WO2011069267A1 - Appareil modulaire d'anticollision et procédé d'actionnement de celui-ci - Google Patents

Appareil modulaire d'anticollision et procédé d'actionnement de celui-ci Download PDF

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Publication number
WO2011069267A1
WO2011069267A1 PCT/CH2009/000395 CH2009000395W WO2011069267A1 WO 2011069267 A1 WO2011069267 A1 WO 2011069267A1 CH 2009000395 W CH2009000395 W CH 2009000395W WO 2011069267 A1 WO2011069267 A1 WO 2011069267A1
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WO
WIPO (PCT)
Prior art keywords
unit
mount unit
roof
cabin
vehicle
Prior art date
Application number
PCT/CH2009/000395
Other languages
English (en)
Inventor
Peter Arnold Stegmaier
Urs Martin Rothacher
Original Assignee
Safemine Ag
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 Safemine Ag filed Critical Safemine Ag
Priority to CA2783888A priority Critical patent/CA2783888C/fr
Priority to AU2009356536A priority patent/AU2009356536B2/en
Priority to PCT/CH2009/000395 priority patent/WO2011069267A1/fr
Priority to US13/515,191 priority patent/US8994557B2/en
Publication of WO2011069267A1 publication Critical patent/WO2011069267A1/fr
Priority to ZA2012/04425A priority patent/ZA201204425B/en

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
    • H01Q1/3233—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H01Q1/325—Adaptation for use in or on road or rail vehicles characterised by the location of the antenna on the vehicle
    • H01Q1/3275—Adaptation for use in or on road or rail vehicles characterised by the location of the antenna on the vehicle mounted on a horizontal surface of the vehicle, e.g. on roof, hood, trunk

Definitions

  • the invention relates to a collision warning apparatus comprising a positioning receiver, a radio transceiver and an operator information unit.
  • GNSS global navigation satellite system, such as GPS
  • GNSS-devices such as GPS
  • a radio transceiver for wireless exchange of the positional data with the other apparatus
  • a display device for outputting proximity warnings.
  • this type of apparatus is fixedly mounted to vehicles .
  • the problem to be solved by the present in- vention is to provide an apparatus that can be mounted easily to vehicles, as well as a method for operating such an apparatus .
  • the apparatus comprises:
  • a positioning receiver for a radio based positioning system such as a GNSS-receiver, in particu- lar a GPS-receiver .
  • This positioning receiver comprises a first antenna and first analog and first digital circuitry.
  • the radio transceiver for sending and receiving radio messages to/from other collision warning apparatus.
  • the radio transceiver comprises a second antenna, and second analog and second digital circuitry.
  • An operator information unit such as a display device, for issuing collision warnings to the user .
  • a control unit processing data from the positioning receiver and the radio transceiver (31) in order to generate the collision warnings.
  • the device has roof mount unit, a cabin mount unit and a digital transmission line:
  • the roof mount unit is structured and adapted to be mounted on the roof of a vehicle. It contains the first and second antenna as well as, at least, the first and second analog circuitry.
  • the cabin mount unit is structured and adapted to be mounted in the cabin of the vehicle. It contains the operator information unit. It may e.g. also contain at least part of the digital electronics of the positioning system, of the radio transceiver and/or of the control unit.
  • the digital transmission line consists of cabling connecting the roof mount unit and the cabin mount unit. It is adapted to exchange digital data between them and may also carry power.
  • the roof mount unit is mounted on the roof of the vehicle, and the cabin mount unit is mounted in the passenger cabin of the vehicle.
  • the present invention is based on the idea that all analog and radio frequency (RF) circuitry is arranged in the roof mount unit, while the communication between the roof mount unit and the cabin mount unit is digital. Since the transmission line between the two units is digital, it is not easily affected by damping, and it does not require extended shielding and can therefore be comparatively thin, such that it e.g. can easily be guided through a slit at the top of the vehicles window.
  • RF radio frequency
  • This design is especially suited for apparatus to be mounted on vehicles visiting a safety area. For example, if the vehicles in a mine or large construction site are monitored by an collision warning system of this type, a vehicle visiting the site can quickly and easily be equipped with a collision warning apparatus as described above.
  • Fig. 1 shows a site under surveillance of a collision warning system
  • Fig. 2 is a block circuit of a collision warning apparatus
  • Fig. 3 shows a roof mount unit, a cabin mount unit and a transmission line connecting the two, and
  • Fig. 4 is a sectional view of the roof mount unit of Fig. 3.
  • GNSS Global Navigation Satellite System
  • GPS Global Navigation Satellite System
  • Galileo GPS and Galileo
  • radio based positioning system stands for a GNSS or for any other type of positioning system using radio signals, such as a pseudolite system.
  • Fig. 1 schematically depicts a site 1, such as a surface mine or a large construction site, to be monitored by the present system.
  • a site typically covers a large area, in the case of a surface mine e.g. in the range of square kilometers, with a network of roads 2 and other traffic ways, such as rails 3.
  • a plurality of objects is present in the mine, such as:
  • Vehicles of this type may easily weigh several 100 tons, and they are generally difficult to control, have very large breaking distances, and a large number of blind spots that the driver is unable to visually monitor.
  • vehicles of this type weigh 3 tons or less. They comprise passenger vehicles and small lorries.
  • a further type of object within the mine is comprised of stationary obstacles, such as temporary or permanent buildings, open pits, boulders, non-movable excavators, stationary cranes, deposits, etc.
  • the risk of accidents in such an environment is high, specifically under adverse conditions as bad weather, during night shifts, etc.
  • the large sized vehicles can easily collide with other vehicles, or obstacles.
  • the mine 1 is equipped with a collision warning system that allows to generate prox- imity warnings, thereby reducing the risk of collisions and accidents.
  • the collision warning system comprises collision warning apparatus 12, one of which is mounted to each vehicle or obstacle.
  • the system can comprise a central server 13, whose role is explained below .
  • Fig. 2 shows a block circuit diagram of an example of a single collision warning apparatus 12.
  • the apparatus comprises:
  • control unit 20 having a microprocessor 21, memory (RAM 22, ROM 23) and interface circuitry 24 as known to the skilled person.
  • An operator information unit e.g. formed by a display 26, for displaying messages and information.
  • display 26 can be a LCD screen and/or can comprise a plurality of light sources suitable to convey two-dimensional images or symbols to the user.
  • the operator information unit can further or alternatively comprise a sound source 27, such as a loudspeaker or buzzer for emitting acoustic signals.
  • a first radio communication unit 30 is a positioning receiver for a radio based positioning system. It comprises a first antenna 30a, first analog circuitry 30b, and digital receiver circuitry 30c.
  • First analog circuitry 30b can e.g. comprise a preamplifier, filters, a mixer and a demodulator.
  • First digital circuitry 30c can e.g. comprise circuitry for analyzing the data from the demodulator in order to derive the position of the apparatus .
  • a second radio communication unit 31 is a radio transceiver for sending and receiving radio messages to/from other collision warning apparatus. Advanta- geously, the second radio communication unit 31 is adapted to directly communicate with the second radio communication units 31 of other apparatus 12, without the help of any intermediary transmitters. It comprises a second antenna 31a, second analog circuitry 31b and second digital circuitry 31c. Second analog circuitry 31b allows for two-way communication, and therefore, in addition to first analog circuitry 30b, further comprises a modulator, and outgoing mixer and an outgoing amplifier. Second digital circuitry 31c is e.g. structured to error check and decode incoming data and to encode outgoing data. Second radio communication unit 31 is typically a general-purpose non-cellular communication device for sending information from one collision detection apparatus to another collision detection apparatus.
  • a third radio communication unit 32 is optional. It is a cellular phone transceiver, such as a GMS or UMTS transceiver, adapted to send and receive messages through a cellular phone network. Alternatively, or in addition thereto, third radio communication unit 32 may comprise a receiver for communicating through another wireless data transmission network, such as WiFi, WiFi Mesh, WiMax, BigZee, etc. It comprises a third antenna 32a, third analog circuitry 32b and third digital circuitry 32c. Third analog circuitry 31b allows, as second analog circuitry 32b, for two-way communication, and therefore basically comprises the same type of components. Third digital circuitry 32c is e.g. structured to detect incoming SMS messages addressed to the given monitoring apparatus, and error check and decode them, to encode and address outgoing SMS messages, and to handle communication with the cellular network. It may also carry other forms of digital information exchange and/or voice .
  • Collision warning apparatus 12 advantageously comprises a rechargeable battery 60.
  • a battery charger 61 comprises circuitry for charging battery 60.
  • Battery charger 61 can draw power from at least one power source.
  • Such power sources can e.g. be
  • an inductive coupler 63 comprising a coil adapted to generate electrical current from an alternat- ing magnetic field generated by an external primary coil; such inductive power couplers are known to the skilled person; and/or
  • a solar power supply 64 mounted at the outer surface of device 12 or in a separate unit electri- cally connected to device 12.
  • Battery 60 and the components 61 - 64 can be used to feed power to roof mount unit 40 (described below) , display unit 41 (described below) and/or control unit 20.
  • the various units can also have separate power supply means .
  • the operation of the collision warning apparatus 12 can be basically as in conventional systems of this type, such as e.g. described in WO 2004/047047 and need not be described in detail herein.
  • each device obtains positional data derived from a signal from positioning receiver 30. This positional data allows to de- termine the position of the device and is stored in a "device status dataset".
  • the device status dataset also contains a- unigue identifier (i.e. an identifier unique to each apparatus or device 12 used on the same site) .
  • the device status dataset is emitted as a ra- dio signal through radio transceiver 31.
  • the device receives the corresponding signals from neighboring apparatus or devices 12 and, for each such neighboring apparatus 12, it calculates the relative distance d by subtracting its own coordinates from those of the neighboring device.
  • Proximity warnings can be generated by means of various algorithms. Examples of such algorithms are described in the following.
  • a proximity warning can be issued on display 26 and/or by loudspeaker 27. This corresponds to the assumption that a circular volume in space is reserved for each object.
  • the radius of the circular volume attributed to an object can e.g. be encoded in its device status dataset.
  • a more accurate algorithm can e.g. take into account not only the relative position, but also the driving velocities and directions of the vehicles.
  • An improvement of the prediction of collisions can be achieved by storing data indicative of the size and/or shape of the vehicle that a monitoring device is mounted to. This is especially true for large vehicles, which may have non-negligible dimensions.
  • a vehicle can be modeled to have the same size in all directions, thereby defining a circle/sphere "covered" by the vehicle. If these circles or spheres of two vehicles are predicted to intersect in the near future, a proximity warning can be issued.
  • a more refined modeling and therefore proximity prediction can be achieved by storing the shape (i.e. the bounds) of the vehicle in the data- set.
  • shape i.e. the bounds
  • the position of the positioning receiver 30 (or its antenna 30a) in respect to this shape or bounds can be stored in memory 22, 23.
  • the present apparatus can provide other uses and functions .
  • the apparatus can issue a warning when it leaves the site or enters a x forbidden area" of the site. This can e.g. happen when a user of the apparatus forgets to return the apparatus when leaving the site or tries to steal it.
  • This type of warning can be generated by executing the following steps:
  • control unit 20 obtains the position of the apparatus by means of positioning receiver 30.
  • control unit 20 compares this position to a predefined geographical area.
  • This geographical area can e.g. be stored in memory 22, 23 and describes the area where the apparatus is allowed to be operated. If it is found that the position is not within the geographical area, the following step 3 is executed:
  • a warning is issued.
  • This warning can e.g. be displayed on display 26 or issued as a sound by acoustic signal source 27.
  • the warning can be sent, by means of third radio communication unit 32, to central server 13, together with the current position and identity of the apparatus. Then, the warning can be displayed by central server 13 and brought to the attention of personnel that can then take any necessary steps.
  • third radio communication unit 32 Another application of third radio communication unit 32 is to send messages from central server 13 to any apparatus or device 12. Such messages are received by apparatus or device 12 and displayed on display 26 or replayed by acoustic signal source 27. This e.g. allows to issue warnings, alerts or information to the driver operating the vehicle.
  • Operator information unit 26, 27 can also issue further information, in addition to collision warn- ings .
  • control unit 20 can be adapted to issue, on operator information unit 26, 27, the following further information:
  • control unit 20 can have an "alert mode", which can be activated by a user, e.g. by pressing an alert button on a keyboard 29 and/or by voice control. It can e.g. be used to indicate that the person using the apparatus is in need of urgent help or needs all activity around it to be stopped immediately.
  • the device status dataset comprises a flag indicative of whether the device is in alert mode.
  • Another apparatus or device receiving a device status dataset that indicates that the sender is in alert mode may take appropriate action. For example, the central control room operator can be informed, closeby machinery can be shut down, etc.
  • the present system can also be used for generating automatic response to the presence of a vehicle or person at a certain location. For example, when a pedestrian vehicle with an apparatus 12 approaches a gate, such as actuator-operated door 36 of building 9, that door can open automatically. Similarly, an entry light can switch to red or to green, depending on the type of object that an apparatus 12 is attached to, or a boom can open or close. This can be achieved by mounting a receiver device to a selected object (such as a door, a gate or an entry light) . The receiver device is equipped with a radio receiver adapted to detect the proximity of monitoring devices.
  • the receiver device When the receiver device detects the proximity of an apparatus 12, it actuates an actuator (such as the door, gate, boom or entry light) after testing access rights of the object attributed to the apparatus.
  • the actuator may be actuated depending on the type of the object that the apparatus is attached to. This type is transmitted as part of the device status dataset of the apparatus.
  • apparatus 12 comprises an acceleration detector 28.
  • This acceleration detector 28 can be used to reduce the energy consumption of the apparatus.
  • first radio communication unit 30 positioning receiver
  • first radio communication unit 30 can have a "disabled mode" where it is not operating and an "enabled mode” where it is operating.
  • control unit 20 detects an acceleration by means of acceleration detector 28, it puts first radio communication unit 30 into its enabled state to obtain the current position of the device. Otherwise, it puts first radio communication unit 30, after a predetermined amount of time, into its disabled state.
  • control unit 20 can be adapted to put first radio communication unit 30 into its enabled state at regular intervals in order to perform sporadic position measurements.
  • apparatus 12 can have an "idle state” and an “ac ⁇ tive sate", wherein, in said idle state, apparatus 12 has a smaller power consumption than in said active state.
  • Control unit 20 is adapted to put apparatus 12 into its active state upon detection of an acceleration by acceleration detector 28, while the apparatus is e.g. brought back to its inactive state if no acceleration has been detected for a certain period of time.
  • the physical design of the apparatus 12 is shown in Figs. 3 and 4. It comprises a roof mount unit 40, a display unit 41 and a digital transmission and pow ⁇ er line 42 connecting them.
  • roof mount unit 40 is structured and adapted to be mounted to the roof of a ve ⁇ hicle. It can e.g. be equipped with an attachment (in the following called the "first attachment" for distinguishing it from a similar attachment of cabin mount unit 41) adapted to mounting the roof mount unit to the vehicle roof in quick and simple manner.
  • the first attachment can e.g. be a clamp or a suction cup, but advantageously it is a magnet 43 (Fig. 4) , in particular a permanent mag ⁇ net, of sufficient strength for affixing roof mount unit 40 to the steel roof of a vehicle.
  • Roof mount unit 40 comprises a housing 44, which has a flat base 45, which comes to rest on the ve ⁇ hicle's roof. It has a base section 46 and a head section 47, with base section 46 being located between base 45 and head section 47. As can best be seen in Fig. 4, first attachment or magnet 43 is part of base section 46. Further, base section 46 comprises a set of batteries 48 for supplying power to the components in roof mount unit 40 and in some embodiments also to the display. On the other hand, first, second and third antenna 30a, 31a, 32a are mounted in head section 47. The circuitry of head unit 40 is arranged on two printed circuit boards 50, 51, either in base section 46 or head section 47 or both.
  • This design has the advantage that the heavy components of roof mount unit 40, in particular the batteries 48, are mounted close to the vehicle's roof, while the light components, namely the antennas, are located further away from the roof, which reduces the risk of toppling while improving signal reception by the antennas.
  • the circuitry on circuit boards 50, 51 comprises at least the first, second and third analog circuitry 30b, 31b, 32b of the radio communication units 30, 31, 32.
  • a metal plate 52 is arranged between the antennas 30a, 31a, 32a and the circuit boards 50, 51 for shielding the antennas from electric noise from the circuitry on the boards.
  • Cabin mount unit 41 comprises a second attachment 55, such as a clamp or suction cup 56, adapted to mount unit 41 within the passenger cabin of the vehicle, in plain view of the driver, such as to the dashboard or windshield. It further comprises display 26 and sound source 27 in addition to any user operated controls .
  • control unit 20 which processes the signals from the communication units 30, generates the proximity warnings therefrom, and controls the opera ⁇ tion of display 26, is arranged in cabin mount unit 41.
  • the first, second and third digital circuitry 30c, 31c, 32c of the radio communication units 30, 31, 32 can be arranged in roof mount unit 40, cabin mount unit 41 or partially in both.
  • control unit 20 may also be located in roof mount unit 40, with cabin mount unit 41 e.g. only comprising the circuitry for driving display 26.
  • the whole apparatus may be powered by the batteries 48 of roof mount unit 47.
  • cabin mount unit 41 may be equipped with its own batteries or be provided with an adaptor for drawing power from the vehicle.
  • the batteries 48 in roof mount unit 41 can be dispensed with if power is supplied through the cables of transmission line 42 from cabin mount unit 41 to roof mount unit 40.
  • Transmission line 42 is a wire-bound transmission line having sufficient number of cables for transmitting the signals and, if necessary, a shielding.
  • Digital transmission line 42 can be wire- bound, i.e. be formed by one or more wires.
  • the transmission line 42 may also be a wireless link, such as a Bluetooth link.
  • first radio communication unit 30 positioning receiver of a given apparatus 12 may not be able to derive its position, or the determined position will be inaccurate. Also some of the apparatus at the site may not be
  • apparatus 12 can be equipped to perform a "signal strength triangulation" as described in the following.
  • This triangulation allows to determine the mutual positions of several apparatuses at least approximately, even if one or more of them is unable to determine its position based on GNSS signals.
  • the principles of this signal strength triangulation are described in the following.
  • first apparatus A and a second apparatus B know their positions and pg and receive a device status dataset with a signal from a third apparatus C.
  • the signal from apparatus C is lacking position information because apparatus C is unable to determine its position p ⁇ .
  • first apparatus A is able to measure the signal strength SQ ⁇ of the signal that it receives from third apparatus C
  • second apparatus B is able to measure the signal strength SQ-Q that it receives from third apparatus C. If the distance between apparatus A and apparatus C is r 3 ⁇ 4 £ and the distance between apparatus B and apparatus C is r-QQ r the following set of equations applies:
  • the position PQ can be basically calculated from the measured signal strengths SQ & and S ⁇ B-
  • any apparatus that knows the positions ,pg as well as the signal strengths SQ3 ⁇ 4, SQB measured by apparatus A and apparatus B, can obtain an estimate of the position c of apparatus C.
  • the apparatuses 12 can be designed to calculate the position of a "third" apparatus j if the device j does not deliver its position in its device status dataset.
  • the apparatuses 12 should be adapted to broadcast the identities j and the signal strengths Sjj_ of the signals received from other apparatus j by including this information in their device status dataset.
  • the device status dataset of an apparatus i includes the identities j and the signal strengths Sjj_ for of all (or at least part of the) apparatuses j that a signal was received from. The identity of the third apparatus j and its signal strength Sjj_ can then be used by any other apparatus for estimating the position pj of apparatus j .
  • Memory 22 in apparatus 12 can also be used for storing the trajectory of the apparatus while it is being used, alarms issued during said trajectory, and/or other significant information for later retrieval and use, in particular e.g. for mining process analysis and improvement, statistical hazard analysis, etc.
  • the apparatus 12 can also use CORS data, in particular CORS data received by means of third radio communication unit 32, in order to improve the position measurement derived from the signals of first radio communication unit 30.
  • CORS Continuous Operating Reference Stations
  • CORS Continuous Operating Reference Stations

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Security & Cryptography (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention porte sur un appareil d'anticollision destiné à être à monté sur un véhicule, lequel appareil comprend une unité de toit (40) destinée à être fixée sur le toit du véhicule, ainsi qu'une unité de cabine (41) destinée à être placée dans la cabine de conduite. Une liaison de transmission numérique (42) est conçue pour relier les deux unités. L'unité de toit (40) contient les antennes ainsi que les circuits analogiques de l'appareil, tandis que l'unité de cabine (41) comprend un dispositif d'affichage (26). Les données adressées au moyen de la liaison de transmission (42) sont numériques, ce qui permet de rendre celle-ci fine et souple. L'unité de toit (40) comprend un aimant (43) et des batteries (48) montés dans sa section de base (46), avec les éléments plus légers, en particulier les antennes (30a, 31a, 32a), placées dans sa section de tête (47).
PCT/CH2009/000395 2009-12-11 2009-12-11 Appareil modulaire d'anticollision et procédé d'actionnement de celui-ci WO2011069267A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
CA2783888A CA2783888C (fr) 2009-12-11 2009-12-11 Appareil modulaire d'anticollision et procede d'actionnement de celui-ci
AU2009356536A AU2009356536B2 (en) 2009-12-11 2009-12-11 Collision warning apparatus and method for operating the same
PCT/CH2009/000395 WO2011069267A1 (fr) 2009-12-11 2009-12-11 Appareil modulaire d'anticollision et procédé d'actionnement de celui-ci
US13/515,191 US8994557B2 (en) 2009-12-11 2009-12-11 Modular collision warning apparatus and method for operating the same
ZA2012/04425A ZA201204425B (en) 2009-12-11 2012-06-15 Modular collision warning apparatus and method for operating the same

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CH2009/000395 WO2011069267A1 (fr) 2009-12-11 2009-12-11 Appareil modulaire d'anticollision et procédé d'actionnement de celui-ci

Publications (1)

Publication Number Publication Date
WO2011069267A1 true WO2011069267A1 (fr) 2011-06-16

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US (1) US8994557B2 (fr)
AU (1) AU2009356536B2 (fr)
CA (1) CA2783888C (fr)
WO (1) WO2011069267A1 (fr)
ZA (1) ZA201204425B (fr)

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US8994557B2 (en) 2009-12-11 2015-03-31 Safemine Ag Modular collision warning apparatus and method for operating the same

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US8994557B2 (en) 2015-03-31
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CA2783888A1 (fr) 2011-06-16
CA2783888C (fr) 2017-02-28

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