WO2002007002A1 - Module portatif de localisation de vehicule pour controle de trafic - Google Patents

Module portatif de localisation de vehicule pour controle de trafic Download PDF

Info

Publication number
WO2002007002A1
WO2002007002A1 PCT/US2001/019603 US0119603W WO0207002A1 WO 2002007002 A1 WO2002007002 A1 WO 2002007002A1 US 0119603 W US0119603 W US 0119603W WO 0207002 A1 WO0207002 A1 WO 0207002A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
interference zone
current
vehicles
unit
Prior art date
Application number
PCT/US2001/019603
Other languages
English (en)
Inventor
Mark R. Baker
Original Assignee
Modular Mining Systems, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Modular Mining Systems, Inc. filed Critical Modular Mining Systems, Inc.
Priority to AU2001272955A priority Critical patent/AU2001272955A1/en
Publication of WO2002007002A1 publication Critical patent/WO2002007002A1/fr

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/207—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles with respect to certain areas, e.g. forbidden or allowed areas with possible alerting when inside or outside boundaries
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle

Definitions

  • This invention is related in general to traffic in a surface facility such as a surface mine.
  • the invention is related to a tracking system that is based on assigning an interference zone to each vehicle and equipping it with a device for monitoring the presence of other vehicles within the vehicle's interference zone.
  • Another problem at worksites arises from the presence of visiting vehicles that are only temporarily on the premises, such as those operated by providers of services, inspectors, visitors, and the general public. Because of the typically absolute absence of traffic-monitoring apparatus on these vehicles, the relative lack of familiarity of their drivers with the premises and the general randomness of their travels, these vehicles normally represent a serious traffic-monitoring problem and a potential safety hazard at worksites such as surface mines and similar facilities. Moreover, these vehicles tend to operate independently of any traffic-control system that may exist at the worksite. Since they are normally not equipped with positioning and communication systems, their travels within the site, the impact they may have on overall traffic and safety, and the control over their continued presence or departure is left entirely at the discretion of the operator, without supervision from the management of the facility.
  • the primary objective of this invention is a system and related apparatus that provide each vehicle at a worksite with an indication of the presence of another vehicle traveling within a predetermined distance, regardless of whether or not either vehicle is visible to the other, is manually or autonomously operated, or is also controlled by a separate traffic-guidance system.
  • a goal of the invention is also a vehicle-tracking system of general application that can be used to monitor traffic at surface worksites, particularly surface mines.
  • Another objective of the invention is an approach suitable for implementation with autonomous as well as manned vehicles.
  • Another goal is a system that can be readily implemented with worksite vehicles as well as with visiting vehicles entering the premises on a temporary basis, thereby enabling complete coverage of traffic monitoring over the worksite at all times.
  • Yet another objective is a system of traffic monitoring that is independent of other guidance and control systems in effect at the worksite, so that it can be operated independently or integrated with existing systems.
  • Another goal of the invention is a system that can be used solely for locating vehicles and monitoring traffic, or can be incorporated with guidance and control protocols to enhance efficiency and/or improve safety.
  • Still another objective is a system that includes apparatus suitable for implementation as a removable module for each vehicle at a worksite, whether its presence is permanent or temporary.
  • Another goal is a system that is suitable for implementation with current surface-mine haulage and mining equipment.
  • a final objective is a system that can be implemented economically according to the above-stated criteria.
  • the preferred embodiment of the invention consists of a module, either plug-in or fixed, adapted for ready installation in each vehicle and other moving equipment at or coming to a worksite.
  • Each module includes at least a GPS unit, a transceiver, a programmed processor with memory, an alarm, and a power source.
  • each vehicle is able to communicate with other vehicles around it at the worksite in order to track their positions and determine when another vehicle is found within a predetermined distance, a so called "interference zone,” and then activate an alarm to alert the operator of the presence of the other vehicle.
  • the interference zone consists of a space bubble or hub surrounding each vehicle as it travels through the worksite. It may be defined simply by a radius around the vehicle, or by a more complex geometry suited for particular applications.
  • the interference zone assigned to each vehicle may be fixed, for simplicity, or dynamically variable to account for changed circumstances within the worksite. Similarly, different vehicles may have different interference zones to account for distinct individual tasks, physical characteristics, and functional requirements.
  • portable modular units are installed in each vehicle upon entering a worksite and can be removed upon its departure.
  • the unit can be permanently mounted in the vehicle.
  • the unit provides the vehicle with direct and continuous monitoring of the current location of all other vehicles within its interference zone to improve traffic and facilitate avoidance of hazardous situations. Such indication of potential interference may be obtained directly from the vehicles in question, without a need for linkage of all vehicles to a central communication base.
  • the modular unit of the invention also provides a means for communication with a central control facility, so that the position and proximity information generated by each vehicle can be advantageously used within the overall traffic-guidance network of the worksite.
  • the power source for the modular unit consists of a plug suitable for connection with conventional vehicle cigarette-lighter outlets.
  • the alarm may be visible, audible, or both.
  • a monitor may be included to illustrate the relative position of vehicles present within the interference zone of the vehicle carrying the unit. Indications of direction and speed may also be included.
  • Fig. 1 is a schematic diagram illustrating the combination of hardware components required to implement the portable vehicle-tracking device of the invention.
  • Fig. 2 is a perspective view of a portable device incorporating the components of Fig. 1.
  • Fig. 3 is an illustration of a mine-map area showing a roadway with two vehicles approaching a blind curve from opposite directions.
  • Fig. 4 is another view of the map area of Fig. 3 showing the vehicles after each has entered the interference zone of the other.
  • Fig. 5 is a block diagram showing the steps performed by the microprocessor of the invention in order to implement the required tracking and alerting functions thereof.
  • Fig. 6 is an illustration of variable shapes and sizes of interference zones.
  • This invention is based on the idea of providing a portable, modular unit, compatible for use with any vehicle at or entering a worksite, to allow for its continuous tracking and detection of other vehicles. Particularly significant is the concept of a self- contained or plug-in unit which can be used to promptly include or exclude any vehicle in or from the traffic- control system of a worksite. While the hardware components utilized to describe the invention are well known in the art, no system exists currently that utilizes the same combination of components to implement the disclosed vehicle-tracking idea for all vehicles coming into a worksite like a surface mine.
  • Every reference to a vehicle is intended to apply also to any other movable piece of equipment or object that may be found at a site, including a person carrying the device of the invention.
  • Surface mines utilize a variety of work machines for excavating and transporting ore, grading and stabilizing roadways and slopes in the mine pit, and for providing all support functions necessary to the operation of a mine.
  • Most work and haulage machines are human-operated, mobile pieces of equipment constantly being moved around the premises.
  • a continuous stream of outside vehicles temporarily on the premises is normally found to further crowd traffic at the mine site. Skilled operators ensure that each machine or vehicle is maneuvered optimally to perform its intended function while avoiding accidents and injury to people and property.
  • FIG. 1 illustrates schematically the combination of components required to practice the present invention.
  • a portable, modular unit 10 is provided that includes a positioning device 12, preferably a GPS unit, a two-way communication device 14, such as a transceiver unit, a microprocessor with memory 16 programmed ,to perform the steps required to implement the invention, an alarm unit 18, and a means 20 for energizing all components.
  • the unit 10 is constructed as a self-contained portable module that is intended for use independently of any other component that may already be present in a vehicle. For example, all autonomous vehicles in a mine are equipped with positioning and communication hardware and with control software designed to effect vehicle guidance.
  • the unit 10 of the invention is used concurrently as an additional system that may be added to or removed from a vehicle at will without the need to disengage any hardwired connection. Whether powered by a battery included in the module or by a plug inserted into the cigarette-lighter outlet of the vehicle carrying it, the modular unit 10 of the invention is readily removable and transferable to another vehicle.
  • Fig. 2 is a perspective illustration of an actual embodiment 30 of the schematic modular unit 10 of the invention shown in Fig. 1.
  • a power cord 32 with a terminal plug 34 adapted for connection with a conventional vehicle cigarette-lighter outlet is provided to energize the portable unit 30.
  • a different plug designed to fit a specific power outlet found in a particular vehicle of interest may be provided in lieu of or in addition to the standard cigarette-lighter plug 34.
  • a GPS antenna 36 enables the unit to receive periodic position information that permits placement of the unit and the vehicle carrying it within a predetermined coordinate system, as is routinely done in all GPS applications.
  • the microprocessor 16 is programmed to function within a system that utilizes the position information generated by the GPS unit 12 to track each vehicle within a predetermined distance from the vehicle carrying the module.
  • each vehicle traveling within the mine site is assigned a predetermined hub or bubble, called interference zone for the purposes of the invention, represented in the figure by the exemplary area shown within a particular radius from the vehicle.
  • vehicle A is assigned an interference zone 42 defined by the area within radius Ra
  • vehicle B is assigned an interference zone 44 defined by radius Rb, which may be the same or different, depending on the degree of sophistication with which the system of the invention is implemented.
  • different interference zones may be used for different kinds of vehicles to reflect differences in average traveled speeds, stopping abilities, and other factors that may justify a different treatment among vehicles.
  • the interference zone of each vehicle may be changed dynamically to account for changed circumstances, such as current speed and road conditions .
  • a critical feature of the vehicle-tracking unit 30 of the system of the invention is its ability to monitor the presence of other vehicles around the vehicle carrying the unit and to alert its operator when any such other vehicle is found to be within its interference zone.
  • the unit installed in vehicle B would alert its operator when vehicle A enters its interference zone 44, as illustrated in Fig. 4.
  • the unit 5 installed in vehicle A would alert its operator when vehicle B enters the interference zone 42 of vehicle A.
  • the transceiver unit 14 periodically broadcasts the position of the vehicle carrying it (for example, vehicle B) through its antenna
  • the microprocessor 16 is programmed to identify any vehicle with a position found to be within the interference zone of the vehicle carrying the portable tracking unit of the invention.
  • the microprocessor is also programmed to then 5 signal the presence of such other vehicle to the operator through an audible and/or visual alarm 18, or through a monitor screen 48 (Fig. 2) that displays a map of the area 40 being traveled and symbolic images la, lb superimposed on the map to indicate the relative position of the two 0 vehicles A and B.
  • a monitor screen 48 Fig. 2 that displays a map of the area 40 being traveled and symbolic images la, lb superimposed on the map to indicate the relative position of the two 0 vehicles A and B.
  • the main advantage provided by the invention with respect 5 to prior-art alert systems is illustrated with reference to Figs. 2-4.
  • the area 40 of the mine being traveled by vehicle A is characterized by two high banks 50 and 52 between which the roadway 38 meanders.
  • bank 50 As the roadway curves around the high wall created by bank 50, two vehicles approaching from opposite directions cannot see each other, as illustrated by vehicles A and B in Fig. 3. So long as the distance between the vehicles is deemed safe, as determined arbitrarily or empirically when assigning interference zones 42 and 44 as part of the design of the system of the invention, the vehicle- tracking unit 30 of each vehicle A,B will not signal the presence of the other to its operator.
  • this vehicle's unit 30 will signal the event to its operator by energizing (possibly intermittently) a visible light 54, and/or sounding an audible alarm 56, and/or displaying the position of the two vehicles through corresponding images la and lb on the screen 48, or any combination of the above.
  • the operator of vehicle B will be aware of the around-the-corner proximity of vehicle A even though it is not visible, nor easily detectable by line-of-sight instruments, and can thus take the necessary precautions to proceed safely.
  • the interference zone assigned to each vehicle is a moving space relative to the vehicle; that is, the zone travels with the vehicle.
  • the zone may be fixed and simply defined by a radius, as illustrated in the figures, or it may assume any form suitable for a particular application, or also be variable in time to dynamically optimize traffic and other mine conditions. For example, because each vehicle travels in a given direction, it would make sense to skew the shape of the interference zone to cover more territory ahead of rather than behind the vehicle, as illustrated by zones 58 and 60 for vehicles C and D, respectively, in Fig. 6.
  • the shape of the zone could vary depending on whether the vehicle is traveling along a substantially, straight or a winding road and could increase with increased speed, as shown by the different shapes and sizes of zones 58 and 60 in Fig. 6, or as a function of the location of the vehicle or of proximity to other vehicles.
  • these alternative options depend only on the degree of sophistication deemed necessary for optimal performance and are all implemented through various levels of programming. For instance, since the position data of all vehicles of interest are periodically updated, they can be stored to calculate the current speed and direction of each vehicle, and this information in turn can be used to adjust the current size and shape of a variable interference zone.
  • the speed and direction can also be displayed, such as by arrows Aa,Ab associated with each vehicle and having a length proportionate to the vehicle speed and a relative direction consistent with the vehicle's current trajectory, as illustrated in Fig. 2.
  • Appropriate control buttons 62 may be provided in the modular unit 30 to give a user the capability of switching between options.
  • Interference-zone parameters can be defined by the end user, and could be any range, including within the entire mine, or within a closer proximity, such as within 100 meters, or within some close distance appropriate for the equipment in question (such as a loader working within a limited space) .
  • the device can generate any combination of proximity warnings, messages, or displays. These warnings, messages, or displays can inform the equipment operator, and/or any terminal that is accessible by the network, to display the location of any vehicle that is in the mining operation, and also to use that information to report deviations and proximities.
  • the preferred location device is a GPS unit, but it could equivalently be a GPS unit with a beacon system, or a triangulation device using lasers, radar, radio signals, a similar location-determination unit, or any combination of these.
  • the radio communication device may also be used to transmit and receive instructions to and from other computing devices for dispatching, safety, production, or any other storage, display, or processing purposes.
  • the radio communication device can be UHF, VHF, spread spectrum, or any other radio device adapted for this purpose.
  • the invention is based on the idea of providing each moving vehicle at a worksite, especially including outside vehicles visiting the site, with a means for tracking all other vehicles that may become relevant to its travel.
  • An important aspect of the invention is its direct and immediate availability to all vehicles regardless of whether or not the worksite has a central communication and traffic-guidance network, and whether or not part of the vehicles at the site are automated. If so, the tracking apparatus of the invention is also installed in autonomous vehicles and the alarm signals produced by the microprocessor 16 may be incorporated into the control protocol of the autonomous system. For example, an alarm signal alerting of the presence of another vehicle within the interference zone of an autonomous vehicle can be used as an additional level of supervision to appropriately conduct a safe operation of that vehicle.
  • Implementation of this invention is expected to virtually eliminate accidents caused by mine-vehicle operators' inability to see other vehicles operating in the vicinity of their equipment. Accordingly, it is believed that it will have a significant safety and economic impact on a mining operation.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un module portatif (10, 30) installé dans chacun des différents véhicules (A, B, C, D) et autres équipements mobiles sur un site de travail. Chaque module comprend au moins une unité GPS (12), un émetteur-récepteur (14), un processeur programmé avec mémoire (16), une alarme (18), et une source d'alimentation (20). Via le module, chaque véhicule peut communiquer avec les autres véhicules autour de lui sur le site et localiser ainsi leurs positions respectives afin de déterminer à quel moment tel ou tel véhicule est à une distance prédéterminée (Ra, Rb), ce qui permet d'activer une alarme informant l'opérateur de la présence de l'autre ou des autres véhicules.
PCT/US2001/019603 2000-07-13 2001-06-20 Module portatif de localisation de vehicule pour controle de trafic WO2002007002A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2001272955A AU2001272955A1 (en) 2000-07-13 2001-06-20 Portable vehicle-tracking module for traffic monitoring

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US61549200A 2000-07-13 2000-07-13
US09/615,492 2000-07-13

Publications (1)

Publication Number Publication Date
WO2002007002A1 true WO2002007002A1 (fr) 2002-01-24

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ID=24465610

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Application Number Title Priority Date Filing Date
PCT/US2001/019603 WO2002007002A1 (fr) 2000-07-13 2001-06-20 Module portatif de localisation de vehicule pour controle de trafic

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AU (1) AU2001272955A1 (fr)
WO (1) WO2002007002A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006005690B3 (de) * 2006-02-08 2007-06-06 Audi Ag Kraftfahrzeug umfassend eine Hupe und eine frontseitige Beleuchtungseinrichtung, sowie Verfahren zur automatischen Erzeugung und Gabe eines akustischen oder optischen Warnsignals mittels einer Hupe oder einer Beleuchtungseinrichtung
CN104181584A (zh) * 2013-05-23 2014-12-03 中国石油集团东方地球物理勘探有限责任公司 一种在勘探禁炮区预警的方法
EP3267417A4 (fr) * 2015-03-03 2018-11-07 Hitachi Construction Machinery Co., Ltd. Serveur et système de régulation de trafic
SE2350266A1 (en) * 2022-03-25 2023-09-26 Iveco Spa Infrastructure for road navigation management of a fleet of vehicles adapted to transport dangerous or potentially dangerous goods, and related methods

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5872526A (en) * 1996-05-23 1999-02-16 Sun Microsystems, Inc. GPS collision avoidance system
US5907293A (en) * 1996-05-30 1999-05-25 Sun Microsystems, Inc. System for displaying the characteristics, position, velocity and acceleration of nearby vehicles on a moving-map
US5936574A (en) * 1997-01-20 1999-08-10 Klaschka; Ruediger Device for monitoring the distance between two objects
US5952959A (en) * 1995-01-25 1999-09-14 American Technology Corporation GPS relative position detection system
US5983161A (en) * 1993-08-11 1999-11-09 Lemelson; Jerome H. GPS vehicle collision avoidance warning and control system and method
US6038502A (en) * 1996-02-21 2000-03-14 Komatsu Ltd. Apparatus and method for fleet control when unmanned and manned vehicles travel together

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5983161A (en) * 1993-08-11 1999-11-09 Lemelson; Jerome H. GPS vehicle collision avoidance warning and control system and method
US5952959A (en) * 1995-01-25 1999-09-14 American Technology Corporation GPS relative position detection system
US6038502A (en) * 1996-02-21 2000-03-14 Komatsu Ltd. Apparatus and method for fleet control when unmanned and manned vehicles travel together
US5872526A (en) * 1996-05-23 1999-02-16 Sun Microsystems, Inc. GPS collision avoidance system
US5907293A (en) * 1996-05-30 1999-05-25 Sun Microsystems, Inc. System for displaying the characteristics, position, velocity and acceleration of nearby vehicles on a moving-map
US5936574A (en) * 1997-01-20 1999-08-10 Klaschka; Ruediger Device for monitoring the distance between two objects

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006005690B3 (de) * 2006-02-08 2007-06-06 Audi Ag Kraftfahrzeug umfassend eine Hupe und eine frontseitige Beleuchtungseinrichtung, sowie Verfahren zur automatischen Erzeugung und Gabe eines akustischen oder optischen Warnsignals mittels einer Hupe oder einer Beleuchtungseinrichtung
CN104181584A (zh) * 2013-05-23 2014-12-03 中国石油集团东方地球物理勘探有限责任公司 一种在勘探禁炮区预警的方法
EP3267417A4 (fr) * 2015-03-03 2018-11-07 Hitachi Construction Machinery Co., Ltd. Serveur et système de régulation de trafic
SE2350266A1 (en) * 2022-03-25 2023-09-26 Iveco Spa Infrastructure for road navigation management of a fleet of vehicles adapted to transport dangerous or potentially dangerous goods, and related methods

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