GB2558908A

GB2558908A - Pressure Vessel retention apparatus, pressure vessel collision warning system and method of monitoring transportation of a pressure vessel retention apparat

Info

Publication number: GB2558908A
Application number: GB1700912.7A
Authority: GB
Inventors: Earnest Hilton Derrick; Lambert Piers
Original assignee: Linde GmbH
Current assignee: Linde GmbH
Priority date: 2017-01-19
Filing date: 2017-01-19
Publication date: 2018-07-25
Also published as: GB201700912D0

Abstract

A pressure vessel retention apparatus (100) comprises a frame for containing a pressure vessel therein. The frame comprises a base and a peripheral surround comprising a plurality of monitoring elevations that meet the base at one end thereof and extend substantially perpendicularly away from the base. The peripheral surround comprises a side wall (300, 302, 304) and the base comprises an opening for receiving a fork of a forklift. A plurality of detectors (308, 310, 312) is also provided and assigned to detect object presence with respect to a plurality of volumes respectively adjacent the plurality of monitoring elevations. The detectors may be cameras, ultrasound devices or range finders.

Description

(71) Applicant(s):

Linde Aktiengesellschaft (Incorporated in the Federal Republic of Germany) Klosterhofstrasse 1, Munich 80331, Germany (72) Inventor(s):

Derrick Earnest Hilton

Piers Lambert (56) Documents Cited:

DE 102013100191 A1 KR20110027460 JP H09218014 (58) Field of Search:

INT CL B65D Other: EPODOC, WPI (74) Agent and/or Address for Service:

Linde Group

The Priestley Centre, 10 Priestley Road, Guildford, Surrey, GU2 7XY, United Kingdom (54) Title of the Invention: Pressure Vessel retention apparatus, pressure vessel collision warning system and method of monitoring transportation of a pressure vessel retention apparat Abstract Title: Pressure vessel retention apparatus (57) A pressure vessel retention apparatus (100) comprises a frame for containing a pressure vessel therein. The frame comprises a base and a peripheral surround comprising a plurality of monitoring elevations that meet the base at one end thereof and extend substantially perpendicularly away from the base. The peripheral surround comprises a side wall (300, 302, 304) and the base comprises an opening for receiving a fork of a forklift. A plurality of detectors (308, 310, 312) is also provided and assigned to detect object presence with respect to a plurality of volumes respectively adjacent the plurality of monitoring elevations. The detectors may be cameras, ultrasound devices or range finders.

At least one drawing originally filed was informal and the print reproduced here is taken from a later filed formal copy.

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PRESSURE VESSEL RETENTION APPARATUS, PRESSURE VESSEL COLLISION WARNING SYSTEM AND METHOD OF MONITORING TRANSPORTATION OF A PRESSURE VESSEL RETENTION APPARATUS [0001] The present invention relates to a pressure vessel retention apparatus of the type that, for example, comprises a frame in which a pressure vessel is contained. The present invention also relates to a pressure vessel collision warning system of the type that, for example comprises a frame in which to contain a pressure vessel. The present invention further relates to a method of monitoring transportation of a pressure vessel, the method being of the type that, for example, comprises transporting a pressure vessel in a pressure vessel retention frame.

[0002] It is known to contain fluids under pressure in cylinders or receptacles, which constitute pressure vessels. These pressure vessels are often provided in numbers, for example bundles, depending upon user requirements. Typically, a number of cylinders are retained within a frame or a cage. The pressure vessels are sufficiently heavy, particularly when contained in the cage, to require transportation over short distances using a forklift, for example when loading the cage onto a vehicle for transportation or when unloading the cage from the vehicle to dispose the cage at a location to be used.

[0003] It is further known that transportation of the cage using the forklift is challenging on account of the limited visibility afforded to an operator of the forklift when the cage of cylinders is being carried by the forklift. In this regard, an environment, for example a warehouse, in which the cage of cylinders is being transported can comprise one or more obstacles that can be hidden from the field of vision of the forklift operator by the cage of cylinders. Consequently, the forklift can collide with such unseen obstacles and/or the cage of cylinders can fall from the forklift, representing a risk to the forklift operator and others in the vicinity of the forklift.

[0004] According to a first aspect of the present invention, there is provided a pressure vessel retention apparatus comprising: a frame for containing a pressure vessel therein, the frame comprising a base and a peripheral surround comprising a plurality of monitoring elevations and meeting the base at one end thereof and extending substantially perpendicularly away from the base, the peripheral surround comprising a side wall and the base comprising an opening for receiving a fork; and a plurality of detectors assigned to

-2detect object presence with respect to a plurality of volumes respectively adjacent the plurality of monitoring elevations.

[0005] The plurality of detectors may comprise a plurality of cameras.

[0006] The plurality of detectors may comprise a plurality of range detectors. The plurality of range detectors may be a plurality of ultrasonic detectors.

[0007] The plurality of detectors may comprise detectors disposed at different heights relative to the base.

[0008] The apparatus may further comprise: a controller operably coupled to the plurality of detectors; and an output device operably coupled to the controller.

[0009] The output device may be sited on the peripheral surround. The output device may be a display device.

[0010] The apparatus may further comprise: an audible output device.

[0011] The opening may be at one end of a passageway extending through the base from a first side of the base to a second side of the base; the output device may be sited on an elevation of the peripheral surround corresponding to the first side of the base; and another output device may be sited on another elevation of the peripheral surround corresponding to the second side of the base, the another output device being operably coupled to the controller.

[0012] The apparatus may further comprise: an engagement detector in order to determine, when in use, whether a fork is being inserted into the passageway from the first side or the second side of the base; the engagement detector may be operably coupled to the controller; and the controller may be arranged to activate the output device or the another output device in response to the engagement detector determining insertion of the fork into the passageway.

[0013] The plurality of cameras may respectively correspond to the plurality of monitoring elevations; and the controller may be arranged to generate output video data to represent a

-3footprint of the frame and a plurality of views from the plurality of monitoring elevations of the respective plurality of volumes opposite the plurality of monitoring elevations; and the footprint of the frame may have a periphery corresponding to the peripheral surround; the output video data may be arranged to represent the plurality of views at locations of the periphery of the footprint corresponding to the locations of the monitoring elevations of the peripheral surround, the plurality of views being correspondingly sited adjacent the periphery of the footprint.

[0014] The plurality of range detectors may respectively correspond to the plurality of monitoring elevations; and the controller may be arranged to generate output video data to represent a footprint of the frame and a plurality of indicators from the plurality of monitoring elevations of the respective plurality of volumes opposite the plurality of monitoring elevations; and the footprint of the frame may have a periphery corresponding to the peripheral surround; the output video data may be arranged to represent the plurality of alert indicators at locations of the periphery of the footprint corresponding to the locations of the monitoring elevations of the peripheral surround, the plurality of alert indicators being correspondingly sited about the periphery of the footprint.

[0015] Each of the plurality of alert indicators may be arranged to provide an indication of a degree of proximity from an object.

[0016] The plurality of detectors may comprise a plurality of range detectors; and the plurality of range detectors may be assigned to monitor respectively volumes opposite the plurality of monitoring elevations; and the controller may be arranged to generate output video data to represent a footprint of the frame and a plurality of time varying traces in respect of the plurality of volumes associated with the plurality of monitoring elevations; and the footprint of the frame may have a periphery corresponding to the peripheral surround; the output video data may be arranged to represent the plurality of time varying traces at locations about the periphery of the footprint corresponding to the locations of the monitoring elevations of the peripheral surround, the plurality of time varying traces being correspondingly sited adjacent the periphery of the footprint.

[0017] The peripheral surround may comprise a plurality of side walls comprising the side wall. The plurality of side walls may comprise a first side wall, a second side wall, a third side wall and a fourth side wall.

-4[0018] The apparatus may further comprise: a controller operably coupled to the plurality of detectors; and a communications module operably coupled to the controller; wherein the controller may be arranged to generate output data comprising data derived from signals generated by the plurality of detectors; and the communications module may be arranged to transmit the output data.

[0019] According to a second aspect of present invention, there is provided a pressure vessel collision warning system comprising: the apparatus as set forth above in relation to the first aspect of the invention; an output device disposed remotely from the pressure vessel retention apparatus; a processing resource operably coupled to the output device; and a counterpart communications module operably coupled to the processing resource; wherein the counterpart communications module is arranged to communicate with the communications module in order to receive the output data; and the processing resource is arranged to process the output data in order to enable output of visual information corresponding to the output data.

[0020] According to a third aspect of the present invention, there is provided a method of monitoring transportation of a pressure vessel retention apparatus, the method comprising: providing a plurality of detectors in respect of a plurality of monitoring elevations of a peripheral surround of the pressure vessel retention apparatus; using the plurality of detectors to monitor in respect of the plurality of monitoring elevations, the plurality of detectors respectively generating output data; displaying on a display device a footprint of the pressure vessel retention apparatus, the footprint having a periphery corresponding to the peripheral surround; and displaying on the display device a representation of the respective output data so that the output data respectively generated by each of the plurality of detectors is represented adjacent corresponding parts of the periphery corresponding to the plurality of monitoring elevations of the peripheral surround.

[0021] It is thus possible to provide an apparatus, system and method that enables an operator of a forklift or a pallet lift to be alerted of obstacles that are opposite the frame when being transported, but not necessarily visible to the forklift or pallet lift operator. The apparatus, system and method thereby prevent collisions with the obstacles and thus improve safety when transporting the frame. The apparatus, system and method also permit the forklift or pallet lift operator to know a relative location of the obstacle to the

-5frame so as to enable the forklift or pallet lift operator to avoid the obstacle when moving the frame.

[0022] At least one embodiment of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0023] Figure 1 is schematic diagram of a pressure vessel retention apparatus;

[0024] Figure 2 is a schematic diagram of a monitoring apparatus constituting an embodiment of the invention;

[0025] Figure 3 is a plan view of the pressure vessel retention apparatus of Figure 1 comprising a plurality of detectors of a first type and constituting another embodiment of the invention;

[0026] Figure 4 is a flow diagram of a method of monitoring transportation of the pressure vessel retention apparatus of Figure 3 and constituting an embodiment of the invention;

[0027] Figure 5 is a schematic diagram of a display output by the monitoring apparatus of Figure 2 when used with the arrangement of Figure 3;

[0028] Figure 6 is a plan view and side elevation of another pressure vessel retention apparatus comprising a plurality of detectors of the first and a second type and constituting yet another embodiment of the invention;

[0029] Figure 7 is a flow diagram of another method of monitoring transportation of the pressure vessel retention apparatus of Figure 6 constituting an embodiment of the invention;

[0030] Figure 8 is a schematic diagram of the display output by the monitoring apparatus of Figure 2 constituting another embodiment of the invention;

[0031] Figure 9 is a plan view and a side elevation of a further pressure vessel retention apparatus comprising a plurality of detectors of the second type and constituting yet another embodiment of the invention;

[0032] Figure 10 is a flow diagram of a further method of monitoring transportation of the pressure vessel retention apparatus of Figure 9 constituting an embodiment of the invention;

[0033] Figure 11 is a schematic diagram of the display output by the monitoring apparatus of Figure 2 constituting another embodiment of the invention;

-6[0034] Figure 12 is a schematic diagram of an alternative display to that of Figure 11 output by the monitoring apparatus of Figure 2 constituting a further embodiment of the invention; and [0035] Figure 13 is a schematic diagram of a distributed version of the monitoring apparatus of Figure 2 constituting another embodiment of the invention.

[0036] Throughout the following description, identical reference numerals will be used to identify like parts.

[0037] Referring to Figure 1, a pressure vessel transportation apparatus 100 comprises a base 102 connected to or integrally formed with a retention frame 104 to form a cage. In this regard, the frame comprises a peripheral surround that meets the base 102 at one end thereof and extends substantially perpendicularly away from the base 102. The cage defines an internal volume 106 in which one or more pressure vessels, for example cylinders of pressurised gas or other fluid, can be disposed individually or as a bundle.

[0038] The base of the pressure vessel transportation apparatus 100 comprises a top deck 108 and a first side opening 110 and a second side opening 112 for respectively receiving first and second forks 114, 116 of a forklift (not shown). Corresponding openings (not shown) are provided on the opposite side of the pressure vessel transportation apparatus 100.

[0039] The pressure vessel transportation apparatus 100 comprises an electronic forkside insertion detection system (not shown in Figure 1) that employs side engagement sensors (not shown) capable of detecting a side of insertion of the first and second forks 114, 116 in the base 102 beneath the top deck 108. The side engagement sensors can, for example, be disposed in one or both of the first and second side openings 110, 112 and in one or both openings on the opposite side of the base 102. The base 102 of the pressure vessel transportation apparatus 100 comprises support blocks (not shown) that define respective longitudinal passageways, constituting so-called fork pockets, respectively extending in parallel from the first and second side openings 110, 112.

[0040] In this example, the side of the pressure vessel transportation apparatus 100 comprising the first and second side openings 110, 112, and that is opposite the forklift when the forklift is engaging with and carrying the pressure vessel transportation apparatus

-7100, carries a display device 118 constituting an output device. The display device 118 can therefore be seen by an operator of the forklift when the forklift is engaging with and carrying the pressure vessel transportation apparatus 100. The skilled person should however appreciate that other types of communication are contemplated, for example an audible alert. In this respect, the display device 118 can be supplemented with an audible alert device comprising, for example, a loudspeaker. Opposite sides of the pressure vessel transportation apparatus 100 can carry output devices.

[0041] Turning to Figure 2, a monitoring apparatus 200 carried by, in this example, the pressure vessel transportation apparatus 100, comprises a controller 202, constituting a processing resource, operably coupled to a display device interface 201. If employed, an auxiliary output device interface 204, for example for the audible alert device mentioned above, is operably coupled to the controller 202. A camera interface 206 is operably coupled to the controller 202 and a range detector interface 208 is also operably coupled to the controller 202.

[0042] The monitoring apparatus 200 also comprises a memory unit 210 comprising Read Only Memory (ROM) 212 and Random Access Memory (RAM) 214. A storage device 216 is also provided, for example a digital memory, such as a Solid State Drive (SSD) device.

[0043] Side engagement sensors 218 mentioned above are operably coupled to the controller 202 and a power controller 220, which is also operably coupled to the controller 202, the display device interface 201 and the auxiliary output device interface 204. A power source 222, which in this example is a rechargeable battery pack, is connected to the power controller 220. The power controller 220 uses the side engagement sensor 218 to monitor the engagement of a forklift or the like with the pressure vessel transportation apparatus 100 in order to determine when power needs to be supplied to the monitoring apparatus 200 and to determine with which side of the pressure vessel transportation apparatus 100 the forks 114, 116 are engaging.

[0044] In this respect, in order to preserve power consumed by the monitoring apparatus 200, the power controller 220 awaits the activation of one of the side engagement sensors 218 as confirmation that monitoring of transportation of the cage is required and so the monitoring apparatus 200 needs to be powered up and activated.

-8[0045] Referring to Figure 3, in one embodiment, the pressure vessel transportation apparatus 100 comprises a plurality of cameras to serve as a plurality of detectors to detect object presence. In this example, the peripheral surround of the frame 104 comprises a first side wall 300, a second side wall 302, a third side wall 304 and a fourth side wall 306 constituting a plurality of monitoring elevations. A plurality of volumes to be monitored are respectively located adjacent the plurality of monitoring elevations. The plurality of cameras comprises a first camera 308 disposed on the first side wall 300, a second camera 310 disposed on the second side wall 302 and a third camera 312 disposed on the third side wall 304. The first, second and third cameras 308, 310, 312 are centrally mounted on the first, second and third side walls 300, 302, 304, respectively. In this example, the forklift is only intended to engage with the fourth side wall 306 and so the fourth side wall 306 is not provided with a camera. However, in other examples, a fourth camera can also be provided on the fourth side wall 306 and one of the side engagement sensors 218 can be employed to determine if the forklift is engaging with the pressure vessel transportation apparatus 100 from the fourth side wall 306 and so that the fourth camera can be deactivated. Likewise, in the event that the forklift engages the pressure vessel retention apparatus 100 at the second side wall 302, then one of the side engagement sensors 218 can detect this and the second camera 310 can be deactivated.

[0046] In operation (Figure 4), and referring also to Figure 5, the power controller 220 and the side engagement sensors 218 operates in a low power or standby mode sufficient to enable detection (Step 320) of the forklift engaging the pressure vessel transportation apparatus 100, for example the insertion of the forks 114, 116 into the side openings 110, 112. In response to detection of the insertion of the forks, the power controller 220 powers up (Step 322) the controller 202 and the camera interface 206. The controller 202 then determines (Step 324) the side of the pressure vessel transportation apparatus 100 that is adjacent the forklift and disables the camera on the side of the pressure vessel transportation apparatus 100 that is adjacent and so faces the forklift (Step 326 or Step 328). In this example, only the cameras being activated are shown.

[0047] Once the appropriate cameras have been powered up and enabled, in this example the first, second and third cameras 308, 310, 312, video feeds in respect of the first, second and third cameras 308, 310, 312 are acquired (Step 330) by the controller 202 and processed so that an output video signal is generated. The output video signal

-9comprises data representing a footprint 340 of the pressure vessel transportation apparatus 100, and camera images in respect of sides of the footprint 340, the camera feeds being disposed to the sides of the footprint 340 corresponding respectively to the sides on which the cameras are disposed on the pressure vessel transportation apparatus 100. For example, the footprint 340 has a first side 348, a second side 350 and a third side 352, which respectively correspond to the first side wall 300, the second side wall 302 and the third side wall 304 of the pressure vessel transportation apparatus 100. In the output video signal, information is arranged (Step 334) so that, when displayed, a first video signal from the first camera 308 that is associated with the first side wall 300 is sized and disposed in a first display zone 342 adjacent the first side 348 of the footprint 340, a second video signal from the second camera 310 that is associated with the second side wall 302 is sized and disposed in a second display zone 344 adjacent the second side 350 of the footprint 340, and a third video signal from the third camera 312 that is associated with the third side wall 304 is sized and disposed in a third display zone 346 adjacent the third side 352 of the footprint 340.

[0048] As the display device 118 is situated opposite the forklift, the forklift operator can use the output on the display device 118 of the different views from the respective side walls 300, 302, 304 of the pressure vessel transportation apparatus 100 in order to detect obstacles otherwise obscured by the pressure vessel transportation apparatus 100 when manoeuvring the pressure vessel transportation apparatus 100 using the forklift, thereby enabling the forklift operator to circumnavigate the obstacle or ask for it to be moved.

[0049] Once the power controller 220 detects (Step 336) disengagement (using the side engagement sensors 218), the power controller 220 returns the monitoring apparatus 200 to the standby mode.

[0050] In another example (Figure 6), the plurality of detectors comprises the cameras 308, 310, 312 supplemented with range detectors, for example ultrasonic detectors. In this example, the ultrasonic detectors are high and low mounted on each side of a side wall. The first side wall 300 comprises the first camera 308 mounted as previously described, but also first upper and lower ultrasonic detectors 400, 402 at a first side of the first side wall 300 and second upper and lower ultrasonic detectors 404, 406 at a second side of the first side wall 300. In respect of the second side wall 302, the second camera 310 is mounted as previously described, but also first upper and lower ultrasonic detectors 408,

- IQ410 at a first side of the second side wall 302 and second upper and lower ultrasonic detectors 412, 414 at a second side of the second side wall 302. In respect of the third side wall 304, the third camera 312 is mounted as previously described, but also first upper and lower ultrasonic detectors 416, 418 at a first side of the third side wall 304 and second upper and lower ultrasonic detectors 420, 422 at a second side of the third side wall 304 (also visible from the side elevation of Figure 6).

[0051] In operation (Figure 7), and also with reference to Figure 8, the power controller 220 and the side engagement sensors 218 operate in a low power or standby mode sufficient to enable detection (Step 320) of the forklift engaging the pressure vessel transportation apparatus 100, for example the insertion of the forks 114, 116 into the side openings 110, 112. In response to detection of the insertion of the forks, the power controller 220 powers up (Step 322) the controller 202 and the camera interface 206. The controller 202 then determines (Step 324) the side of the pressure vessel transportation apparatus 100 that is adjacent the forklift and disables the camera and ultrasonic sensors on the side of the pressure vessel transportation apparatus 100 that are adjacent and so face the forklift (Step 326 or Step 328). In this example, only the cameras and ultrasonic sensors being activated are shown.

[0052] Once the appropriate cameras and ultrasonic detectors have been powered up and enabled, in this example the first, second and third cameras 308, 310, 312, and the ultrasonic detectors 400, 402, 404, 406, 408, 410, 412, 414, 416, 418, 420, 422 disposed on the first, second and third side walls 300, 302, 304, video feeds in respect of the first, second and third cameras 308, 310, 312 and ultrasonic detector signals in respect of the ultrasonic detectors 400, 402, 404, 406, 408, 410, 412, 414, 416, 418, 420, 422 are acquired (Steps 500, 502) by the controller 202. Substantially in parallel, the controller 202 processes (Step 504) the video feeds to yield an output video signal. The output video signal comprises data representing a footprint 340 of the pressure vessel transportation apparatus 100, and camera images in respect of sides of the footprint 340, the camera feeds being disposed to the sides of the footprint 340 corresponding respectively to the sides on which the cameras are disposed on the pressure vessel transportation apparatus 100. Additionally, the perimeter of the footprint 340 comprises a first alert bar 360 adjacent the first side 348, a second alert bar 362 adjacent the second side 350 and a third alert bar 364 adjacent the third side 352 of the footprint 340. The first, second and third alert bars 360, 362, 364 correspond to the first, second and third side walls 300, 302, 304 of the

- 11 pressure vessel transportation apparatus 100 and are represented on the corresponding sides of the footprint 340.

[0053] As in the previous example, the footprint 340 has first, second and third 348, 350, 352 sides, which respectively correspond to the first side wall 300, the second side wall 302 and the third side wall 304 of the pressure vessel transportation apparatus 100. In the output video signal, information is arranged (Step 334) so that, when displayed, a first video signal from the first camera 308 that is associated with the first side wall 300 is sized and disposed in a first display zone 342 adjacent the first side 348 of the footprint 340, a second video signal from the second camera 310 that is associated with the second side wall 302 is sized and disposed in a second display zone 344 adjacent the second side 350 of the footprint 340, and a third video signal from the third camera 312 that is associated with the third side wall 304 is sized and disposed in a third display zone 346 adjacent the third side 352 of the footprint 340 (Step 506). The controller 202 also processes the ultrasonic detector signals in order to determine (Step 508) whether an obstacle is detected. Depending upon whether an obstacle is detected (Step 510) by one or more of the ultrasonic detectors 400, 402, 404, 406, 408, 410, 412, 414, 416, 418, 420, 422 on the first side wall 300, the second side wall 302 or the third side wall 304, the controller 202 modifies the output video signal so that the first, second or third alert bar 360, 362, 364 is coloured (Steps 512, 514, 516), for example in red, to indicate the side on which the obstacle has been detected.

[0054] As the display device 118 is situated opposite the forklift, the forklift operator can use the output on the display device 118 of the different views from the respective side walls 300, 302, 304 of the pressure vessel transportation apparatus 100 in order to detect obstacles otherwise obscured by the pressure vessel transportation apparatus 100 when manoeuvring the pressure vessel transportation apparatus 100 using the forklift, thereby enabling the forklift operator to circumnavigate the obstacle or ask for it to be moved.

[0055] Once the power controller 220 detects (Step 518) disengagement (using the side engagement sensors 218), the power controller returns the monitoring apparatus 200 to the standby mode.

[0056] In a further example (Figure 9), the only obstacle detectors with which the pressure vessel transportation apparatus 100 is equipped are the ultrasonic detectors. In

- 12 this respect, the plurality of detectors comprises the ultrasonic detectors mentioned above in relation to the previous example. The ultrasonic detectors are again high and low mounted on each side of a side wall. In this example, the first side wall 300 comprises the first upper and lower ultrasonic detectors 400, 402 at the first side of the first side wall 300 and second upper and lower ultrasonic detectors 404, 406 at the second side of the first side wall 300. In respect of the second side wall 302, the first upper and lower ultrasonic detectors 408, 410 are provided at the first side of the second side wall 302 and the second upper and lower ultrasonic detectors 412, 414 are provided at the second side of the second side wall 302. In respect of the third side wall 304, the first upper and lower ultrasonic detectors 416, 418 are provided at the first side of the third side wall 304 and second upper and lower ultrasonic detectors 420, 422 at the second side of the third side wall 304 (also visible from the side elevation of Figure 9). Of course, in this and other examples, a greater of fewer number of ultrasonic detectors can be provided and distributed differently according to application requirements.

[0057] In operation (Figure 10), and also with reference to Figure 11, the power controller 220 and the side engagement sensors 218 operate in a low power or standby mode sufficient to enable detection (Step 320) of the forklift engaging the pressure vessel transportation apparatus 100, for example the insertion of the forks 114, 116 into the side openings 110, 112. In response to detection of the insertion of the forks, the power controller 220 powers up (Step 322) the controller 202. The controller 202 then determines (Step 324) the side of the pressure vessel transportation apparatus 100 that is adjacent the forklift and disables (Step 326 or Step 328) the ultrasonic detectors that face the forklift. In this example, only the ultrasonic detectors being activated are shown.

[0058] Once the appropriate ultrasonic detectors have been powered up and enabled, in this example the ultrasonic detectors 400, 402, 404, 406, 408, 410, 412, 414, 416, 418, 420, 422 disposed on the first, second and third side walls 300, 302, 304, ultrasonic detector signals in respect of the ultrasonic detectors 400, 402, 404, 406, 408, 410, 412, 414, 416, 418, 420, 422 are acquired (Step 502) by the controller 202 and processed (Step 506) by the controller 202 in order to determine (Step 508) whether an obstacle is detected. The processing also comprises the generation of an output video signal. The output video signal comprises data representing the footprint 340 of the pressure vessel transportation apparatus 100. The perimeter of the footprint 340 comprises the first alert bar 360 adjacent the first side 348, the second alert bar 362 adjacent the second side 350 and the third alert

- 13bar 364 adjacent the third side 352 of the footprint 340. The first, second and third alert bars 360, 362, 364 correspond to the first, second and third side walls 300, 302, 304 of the pressure vessel transportation apparatus 100 and are represented on the corresponding sides of the footprint 340.

[0059] Depending upon whether an obstacle is detected (Step 510) by one or more of the ultrasonic detectors 400, 402, 404, 406, 408, 410, 412, 414, 416, 418, 420, 422 on the first side wall 300, the second side wall 302 or the third side wall 304, the controller 202 modifies the output video signal so that the first, second or third alert bar 360, 362, 364 is coloured (Step 512, 514, 516), for example in red, to indicate the side on which the obstacle has been detected.

[0060] As the display device 118 is situated opposite the forklift, the forklift operator can use the output on the display device 118 of the different views from the respective side walls 300, 302, 304 of the pressure vessel transportation apparatus 100 in order to detect obstacles otherwise obscured by the pressure vessel transportation apparatus 100 when manoeuvring the pressure vessel transportation apparatus 100 using the forklift, thereby enabling the forklift operator to circumnavigate the obstacle or ask for it to be moved.

[0061] Once the power controller 220 detects (Step 518) disengagement (using the side engagement sensors 218), the power controller 220 returns the monitoring apparatus 200 to the standby mode.

[0062] In an alternative example (Figure 12), instead of (or in addition to) using the first, second and third alert bars 360, 362, 264, the data generated from processing the ultrasonic detector signals can be used to provide a “trace”, i.e. a time varying graphical representation 550 of reflections from an obstacle of ultrasonic signals emitted by the ultrasonic detectors facing the obstacle. In this respect, the processing of the ultrasonic detector signals comprises processing the ultrasonic detector signals so as to be representable graphically. The controller 202 generates the output video signal to be displayed comprising the footprint 340. As in previous examples, the first side wall 300 is associated with the first display zone 342 adjacent the first side 348 of the footprint 340, the second side wall 302 is associated with the second display zone 344 adjacent the second side 350 of the footprint 340, and the third side wall 304 is associated with the third display zone 346 adjacent the third side 352 of the footprint 340. The graphical trace data is sized

- 14and incorporated into the image represented by the output video signal so that the traces for each side wall 300, 302, 304 of the pressure vessel transportation apparatus 100 are respectively disposed adjacent the corresponding side 348, 350, 352 of the footprint 340. The forklift operator is therefore provided with greater detail as to the nature of the obstacle and proximity.

[0063] Referring to Figure 13, in another example applicable to all of the preceding examples, a monitoring system 600 is provided. The monitoring system 600 comprises a detection module 602 and an output module 604. The detection module 602 is similar to the monitoring apparatus 200 described above in relation to Figure 1, but the output device interfaces 201, 204 are replaced with a first communications module 606, for example a Bluetooth™ communications module. Although not shown, the detection module 602 comprises, in this example, hardware and software elements to implement power control functionality, but as this aspect is not key to understanding the salient parts of this example, description of this aspect has been omitted for the sake of clarity and conciseness.

[0064] The output module 604 comprises a processing resource 608 operably coupled to the display device interface 201 and, optionally the auxiliary output device interface 204. In this example, the output module 604 and the display device 118 are installed in the forklift. The output module 604 comprises a second communications module 610, for example another Bluetooth™ communications module, operably coupled to the processing resource 608.

[0065] In operation, video data can either be generated by the detection module 602 and transmitted to the output module 604 via the first and second communications modules 606, 610 or the camera feed data and/or ultrasonic detector data can be communicated to the output module 604 from the detection module 602 for subsequent processing. In either case, the processing resource 608 generates the output video signal described above in relation to previous examples, which is displayed by the display device 118 via the display device interface 201.

[0066] Although not specifically mentioned above, the skilled person should appreciate that the controller 202 and/or the processing resource 608 comprises image processing functionality which can be integrally provided with the controller 202 and/or the processing

- 15resource 608 or the controller 202 and/or the processing resource 608 can comprise a separate image processing engine that is capable of communicating with other integrated circuitry of the controller 202 and/or the processing resource 608.

[0067] The skilled person should appreciate that the above-described implementations are merely examples of the various implementations that are conceivable within the scope of the appended claims. Indeed, in any of the above examples, audible alerts can be used and provided via, for example, the auxiliary output device interface 204 and a loudspeaker (not shown) to indicate the detection of an obstacle. The audible alert can be time varying in the sense that frequency of an alert signal can be varied depending upon proximity of the pressure vessel transportation apparatus 100 from the obstacle. Where ultrasonic detectors are not employed, the video data generated by the cameras can be processed in order to generate the audible alerts.

[0068] In the above examples, the elevation of the pressure vessel transportation apparatus 100 can vary depending upon the height from the ground at which the forklift carries the pressure vessel transportation apparatus 100. In this respect, the plurality of detectors can be arranged to monitor volumes at different heights above the ground. For example, the cameras described above can be provided with suitable lenses. In respect of the range detectors, where necessary, these can be oriented to point in predetermined directions relative to the peripheral surround of the pressure vessel transportation apparatus 100.

[0069] Alternative embodiments of the invention can be implemented as a computer program product for use with a computer system, the computer program product being, for example, a series of computer instructions stored on a tangible data recording medium, such as a diskette, CD-ROM, ROM, or fixed disk, or embodied in a computer data signal, the signal being transmitted over a tangible medium or a wireless medium, for example, microwave or infrared. The series of computer instructions can constitute all or part of the functionality described above, and can also be stored in any memory device, volatile or non-volatile, such as semiconductor, magnetic, optical or other memory device.

Claims

1. A pressure vessel retention apparatus comprising:

a frame for containing a pressure vessel therein, the frame comprising a base and a peripheral surround comprising a plurality of monitoring elevations and meeting the base at one end thereof and extending substantially perpendicularly away from the base, the peripheral surround comprising a side wall and the base comprising an opening for receiving a fork; and a plurality of detectors assigned to detect object presence with respect to a plurality of volumes respectively adjacent the plurality of monitoring elevations.

2. An apparatus as claimed in Claim 1, wherein the plurality of detectors comprises a plurality of cameras.

3. An apparatus as claimed in Claim 1 or Claim 2, wherein the plurality of detectors comprises a plurality of range detectors.

The plurality of range detectors may be a plurality of ultrasonic detectors.

4. An apparatus as claimed in Claim 1 or Claim 2 or Claim 3, wherein the plurality of detectors comprises detectors disposed at different heights relative to the base.

5. An apparatus as claimed in any one of the preceding claims, further comprising:

a controller operably coupled to the plurality of detectors; and an output device operably coupled to the controller.

6. An apparatus as claimed in Claim 5, wherein the output device is sited on the peripheral surround.

- 177. An apparatus as claimed in Claim 5 or Claim 6, wherein the output device is a display device.

8. An apparatus as claimed in Claim 6 or Claim 7, further comprising: an audible output device.

9. An apparatus as claimed in Claim 6, wherein the opening is at one end of a passageway extending through the base from a first side of the base to a second side of the base;

the output device is sited on an elevation of the peripheral surround corresponding to the first side of the base; and another output device is sited on another elevation of the peripheral surround corresponding to the second side of the base, the another output device being operably coupled to the controller.

10. An apparatus as claimed in Claim 9, further comprising:

an engagement detector in order to determine, when in use, whether a fork is being inserted into the passageway from the first side or the second side of the base, the engagement detector being operably coupled to the controller; and the controller is arranged to activate the output device or the another output device in response to the engagement detector determining insertion of the fork into the passageway.

11. An apparatus as claimed in Claim 2, wherein the plurality of cameras respectively correspond to the plurality of monitoring elevations; and the controller is arranged to generate output video data to represent a footprint of the frame and a plurality of views from the plurality of monitoring elevations of the respective plurality of volumes opposite the plurality of monitoring elevations; and the footprint of the frame has a periphery corresponding to the peripheral surround, the output video data being arranged to represent the plurality of views at locations of the periphery of the footprint corresponding to the locations of the

- 18monitoring elevations of the peripheral surround, the plurality of views being correspondingly sited adjacent the periphery of the footprint.

12. An apparatus as claimed in Claim 3, wherein the plurality of range detectors respectively correspond to the plurality of monitoring elevations; and the controller is arranged to generate output video data to represent a footprint of the frame and a plurality of indicators from the plurality of monitoring elevations of the respective plurality of volumes opposite the plurality of monitoring elevations; and the footprint of the frame has a periphery corresponding to the peripheral surround, the output video data being arranged to represent the plurality of alert indicators at locations of the periphery of the footprint corresponding to the locations of the monitoring elevations of the peripheral surround, the plurality of alert indicators being correspondingly sited about the periphery of the footprint.

13. An apparatus as claimed in Claim 12, wherein each of the plurality of alert indicators is arranged to provide an indication of a degree of proximity from an object.

14. An apparatus as claimed in Claim 1, wherein the plurality of detectors comprises a plurality of range detectors; and the plurality of range detectors is assigned to monitor respectively volumes opposite the plurality of monitoring elevations; and the controller is arranged to generate output video data to represent a footprint of the frame and a plurality of time varying traces in respect of the plurality of volumes associated with the plurality of monitoring elevations; and the footprint of the frame has a periphery corresponding to the peripheral surround, the output video data being arranged to represent the plurality of time varying traces at locations about the periphery of the footprint corresponding to the locations of the monitoring elevations of the peripheral surround, the plurality of time varying traces being correspondingly sited adjacent the periphery of the footprint.

- 19The peripheral surround may comprise a plurality of side walls comprising the side wall. The plurality of side walls may comprise a first side wall, a second side wall, a third side wall and a fourth side wall.

15. An apparatus as claimed in any one of Claims 1 to 4, further comprising: a controller operably coupled to the plurality of detectors; and a communications module operably coupled to the controller; wherein the controller is arranged to generate output data comprising data derived from signals generated by the plurality of detectors; and the communications module is arranged to transmit the output data.

16. A pressure vessel collision warning system comprising: the apparatus as claimed in Claim 15;

an output device disposed remotely from the pressure vessel retention apparatus;

a processing resource operably coupled to the output device; and a counterpart communications module operably coupled to the processing resource; wherein the counterpart communications module is arranged to communicate with the communications module in order to receive the output data; and the processing resource is arranged to process the output data in order to enable output of visual information corresponding to the output data.

17. A method of monitoring transportation of a pressure vessel retention apparatus, the method comprising:

providing a plurality of detectors in respect of a plurality of monitoring elevations of a peripheral surround of the pressure vessel retention apparatus;

using the plurality of detectors to monitor in respect of the plurality of monitoring elevations, the plurality of detectors respectively generating output data;

-20displaying on a display device a footprint of the pressure vessel retention apparatus, the footprint having a periphery corresponding to the peripheral surround; and displaying on the display device a representation of the respective output data so 5 that the output data respectively generated by each of the plurality of detectors is represented adjacent corresponding parts of the periphery corresponding to the plurality of monitoring elevations of the peripheral surround.

Intellectual

Property

Office

Application No: GB 1700912.7 Examiner: Mr Richard Nicholls