting and avoiding dangerous conditions by a mobile machine as set forth in claim 3, wherein said interlock limits the speed of said mobile machine with said mobile machine being exposed to one of said hazardous conditions having a limited-operation condition.

7. The system for detecting and avoiding dangerous conditions by a mobile machine as set forth in claim 1, wherein said mobile machine includes a body with an actuated machine component attached to said body and movable between a plurality of positions relative to said body; and

wherein said dangerous condition sensor includes at least one of a wind speed sensor or a wind direction sensor; and

wherein said at least one of said wind speed sensor or said wind direction sensor is mounted to said actuated machine component opposite from said body.

8. The system for detecting and avoiding dangerous conditions by a mobile machine as set forth in claim 1, wherein said dangerous condition sensor is a non-contact electrical power sensor including an electric field sensor.

9. The system for detecting and avoiding dangerous conditions by a mobile machine as set forth in claim 1, wherein said mobile machine includes a body with an actuated machine component attached to said body and movable between a plurality of positions relative to said body; and

wherein said dangerous condition sensor is a non-contact electrical power sensor including one of an electric field sensor or a magnetic field sensor; and

wherein the one of an electric field sensor or a magnetic field sensor is mounted to said actuated machine component opposite from said body;

10. A system for detecting and avoiding dangerous conditions by a mobile machine and comprising:

a dangerous condition sensor disposed upon the mobile machine for detecting a condition associated with a potential danger to the mobile machine;

a communications module in communication with said supervisory controller for communicating with said server to report the detection of the condition associated with the potential danger to the mobile machine; and

wherein said dangerous condition sensor includes a non-contact electrical power sensor.

11. The system for detecting and avoiding dangerous conditions by a mobile machine as set forth in claim 10, further including:

an interlock for limiting operation of said mobile machine; and

said supervisory controller configured to cause said interlock to limit operation of said mobile machine in response to a hazardous condition associated with said condition detected by said dangerous condition sensor.

12. The system for detecting and avoiding dangerous conditions by a mobile machine as set forth in claim 10, wherein said non-contact electrical power sensor includes an electric field sensor generating an E-field signal.

13. The system for detecting and avoiding dangerous conditions by a mobile machine as set forth in claim 10, wherein said non-contact electrical power sensor includes a magnetic field sensor generating a B-field signal.

14. The system for detecting and avoiding dangerous conditions by a mobile machine as set forth in claim 10, further including:

a user interface device displaying hazardous conditions as graphic items on a map.

15. The system for detecting and avoiding dangerous conditions by a mobile machine as set forth in claim 14, further including:

a reporting control on said user interface device for manual entry of a hazardous condition by an operator of said mobile machine.

16. A method of detecting and avoiding dangerous conditions by a mobile machine comprising the steps of:

detecting a condition associated with a potential danger to the mobile machine using a dangerous condition sensor;

identifying a hazardous condition based on the detection of the condition associated with a potential danger to the mobile machine using the dangerous condition sensor disposed on the mobile machine with a supervisory controller located in the mobile machine;

communicating from the supervisory controller the detection of the condition associated with the potential danger to the mobile machine to a server located remotely from the mobile machine via an external network and using a communications channel with a communications module in communication with the supervisory controller;

storing a data object including information regarding the hazardous condition in a database located in at least one of a first computer readable storage media of the supervisory controller or a second computer readable storage media of the server; and

limiting operation of the mobile machine using an interlock in response to the hazardous condition.

17. The method as set forth in claim 16, wherein the hazardous condition is associated with one of a plurality of condition categories including at least one of: a danger condition associated with a prohibition of any operation of the mobile machine, or a limited-operation condition requiring the mobile machine to be operated in a limited mode, or a warning condition for signaling an operator of a potential danger; and

wherein the step of limiting operation of the mobile machine using an interlock in response to identifying the hazardous condition includes the step of preventing movement of the mobile machine from to within a predetermined distance of one of the hazardous conditions having a danger condition associated therewith by preventing at least one of: operating a powerplant, transmitting power through a drivetrain, or steering in a direction toward the one of the hazardous conditions having the danger condition associated therewith.

18. The method as set forth in claim 16, further including the step of storing information regarding interactions between the mobile machine and any of the hazardous conditions using an interaction record.

19. The method as set forth in claim 16, further including the step of directly communicating the detection of the hazardous condition to another mobile machine using a communications module located in the mobile machine being in direct communication with the another mobile machine.

20. The method as set forth in claim 16, further including the step of designating a hazardous condition by an operator of the mobile machine using a reporting control on a user interface device.