GB2452829A

GB2452829A - Decentralised GPS based anti-collision system for vehicles and pedestrians

Info

Publication number: GB2452829A
Application number: GB0816391A
Authority: GB
Inventors: Victor Lloyd Spillard; Peter Wilson Spillard
Original assignee: SPILLARD SAFETY SYSTEMS Ltd
Current assignee: SPILLARD SAFETY SYSTEMS Ltd
Priority date: 2007-09-12
Filing date: 2008-09-09
Publication date: 2009-03-18
Also published as: GB0816391D0; GB0717741D0

Abstract

A decentralised anti-collision system comprises vehicles 12a, 12b and pedestrians 14 with devices 20 and 18 that transmit their own positions, for example using GPS, with devices 20 also receiving this position information to determine proximity between vehicles 12 and/ or pedestrians 14, allowing the issuing of visual or audible alarms (74, 76 in Fig 3), or disabling or modifying the operation of the vehicle (38 in Fig 2). The system may calculate degrees of danger based on proximity, proximity ranges or zones (46, 50 in Figs 4, 5), and the speed/ direction, number, and/ or identity or type of transmitting devices, where the proximity may also take account of the shape or extremities of the vehicle, and which may be based on data stored in a database (96 in Fig 7), and alert and provide zoned proximity information graphically to the user (42 in Fig 2). The system may be applied at a building or industrial site.

Description

Proximity Apparatus The present invention relates to proximity apparatus and in particular, but not exclusively, to proximity sensing apparatus for safety purposes.

Embodiments of the invention provide apparatus comprising.

a plurality of devices operable to ascertain their respective current position, at least one of the devices being operable to transmit its current position; and at least another of the devices being operable to receive transmitted position information and to ascertain the proximity of the transmitting and receiving devices.

At least some of the devices may be operable to ascertain their position by using a satellite positioning system.

Substantially all of the devices may be operable to transmit their position. Substantially all of the devices may be operable to receive transmitted position information and to ascertain the proximity of the transmitting and receiving devices.

The or each receiving device may be operable to assess a degree of danger represented by the ascertained proximity. Different degrees of danger may be assessed by reference to different ranges of proximity Different degrees of danger may be assessed by reference to current speed and/or direction of movement of the transmitting or receiving device Proximity may be ascertained for the closest points of the device or apparatus carrying one or other of the devices. At least one of the devices may be operable to store information relating to the outline of the apparatus carrying the device. At least one of the devices may be operable to disable, partially disable or modify the operation of apparatus carrying the device, in response to the ascertained proximity The or each apparatus which is operable to ascertain proximity may be further operable to log at east some ascertained proximities The apparatus may comprise a database arrangement to receive logged information from devices. The database arrangement may be operable to analyse logged information The database arrangement may be operable to identify excessive numbers of instances of proximity meeting predetermined criteria.

The predetermined criteria may relate to separation, speed, direclion or device identity The receiving device may include an output device operable to provide proximity information to a user. The output device may provide information in graphical form The output device may provide a representation of the position of the receiving device, a representation of at least one zone of positions relative to the device, and an indication of the presence of another device in the zone. A plurality of zones may be represented. The plurality of zones may be contiguous. The plurality of zones may include zones representing respective ranges of proximity The number of other devices within the or each zone may be included within the representation.

In another aspect, embodiments of the invention provide apparatus comprising detection means operable to detect the proximity of another body, and an output device operable to provide proximity information to a user The output device may provide information in graphical form. The output device may provide a representation of the position of the detection means, a representation of at least one zone of positions relative to the detection means, and an indication of the presence of another body in the zone A plurality of zones may be represented. The plurality of zones may be contiguous The plurality of zones may include zones representing respective ranges of proximity. The number of bodies within the or each zone may he included within the representation Examples of the present invention will now be described in more detail, by way of example only, and with reference to the accompanying drawings, in which Fig 1 is a highly schematic diagram of a ystem incorporating apparatus in accordance with the present invention; Fig 2 is a diagram of receiver apparatus for use in the system of Fig 1, Fig 3 is a schematic diagram of transmitter apparatus for use in the system of Fig. 1; Figs 4 and 5 represent proximity zones calculated within the apparatus of Fig. 2; Fig. 6 is a schematic plan view illustrating an aspect of operation of the apparatus of Fig. 2, and Fig 7 is a schematic of a data logging system.

Fig. 1 illustrates a system 10 in use and including mobile apparatus 12A, 12B and pedestrians 14. For example, the system 10 may be operational at a building site or other industrial premises in which the mobile apparatus 12 represents a danger to the pedestrian 14. Although the apparatus 12 is under the control of human drivers 16, there may be noise, restricted visibility and other factors which inhibit them from avoiding endangering the pedestrians 14. Likewise, pedestrians 4 may be unaware that they are in danger.

In the system 10, various devices 18, 20 are used to obviate or mitigate these problems. Each of the devices 18, 20 is operable to ascertain its respective current position. This may be achieved, for example, by use of a satellite positioning system such as the global positioning system (GPS) Transmitter devices 18, carried in this example by the pedestrians 14, Hi are operable to transmit their current position, for example by a low power radio link Other arrangements for transmitter devices 18 are described below.

Transceivers 20, carried in this example by the mobile apparatus 12, I 5 are operable to transmit their current position and are also operable to receive transmitted position information Iron transmitter devices 18, or other transceivers 20. In response to the receipt of transmitted position information, the transceiver devices 20 ascertain their proximity to the transmitting device, for purposes which will become apparent from the following description In the system 20, all of the devices 18, 20 are operable to transmit their position, but only the transceivers 20 are also operable to receive information transmitted from other devices. Other arrangements are described below A transceiver device 20 is illustrated in Fig. 2 A control circuit 22, which may he based on a microprocessor, microcontroller or similar processing device is provided with memory 24 for data storage and also for storage of operating software for the device 22. User controls 26 are provided for the device 20. The device 20 also Incorporates a GPS decoder 28 and associated antenna 30 for receiving signals from GPS satellites, decoding them to ascertain the current position of the device 20, and forwarding that information to the control 22. A transceiver circuit 32 and corresponding antenna 34 are provided for transmitting the position of the device 20, once ascertained, and for receiving position information transmitted by other devices 18, 20.

An interface 36 is provided for external communication, for example for diagnostic or data logging purposes. A second interface 38 is provided for external control of systems of the apparatus 12, as will be described. A sounder, warning beacon or other alarm device 40 is provided for alerting an operator to danger or system malfunction An output device in the form of a display 42 is operable to provide proximity information to a user, as will now be described The display 42 has a generally circular display having a centre 44 which, in this example, is illuminated green when the control 22 determines that the device 20 is functioning correctly Around the centre 44, a first danger" zone 46 is represented within an illuminated ring 48 Outside the ring 48, an annular "caution" zone is indicated, within an illuminated ring 52 The display 42 is further divided by radial lines 54 which divide the display 42 into four regions representing, respectively, terrain forward of the apparatus 12, behind the apparatus 12, to the left and to the right of the apparatus Within the danger zone 46, four single-digit, seven-segment digital display elements 56 are provided, one between each adjacent pair of radial lines 54. Similarly, four additional display elements 58 are provided around the caution zone 50.

Fig 3 illustrates a transmitter device 18 A central processor 60, provided by a microprocessor, microcontroller or the like, is provided with memory 62 for data storage and storage of operating software for the processor 60 A GPS decoder 64 and corresponding antenna 66 provide location data to the processor 60. A transmitter 68 and corresponding antenna 70 allow the position data to he transmitted from the device 18 to other devices. The device 18 is further provided with an interface 72 for connection with external apparatus, for example for diagnostic, programming and data logging purposes Visual and audible alarms 74, 76 are provided, for reasons to be described. A motion detector 78 may be provided to alert the processor 60 to the absence of motion or alternatively, information from the GPS decoder 64 may be used to ascertain this. The device 18 may be powered by a battery 80 having a charger 82 for connection to an external power supply 0 In use, each of the devices 18, 20 periodically ascertains and transmits information about its position. This may be by means.of a packet protocol which includes a data element identifying the transmitting device as a transmitter device 18 or a transceiver device 20 A data element may he incorporated to identify the system to minimise the risk of interference with IS other systems A reference name or number for the transmitting device may be included.

When a data packet is received by a device 20, from another device 20 or from a transmitter 18, the position information contained within the transmitted packet is interpreted to reveal the position of the device sending the packet. The controller 22 then compares this with the current position of the receiving device 20. Having knowledge of the two positions, the controller 22 then assesses the degree of danger, if any, represented by the ascertained proximity between the transmitting device and the receiving device In a simple system, danger may be assessed purely from the separation of the devices. In a more sophisticated example, the nature of the two devices (ascertained from identification data incorporated within the transmitted packets) may influence the assessment of danger. For example a pedestrian may be considered to be in greater danger from certain types of apparatus than from others, or at certain positions relative to apparatus, than at others (such as at positions of relative poor visibility). A pedestrian may be assessed to be in greater danger if the receiving device is moving toward them, than away from them Having ascertained the proximity of the other device, the controller 22 may decide that no danger exists, in which case it is unnecessary to provide any information to the user. Alternatively, the danger may be assessed sufficient for the user to be alerted, in which case, the display 42 is used If the degree of danger is assessed to be high, the appropriate element 56 is controlled to increment the number being displayed, to indicate the appearance of a first or additional danger within the 900 arc represented by that element 56. The corresponding 90° arc of the ring 48 is illuminated red to alert the user In the event that the danger is assessed to be lower than this, for example because the proximity is less, one of the elements 58 may he incremented to indicate a caution about a possible danger, and the corresponding 900 arc of the ring 52 is illuminated.

Accordingly, the display 42 provides the user with information in several different ways, in order to be readily assimilated. The green centre 44 indicates that the system is operating correctly (which is particularly useful in the event that nothing else is illuminated). Illuminated arcs of the ring 48 indicate dangers and their approximate position. Illuminated arcs of the ring 52 identify possible dangers of which the operator needs to be aware, together with their approximate position. The elements 56, 58 provide additional information in the form of the number of individual items identified within the corresponding zone 46, 50. Thus, the proximity information is provided to a user in graphical form as a representation of the position of the receiving device (at the centre 44), a representation of the zones 46, 50 relative to the receiving device, and indications of the presence of other devices in the zones The various zones are contiguous both radially and circumferentially, so that respective ranges of proximity are represented.

Furthermore, a representation of the number of other devices within each zone is included within the representation, as noted above In normal use, it is expected that the operator of apparatus 12 will he S alerted by means of the display 42 to dangers, such as a pedestrian 14 who is too close to the apparatus 12, and will be able to take avoiding action to avert the danger However, in the event that the danger is not appropriately averted, which may be indicated by the same other device being detected within the danger zone 46 for a period of time exceeding a predetermined maximum, the controller 22 may be configured to take appropriate action, for example by sounding an alarm by means of the sounder 40, or by applying corrective action through the interface 38, such as by applying the brakes of a moving vehicle.

IS The device 18 has been described as having a motion detector 78 (or using GPS information to detect motion and lack of motion). Lack of motion which continues for longer than a predetermined maximum period of time may be interpreted as a fault, such as an injury to the carrier, the device having been left or dropped by the intended carrier, or a malfunátion In any of these instances, alarm signals may be generated by the outputs 74, 76, alerting the carrier to cancel the alarm, if possible, by making a movement. Figs. 4 and 5 illustrate aspects of the manner in which the controller 22 of the device 20 assesses danger arising from proximity.

In the example of Fig. 4, the danger zone 46 and. caution zone 50 are considered to be concentric circles, as portrayed by the display 42 This may be appropriate for static or slow moving machinery, for example Fig 5 illustrates an alternative. In this case, the motion of the receiver is taken into account. For example, the device 20 may be carried by mobile apparatus 12 moving in the direction of the arrow 84. Collision risks identified in the direction of the arrow 84 will generally represent a greater danger than those in other directions, because the apparatus is moving toward them Accordingly, the radius of the danger zone 46 and of the caution zone 50 is not the same in all directions relative to the device 20 Instead, the radius is greater in the direction of the arrow 84 than in other directions, giving the zones 46, 50 an elongated shape.

Furthermore, the danger also depends on the speed of the device 20, or the relative speeds of two sets of apparatus Thus, the radius of the danger zone 46 and of the caution zone 50 (in any relative direction) is also increased as the speed increases In effect, the sensitivity of the device is no longer uniform, being greater in the direction of movement (the direction of the arrow 84), than in other directions, and greater when the speed increases Although this non-uniform I 5 sensitivity can best be represented by non-circular zones 46, 50, as in Fig 5, the representation provided to the user need not change, thus simplifying the provision of the display 42.

Fig. 6 simply illustrates a further consideration to be taken into account when installing a device 20 in mobile apparatus 12. The device 20 may be positioned at a position which is not central on the apparatus 12 and the apparatus 12 may have a highly non-uniform shape, when viewed in plan Accordingly, another device separated by a particular amount from the device 12 will be separated from an extremity of the apparatus 12 by a distance which will vary, possibly quite considerably, according to the bearing of the other device, relative to the apparatus 12. For example, another device lying along the line 86A may be considerably closer to an extremity 88A of the apparatus 12, than another device lying along the line 86B is to the extremity 88B. Accordingly, it is preferred for the extremities of the apparatus 12 to be mapped for the device 20, when the device 20 is first installed. This may be a bespoke operation carried out for the particular apparatus 12, or a pre- programmed profile may be selected for use by the devIce 20, chosen as the best fit from a library of profiles available to the device 20 In order to make use of information about the profile of the mobile apparatus 12, the device 20 uses information relating to the orientation of the apparatus 12, relative to the device 20. Orientation information may he generated within the GPS decoder 28 or elsewhere For example, two GPS receivers or a digital compass, could be used in order to ascertain orientation Fig. 7 illustrates additional features which may be optionally incorporated into a system of the type described above In addition to the features described above, many of which are not shown in Fig 7 for simplicity, the system 10 includes a docking station 90, data couplings 92, and a computer 94 running a database application 96. A databus 98 connects the I S docking station 90 and the data couplings 92 to the computer 94 and hence to the database 96.

In this example, the docking station provides locations for docking a number of transmitters 18, such as those carried by pedestrians The docking station 90 is configured so that when a transmitter 18 is put into one of the locations of the station 90, a connection is made between the bus 98 and the transmitter 18, through the docking interface 72. In addition, the charging connection may be made with the transmitter 18, through the charge interface 82.

It is envisaged that the docking station 90 may be located at a convenient position for personnel who are beginning or ending a work period, so that they may pick up a fully charged transmitter 18 at the beginning of a work period, to be carried with them until the end of the work period. At the end of the work period, the transmitter 18 is put back into the docking station Appropriate software within the transmitter 18 and/or the database application 96 allows a newly docked transmitter 18 to be interrogated, or to upload information from its memory 62 to the database 96.

In similar manner, the data couplings 92 are preferably arranged conveniently for coupling to the transceivers 20, when not in use, allowing the bus 98 to be connected through to the transceiver 20, by means of the interface 36. Again, this provides access between information stored within the transceiver 20, and the database 96.

0 In one example, we envisage that each transceiver 20 will log any instance in which a transmitter 18 was detected in danger zone 46 or caution zone 50, or any incident in which automatic brake activation or other response to an assessed danger is made. Any event logged within a transceiver 20 is associated with a corresponding time stamp. Preferably, if I S transmitters 18, 20 transmit their identity (and/or the identity of the pedestrian or machine carrying them), any logged incident can also include an identification of the devices 18, 20 involved. The available data is transferred to the database 96 and is then available for assessment for various purposes, such as management purposes, or may be assessed automatically by the database application 96. Analysis may be aimed at identifying excessive numbers of instances of proximity and in particular, excessive numbers meeting predetermined criteria For example, if a transceiver 20 experiences an excessive number of instances of detection in the danger zone 46 or caution zone 50, this may suggest that the operator is not operating in accordance with appropriate safety standards, or may indicate that other working practices need to be reviewed. Alternatively, if a transceiver 20 receives an excessive number of alerts based on detecting a particular transmitter 18, this may indicate that the pedestrian carrying that transmitter 18 is coming close to other machinery or plant, with excessive frequency This may indicate poor safety procedures on the part Of that pedestrian, or that some other working practices need to be reviewed or modified. Various criteria could be used to assess instances of proximity in order to determine if excessive numbers are occurring For example, the detected separation, the speed of the transceiver 20, the direction of separaion, or the devices involved may all be noted and logged for future analysis Analysis of the data may include analysis across the whole system, so that if a particular transmitter 18 (and by implication, a particular pedestrian) is detected by several different transceivers 20, so that the number of occurrences with any particular transceiver 20 is not excessive, but that the total is excessive, this may indicate other forms of unsafe activity or working practices. All of these forms of analysis allow management to implement appropriate training or disciplinary measures Analysis may discriminate between, for example, instances in which a large number of close proximities would be expected (such as a maintenance engineer), from those where they would not (such as a cleaner or other operative whose role should be performed when dangerous apparatus is not present). I5

It will be apparent that many variations and modifications can be made without departing from the scope of the present invention In particular, it is envisaged that devices which ascertain proximity in the manner described above may use or display that information in ways other than those described.

Alternatively, proximity information devised in other ways may be displayed and used in the manner described above.

In the examples described above, the pedestrian devices 18 are simpler than the devices 20 for the mobile apparatus 12. In particular, the devices 18 are transmitters, but not receivers or transceivers. This prevents the devices 18 from issuing alarms or alerts, based on proximity. Only the devices 20 are able to issue alarms or alerts. Any or all of the devices 18 may be replaced by devices 20 or other transceiver devices, to allow the carrier (particularly pedestrians) to be alerted to proximity issues.

Whilst endeavouring in the foregoing specification to draw attention to those features of the invention believed to be of particular importance it should be understood that the Applicant claims protection in respect of any patentable feature or combination of features hereinbefore referred to and/or shown in the drawings whether or not particular emphasis has been placed thereon.

Claims

Claims 1 Apparatus comprising:

S

a plurality of devices operable to ascertain their respective current position, at least one of the devices being operable to transmit its current position; and JO at least another of the devices being operable to receive transmitted position information and to ascertain the proximity of the transmitting and receiving devices 2 Apparatus according to claim 1, wherein at least some of the devices I S are operable to ascertain their position by using a satellite positioning system 3. Apparatus according to claim 1 or 2, wherein all of the devices are operable to transmit their position 21) 4. Apparatus according to any preceding claim, wherein substantially all of the devices are operable to receive transmitted position information and to ascertain the proximity of the transmitting and receiving devices.

Apparatus according to any preceding claim, wherein the or each receiving device is operable to assess a degree of danger represented by the ascertained proximity.

6. Apparatus according to claim 5, wherein different degrees of danger are assessed by reference to different ranges of proximity 7 Apparatus according to claim 5 or 6, wherein different degrees of danger are assessed by reference to current speed and/or direction of movement of the transmitting or receiving device 8 Apparatus according to any preceding claim, wherein proximity is ascertained for the closest points of the device or apparatus carrying one or other of the devices, 9 Apparatus according to any preceding claim, wherein at least one of 1(1 the devices is operable to store information relating to the outline of the apparatus carrying the device.

Apparatus according to any preceding claim, wherein at least one of the devices is operable to disable, partially disable or modify the operation of I 5 apparatus carrying the device, in response to the ascertained proximity.

11 Apparatus according to any preceding claim, wherein the or each apparatus which is operable to ascertain proximity is further operable to log at least some ascertained proximities. 2 U

12 Apparatus according to claim 11, wherein the apparatus comprises a database arrangement to receive logged information from devices.

13 Apparatus according to claim 12, wherein the database arrangement is operable to analyse logged information 14. Apparatus according to claim 11 or 12, wherein the database arrangement is operable to identify excessive numbers of instances of proximity meeting predetermined criteria.

15. Apparatus according to claim 14, wherein the predetermined criteria relate to separation, speed, direction or device identity.

16 Apparatus according to any preceding claim, whereinthe receiving device includes an output device operable to provide proximity information to a user 17 Apparatus according to claim 16, wherein the output device provides information in graphical form 18 Apparatus according to claim 17, wherein the output device provides a representation of the position of the receiving device, a representation of at least one zone of positions relative to the device, and an indication of the presence of another device in the zone.

19 Apparatus according to claim 18, wherein a plurality of zones are IS represented.

20. Apparatus according to claim 19, wherein the iIurality of zones are contiguous 21. Apparatus according to claim 19 or 20, wherein the plurality of zones include zones representing respective ranges of proximity.

22. Apparatus according to any of claims 18 to 21, wherein the number of other devices within the or each zone is included within the representation.

23 Apparatus comprising: detection means operable to detect the proximity of another body: and an output device operable to provide proximity information to a user. n

24. Apparatus according to claim 23, wherein the output device provides information in graphical form.

Apparatus according to claim 24, wherein the output device provides a representation of the position of the detection means, a representation of at least one zone of positions relative to the detection means, and an indication of the presence of another body in the zone 26 Apparatus according to claim 25, wherein a plurality of zones is represented.

JO 27 Apparatus according to claim 26, wherein the plurality of zones may be contiguous 28. Apparatus according to claim 26 or 27, wherein the plurality of zones include zones representing respective ranges of proximity

IS

29. Apparatus according to any of claims 25 to 28, wherein the number of bodies within the or each zone may be included within the representation.

Apparatus substantially as described above with reference to the accompanying drawings 31. Any novel subject matter or combination including novel subject matter disclosed herein, whether or not within the scope of or relating to the same invention as any of the preceding claims.