Abstract:
A proximity warning and collision avoidance for a machine on a worksite operating near obstacles is disclosed. The proximity warning system includes an operator interface including first group of visual indicators including a low level indicator and a high level indicator, a second group of visual indicators including a low level indicator and a high level indicator, an audio indicator operable at a first volume and at a second volume, and operator inputs configured to receive selections from an operator. The proximity warning system is configured to provide both low level and high level alarms to an operator when an obstacle approaches or enters a safe zone, and when the machine approaches and enters a hazard zone.

Description:
FIELD OF THE INVENTION 
       [0001]    The present invention relates generally to proximity warning systems, and more particularly, relating to a worksite proximity warning system to avoid vehicle collisions. 
       BACKGROUND OF THE INVENTION 
       [0002]    In the construction and mining industry heavy equipment such as, for example, wheel loaders, excavators, motor graders, bulldozers, and other types of earth moving machines are used to perform a variety of tasks on a worksite. Some tasks require movement between locations on the worksite, and because of the poor visibility provided to an operator of the machines, ground personal, vehicles and other worksite hazards it can be difficult to safely maneuver the worksite. In certain instances, ground personal or vehicles may become to close to the machine without the operating being aware of their presence. In other circumstances, the operator may maneuver the machine dangerously close to obstacles or hazards that cannot be readily seen from the operator&#39;s cab of the machine. Collision incidents may cause damage to the machine, property, equipment and injury or death to the operator and ground personal. 
         [0003]    There exists numerous systems, methods and devices for vehicle collision avoidance. An example of position tracking and proximity warning system is described in U.S. Pat. No. 7,656,311; an example of a vehicle hazard and integrated navigation system is described in U.S. Pat. No. 6,583,734; a vehicle collision avoidance system is described in U.S. Patent Application Publication Number 2009/0259401; and a worksite zone mapping and collision avoidance system is described in U.S. Patent Application Publication Number 2009/0043462, the entirety of each are incorporated herein by reference. 
         [0004]    While the existing systems, devices and methods fulfill their particular objectives, a need remains for a proximity warning and collision avoidance system which includes a display of a simple, not distracting construction while effectively alerting an operator of a proximity warning event and which requires an operator to acknowledge the alarm. Further, there is a need for a proximity warning and collision avoidance system that enables an operator to request assistance. 
       SUMMARY OF THE INVENTION 
       [0005]    In general, in one aspect, proximity warning and collision avoidance system is provided. The system includes an established safe zone within a work environment within which a machine is safe to work. An established hazard zone within the work environment within which the machine is restricted. An operator interface comprising a first group of visual indicators including a low level indicator and a high level indicator, a second group of visual indicators including a low level indicator and a high level indicator, an audio indicator operable at a first volume and at a second volume, and operator inputs configured to receive selections from an operator. A controller in communication with the operator interface, and configured to control the operator interface to illuminate the low level indicator of the first group of visual indicators and to operate the audio indicator at the first volume when a hazard approaches within a predetermined distance from a perimeter of the established safe zone. The controller is further configured to control the operator interface to illuminate the high level indicator of the first group of visual indicators and to operate the audio indicator at the second volume when the hazard enters within the perimeter of the established safe zone. The controller is further configured to control the operator interface to illuminate the low level indicator of the second group of indicators and to operate the audio indicator at the first volume when the machine approaches within a predetermined distance from a perimeter of the established hazard zone. The controller further is configured to control the operator interface to illuminate the high level indicator of the second group of indicators and to operate the audio indicator at the second volume when the vehicle enters within the perimeter of the established hazard zone. 
         [0006]    In general, in another aspect, a method of warning a machine operator the proximity of obstacles relative to a machine is provided. The method includes establishing a safe zone within a work environment within which the machine is safe to work and establishing at least one hazard zone within a work environment within which the machine is restricted. The method further includes providing a low level alarm to an operator when a hazard approaches within a predetermined distance from a perimeter of the safe zone, providing a high level alarm to an operator when the hazard enters within the perimeter of the safe zone, providing a low level alarm to an operator when the machine approaches within a predetermined distance from a perimeter of the hazard zone and providing a high level alarm to an operator when the machine enters within the perimeter of the hazard zone. 
         [0007]    There has thus been outlined, rather broadly, the more important features of the invention in order that the detailed description thereof that follows may be better understood and in order that the present contribution to the art may be better appreciated. 
         [0008]    Numerous objects, features and advantages of the present invention will be readily apparent to those of ordinary skill in the art upon a reading of the following detailed description of presently preferred, but nonetheless illustrative, embodiments of the present invention when taken in conjunction with the accompanying drawings. The invention is capable of other embodiments and of being practiced and carried out in various ways. Also, it is to be understood that the phraseology and terminology employed herein are for the purpose of descriptions and should not be regarded as limiting. 
         [0009]    As such, those skilled in the art will appreciate that the conception, upon which this disclosure is based, may readily be utilized as a basis for the designing of other structures, methods and systems for carrying out the several purposes of the present invention. It is important, therefore, that the claims be regarded as including such equivalent constructions insofar as they do not depart from the spirit and scope of the present invention. 
         [0010]    For a better understanding of the invention, its operating advantages and the specific objects attained by its uses, reference should be had to the accompanying drawings and descriptive matter in which there is illustrated preferred embodiments of the invention. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0011]    The following drawings illustrate by way of example and are included to provide further understanding of the invention for the purpose of illustrative discussion of the embodiments of the invention. No attempt is made to show structural details of the embodiments in more detail than is necessary for a fundamental understanding of the invention, the description taken with the drawings making apparent to those skilled in the art how the several forms of the invention may be embodied in practice. Identical reference numerals do not necessarily indicate an identical structure. Rather, the same reference numeral may be used to indicate a similar feature of a feature with similar functionality. In the drawings: 
           [0012]      FIG. 1  is a diagrammatic illustration of an exemplary worksite comprising a proximity warning and collision avoidance system in accordance with the principles of the invention; 
           [0013]      FIG. 2  is a diagrammatic illustration of an operator interface; 
           [0014]      FIG. 3  is a diagrammatic illustration of an exemplary machine; 
           [0015]      FIG. 4  is a block diagram of a control system; and 
           [0016]      FIG. 5  is a diagrammatic illustration of an exemplary worksite in accordance with an embodiment of the invention. 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       [0017]    In this description, references to “one embodiment” or “an embodiment” mean that the featuring being referred to is included in at least one embodiment of the invention. Moreover, separate references to “one embodiment” in this description do not necessarily refer to the same embodiment. Illustrated embodiments are not mutually exclusive, unless so stated and except as will be readily apparent to those of ordinary skill in the art. Thus, the invention may include any variety of combinations and/or integrations of the embodiments described herein. 
         [0018]    In  FIG. 1  there is diagrammatically illustrated an exemplary worksite  10  with a mobile machine  12  performing a task at the worksite. The worksite  10  may include, for example, an oil field, a mine site, a landfill, a construction site, a roadway worksite, or any other type of worksite. The task being performed may require the mobile machine  12  to traverse the worksite. Mobile machine  12  may embody any type of driven machine that may be used at worksite  10 . For example, mobile machine  12  may embody an excavator, a grader, a backhoe, a bulldozer, or any other type of driven machine. 
         [0019]    Worksite  10  may include any number of stationary or mobile obstacles or hazards that the mobile machine  12  may encounter. Obstacles at the worksite may include, for example, a hazardous area  14  such as an oil well head, a fuel site or an explosive operation; a facility  16  such as a building, storage trailer or a utility structure  18  such as an overhead power line, underground gas, water and sewer pipes. The obstacles at the worksite  10  may also include, for example, a natural obstacle  20  such as a body of water, a cliff, a steep grade or a tree. The obstacles at the worksite  10  may also include, for example, ground personal  22  and/or other mobile vehicles  24 . Obstacles at the worksite  10  may also include other mobile machines  12  (not shown). 
         [0020]    In an embodiment, in order to prevent collision between the mobile machine  12  and any one of a number of obstacles on the worksite  10 , a proximity warning system  26  may include components that cooperate to receive signals from the obstacles and/or mobile machine  12 . The proximity warning system  26  may establish a hazard zone or electronic fence  36  about each obstacle at the worksite  10  and may establish a safe zone  38  about the mobile machine  12 . That is, the proximity warning system  26  may associate at least one artificial hazard zone or electronic fence  36  with each of the hazardous areas  14 , facilities  16 , utility structures  18 , natural obstacles  20 , ground personal  22  and mobile vehicles  24 . 
         [0021]    In an embodiment, the proximity warning system  26  may include one or more obstacle location signal emitters  28  associated with each obstacle. For example, ground personal  22  may carry a transmitter module  28 ; hazardous areas  14 , facilities  16 , utility structures  18 , natural obstacles  20  may include one or more transmitter modules positioned about the obstacle; and mobile vehicles  24  may be fitted with a transmitter module  28 . Each transmitter module  28  operates to broadcast an obstacle position signal indicating the presence of the associated obstacle. Transmitter module  28  may be configured to broadcast an obstacle position signal that may represent the varying degree of collision avoidance associated with the trespassing thereof by the mobile machine  12 . For example, a stationary obstacle like a fire hydrant may cause minor damage to the mobile machine  12 , while a cliff may cause more severe damage to the machine  12  and/or personal injury to the operator or injury or death from collision with ground personal. Transmitter module  28  may be configured to broadcast an obstacle position signal that may represent varying dimensions of hazard areas  36 . For example, the dimension of a hazard area associated with ground personal may be different than the dimension of a hazard area associated with a utility structure, etc. 
         [0022]    The proximity warning system  26  may further include a receiving module  30  configured to receive obstacle position signals transmitted by respective transmitter modules  28 . Receiving module  30  is disposed or otherwise carried by the mobile machine  12 . A controller  32  is in communication with the receiving module  30  and an operator interface  34 , as seen in  FIG. 2 . Operator interface  34  is positioned within a region of the cab of the mobile machine  12  and along an operator&#39;s line of sight  40 , as illustrated in  FIG. 3 . The controller  32  is configured to operate the operator interface  34  to operate alarm indicators provided by operator interface  34  as a function of a preprogrammed control, operator input and received obstacle position signals as will be discussed in further detail below. 
         [0023]    Referring to  FIG. 3 , operator interface  34  is a of a simple construction to prevent distraction of the mobile machine operator. Operator interface  34  includes a first group of visual indicators comprising lights  42  and  44 , a second group of visual indicators comprising lights  46  and  48 , and an audio indicator comprising speaker  50 . Operator interface  34  may further include a first set of user inputs comprising buttons  52  and  54  that are associated with the first group of visual indicators. Operator interface  34  may further include a second set of user inputs comprising buttons  56  and  58  that are associated with the second group of visual indicators. In embodiments, operator interface  34  may also include a display screen, such as an LCD screen  60  and a keypad  62 . In embodiments, Keypad  62  and LCD screen  60  can be used to program controller  32  according to various worksite maps, worksite hazards, etc. 
         [0024]    The first group of visual indicators are activated to alert the operator of the mobile machine  12  of a first proximity warning event, such as ground personal  22  or vehicles  24  approaching or entering the established safe zone  38  bounding the mobile machine  12 . The second group of visual indicators are activated to alert the operate of the mobile machine  12  of a second proximity warning event, such as the mobile machine  12  approaching or entering an established hazard zone  36  bounding an obstacle. 
         [0025]    In a first proximity warning event, the proximity warning system  26  operates to alert the operator of the mobile machine  12  that ground personal  22  or vehicle  24  is at the edge of the established safe zone  38 . The controller  32  determines the ground personal  22  or vehicle  24  is at the edge of the established safe zone  38  as a function of the position signal broadcasted by the associated transmitter module  28  that is received by the receiving module  30 . In this event, light  42  is illuminated along with the playing of an alert tone from speaker  50  at a first volume level. Light  42  may be illuminated in a flashing pattern or steadily illuminated. The operator must acknowledge the proximity warning event by depressing the “acknowledgement” button  52  on the display  34 . Pressing button  52  will turn the alarm off for a predetermined period of time allowing the mobile machine  12  to cross the established hazard zone  36  or allow time for the ground personal  22  or vehicle  24  to pass by the established safe zone  38 . The period of time is determined by safety personal and can by stacked if necessary, i.e. push once for 30 seconds, push twice for 60 seconds. In certain situations, the ground personal  22  or vehicle  24  must remain in close proximity to the mobile machine  12 . In these situations, the operator may enter an alarm exception allowing ground personal  22  or vehicle  24  to work within the established safe zone  38  without the proximity warning system  26  continuously alerting the operator of the proximity warning event. The operator may select an exception by depressing the “select” button  54 . The exceptions to operating protocol may be programmed by safety personal on an as-needed basis. 
         [0026]    In second proximity warning event, the proximity warning system  26  operates to alert the operator of the mobile machine  12  that ground personal  22  or vehicle  24  has entered the established safe zone  38 . The controller  32  determines the ground personal  22  or vehicle  24  is within the established safe zone  38  as a function of the position signal broadcasted by the associated transmitter module  28  that is received by the receiving module  30 . In this event, light  44  is illuminated along with the playing of an alert tone from speaker  50  at a second volume level. Light  44  may be illuminated in a flashing pattern or steadily illuminated. The second volume level is louder than the first volume level. This alarm event indicates to the operator to come to an emergency full stop to prevent incidents between the mobile machine  12  and hazards on the worksite  10 . This event may also be acknowledge and bypassed as discussed above with respect to the first proximity warning event. 
         [0027]    In embodiments, the proximity warning system  26  may be interconnected with the drive train and/or control systems of mobile vehicle  12  to provided collision avoidance. In this embodiment, the mobile machine  12  may be automatically disabled to an emergency full stop upon determining a second proximity warning event has occurred. 
         [0028]    In a third proximity warning event, the proximity warning system  26  operates to alert the operator the mobile machine  12  is at the edge of the established hazard zone  36 . The controller  32  determines mobile machine is at the edge of the established hazard zone  36  as a function of the position signal broadcasted by the associated transmitter module  28  that is received by the receiving module  30 . In this event, light  46  is illuminated along with the playing of an alert tone from speaker  50  at a first volume level. Light  46  may be illuminated in a flashing pattern or steadily illuminated. The operator must acknowledge the proximity warning event by depressing the “acknowledgement” button  56  on the display  34 . Pressing button  56  will turn the alarm off for a predetermined period of time allowing the mobile machine  12  to cross the established hazard zone  36 . The period of time is determined by safety personal and can by stacked if necessary, i.e. push once for 30 seconds, push twice for 60 seconds. In certain situations, mobile machine  12  may need to cross through or perform a task in an established hazard zone  26 . In these situations, the operator may enter an alarm exception allowing mobile machine  12  to work within the established hazard zone  36  without the proximity warning system  26  continuously alerting the operator of the proximity warning event. The operator may select an exception by depressing the “select” button  58 . The exceptions to operating protocol may be programmed by safety personal on an as-needed basis. 
         [0029]    In fourth proximity warning event, the proximity warning system  26  operates to alert the operator the mobile machine  12  has entered an established hazard zone  36 . The controller  32  determines the mobile machine  12  is within the established hazard zone  36  as a function of the position signal broadcasted by the associated transmitter module  28  that is received by the receiving module  30 . In this event, light  48  is illuminated along with the playing of an alert tone from speaker  50  at a second volume level. Light  48  may be illuminated in a flashing pattern or steadily illuminated. The second volume level is louder than the first volume level. This alarm event indicates to the operator to come to an emergency full stop to prevent incidents between the mobile machine  12  and hazards on the worksite  10 . This event may also be acknowledge and bypassed as discussed above with respect to the third proximity warning event. 
         [0030]    In embodiments, the proximity warning system  26  may be interconnected with the drive train and/or control systems of mobile vehicle  12  to provided collision avoidance. In this embodiment, the mobile machine  12  may be automatically disabled to an emergency full stop upon determining a fourth proximity warning event has occurred. 
         [0031]    In a more complex embodiment, the proximity warning system  26  may include a GPS  52  system in communication with the controller  32 . The GPS system  52  and the controller  32  are in communication with a central control  54 ,  FIG. 4 . In order to facilitate proximity warning with the obstacles at the worksite  10  the controller  32  may be programmed with a terrain map of the worksite  10 . The terrain map may include, for example, work surface data describing ground elevation, consistency, etc., at various locations at the worksite  10 . The terrain map may further include the locations of mobile machines  12  and the obstacles at the worksite  10 . The locations may be represented by, for example, site coordinates. The terrain map, including the obstacles at the worksite  10  and mobile machine  12 , may be represented as data in memory of the controller  32 . Further, data representing the obstacles and mobile machine  12  may include site coordinates corresponding to their locations on the worksite grid. The terrain map may also associate at least one artificial hazard zone or electronic fence  36  with each of the hazardous areas  14 , facilities  16 , utility structures  18 , natural obstacles  20 , and thus eliminating the use of associated emitter modules for these obstacles, as seen in  FIG. 5 . 
         [0032]    In embodiments, the integrated GPS system may be used to monitor the activity of the mobile machine  12  on the worksite  10  by supervisors and/or safety personal. The activity may also record or alert supervisors and/or safety personal of proximity warning events. 
         [0033]    In embodiments, the proximity warning system  26  may include an assistance request feature and an emergency response feature to notify supervisors or emergency response personal that the operator of the mobile machine  12  needs assistance. The integrated GPS may also provide exact location detail of the mobile machine when the assistance is requested. 
         [0034]    In an embodiment, the proximity warning system  26  may permit for custom programming to any worksite scenario that is necessary. Job specific programs may be entered into the system and controller  32  using operator interface  34 . As equipment is moved to a different task on the worksite the supervisor may enter into the system a corresponding task code allowing equipment to be used safely at any location on the worksite. 
         [0035]    A number of embodiments of the present invention have been described. Nevertheless, it will be understood that various modifications may be made without departing from the spirit and scope of the invention. Accordingly, other embodiments are within the scope of the following claims.