# Patent

## Title
Sensor unit system

## Abstract

A mobile construction device sensor unit comprises a point-to-point radio ranging system and a position determining component. The point-to-point radio ranging system is configured to couple with a mobile construction device. The position determining component is coupled with the point-to-point radio ranging system and is configured for determining a position of the sensor unit in at least two dimensions based on communications between the point-to-point radio ranging system and a plurality of tags respectively located at a plurality of knowable locations within an operating environment of the mobile construction device.

## Background
CROSS-REFERENCE TO RELATED U.S. APPLICATION
Continuation
This application is a continuation application of and claims the benefit of co-pending U.S. patent application Ser. No. 13/708,843, entitled “SENSOR UNIT SYSTEM,” with filing date Dec. 7, 2012, by Gregory C. Best et al., and assigned to the assignee of the present application; U.S. patent application Ser. No. 13/708,843 is hereby incorporated by reference in its entirety herein.
U.S. patent application Ser. No. 13/708,843 is a continuation-in-part application of and claims the benefit of then co-pending U.S. patent application Ser. No. 13/017,320, entitled “SENSOR UNIT SYSTEM,” with filing date Jan. 31, 2011; U.S. patent application Ser. No. 13/017,320 is assigned to the assignee of the present application and was incorporated by reference in its entirety into U.S. patent application Ser. No. 13/708,843.
The application with U.S. application Ser. No. 13/017,320 claims the benefit of and claims priority to U.S. Provisional Patent Application No. 61/300,360, entitled “LIFTING DEVICE EFFICIENT LOAD DELIVERY, LOAD MONITORING, COLLISION AVOIDANCE, AND LOAD HAZARD AVOIDANCE,” with filing date Feb. 1, 2010.
CROSS-REFERENCE TO RELATED U.S. APPLICATIONS
This application is related to co-pending U.S. Pat. No. 8,618,949, entitled “LIFTING DEVICE EFFICIENT LOAD DELIVERY, LOAD MONITORING, COLLISION AVOIDANCE, AND LOAD HAZARD AVOIDANCE,” with filing date Jan. 31, 2011; U.S. patent application Ser. No. 13/017,232 is assigned to the assignee of the present application and is hereby incorporated by reference in its entirety herein.
The application with U.S. application Ser. No. 13/017,232 claims the benefit of and claims priority to U.S. Provisional Patent Application No. 61/300,360, entitled “LIFTING DEVICE EFFICIENT LOAD DELIVERY, LOAD MONITORING, COLLISION AVOIDANCE, AND LOAD HAZARD AVOIDANCE,” with filing date Feb. 1, 2010.
This application is related to U.S. patent application Ser. No. 14/088,167 entitled, “LIFTING DEVICE EFFICIENT LOAD DELIVERY, LOAD MONITORING, COLLISION AVOIDANCE, AND LOAD HAZARD AVOIDANCE” by John F. Cameron and Kurtis L. Maynard, assigned to the assignee of the present invention, filed Nov. 22, 2013.
This application is related to U.S. patent application Ser. No. 14/088,179 entitled, “LIFTING DEVICE EFFICIENT LOAD DELIVERY, LOAD MONITORING, COLLISION AVOIDANCE, AND LOAD HAZARD AVOIDANCE” by John F. Cameron and Kurtis L. Maynard, assigned to the assignee of the present invention, filed Nov. 22, 2013.
This application is related to U.S. patent application Ser. No. 14/088,195 entitled, “LIFTING DEVICE EFFICIENT LOAD DELIVERY, LOAD MONITORING, COLLISION AVOIDANCE, AND LOAD HAZARD AVOIDANCE” by John F. Cameron and Kurtis L. Maynard, assigned to the assignee of the present invention, filed Nov. 22, 2013.
This application is related to U.S. patent application Ser. No. 14/088,206 entitled, “LIFTING DEVICE EFFICIENT LOAD DELIVERY, LOAD MONITORING, COLLISION AVOIDANCE, AND LOAD HAZARD AVOIDANCE” by John F. Cameron and Kurtis L. Maynard, assigned to the assignee of the present invention, filed Nov. 22, 2013.
This application is related to U.S. patent application Ser. No. 14/088,214 entitled, “LIFTING DEVICE EFFICIENT LOAD DELIVERY, LOAD MONITORING, COLLISION AVOIDANCE, AND LOAD HAZARD AVOIDANCE” by John F. Cameron and Kurtis L. Maynard, assigned to the assignee of the present invention, filed Nov. 22, 2013.


BACKGROUND
When using a lifting device, such as for example, a crane, it is often very difficult or impossible for an operator to see the area around and below the load that is being lifted, moved, or positioned by the lifting device. As but one example, some lifts are blind to an operator of the lifting device, such as when a load is dropped into a hole. As such, it is difficult and sometimes dangerous to perform lift activities. This is because the lifting device operator cannot see the position of the load, and the hazards that might hit or be hit by the load. Even routine lifts, where a lifting device operator can view the load, can be complicated by diminished situational awareness regarding the position of the load and/or potential hazards in the vicinity of the load.
Additionally, a job site or work area often has more than one lifting device in operation at any given time. As lifting devices are often in movement and require immense concentration to operate, it can be difficult for an operator to constantly determine if there is adequate clearance to prevent collision of some portion of his lifting device or load with a portion of another lifting device or another lifting device's load.
Furthermore, having real time knowledge of the absolute position and orientation of the load, in coordination with a mapped or modeled job site, can facilitate and increase the efficiency of delivering this load to the coordinates of the desired destination.



BRIEF DESCRIPTION OF THE DRAWINGS
The accompanying drawings, which are incorporated in and form a part of this application, illustrate embodiments of the subject matter, and together with the description of embodiments, serve to explain the principles of the embodiments of the subject matter. Unless noted, the drawings referred to in this brief description of drawings should be understood as not being drawn to scale.
FIG. 1A is a diagram of an example lifting device sensor system in place on a lifting device, in accordance with an embodiment.
FIG. 1B shows an alternative coupling of a sensor unit of the sensor system with a lifting device load line, in accordance with an embodiment.
FIG. 2A is a diagram of a selection of sensor unit components coupled with a housing of a sensor unit, in accordance with an embodiment.
FIG. 2B illustrates a selection of features of a lifting device sensor unit, in accordance with various embodiments
FIG. 2C illustrates an example load line positioner coupled with a housing of a sensor unit, in accordance with an embodiment.
FIG. 2D illustrates an example sensor unit coupled with a hook block, in accordance with various embodiments.
FIG. 3 is a block diagram of additional lifting device sensor unit components that may variously be included in a lifting device sensor unit, according to one or more embodiments.
FIG. 4 illustrates a display of an example lift plan that has been generated by a lifting device sensor unit, according to an embodiment.
FIG. 5 illustrates a display of example lifting device geofence information that has been generated by one or more lifting device sensor units, according to an embodiment.
FIG. 6 is a flow diagram of an example method of monitoring a lifting device load, in accordance with an embodiment.
FIG. 7 is a flow diagram of an example method of lifting device collision, in accordance with an embodiment.
FIG. 8 is a flow diagram of an example method of lifting device load hazard avoidance, in accordance with an embodiment.
FIG. 9 shows an example GNSS receiver that may be used in accordance with some embodiments.
FIG. 10 illustrates a block diagram of an example computer system with which or upon which various embodiments may be implemented.
FIG. 11 is a block diagram of an example ad-hoc wireless personal area network in accordance with one or more embodiments.
FIG. 12 is a block diagram of an example ad-hoc wireless personal area network in accordance with one or more embodiments.
FIG. 13 is a block diagram of an example communication network in accordance with one or more embodiments.
FIG. 14 is a flowchart of a method for communicatively coupling a sensor unit system in accordance with one or more embodiments.
FIG. 15A is a diagram of example lifting device sensor unit components coupled with a housing of a sensor unit, in accordance with various embodiments.
FIG. 15B is a diagram of example sensor unit components, in accordance with various embodiments.
FIG. 15C is a diagram of an example sensor unit system in place on a mobile construction device, in accordance with an embodiment.
FIG. 16 is a diagram of a site utilizing components for determining the location of a lifting device sensor unit in accordance with an embodiment.
FIG. 17 is block diagram showing components of an example position determining component in accordance with an embodiment.
FIG. 18 is a block diagram of an example communication network in accordance with one or more embodiments.
FIG. 19 is a block diagram of an example communication network in accordance with one or more embodiments.
FIG. 20 is a flowchart of a method for providing sensor unit location data in accordance with one embodiment.
FIG. 21 is a flowchart of a method for providing sensor unit location data in accordance with one embodiment.



DESCRIPTION OF EMBODIMENTS
Reference will now be made in detail to various embodiments, examples of which are illustrated in the accompanying drawings. While the subject matter will be described in conjunction with these embodiments, it will be understood that they are not intended to limit the subject matter to these embodiments. On the contrary, the subject matter described herein is intended to cover alternatives, modifications and equivalents, which may be included within the spirit and scope as defined by the appended claims. In some embodiments, all or portions of the electronic computing devices, units, and components described herein are implemented in hardware, a combination of hardware and firmware, a combination of hardware and computer-executable instructions, or the like. Furthermore, in the following description, numerous specific details are set forth in order to provide a thorough understanding of the subject matter. However, some embodiments may be practiced without these specific details. In other instances, well-known methods, procedures, objects, and circuits have not been described in detail as not to unnecessarily obscure aspects of the subject matter.
Notation and Nomenclature
Unless specifically stated otherwise as apparent from the following discussions, it is appreciated that throughout the present Description of Embodiments, discussions utilizing terms such as “determining,” “monitoring,” “providing,” “initiating,” “generating,” “wirelessly communicating,” “wirelessly acquiring,” “wirelessly providing,” “accessing,” “communicating,” “using,” “coupling,” “communicatively coupling” or the like, often (but not always) refer to the actions and processes of a computer system or similar electronic computing device such as, but not limited to, a display unit and/or a lifting device sensor unit or component thereof. The electronic computing device manipulates and transforms data represented as physical (electronic) quantities within the electronic computing device's processors, registers, and/or memories into other data similarly represented as physical quantities within the electronic computing device's memories, registers and/or other such information storage, processing, transmission, or/or display components of the electronic computing device or other electronic computing device(s).
The term “lifting device” is used often herein. By “lifting device” what is meant is a device that utilizes a load line to lift a load. Some non-limiting examples of lifting devices include a jib crane, gantry crane, derrick crane, boom crane (telescoping or fixed), wheel mounted crane, truck mounted crane, crawler mounted crane, overhead crane, monorail carrier, straddle crane, tower crane, crane with a hoist but no boom, and a hoist. Typically a lifting device lifts a load with a hook or some attachment point located at a distal end/position of the load line with respect to a lifting point or arm to which it is attached. A load line is typically a cable, but in some a load line may comprise chain, rope, more than one cable, multiple sections of a single or multiple cables, or some combination thereof.
Overview
Example units, systems, and methods for lifting device efficient load delivery, load monitoring, collision avoidance, and load hazard avoidance are described herein. Discussion begins with description of lifting device sensor unit and system shown coupled with two example lifting devices. Discussion continues with description of various components of an example sensor unit that may be used for one or more of: assisting in efficient load delivery, load monitoring, collision avoidance, and load hazard avoidance. Techniques of object identification in the vicinity of the load are described. Example displays of a lift plan and lifting device geofences are then discussed. Example methods of operation are discussed. Discussion then turns to description of an example GNSS receiver which may be used in various portions of the sensor unit and sensor system. An example computer system is then described, with which or upon which various components, method procedures, or portions thereof may be implemented. Implementations of an ad-hoc wireless personal area network are then discussed. Discussion continues with a description of another lifting device sensor unit in accordance with various embodiment. In accordance with one or more embodiments, real-time location system (RTLS) tag(s) and transceiver(s) are used to determine the position of the lifting device sensor unit. In one embodiment, an RTLS transceiver is configured to determine the distance to one or more RTLS tags based upon the round trip time of flight of a signal generated by the RTLS transceiver and a respective reply from one or more RTLS tags. In another embodiment, a position determining component determines the distance to one or more RTLS tags based upon the respective signal strength of a reply from each of the RTLS tags communicating with a RTLS transceiver. In another embodiment, A position determining component performs a trilateration operation based upon the distance from the lifting device sensor unit and the known position of either the RTLS transceiver, or the RTLS tags. In one embodiment, the RTLS tags are disposed at known locations at a site at which the lifting device sensor unit is located and the RTLS transceiver is coupled with the lifting device sensor unit itself. In another embodiment, one or more RTLS transceiver are disposed at known locations at a site at which the lifting device sensor unit is located and the RTLS tag is coupled with the lifting device sensor unit itself. Finally, an example communication network is described.
Example Lifting Device Sensor System
FIG. 1A is a diagram of an example lifting device sensor system 100 in place on a lifting device 120, in accordance with an embodiment. Lifting device sensor system 100 can be used to assist in or accomplish one or more of efficient load delivery, load monitoring, collision avoidance, and load hazard avoidance. It is appreciated that two or more of these functions may often overlap. In one embodiment, lifting device sensor system 100 comprises sensor unit 110 and one or more display units 113. Dashed lines 115 and 115B indicate wireless communication that occurs or can occur between sensor unit 110 and display unit(s) 113. Display unit 113 may be a dedicated display with a wireless transceiver or may be part of an electronic device such as smart phone, netbook, notebook computer, tablet computer, or the like. It is appreciated that sensor unit 110 is referred to herein in the generic sense as “sensor unit” or “lifting device sensor unit,” and more particularly as “lifting device collision avoidance sensor unit,” or “lifting device load hazard avoidance sensor unit.” In some embodiments lifting device sensor system 100 further comprises: one or more global navigation satellite receivers (e.g., 108, 107) which are or may be coupled to portions of a lifting arm or a body of a lifting device, such as lifting device 120; and/or one or more object identifiers 102 that may be coupled to objects in a working area of lifting device 120. As will be discussed in greater detail below, in one embodiment, inertial sensors (e.g., 214 of FIG. 2A) of sensor unit 110 can be used to augment, or work in conjunction with, the GNSS receivers 107 and 108 and/or sensor unit 110 to provide lifting device sensor system 100 with positioning data. For example, during periods when the view to GNSS satellites may be temporarily obstructed, the inertial sensors can provide positioning data which permits lifting device sensor system 100 to continue determining the position of sensor unit 110 and/or portions of lifting device 120. As will be further described herein, in various embodiments sensor unit 110 is removably couplable with load line 112, other load lines of similar or different cross-sectional dimensions, and other load lines of similar or different configurations.
In FIG. 1A, GNSS receiver 108 is coupled to counterweights on the body (i.e., not on the lifting arm) of lifting device 120 and determines a position of point 143 in two or three dimensions. GNSS receiver 107 is coupled near the distal tip region of lifting arm 119 (a boom in this case) and determines a position of point 153 in two or three dimensions. It is appreciated that one or more of GNSS receivers 107 and 108 may wired or wirelessly communicate their determined positions (e.g., the positions of points 153 and 143) to operator cab 121 or to a component in operator cab 121 such as cab mounted display 113A. One such communication is illustrated by 109. Such positions may also be wirelessly communicated to components of sensor system 100, such as hand-holdable display unit 113B and/or sensor unit 110. Likewise, load information determined load cell 122 and/or lifting arm angle information determined by angle sensor/inclinometer 116 may be communicated to one or more components of sensor system 100 in the same or similar manner.
In FIG. 1A, object identifiers 102A and 102B are coupled to load 104 and identify information about load 104. Among other things, the information provided by load mounted objected identifiers may include information such as: what load 104 is (e.g., an I-beam); the orientation of load 104 (e.g., where the sides/ends are and/or which side/end belongs where at a final destination); and/or the lift destination for load 104. Object identifier 102C is located on the cap of person 117A and object identifier 102D is located on the helmet of person 117B. In various embodiments object identifiers may comprise mechanisms such as: Radio Frequency Identifiers (RFIDs); reflectors; bar codes; or some mix or combination thereof. Object identifiers facilitate identification, location, and/or tracking of one or more objects in the vicinity of a load in the viewing region beneath sensor unit 110. It is noted that in one embodiment, due to the nature of the components (e.g., positioning and communications technology) typically found on modern “smart” cellular telephones and Personal Digital Assistants (PDAs), the capability of providing an object identifier (e.g., object identifier 102C and 102D of FIG. 1A) can be provided using a cellular telephone, PDA, or similarly configured portable electronic having a suitable software application loaded onto it which enables it to be a part of, or communicatively coupled with, lifting device sensor system 100.
With continued reference to FIG. 1A, lifting device 120 includes an operator cab 121 from which an operator manipulates controls to lift a load 104 with lifting arm 119. In some embodiments, a lifting device that is configured differently than lifting device 120 may not include a cab, but may instead be operated with a handheld control box or in some other manner. Lifting device 120, in some embodiments, also includes one or more of: an angle sensor/inclinometer 116 for measuring an angle of lifting arm 119; and a load cell 122 for monitoring the presence, absence, and or weight of a load 104 on load line 112. As illustrated in FIG. 1A, rigging 105 is used to couple load 104 with a hook 111 located at a distal end of load line 112.
In FIG. 1A, point 133 represents a three dimensional position of sensor unit 110 that has been determined by a GNSS receiver (e.g., GNSS receiver 213A of FIG. 2A) disposed in. Point 134 represents a three dimensional position of or on load 104 that has been determined by sensor unit 110. In some embodiments, a GNSS receiver (e.g., GNSS receiver 213A or 213B of FIG. 2A) of sensor unit 110 also determines an angular orientation 135 of point 133 or some other point on sensor unit 110. Such an angular orientation identifies a swinging component of sensor unit 110 that can occur as a result of sensor unit 110 being coupled with load line 112.
FIG. 1B shows an alternative coupling of sensor unit 110 of the sensor system 100 with a lifting device load line 112, in accordance with an embodiment. It is appreciated that FIG. 1B also illustrates only one of one of several other techniques for coupling a hook 111 or attachment point with a load line 112. In FIG. 1B, an end of load line 112 is fixedly coupled to lifting arm 119 at attachment point 171. Hook 111 is coupled with a pulley 170 that moveably rides upon load line 112 and is located at a gravity determined distal position (with respect to lifting arm 119) on load line 112.
FIG. 2A is a diagram of a selection of sensor unit components coupled with a housing 201 of sensor unit 110, in accordance with an embodiment. As illustrated, in one embodiment, sensor unit 110 includes one or more GNSS receivers 213, one or more power sources 217, one or more load monitors 214, and one or more wireless transceivers 215. In some embodiments sensor unit 110 may also include one or more additional sensor unit components 216 (further described in FIG. 3). These components of sensor unit 110 are communicatively and/or electrically coupled with one another as required for performing functions of load monitoring, collision avoidance, and/or load hazard avoidance.
Housing 201 is configured to removably couple about a load line 112 of a lifting device. As depicted, this comprises housing 201 coupling about load line 112 at a location between load hook 111 (or other type of load attachment point in other embodiments) and the location where load line 112 meets the lifting device. In depicted embodiments housing 201 is substantially spherical, however other shapes are possible. Housing 201 is comprised of a rigid or semi-rigid material or materials. In one embodiment, all or a portion of housing 201 is made of an injection molded material such as high impact strength polycarbonate. In one embodiment at least a portion of housing 201 is transparent to GNSS satellite signals such that these signals can be received by GNSS receiver(s) 213A, 213B, which are couple with housing 201 and secured inside housing 201. In some embodiments housing 201 comprises a plurality of sections (e.g., hemispheres 201A, 201B) that join, fasten, latch, or otherwise couple with one another to form housing 201 and to removably couple about load line 112. Although two sections (hemispheres 201A, 201B) are illustrated, some embodiments may include more. As illustrated in FIG. 2A, hemispheres 201A and 201B removably couple with one another at joint 202.
Although housing 201 of sensor unit 110 is shown as being positioned above hook 111 on load line 112, in some embodiments, some of all of the functions/components of a sensor unit 110 may be built into or housed in lifting hook 111 or similar load attachment point/mechanism located on a distal end/portion of load line 112. One example of such an embodiment, is depicted in FIG. 2D.
With continued reference to FIG. 2A, the removably couplable characteristic of housing 201 facilitates field mounting and removal of sensor unit 110. In this manner, a construction company or crane rental company, for example, can flexibly utilize sensor unit 110 with a plurality of different lifting devices by moving sensor unit 110 from one lifting device load line to a load line of another lifting device. The removably couplable characteristic of housing 201 also facilitates the use of sensor unit 110 on lifting devices from a variety of manufacturers as no permanent mounting, hardwiring to the electrical system of the lifting device, or interfacing with the operating system of the lifting device is required.
Load monitor 214 (214A, 214B illustrated) are coupled with housing 201 and monitor a load 104 coupled with load line 112. This monitoring includes monitoring a load position and/or a load orientation of load 104. A load monitor may be a camera (e.g., a digital camera), a plurality of cameras, an ultrasonic sensor, a laser scanner, a bar code scanner, a radio frequency identification device transceiver, an inertial sensor (e.g., a gyroscope, accelerometer, mechanical accelerometer, an electro-mechanical accelerometer such as a Micro-Electro-Mechanical System (MEMS, etc.), or some combination of these. Load monitor(s) 214 typically face downward from sensor unit 110 toward load hook 111 to attain a field of view 218 (218A, 218B illustrated) that encompasses at least a portion of load 104 and typically some area in the surrounding vicinity of load 104. Through the use of object identifiers 102 (as illustrated in FIG. 1A), a load monitor 214 can track and locate object(s) marked with one or more object identifiers 102 as such objects enter or depart from a field of view 218. In some embodiments load monitor 214 performs ranging or positioning through use of photogrammetry, laser scanning, and/or ultrasonic measurement techniques in order to measure ranges to/and locations of objects in a field of view 218. In some embodiments, ranges/positions of objects in a field of view 218 are determined as an offset from a known three dimensional position of point 133 of sensor unit 110. In this manner, one or more positions with respect to a sensor unit 110 can be determined FIG. 1A illustrates one point 134, on load 104, for which a position has been determined in this fashion. However, in some embodiments, additional ranges/positions can be determined. For example, the ranges/positions of object identifiers 102A, 102B, 102C, and or 102D, can be determined when they are within one or more fields of view 218. Inertial sensors are used in one embodiment to augment, or work in conjunction with, the GNSS receivers 213 in determining the position of sensor unit 110 in three dimensions. The use of inertial sensors in sensor unit 110 allows lifting device sensor system 100 to continue positioning functions for periods of time when the view of GNSS satellites may be temporarily obstructed. The inertial sensors may also provide motion detection of sensor unit 110 for the purpose of initiating a shut-down sequence of one or more components of lifting device sensor system 100 to preserve their battery life when it is determined that sensor unit 110 has not moved for a selected period of time (e.g., five minutes, ten minutes, etc.). Alternatively, one or more of GNSS receivers 213 can be used to determine that sensor unit 110 has not moved for a period of time for the purpose of shutting down components of lifting device sensor system 100 to preserve their battery life.
In one embodiment, a load monitor 214 also monitors for load related hazards in a vicinity of load 104. A load related hazard is an object that is at risk of impacting with or being impacted by load 104. Such monitoring can be accomplished using range or position information that is determined regarding respective objects in one or more fields of view 218. Such objects may or may not be labeled with object identifiers 102. In some embodiments, load monitor 214 additionally or alternatively utilizes techniques such as facial recognition and/or infrared sensing to discern and monitor for persons 117 within a field of view 218.
It is appreciated that a field of view 218, and even overlapping fields of view (e.g., 218A, 218B, etc.), may have a blind spot beneath a load 104. In one embodiment, a load related hazard that may be monitored for is the loss of view, in or near the blind spot, of an object identifier (e.g., 102C, 102D as illustrated in FIG. 1A) associated with a person 117 or other object, or the loss of view of a person 117 that has been identified and monitored by other means.
Wireless transceiver 215 is coupled with housing 201. Wireless transceiver 215 may operate on any suitable wireless communication protocol including, but not limited to: WiFi, WiMAX, 802.11 family, cellular, two-way radio, and mesh networking. In one embodiment wireless transceiver 215 wirelessly provides information such as one or move of: load position (e.g., the position of point 134), load orientation, and/or a sensor unit position (e.g., the position of point 133) to a display unit 113 located apart from sensor unit 110. It is appreciated that other forms of information including, but not limited to, images, photos, video, lift plans, other object range/position information, object identification information, geofence information, collision alerts, and load hazard alerts can be provided wirelessly provided to a display unit 113 located apart from sensor unit 110. In some embodiments, wireless transceiver 215 communicates with one or more other sensor unit coupled with lifting devices that are within communication range. In some embodiments, wireless transceiver 215 communicates with one or more sensors or devices that are coupled with a lifting device, such sensors and devices include but are not limited to: a GNSS receiver (e.g., 107, 108, etc.), an angle sensor/inclinometer 116, and a load cell 122. For example, by communicating with load cell 122, load monitor 214 can receive information indicative of whether or not lifting device 120 has taken on or released a load 104. In some embodiments, this will allow load monitor 214 or other component(s) of sensor unit 110 to enter a low power energy conservation mode when a load 104 is not present in order to conserve power in power source(s) 217.
With continued reference to FIG. 2A, one or more power sources 217A, 217B are located inside housing 201. These power sources 217A, 217B couple with housing 201, and configured for providing electrical power for operating electrical components of sensor unit 110. These power sources 217 may comprise batteries, capacitors, or a combination thereof. Additionally, as described further below, these power sources 217 may be recharged by means of recharging contacts located on or accessible through the exterior surface of housing 201; and may be recharged by a power source charger that is coupled with housing 201 (as a part of sensor unit 110) and generates electrical power (e.g., through motion of sensor unit 110, through solar power production, or by other suitable power generation process).
FIG. 2B illustrates a selection of features of a lifting device sensor unit 110, in accordance with various embodiments. The features illustrated in FIG. 2B are located on or are accessible via the external surface of housing 201. This selection of features includes: a sound emitting device 251 (e.g., a speaker, siren, horn, or the like); a light emitting device 252 (e.g., a light bulb, strobe, light emitting diode, or the like); an access hatch 253; recharge contacts 254; and/or a protective bumper 255. Some, all, or none of these features may be included in embodiments of sensor unit 110. In one embodiment, light emitting device 252 comprises an array of status indicator lights such as Light Emitting Diodes (LEDs) which can be used to convey status information to an operator of lifting device 120.
In one embodiment, access hatch 253 provides easy access to components that are located in an internal portion of sensor unit 110. In some embodiments, access hatch 253 is a power source access hatch that facilitates access to power source(s) 217, to facilitate recharge, removal, and/or replacement of power source(s) 217 while sensor unit 110 remains coupled with load line 112. This allows some routine maintenance or internal access without requiring removal of sensor unit 110 from load line 112 or decoupling of housing portions 201A and 201B from one another.
Recharge contacts 254 facilitate recharge of power source(s) 217 without requiring removal of sensor unit 110 from load line 112 or decoupling of housing portions 201A and 201B from one another. For example, a person may attach charging leads to recharge contacts 254, or charging leads may automatically engage with recharge contacts 254 when sensor unit 110 is placed in a docked state. With reference to lifting device 120, in one embodiment, a docked state may be achieved by raising sensor unit 110 until it makes encounters a stop at lifting arm 119 where a dock or charging leads may reside. In other embodiments, when used with different types of lifting devices, a docked state may not be achievable or may be achieved in a different manner.
Protective bumper 255 extends from a portion of the external surface of housing 201 and provides a limited amount of impact protection for sensor unit 110. In some embodiments, protective bumper 255 may serve an additional purpose of securing or assisting in securing closure of portions (e.g., 201A, 201B) of housing 201. Protective bumper 255 may be slidably emplaced on housing 201 and held in place by friction and/or elastive force. Protective bumper 255 may also be latched or secured in place on housing 201.
FIG. 2C illustrates an example load line positioner 261 coupled with a housing 201 of sensor unit 110, in accordance with an embodiment. In one embodiment, load line positioner 261 comprises an arrangement of a plurality of pinch rollers/motors 261A, 261B, 261C to both hold sensor unit 110 in a particular place on load line 112 and to facilitate controllable and adjustable movement and positioning of sensor unit 110 along load line 112 (as indicated by the bi-directional arrow). Such movement, in one embodiment is controlled by position control 320 (FIG. 3) and may occur automatically in accordance with predefined criteria or in accordance with an input wirelessly received by sensor unit 110 (such as from a display unit 113 in response to a user input).
Movement of sensor unit 110 along load line 112 allows load monitor(s) 114 to monitor load 104 and take measurements from different locations. This can assist in photogrammetry and in other techniques used for determining range and/or position of objects in field of view(s) 218. Moreover, in performance of some lifts, it may be advantageous to move the sensor unit 110 in order for it to maintain reception of GNSS signals that would otherwise be shielded or blocked by objects in the lift area. Additionally, loads of large size may require the sensor unit 110 to be moved upward so that larger field(s) of view 218 around load 104 can be achieved than would be possible with sensor unit 110 in closer proximity to load 104. For example, it may be easy to get a field of view on sides of an I-beam with the sensor unit 110 located near the I-beam, but difficult to get a field on sides of a large panel, pallet, or container that block portions of the field of view from the same position of sensor unit 110. Additional movement of sensor unit 110 may occur in situations where the lifting device 120 uses a pulley type arrangement for securing hook 111 to load line 112 (as illustrated in FIG. 1B).
FIG. 2D illustrates an example sensor unit 110 coupled with a hook block 111, in accordance with various embodiments. As in FIGS. 2A and 2D, sensor unit 110 includes a housing 201 with which or within which, the various components and sensors of sensor unit 110 may be coupled. It is appreciated that one or more of the various features described in conjunction with FIG. 2A and FIG. 2B may be included in the sensor unit and housing thereof which are depicted in FIG. 2D. Although depicted as spherical, housing 201 of FIG. 2D, may be of other shapes. Additionally, although depicted as being disposed in the midst of load hook 111, sensor unit 110 and its housing 201 may be disposed between load line 112 and hook 111, in some embodiments or fully integrated within hook 111. The combination of hook 111 and sensor 110, as depicted in FIG. 2D, is one example of a hook block sensor assembly (e.g., hook block sensor assembly 1101, which is described in conjunction with FIG. 11). Though not illustrated in FIG. 2D, in some embodiments, hook 111 may be integrated with one or more pulleys such that cable 112 may be coupled with two or more points of a lifting arm 119 (see e.g., FIG. 1B, for one such example).
FIG. 3 is a block diagram of additional lifting device sensor unit components 216 that may be variously included in a lifting device sensor unit 110, according to one or more embodiments. These additional sensor unit components may include one or more of a lift plan generator 305, a collision monitor 310, an avoidance action initiator 315, a position control 320, and a power source charger 325.
Lift plan generator 305 generates a lift plan for efficiently lifting and/or safely lifting a load 104 to a destination associated with the load. Following such a lift plan, rather than having an operator “eyeball” a lift from scratch with no lift plan can reduce accidents and in many cases speed lifting, thus improving productivity. In one embodiment, lift plan generator 305 utilizes identified information regarding a load to ascertain where its destination is on a job site. Other information such as a destination orientation of a load 104 may be ascertained. Such information can be discerned based on one or more object identifiers 102 that may be coupled with a load 104 and may include this information, such as in an RFID memory or may provide a identifier associated with the load which can be used for looking up or accessing such load destination information from a job site schematic or virtual plan. Lift plan generator 305 may additionally or alternatively take into account known (e.g., mapped such as in a virtual site plan or previously recognized by sensor unit 110) objects and hazards which are in the vicinity of the lift, such that these hazards are safely avoided in the generated lift plan. In this fashion, based on the virtual plan of a site and/or objects that load monitor 214 has mapped, the lift plan is generated such that an efficient path is outlined which does allows the load to avoid known hazards between the start and destination of the lift. In one embodiment wireless transceiver 215 provides this lift plan to a display unit 113 for display to a user during the lift. Lift plan generator 305 can also be used when multiple lifting devices 120 are used to lift and/or move a single shared load. In one embodiment, a separate lift plan generator 305 is implemented on each of the lifting devices 120 that are coordinating their efforts to lift and/or move a single shared load and generates commands to control the operation of its respective lifting device 120 such that the single shared load can be lifted and/or moved safely and efficiently. In one embodiment, communication between sensor unit 110 can be sent to multiple display units 113A and 113B to coordinate implementation of lifting and/or moving of a single shared load, or communication between multiple sensor units 110 can be sent to a single display unit 113A or 113B to coordinate implementation of lifting and/or moving of a single shared load. Similarly, communication between multiple sensor units 110 can be sent to multiple display units 113A and 113B to coordinate implementation of lifting and/or moving of a single shared load.
FIG. 4 illustrates a display of an example lift plan 400 that has been generated by a lifting device sensor unit 110, according to an embodiment. Lift plan 400 includes a top plan view 410 and a side elevation view 420 of the lift path of load 104 from an initial location 401 to a destination location 402. It is appreciated that, in some embodiments, additional or different views of the lift path of a load may be generated by lift plan generator 305. It is also appreciated that, in some embodiments, all or a portion of lift plan 400 may be displayed in conjunction with an image or virtual image of the environment through which a load will be lifted.
Referring again to FIG. 3, collision monitor 310 monitors for collision related hazards in a vicinity of a lifting device to which sensor unit 110 is coupled. In one embodiment, this collision monitoring function relies on position information from one or more other sensor units coupled that are coupled with other lifting devices. In one embodiment, collision monitor generates a geofence (a virtual barrier based upon positional coordinates) that surrounds the lifting device to which it is coupled. This geofence can be generated in several ways. One embodiment comprises establishing a circular geofences at a preset radius from a position of point 133 of sensor unit 110. This radius may be set when sensor unit 110 is initially coupled with a load line 112. Another embodiment comprises using a position (e.g., the position of point 133) that is associated with a position of sensor unit 110 as a radius for drawing a circular geofence around a position (e.g., the position of point 143) on the body of lifting device 120. In either case, the geofence may be re-generated by collision monitor 310 at regular intervals or as positions used in the calculation of the geofence changes.
Collision monitor 310 stores the generated geofence for lifting device 120 and then generates or utilizes similar geofences for other lifting devices in the area to which other sensor units 110 are coupled. Collision monitor 310 then monitors the geofences for occurrence of collision related hazard such as intersection of the geofences or encroachment of the position of a sensor unit or body of one lifting device across the border of a geofence associated with a different lifting device. In one embodiment, wireless transceiver 215 provides geofence information generated or stored in collision monitor 310 to a display unit 113.
FIG. 5 illustrates a display of example lifting device geofence information 500 that has been generated by one or more lifting device sensor units 110, according to an embodiment. A geofence 510 is illustrated for lifting device 120. A second geofence 520 is illustrated for a second lifting device. Collision monitor 310 has generated geofence 510 as a circle about the position of point 143, with a radius established by the position of point 133 (see FIG. 1A). Geofence 520 has been generated in a similar manner as a circle about the position of point 521 (located on the body of a second lifting device), with a radius established by the position of point 522 (located on a sensor unit coupled with the load line of the second lifting device). This technique for generating geofences is acceptable for certain lifting devices such as boom cranes, when a sensor unit will be located substantially on a gravity vector beneath a boom tip. Other techniques, to include the use of buffer zones can utilized in other situations.
In one embodiment, collision monitor 310 monitors for a collision hazard such as an intersection 540 of geofences 510 and 520 or an incursion or anticipated incursion (based on direction and speed) of a known position, such as the position of point 133 with a point 541, 542 on the circumference of geofence 520 or the similar incursion of the position of point 522 with a point 541, 542 on the circumference of geofence 510. In one embodiment, when a collision hazard has been monitored by collision monitor 310, information regarding the occurrence of the collision hazard is provided to avoidance action initiator 315.
An avoidance action initiator 315 initiates at least one hazard avoidance action in response to a monitored occurrence of a collision related hazard. In various embodiments, among other actions, this can comprise initiating one or more actions such as causing a warning to sound from sound emitting device 251, causing illumination of an indicator of light emitting device 252, and/or causing a collision warning to be transmitted to a display unit 113. It is appreciated that avoidance action initiator 315 may initiate one or more similar actions in response to a monitored occurrence of a load hazard condition being indicated by load monitor 314. In various embodiments, among other actions, this can comprise one or more of causing a warning to sound from sound emitting device 251, causing illumination of an indicator of light emitting device 252, and/or causing a load hazard warning to be transmitted to a display unit 113. In one embodiment, avoidance action initiator 315 may generate commands which automatically initiate suspension of movement of load 104 to prevent a collision with another object. When it is determined that load 104 can again be moved safely, a safety code can be entered (e.g., using display unit 113A or 113B).
Position control 320 generates positioning commands, such as motor control signals for controlling the operation of load line positioner 261 or components thereof.
Power source charger 325 generating a charge for charging power source(s) 217. In various embodiments power source charger 325 comprises one or more of a solar panel and/or a motion induced power generator (operating in a similar fashion to the rotor of a self-winding watch). It is appreciated that even a small amount of power generated by power source charger 325 will extend the operational duration of power source(s) 217 and thus reduce down time of sensor unit 110.
In some embodiments, sensor unit(s) 110 and/or other portions of sensor system 100 act as reporting sources, which report information to an asset management system. Such an asset management system may be centralized or decentralized and may be located on or off of a construction site at which one or more reporting sources are located. The reporting sources report information regarding construction equipment assets to which they are coupled. Such information may include position information, operational information, and/or time of operation information. Such an asset management system may comprise a computer system (e.g., computer system 1000) such as a server computer and/or a database which are used for generating reports, warnings, and the like to be based upon reported information which may include one or more of (but is not limited to) location of operation of a construction equipment asset, time of day of operation of a construction equipment asset, interaction of a construction equipment asset with respect to one or more another construction equipment assets, interaction of a construction equipment asset with respect to a geofence, and/or compliance or non-compliance with a rule or condition of use associated with a construction equipment asset. Typically such a computer system and/or database will be located remotely from a sensor unit 110 and a sensor system 100.
In some embodiments, sensor unit(s) 110 and/or other portions of sensor system 100 act as reporting sources for reporting information to a lifting device load monitoring system, lifting device collision avoidance system, lifting device load hazard avoidance system, and/or a virtual reality system. Such a load monitoring system, collision avoidance system, load hazard avoidance system, and/or a virtual reality system may be centralized or decentralized and may be located on or off of a construction site at which one or more reporting sources are located. Such a load monitoring system, collision avoidance system, load hazard avoidance system, and/or a virtual reality system may comprise or be implemented with a computer system (e.g., computer system 1000) or some variation thereof. Typically, such a computer system will be located remotely from a sensor unit 110 and a sensor system 100. In some embodiments, one or more of object identification, lift plan generation, collision avoidance monitoring, load hazard monitoring, geofence generation, avoidance action initiation, and/or other functions described above with respect to sensor system 100 and/or sensor unit 110 may be handled by a collision avoidance and/or virtual reality system. Such functions may be implemented based in whole or in part on information reported by one or more sensor systems 100 or sensor units 110.
Example Methods of Use
With reference to FIGS. 6, 7, and 8, flow diagrams 600, 700, and 800 illustrate example procedures used by various embodiments. Flow diagrams 600, 700, and 800 include processes and operations that, in various embodiments, are carried out by one or more processors (e.g., processor(s) 1006 of FIG. 10) under the control of computer-readable and computer-executable instructions. The computer-readable and computer-executable instructions reside, for example, in tangible data storage features such as volatile memory, non-volatile memory, and/or a data storage unit (see e.g., 1008, 1010, and 1012 of FIG. 10). The computer-readable and computer-executable instructions can also reside on any tangible computer readable media such as a hard disk drive, floppy disk, magnetic tape, Compact Disc, Digital Versatile Disc, and the like. The computer-readable and computer-executable instructions, which may reside on computer readable media, are used to control or operate in conjunction with, for example, one or more components of sensor unit 110 and/or and or one or more processors 1006.
Although specific procedures are disclosed in flow diagrams 600, 700, and 800 such procedures are examples. That is, embodiments are well suited to performing various other operations or variations of the operations recited in the processes of flow diagrams 600, 700, and 800. Likewise, in some embodiments, the operations in flow diagrams 600, 700, and 800 may be performed in an order different than presented, not all of the operations described in one or more of these flow diagrams may be performed, and/or one or more additional operation may be added.
Example Method of Monitoring a Lifting Device Load
FIG. 6 is a flow diagram 600 of an example method of monitoring a lifting device load, in accordance with an embodiment. Reference will be made to FIGS. 1A and 2A to facilitate the explanation of the operations of the method of flow diagram 600. In one embodiment, the method of flow diagram 600 describes a use of sensor unit 110 and/or sensor system 100, while coupled with a lifting device, such as lifting device 120.
At operation 610, in one embodiment, a three dimensional position is determined for a point of a sensor unit 110 that is coupled with a load line 112 of a lifting device 120. This position determining is performed by at least a first GNSS receiver 213 that is coupled with a housing 201 of sensor unit 110. For example, this can comprise GNSS receiver 213A determining a three dimensional position of point 133 of sensor unit 110. This can further comprise GNSS receiver 213A (assuming it is a dual axis GNSS receiver with multiple antennas) or GNSS receiver 213B further determining an angular orientation of sensor unit 110.
At operation 620, in one embodiment, load position and a load orientation of a load 104 are monitored. The monitored load 104 is coupled with the load line 112 of the lifting device 120. In one embodiment, this monitoring of the load is performed by load monitor 214 in the manner that has previously been described herein.
At operation 630, in one embodiment, information is wirelessly provided from the sensor unit to a display unit located apart from the sensor unit. The information includes one or more of the load position, the load orientation, and the sensor unit position. The information may also include position, ranging, laser scanner information, bar code information, RFID information, load related hazard information, or image information related to objects monitored in the field of view of load monitor(s) 214. Wireless transceiver 215 transmits or provides access of this information. This can comprise wirelessly providing the information for display on a hand-holdable unit (e.g., on display unit 113B) for display in an operator cab of the lifting device (e.g., on display unit 113A) or for transmission to another sensor unit 110 or other device or system.
Example Method of Lifting Device Collision Avoidance
FIG. 7 is a flow diagram 700 of an example method of lifting device collision avoidance, in accordance with an embodiment. Reference will be made to FIGS. 1A, 2A, 3, and 5 to facilitate the explanation of the operations of the method of flow diagram 700. In one embodiment, the method of flow diagram 700 describes a use of sensor unit 110 (referred to as a lifting device collision avoidance unit) and/or sensor system 100, while coupled with a lifting device, such as lifting device 120.
At operation 710, in one embodiment, a three dimensional position is determined for a point of a collision avoidance sensor unit 110 that is coupled with a load line 112 of a lifting device 120. This position determining is performed by at least a first GNSS receiver 213 that is coupled with a housing 201 of collision avoidance sensor unit 110. For example, this can comprise GNSS receiver 213A determining a three dimensional position of point 133 of collision avoidance sensor unit 110. This can further comprise GNSS receiver 213A (assuming it is a dual axis GNSS receiver with multiple antennas) or GNSS receiver 213B further determining an angular orientation of collision avoidance sensor unit 110.
At operation 720, in one embodiment, a geofence is generated for the first lifting device 120. The geofence is generated based at least in part on the collision avoidance sensor unit position that has been determined. In one embodiment, the geofence is generated by collision monitor 310 in the manner that has been previously described herein.
At operation 730, in one embodiment, a collision related hazard is monitored for occurrence. Occurrence of a collision related hazard is indicated by encroachment between the first geofence and a second geofence that is associated with a second lifting device. In one embodiment, collision monitor 310 monitors for occurrence of a collision related hazard in the manner previously described herein. The second geofence may be generated by collision monitor 310 based on position information accessed from a second collision avoidance sensor unit that is coupled with the second lifting device, or the second geofence may be received from the second collision avoidance sensor unit.
At operation 740, in one embodiment, at least one collision hazard avoidance action is initiated in response to a monitored occurrence of a collision related hazard. In one embodiment, this comprises avoidance action initiator 315 initiating an avoidance action in response to collision monitor 310 monitoring an occurrence of collision related hazard. As previously described this can comprise avoidance action initiator 315 causing wireless transceiver 215 to wirelessly provide a collision alert for display on a display unit 113 that is located apart from collision avoidance sensor unit 110; causing a warning such as a siren, tone, or horn to sound; and/or or causing an indicator such as a light or strobe to illuminate.
At operation 750, in one embodiment, method of flow diagram 700 additionally comprises wirelessly providing the first geofence and the second geofence from the collision avoidance sensor unit 110 to a display unit 113 located apart from the collision avoidance sensor unit 110. FIG. 5 shows an example of such information displayed on display unit 113. It is appreciated that more that two geofences may be provided for display in other embodiments. It is also appreciated that the geofences may be displayed in conjunction with images or virtual images of the working area in and surrounding the geofences.
Example Method of Lifting Device Load Hazard Avoidance
FIG. 8 is a flow diagram 800 of an example method of lifting device load hazard avoidance, in accordance with an embodiment. Reference will be made to FIGS. 1A, 2A, and 3 to facilitate the explanation of the operations of the method of flow diagram 800. In one embodiment, the method of flow diagram 800 describes a use of sensor unit 110 (referred to as a lifting device load hazard avoidance unit) and/or sensor system 100, while coupled with a lifting device, such as lifting device 120.
At operation 810, in one embodiment, a three dimensional position is determined for a point of a load hazard avoidance sensor unit 110 that is coupled with a load line 112 of a lifting device 120. This position determining is performed by at least a first GNSS receiver 213 that is coupled with a housing 201 of load hazard avoidance sensor unit 110. For example, this can comprise GNSS receiver 213A determining a three dimensional position of point 133 of load hazard avoidance sensor unit 110. This can further comprise GNSS receiver 213A (assuming it is a dual axis GNSS receiver with multiple antennas) or GNSS receiver 213B further determining an angular orientation of load hazard avoidance sensor unit 110.
At operation 820, in one embodiment, a load related hazard in a vicinity of a load 104 is monitored for. The load 104 is coupled with load line 112 of lifting device 120. In one embodiment, the monitoring performed by load monitor(s) 214 in one or more of the manners previously described herein. This includes monitoring for an imminent or potential collision between load 104 and an object in the vicinity of load 104. This also includes monitoring for loss of visibility of a person 117 beneath load 104.
At operation 830, in one embodiment, at least one load related hazard avoidance action is initiated in response to a monitored occurrence of a load related hazard. In one embodiment, this comprises avoidance action initiator 315 initiating an avoidance action in response to load monitor(s) 114 monitoring an occurrence of load related hazard. As previously described this can comprise avoidance action initiator 315 causing wireless transceiver 215 to wirelessly provide a load hazard alert for display on a display unit 113 that is located apart from collision avoidance sensor unit 110; causing a warning such as a siren, tone, or horn to sound; and/or or causing an indicator such as a light or strobe to illuminate.
Example GNSS Receiver
FIG. 9, shows an example GNSS receiver 900, according to one embodiment which may be utilized all or in part one or more of GNSS receivers 213A, 213B, 107, and/or 108. It is appreciated that different types or variations of GNSS receivers may also be suitable for use in the embodiments described herein. In FIG. 9, received L1 and L2 signals are generated by at least one GPS satellite. Each GPS satellite generates different signal L1 and L2 signals and they are processed by different digital channel processors 952 which operate in the same way as one another. FIG. 9 shows GPS signals (L1=1575.42 MHz, L2=1227.60 MHz) entering GPS receiver 900 through a dual frequency antenna 932. Antenna 932 may be a magnetically mountable model commercially available from Trimble Navigation of Sunnyvale, Calif. Master oscillator 948 provides the reference oscillator which drives all other clocks in the system. Frequency synthesizer 938 takes the output of master oscillator 948 and generates important clock and local oscillator frequencies used throughout the system. For example, in one embodiment frequency synthesizer 938 generates several timing signals such as a 1st (local oscillator) signal LO1 at 1400 MHz, a 2nd local oscillator signal LO2 at 175 MHz, an SCLK (sampling clock) signal at 25 MHz, and a MSEC (millisecond) signal used by the system as a measurement of local reference time.
A filter/LNA (Low Noise Amplifier) 934 performs filtering and low noise amplification of both L1 and L2 signals. The noise figure of GPS receiver 900 is dictated by the performance of the filter/LNA combination. The downconvertor 936 mixes both L1 and L2 signals in frequency down to approximately 175 MHz and outputs the analogue L1 and L2 signals into an IF (intermediate frequency) processor 950. IF processor 950 takes the analog L1 and L2 signals at approximately 175 MHz and converts them into digitally sampled L1 and L2 inphase (L1 I and L2 I) and quadrature signals (L1 Q and L2 Q) at carrier frequencies 420 KHz for L1 and at 2.6 MHz for L2 signals respectively.
At least one digital channel processor 952 inputs the digitally sampled L1 and L2 inphase and quadrature signals. All digital channel processors 952 are typically are identical by design and typically operate on identical input samples. Each digital channel processor 952 is designed to digitally track the L1 and L2 signals produced by one satellite by tracking code and carrier signals and to from code and carrier phase measurements in conjunction with the microprocessor system 954. One digital channel processor 952 is capable of tracking one satellite in both L1 and L2 channels. Microprocessor system 954 is a general purpose computing device (such as computer system 1000 of FIG. 10) which facilitates tracking and measurements processes, providing pseudorange and carrier phase measurements for a navigation processor 958. In one embodiment, microprocessor system 954 provides signals to control the operation of one or more digital channel processors 952. Navigation processor 958 performs the higher level function of combining measurements in such a way as to produce position, velocity and time information for the differential and surveying functions. Storage 960 is coupled with navigation processor 958 and microprocessor system 954. It is appreciated that storage 960 may comprise a volatile or non-volatile storage such as a RAM or ROM, or some other computer readable memory device or media. In one rover receiver embodiment, navigation processor 958 performs one or more of the methods of position correction.
In some embodiments, microprocessor 954 and/or navigation processor 958 receive additional inputs for use in refining position information determined by GPS receiver 900. In some embodiments, for example, corrections information is received and utilized. Such corrections information can include differential GPS corrections, RTK corrections, and wide area augmentation system (WAAS) corrections.
Example Computer System Environment
With reference now to FIG. 10, all or portions of some embodiments described herein are composed of computer-readable and computer-executable instructions that reside, for example, in computer-usable/computer-readable storage media of a computer system. That is, FIG. 10 illustrates one example of a type of computer (computer system 1000) that can be used in accordance with or to implement various embodiments which are discussed herein. It is appreciated that computer system 1000 of FIG. 10 is only an example and that embodiments as described herein can operate on or within a number of different computer systems including, but not limited to, general purpose networked computer systems, embedded computer systems, server devices, various intermediate devices/nodes, stand alone computer systems, handheld computer systems, multi-media devices, and the like. Computer system 1000 of FIG. 10 is well adapted to having peripheral computer-readable storage media 1002 such as, for example, a floppy disk, a compact disc, digital versatile disc, universal serial bus “thumb” drive, removable memory card, and the like coupled thereto.
System 1000 of FIG. 10 includes an address/data bus 1004 for communicating information, and a processor 1006A coupled to bus 1004 for processing information and instructions. As depicted in FIG. 10, system 1000 is also well suited to a multi-processor environment in which a plurality of processors 1006A, 1006B, and 1006C are present. Conversely, system 1000 is also well suited to having a single processor such as, for example, processor 1006A. Processors 1006A, 1006B, and 1006C may be any of various types of microprocessors. System 1000 also includes data storage features such as a computer usable volatile memory 1008, e.g., random access memory (RAM), coupled to bus 1004 for storing information and instructions for processors 1006A, 1006B, and 1006C. System 1000 also includes computer usable non-volatile memory 1010, e.g., read only memory (ROM), coupled to bus 1004 for storing static information and instructions for processors 1006A, 1006B, and 1006C. Also present in system 1000 is a data storage unit 1012 (e.g., a magnetic or optical disk and disk drive) coupled to bus 1004 for storing information and instructions. System 1000 also includes an optional alphanumeric input device 1014 including alphanumeric and function keys coupled to bus 1004 for communicating information and command selections to processor 1006A or processors 1006A, 1006B, and 1006C. System 1000 also includes an optional cursor control device 1016 coupled to bus 1004 for communicating user input information and command selections to processor 1006A or processors 1006A, 1006B, and 1006C. In one embodiment, system 1000 also includes an optional display device 1018 coupled to bus 1004 for displaying information.
Referring still to FIG. 10, optional display device 1018 of FIG. 10 may be a liquid crystal device, cathode ray tube, plasma display device or other display device suitable for creating graphic images and alphanumeric characters recognizable to a user. Optional cursor control device 1016 allows the computer user to dynamically signal the movement of a visible symbol (cursor) on a display screen of display device 1018 and indicate user selections of selectable items displayed on display device 1018. Many implementations of cursor control device 1016 are known in the art including a trackball, mouse, touch pad, joystick or special keys on alphanumeric input device 1014 capable of signaling movement of a given direction or manner of displacement. Alternatively, it will be appreciated that a cursor can be directed and/or activated via input from alphanumeric input device 1014 using special keys and key sequence commands System 1000 is also well suited to having a cursor directed by other means such as, for example, voice commands. System 1000 also includes an I/O device 1020 for coupling system 1000 with external entities. For example, in one embodiment, I/O device 1020 is a modem for enabling wired or wireless communications between system 1000 and an external network such as, but not limited to, the Internet.
Referring still to FIG. 10, various other components are depicted for system 1000. Specifically, when present, an operating system 1022, applications 1024, modules 1026, and data 1028 are shown as typically residing in one or some combination of computer usable volatile memory 1008 (e.g., RAM), computer usable non-volatile memory 1010 (e.g., ROM), and data storage unit 1012. In some embodiments, all or portions of various embodiments described herein are stored, for example, as an application 1024 and/or module 1026 in memory locations within RAM 1008, computer-readable storage media within data storage unit 1012, peripheral computer-readable storage media 1002, and/or other tangible computer readable storage media.
Ad-Hoc Wireless Communication Network
FIG. 11 is a block diagram of an example ad-hoc wireless personal area network 1100 in accordance with one or more embodiments. In FIG. 11, a hook block sensor assembly 1101 is communicatively coupled with display unit 113 via wireless connection 1111. As described above, in one embodiment, sensor unit 110 may be built into or housed in lifting hook 111, or a similar load attachment point/mechanism, located on a distal end/portion of load line 112. For the purpose of brevity, a comprehensive illustration of components of sensor unit 110 which are implemented as hook block sensor assembly 1101 are not shown in FIGS. 11 and 12. However, it is understood that various features and components of sensor unit 110 as described above are combined in implementations of hook block sensor assembly 1101. In FIG. 11, hook block sensor assembly 1101 comprises a GNSS antenna 1102 and one or more GNSS receivers 1103. Hook block sensor assembly 1101 further comprises a power supply 1104 for supplying power to hook block sensor assembly 1101. It is noted that power supply 1104 can comprise batteries and/or a connection to vehicle supplied power.
A radio transceiver 1105 and wireless antenna 1106 provide wireless communication between hook block sensor assembly 1101 and display unit 113 as indicated by 1111. Hook block sensor assembly 1101 further comprises one or more sensor units 1107 which are implemented to accomplish load monitoring and/or as described above with reference to load monitors 214. Sensor units 1107 can further be used for lift plan implementation, position control, collision monitoring, and initiating avoidance actions as discussed above with reference to sensor unit components 216 of FIG. 2A. These components of hook block sensor assembly 1101 are communicatively and/or electrically coupled with one another as required for performing functions of load monitoring, collision avoidance, and/or load hazard avoidance as described above.
In accordance with various embodiments, the components of hook block sensor assembly 1101 are housed within a housing 201 (see e.g., FIG. 2D). In one embodiment, housing 201 is coupled with hook 111 (see e.g., FIG. 2D) and one or more of the components of hook block sensor assembly 1101 described above in FIGS. 2A, 2B, and 3 are coupled with housing 201. Alternatively, the components of hook block sensor assembly 1101 may be coupled with hook 111 and enclosed by housing 201. It is further noted that other components of sensor unit 110 (e.g., sound emitting device 251, light emitting device 252, access hatch 253, recharge contacts 254, and/or protective bumper 255) may be included in housing 201 in accordance with various embodiments.
As discussed above, display unit 113 may be a dedicated display with a wireless transceiver or may be part of an electronic device such as smart phone, netbook, notebook computer, tablet computer, or the like. In the embodiment of FIG. 11, display unit 113 is removeably coupled with a docking station 1108 which provides connection to a power source (not shown) and a communication connection with L1 GNSS antenna 1110. In accordance with various embodiments, display device 1160 may be a liquid crystal device, cathode ray tube, or a touch screen assembly configured to detect the touch or proximity of a user's finger, or other input device, at or near the surface of display device 1160 and to communicate such an event to a processor (e.g., processors 1006A, 1006B, and/or 1006C of FIG. 10). Display unit 113 further comprises batteries 1161 for providing power to display unit 113 when it is de-coupled from docking station 1108.
Display unit 113 further comprises one or more wireless radio transceivers 1162 and wireless antenna 1163 for wirelessly communicating with other components of ad-hoc wireless personal area network 1100. In the embodiment of FIG. 11, display unit 113 comprises a GNSS receiver 1164 and GNSS antenna 1165 configured for receiving satellite navigation signals and for determining the position of display unit 113. As shown in FIG. 11, display unit 113 is communicatively coupled with L1 GNSS antenna 1110 which is used to receive satellite navigation signals when display unit 113 is coupled with docking station 1108. This to improve the reception of satellite navigation signals which may be blocked or degraded when display unit 113 is located within cab 121. An example of a commercially available model of display unit 113 is the Yuma® computer from Trimble Navigation of Sunnyvale, Calif.
In accordance with various embodiments, one or more of wireless radio transceivers 1105 and 1162 may operate on any suitable wireless communication protocol including, but not limited to: WiFi, WiMAX, WWAN, implementations of the IEEE 802.11 specification, cellular, two-way radio, satellite-based cellular (e.g., via the Inmarsat or Iridium communication networks), mesh networking, implementations of the IEEE 802.15.4 specification for personal area networks, and implementations of the Bluetooth® standard. Personal area networks refer to short-range, and often low-data-rate, wireless communications networks. In accordance with embodiments of the present technology, components of ad-hoc wireless personal area network 1100 are configured for automatic detection of other components and for automatically establishing wireless communications. In one embodiment, display unit 113 comprises a first wireless radio transceiver 1162 for communicating with other components of ad-hoc wireless personal area network 1100 and one or more wireless radio transceivers 1162 for wirelessly communicating outside of ad-hoc wireless personal area network 1100.
FIG. 12 is a block diagram of an example ad-hoc wireless personal area network 1100 in accordance with one or more embodiments. In FIG. 12, ad-hoc wireless personal area network 1100 comprises hook block sensor assembly 1101 and display unit 113 as described above with reference to FIG. 11. In FIG. 12, ad-hoc wireless personal area network 1100 further comprises GNSS antenna unit 1120. In the embodiment of FIG. 12, GNSS antenna unit 1120 comprises a GNSS antenna 1121 and GNSS receiver 1122 for receiving satellite navigation signals and for determining the position of GNSS antenna unit 1120. GNSS antenna unit 1120 further comprises one or more wireless radio transceivers 1123 and wireless antenna 1124 for providing wireless communication with display unit 113 as indicated by 1112. In accordance with various embodiments, wireless radio transceiver 1123 may operate on any suitable wireless communication protocol including, but not limited to: WiFi, WiMAX, WWAN, implementations of the IEEE 802.11 specification, cellular, two-way radio, satellite-based cellular (e.g., via the Inmarsat or Iridium communication networks), mesh networking, implementations of the IEEE 802.15.4 specification for personal area networks, and implementations of the Bluetooth® standard. An example of a commercially available model of GNSS antenna unit is the SPS 882 Smart GPS Antenna from Trimble Navigation of Sunnyvale, Calif. In one embodiment, GNSS antenna unit 1120 is mounted at the rear of lifting device 120 as shown by global navigation satellite receiver 108 of FIG. 1A.
In operation, hook block sensor assembly 1101, display unit 113, and GNSS antenna unit 1120 are configured to implement an ad-hoc wireless personal area network to assist in or accomplish one or more of efficient load delivery, load monitoring, collision avoidance, and load hazard avoidance as described above. In one embodiment, hook block sensor assembly 1101, display unit 113, and GNSS antenna unit 1120 are configured to initiate an automatic discovery process in which components of ad-hoc wireless personal area network 1100 detect each other by exchanging messages without the necessity of user initiation and/or intervention. Additionally, in one embodiment hook block sensor assembly 1101, display unit 113, and GNSS antenna unit 1120 are configured to automatically initiate processes to assist in or accomplish one or more of efficient load delivery, load monitoring, collision avoidance, and load hazard avoidance such as determining the position of hook block sensor assembly 1101, display unit 113, and/or load 104. Furthermore, in one embodiment display unit 113 is configured to send and receive data outside of ad-hoc wireless personal area network 1100. Thus, display unit can be used to receive updates, correction data for position determination, and other instructions for implementing a plan at a site. Additionally, display unit 113 can be used for storing, forwarding, and reporting data used in site monitoring or other purposes.
FIG. 13 is a block diagram of an example communication network 1300 in accordance with one or more embodiments. In FIG. 13, one or more ad-hoc wireless personal area networks 1100 are communicatively coupled with local area wireless repeater 1302, cellular/wireless repeater 1303, and local reference station 1304 via wireless connections 1312 and 1313 respectively. As described above, display unit 113 can include wireless radio transceivers (e.g., 1162 of FIG. 11) which are configured for communication outside of ad-hoc wireless personal area network 1100. As an example, implementations of the IEEE 802.11 standards can be used to implement communications between ad-hoc wireless personal area networks 1100, local area wireless repeater 1302, cellular/wireless repeater 1303, and local reference station 1304. In one embodiment, local area network 1301 utilizes a network protocol that implements an IP address based communication scheme to implement communications between various elements. In FIG. 13, local area wireless repeater 1302, cellular wireless repeater 1303, and local reference station 1304 are shown as separate components which represent a fixed infrastructure for implementing local area network 1301. However, in accordance with embodiments some of the functions separately shown in local area network 1301 can be combined in a single device. In one embodiment, a display unit 113 that includes one or more of the different types of ad-hoc wireless personal area networks 1100 can be configured to store and forward messages to/from other of the ad-hoc wireless personal area networks 1100 comprising local area network 1301. Alternatively, local area wireless repeater 1302 may be mounted in another vehicle at a site at which local area network 1301 is located.
In one embodiment, communication between Internet 1310 and local area network 1301 is accomplished via cellular/wireless repeater 1303. In one embodiment, cellular/wireless repeater 1303 comprises a cellular telephone transceiver for communicating with Internet 1310 via cellular network 1350 using wireless connection 1351. Cellular/wireless repeater 1303 further comprises a wireless transceiver for communication with other components of local area network 1301. An example of a commercially available model of cellular/wireless repeater 1303 is the Nomad® handheld computer from Trimble Navigation of Sunnyvale, Calif. In one embodiment, communication between Internet 1310 and local area network 1301 is accomplished via wireless transceiver 1305 which is communicatively coupled with Internet 1310. Wireless transceiver 1305 is in turn communicatively coupled with local area wireless repeater 1302 using wireless connection 1331. It is noted that in accordance with one embodiment, a connection to Internet 1310 may be available at the site at which local area network 1301 is located and that wireless transceiver 1305 may fulfill the function of local area wireless repeater 1302 in that instance. In accordance with another embodiment, a connection to Internet 1310 can be made directly from display unit 113. In operation, display unit 113 can initiate wireless communication with Internet 1310 either directly using wireless radio transceiver 1162, or via local area wireless repeater 1302 and/or cellular/wireless repeater 1303. In one embodiment, establishing communications with Internet 1310 is accomplished in a manner that is transparent to a user of display unit 113. In other words, display unit 113 can be configured to automatically exchange messages with local area wireless repeater 1302, cellular/wireless repeater 1303, or a website of Internet 1310 without the necessity of user initiation or intervention. These messages can be used for receiving updates, position reporting of load 104, or lifting device 120. The data in these messages can be used for purposes including, but not limited to, collision monitoring, traffic control at a site, hazard avoidance, site monitoring, status and position monitoring of equipment, vehicle logging, etc.
In accordance with embodiments, Internet 1310 is coupled with a geographically independent corrections system 1315 and with a geographically dependent correction system 1320. In accordance with various embodiments, it is desired to deliver reference data to GNSS receivers to improve the precision of determining a position. This reference data allows compensating for error sources known to degrade the precision of determining a position such as satellite and receiver clock errors, signal propagation delays, and satellite orbit error. In one embodiment, geographically independent corrections system 1315 determines the correct position of GNSS satellites in space as well as clock errors associated with each of the GNSS satellites and distributes an error message 1316 to facilitate a GNSS receiver to refine determining its position with a precision of ten centimeters or less. In accordance with various embodiments, error message 1316 can be distributed via Internet 1310. In one embodiment, error message 1316 is sent from Internet 1310 to communication satellites 1340 via uplink 1341. Communication satellites 1340 then convey error message 1316 to local area network 1301 via wireless connection 1342. In one embodiment, GNSS receiver 1164 of display unit 113 determines which GNSS satellites are in its field of view and uses the orbit and clock error data pertaining to these satellites from error message 1316 to refine determining its position. Alternatively, error message 1316 can be conveyed from communication satellites 1340 to local area wireless repeater 1302 or cellular/wireless repeater 1303. In another embodiment, error message 1316 is sent via cellular network 1350 to cellular/wireless repeater 1303 and then distributed throughout local area network 1301.
Geographically dependent corrections system 1320 uses a network of reference stations to determine error sources which are more applicable to a particular to the region due to local weather and/or local atmospheric conditions due to ionospheric and/or tropospheric propagation delays. In accordance with one embodiment, a subset of the network of reference stations can be selected in order to generate reference data descriptive of these error sources. This reference data can be used by GNSS receiver 1164 to refine determining its position with a precision of approximately one centimeter or less. Again, the reference data descriptive of these error sources can be distributed via Internet 1310 to communication satellites 1340, or to cellular network 1350 for distribution to local area network via cellular/wireless repeater 1303 for example. One implementation of geographically dependent correction system 1320 is described in U.S. patent application Ser. No. 12/241,451, titled “Method and System for Location-Dependent Time-Specific Correction Data,” by James M. Janky, Ulrich Vollath, and Nicholas Talbot, assigned to the assignee of the present application and incorporated by reference in its entirety herein.
FIG. 14 is a flowchart of a method 1400 for communicatively coupling a sensor unit system in accordance with one or more embodiments. In operation 1410 of FIG. 14, data is received from a first global navigation satellite system (GNSS) receiver of a display unit, wherein the first GNSS receiver is configured for determining a position of the display unit in three dimensions. As described above, in accordance with various embodiments display unit 113 comprises GNSS receiver 1164 which is configured to determine the position of display unit 113 in three dimensions based upon GNSS signals received via GNSS antenna 1165. Furthermore, in accordance with various embodiments display unit 113 further comprises one or more wireless radio transceivers 1165. In accordance with various embodiments, at least one of the wireless radio transceivers 1165 is configured for communicating via a wireless personal area network connection (e.g., 111 of FIG. 11).
In operation 1420 of FIG. 14, data is received from a second GNSS receiver of a sensor unit via a wireless radio transceiver using a wireless Personal Area Network (PAN) connection, wherein the second GNSS receiver is configured for determining a position of the sensor unit in three dimensions. In accordance with various embodiments display unit 113 receives data from hook block sensor assembly 1101 via wireless connection 1111. As described above, wireless connection 1111 is a wireless personal area network connection in accordance with embodiments. In accordance with various embodiments hook block sensor assembly 1101 can convey data from one or more GNSS receiver 1103 via wireless connection 1111. Additionally, hook block sensor assembly 1101 can convey data from one or more of load monitors 214.
Lifting Device Sensor Unit System
In various embodiments of the present technology, a real-time location system positioning system is used to determine the position of a moveable object such as a vehicle, or implement, at a site. While much of the following discussion will be directed at a sensor unit disposed upon the load line of a lifting device, it is appreciated that various embodiments may be utilized on other moveable objects and/or vehicles which are broadly described as mobile construction devices. Mobile construction devices are devices which can move under their own power or are frequently relocated. Thus, a lifting device is just one specific example of a mobile construction device. For the purpose of the present application, the term “real-time location system (RTLS)” is directed to point-to-point radio ranging systems comprising a first radio device at a sensor system and one or more second radio devices disposed at knowable locations at a site. A radio propagation path exists between the first radio device at the sensor unit and each of the second radio devices not at the sensor unit. For each pair of first radio device and second radio device, at least one device must act as a radio transmitter to provide a radio signal. An estimate of range between the first radio device and each second radio device can be made by transmitting a radio signal along this propagation path and measuring a physical property well correlated to range. Examples of well correlated physical properties include signal strength, time of flight (or the related time difference of arrival), and signal phase. Another example of a well correlated physical property, which can be considered a form of signal strength measurement, is presence. In other words, a radio device is detected and considered present if it is within a certain range, and not detected outside of that range.
If an initial position of the sensor unit is known, via point-to-point radio ranging or another means, changes in position can be estimated by measuring physical properties well correlated to changes in range such as carrier or modulation frequency offsets.
In some instances, the range estimate can be improved by also providing information regarding the propagation path, such as the location of objects known to reflect radio signals. This additional information may then be used to mitigate distortion errors in the measurement to range estimation function.
In one or more embodiments, the radio transmitter may, in fact, be comprised of multiple sub-devices, such as multiple antennas, at slightly different physical locations. Combining the estimates of range from each sub-device may provide an estimate of the direction angle from which the radio signal arrives. A common estimate to use in estimating angle of arrival is phase. In another embodiment, the relative signal strength at each of a plurality of antennas can be measured and used to determine the direction back to the device which generated the radio signal such as RTLS tags. Alternatively, one or more directional antennas can be used to determine the direction from the sensor unit to the device transmitting the radio signal. However, it is understood that any physical property well correlated to range or change in range would be suitable to this use. In some instances, the angle information provides better accuracy than the range information by removing range errors that are common to each sub-device. For example, when measuring time of flight there may not be a reliable estimate of the transmission time resulting in large range errors to each sub-device, but having an accurate measurement of the receive time at each sub-device would allow the calculation of the angle from which the transmission must have arrived.
FIG. 15A is a diagram of an example lifting device sensor unit 1500A in accordance with one or more embodiments. For the sake of brevity, components of lifting device sensor unit 1500A which were previously described with reference to FIG. 2A will not be repeated in the following discussion. In FIG. 15A, lifting device sensor unit 1500A comprises a positioning transceiver 1501, a communications link controller 1502, and a second communications link controller 1503, and a position determining component 1505. In accordance with various embodiments, communications link controllers 1502 and/or 1503 may be wireless communications link controllers, wired communications link controllers, or a combination thereof. In accordance with various embodiments, communications link controllers 1502 and/or 1503 can be one or more a transmitter, a receiver, or a transceiver. It is noted that that while GNSS receivers 213A and 213B are depicted, in some embodiments these are not utilized and thus are not required to be included in all embodiments of lifting device sensor unit 1500A. It is noted that while the following discussion describes embodiments directed to locating lifting device sensor unit 1500A on the load line of a lifting device, various embodiments are well suited for use on other moveable objects or vehicles as well.
In accordance with one or more embodiments, positioning transceiver 1501 comprises a RTLS transceiver and generates a signal to positioning tags (e.g., RTLS tags) which are located at knowable locations at a site (e.g., a job site, construction site, or the like). Based upon signals received in response from the RTLS tags, disposed within an operating environment of lifting device sensor unit 1500A, position determining component 1505 (depicted in greater detail in FIG. 17 and also generically shown in FIGS. 20 and 21) can determine the position of lifting device sensor unit 1500A in at least two dimensions. In accordance with one or more embodiments, position determining component 1505 can determine a distance to each of the RTLS tags based upon the signal strength of the response each RTLS tag sends to positioning transceiver 1501. In other embodiments, position determining component 1505 can determine a distance to each of the RTLS tags based upon measurements of the respective time of flight of a signal from positioning transceiver 1501 to a given RTLS tag and the reply from the RTLS tag. In other words, the time elapsed from when positioning transceiver 1501 generates a signal to a given RTLS tag to when positioning transceiver 1501 receives a reply from that given tag is used by position determining component 1505 to determine a distance to each of the RTLS tags. In another embodiment, the phase of an incoming signal to positioning transceiver 1501 can be determined using one antenna or two or more antennas. When using two or more antennas, this facilitates determining the range from the RTLS tag to lifting device sensor unit 1500A based upon the angle of arrival at the various antennas. Various embodiments may utilize either the signal strength technique, the time of flight technique, or the phase difference technique exclusively, while other embodiments may utilize a combination of the techniques described above.
Referring now to FIG. 15B, a sensor unit 1500B is shown. In accordance with one or more embodiments, sensor unit 1500B comprises a sensor unit having a different form factor than previously discussed with reference to lifting device sensor unit 1500A or sensor unit 110 of FIGS. 2A, 2B, 2C, and 2D. It is noted that in the embodiment of FIG. 15B, sensor unit 1500B is not configured to be coupled with the load line of a lifting device. With reference to FIG. 15C, sensor unit 1500B can be used with a variety of mobile construction devices 1590 in various embodiments including, but not limited to: loaders, trucks, dump-trucks, mixers, scrapers, bulldozers, backhoes, fork lifts, excavators, tractors, pavers, rollers, lifting devices, etc. It is noted that load monitors 214A and 214B can be aligned to direct field of view 218A and 218B in a different orientation than that shown in FIG. 15B. For example, when mounted on a mobile construction device 1590 such as a truck or bulldozer, it may be desirable to have field of view 218A and 218B directed in a substantially horizontal orientation. In accordance with one or more embodiments, the orientation of load monitors 214A and 214B can be adjusted by altering the angle by which sensor unit 1500B is coupled with a particular mobile construction device 1590, or may be disposed at a different position of sensor unit 1500B. As shown in FIG. 15C, sensor unit 1500B is disposed such that field of view 218A is aligned in a substantially horizontal orientation. In FIG. 15C, sensor unit 1500B is communicatively coupled with display unit 113 and with a GNSS antenna unit 1820. In accordance with one or more embodiments, the communicative coupling of sensor unit 1500B, display unit 113, and GNSS antenna unit 1820 is accomplished using wireless communication links.
In FIG. 15B, sensor unit 1500B comprises a positioning transceiver 1501, a communications link controller 1502, and a second communications link controller 1503, and a position determining component 1505. In accordance with various embodiments, communications link controllers 1502 and/or 1503 may be wireless communications link controllers, wired communications link controllers, or a combination thereof. It is noted that that while GNSS receivers 213A and 213B are depicted, in some embodiments these are not utilized and thus are not required to be included in all embodiments of sensor unit 1500B.
Housing 1580 may be configured to removably couple around the components of sensor unit 1500B. Housing 1580 is typically comprised of a rigid or semi-rigid material or materials. In one embodiment, all or a portion of housing 1580 is made of an injection molded material such as high impact strength polycarbonate. In one embodiment at least a portion of housing 1580 is transparent to GNSS satellite signals such that these signals can be received by GNSS receiver(s) 213A, 213B, which are coupled with housing 1580 and secured inside housing 1580. In some embodiments housing 1580 comprises a plurality of sections (not shown) that join, fasten, latch, or otherwise couple with one another to form housing 1580 and to removably couple with a mobile construction device.
With continued reference to FIG. 15B, the removably couplable characteristic of housing 1580 facilitates field mounting and removal of sensor unit 1500B. In this manner, a construction company or crane rental company, for example, can flexibly utilize sensor unit 1500B with a plurality of different mobile construction devices by moving sensor unit 1500B from one mobile construction device to another mobile construction device. The removably couplable characteristic of housing 1580 also facilitates the use of sensor unit 1500B on mobile construction devices from a variety of manufacturers as no permanent mounting, hardwiring to the electrical system of the mobile construction device, or interfacing with the operating system of the mobile construction device is required.
In accordance with one or more embodiments, positioning transceiver 1501 comprises a RTLS transceiver and generates a signal to positioning tags (e.g., RTLS tags) which are located at knowable locations at a site (e.g., a job site, construction site, or the like). Based upon signals received in response from the RTLS tags, disposed within an operating environment of sensor unit 1500B, position determining component 1505 (depicted in greater detail in FIG. 17 and also generically shown in FIGS. 20 and 21) can determine the position of sensor unit 1500B in at least two dimensions. In accordance with one or more embodiments, position determining component 1505 can determine a distance to each of the RTLS tags based upon the signal strength of the response each RTLS tag sends to positioning transceiver 1501. In other embodiments, position determining component 1505 can determine a distance to each of the RTLS tags based upon measurements of the respective time of flight of a signal from positioning transceiver 1501 to a given RTLS tag and the reply from the RTLS tag. In other words, the time elapsed from when positioning transceiver 1501 generates a signal to a given RTLS tag to when positioning transceiver 1501 receives a reply from that given tag is used by position determining component 1505 to determine a distance to each of the RTLS tags. In another embodiment, the phase of an incoming signal to positioning transceiver 1501 can be determined using two or more antennas. This facilitates determining the range from the RTLS tag to lifting device sensor unit 1500B based upon the angle of arrival at the various antennas. Various embodiments may utilize any of the signal strength technique, the time of flight technique, or the phase difference technique exclusively, while other embodiments may utilize a combination of the techniques described above. For the purposes of the following discussions, the term “sensor unit” is understood to refer to either of, or both, lifting device sensor unit 1500A of FIG. 15A and sensor unit 1500B of FIG. 15B.
RTLS-Based Position Determination
Referring to FIG. 16, in one embodiment, lifting device 120 or other mobile construction device 1590 is located at a site (job site, construction site, or the like) where tags 1601, 1602, and 1603 have been placed at knowable locations. A sensor unit 1500 is coupled with the lifting device or other mobile construction device 1580. In accordance with one or more embodiments, a positioning transceiver 1501 generates a signal to one or more of the tags which are place at knowable locations about or near the site. It is noted that one or more embodiments can implement a network of WiFi wireless routers in the place of RTLS tags, radio-frequency identification (RFID) tags, or other communication devices for which determination of position can be made. As an example, tags 1601, 1602, and 1603 may be cellular telephones, or similar devices, which have the capability to determine their own position (e.g., via cellular triangulation, or an embedded satellite-based positioning capability). Additionally, some cellular telephones are configured to determine their position via a communication connection to a local WiFi hotspot.
Positioning transceiver 1501 can utilize a variety of signal frequencies including, but not limited to: the 2.4 GHz band used under the 802.11 standard, 303 MHz, 315 MHz, 418 MHz, 433 MHz, 868 MHz, and 915 MHz. The signal from positioning transceiver 1501 can be of various forms. Additionally, positioning transceiver 1501 can generate a continuous transmission modulated in frequency, phase, amplitude, or a combination of these. Such modulations are commonly referred to as amplitude modulation (AM), frequency modulation (FM), on-off keying (OOK), continuous phase modulation (CPM), multiple frequency shift keying (MFSK), binary phase shift keying (BPSK), quadrature phase shift keying (QPSK), frequency shift keying (FSK), quadrature amplitude modulation (QAM), phase shift keying (PSK), orthogonal frequency division multiplexing (OFDM), and chirping. Another radio signal used in accordance with various embodiments is short pulses, commonly referred to as ultra-wide band (UWB).
In FIG. 16, tags 1601, 1602, and 1603 can be placed on buildings, or other structures on or around the site, which are fixed, or not likely to be moved within a designated time period. When emplaced, the position of each of tags 1601, 1602, and 1603 can be recorded using, for example, a GNSS receiver or with reference to a local coordinate system. In accordance with one or more embodiments, the positions and identification data of tags 1601, 1602, and 1603 can be stored in a position database or location server such as local reference station 1304 of FIG. 13, or stored locally such as in a memory or database of position determining component 1505 (such as tag position database 1715 of FIG. 17), or within a memory of the tag itself. Alternatively, if tags 1601, 1602, and 1603 are capable of determining their own position in real-time, tags 1601, 1602, and 1603 could determine their position in response to a query from positioning transceiver 1501 and send that position in response. Thus, for the purpose of the present discussion, the term “knowable location” means that the location of tags 1601, 1602, and 1603 can either be previously determined, or determined in real-time, and accessed by lifting devices sensor unit 1500. In one or more embodiments, tags 1601, 1602, and 1603 generate signals at regular intervals comprising a unique identifier and other status information. Alternatively, tags 1601, 1602, and 1603 may generate a reply in response to a message generated by positioning transceiver 1501. Using this unique identifier, position determining component 1505 can identify, and determine the knowable location, of each of tags 1601, 1602, and 1603 and determines the distance from lifting device sensor unit 1500 to each of the tags from which it has received a response. Position determining component 1505 can then determine the position of lifting device sensor unit 1500 by trilateration. Because RTLS messages can include more data, other information such as a timestamp of when the message was generated by the respective tag, or its position in the local/global coordinate system, may be included.
In one or more embodiments, tags 1601, 1602, and 1603 are RFID tags. In one embodiment, positioning transceiver 1501 generates an interrogation command which activates or “wakes up” any of tags 1601, 1602, and 1603 which are in range of the signal from positioning transceiver 1501. Tags 1601, 1602, and 1603 can be passive tags which use the interrogation signal power to activate and operate a circuit that accesses stored information. Typically, once activated, RFID tags modulate a reflection coefficient of the tag antenna with a suitable data information signal read out from tag memory. The antenna reflects the incident signal from the interrogator back to the interrogator with the tag data modulated onto the reflected signal. In one or more embodiments, tags 1601, 1602, and 1603 send a reply to positioning transceiver 1501 comprising a unique identifier. Using this unique identifier, position determining component 1505 can identify, and determine the knowable location, of each of tags 1601, 1602, and 1603 and determines the distance from lifting device sensor unit 1500 to each of the RFID tags from which it has received a response. Alternatively, tags 1601, 1602, and 1603 can be active tags which have a source of power available when generating a reply to the interrogation signal. Position determining component 1505 can then determine the position of lifting device sensor unit 1500 by, for example, trilateration. Furthermore, in one or more embodiments, position determining component 1505 can derive a rough estimate of its position based upon which tags respond, or do not respond, to a query command from positioning transceiver 1501.
In accordance with one or more embodiments, position determining component 1505 determines the distance to a given tag based upon the signal strength of the received reply from that tag. For example, some RTLS reader/interrogators provide an interface for capturing the signal strength of received signals. This permits sending signal strength data to position determining component 1505 via a signal strength input 1705 (e.g., signal strength input 1705 of FIG. 17). Position determining component 1505 can then, for example, calculate a signal strength directly from a signal or alternatively can access a look-up table (e.g., signal strength look-up table 1720 of FIG. 17) which correlates a given signal strength with a range to the responding tag. It is noted that signal strength is subject to various effects such as antenna orientation and multi-path delay. In one embodiment, a model of received signal strength from various tags can be created in advance of the operation of lifting device sensor unit 1500 to improve the precision of position location. This model can account for some of these effects which might otherwise impair the precision of determining the position of lifting device sensor unit 1500. Additionally, this model can be created, or modified, based upon signals received by lifting device sensor unit 1500 and can account for the location of objects at a site which are known to reflect radio signals. This additional information may be used to mitigate distortion errors in the measurement to range estimation function. In various embodiments, this model can be stored upon lifting device sensor unit 1500 and accessed by position determining component 1505 to facilitate determining the distance to various tags. Alternatively, this model can be stored at another location, such as local reference station 1304 and accessed via a wireless communication network such as local area network 1301 of FIG. 13. It is noted that determination of the position of lifting device sensor unit 1500 can also be performed by local reference station 1304 which can receive raw data, or post-processed signal data, from lifting device sensor unit 1500 and perform the operations necessary for determining its location such as determining the distance from lifting device sensor unit 1500 to the various tags.
In other embodiments, position determining component 1505 determines a round-trip time of flight of signals to and from positioning transceiver 1501. In other words, positioning transceiver 1501 sends a respective signal to each of tags 1601, 1602, and 1603 and receives a respective reply. For example, positioning transceiver 1501 can generate timestamps, which are sent to a timestamp receiver of position determining component 1505 (e.g., time stamp receiver 1710 of FIG. 17). Using this data, position determining component 1505 can analyze this time differential to determine the distance from lifting device sensor unit 1500 to each of the respective tags 1601, 1602, and 1603. Position determining component 1505 can account for the time it takes each tags to process the interrogation message and generate a reply in order to more accurately determine the time it took for a message to reach each respective tag and the time it took for the reply from that tag to arrive at positioning transceiver 1501. This time can then be multiplied by the speed to light and divided by two to determine the distance from lifting device sensor unit 1500 and each respective tag. One advantage of using a round-trip time of flight calculation is that there is no necessity for synchronizing clocks between positioning transceiver 1501 and the tags with which it communicates. It is noted that there are a variety of methods for determining the distance between objects using RTLS components which may also be used in accordance with various embodiments. However, in one or more embodiments, clock synchronization between positioning transceiver 1501 and tags 1601, 1602, and 1603 can be implemented. This may facilitate other methods of determining the distance between positioning transceiver 1501 and tags 1601, 1602, and 1603 such as time-of-flight, time of arrival, time difference of arrival, etc.
In another embodiment, phase measurements of the signals received from tags 1601, 1602, and 1603 can be performed to determine the position of lifting device sensor unit 1500. As will be discussed in greater detail below, in one or more embodiments phase measurement comprises measuring the number of integer wavelengths and partial wavelengths from positioning transceiver 1501 and each tag responding to positioning transceiver 1501 as is often performed with respect to GNSS signal phase measurements made by a GNSS receiver.
In accordance with various embodiments, having determined the distance from lifting device sensor unit 1500 to each of the tags, position determining component 1505 determines the position of lifting device sensor unit 1500 by trilateration. In other words, having determined a respective distance to each of tags 1601, 1602, and 1603 (e.g., distance 1601, 1602, and 1603 of FIG. 16), position determining component 1505 derives spheres/hyperboloids which are centered at the location of tags 1601, 1602, and 1603 and have a radius corresponding to the respective distance to each of tags 1601, 1602, and 1603. The location of lifting device sensor unit 1500 is determined to be the location at which all three spheres/hyperboloids overlap. It is noted that while the present description discusses generating spheres/hyperboloids, that only partial spheres/hyperboloids are depicted in FIG. 16 for the purpose of clarity. Further, while only three tags are illustrated in FIG. 16 and described in conjunction with the presented examples, it is appreciated that many more may be emplaced and utilized.
FIG. 17 is block diagram showing components of an example position determining component 1505, in accordance with an embodiment. In some embodiments, position determining component 1505 comprises signal strength input 1705 (which is configured to receive output from positioning transceiver 1501). For example, signal strengths can be calculated directly from a received signal or can be analyzed using signal strength look-up table 1720. It is noted that processor 1725 can also access a mapping of signal strengths for the site at which lifting device sensor unit 1500 is located to facilitate locating the position of lifting device sensor unit 1500. This mapping can be stored, for example in memory 1730. In one or more embodiments, position determining component 1505 also comprises a timestamp receiver 1710 configured to receive a timestamp from positioning transceiver 1501 when a signal is generated or received. This facilitates determining a round trip time of flight for signals between lifting device sensor unit 1500 and, for example, tags 1601, 1602, and 1603.
In one or more embodiments, position determining component 1505 further comprises a tag position database 1715. Tag position database 1715 can be a searchable database, or look-up table, which correlates a unique identifier of each respective tag with its knowable position. It is noted that components of position determining component 1505 can be updated from, for example, local reference station 1304 or another source, via wireless communications link controllers 1502 and 1503. Alternatively, the knowable location of one or more of tags 1601, 1602, and/or 1603 can be stored, for example, at a location apart from sensor unit 1500 such as at local reference station 1304. Processor 1725 is for implementing computer-readable and computer-executable instructions. The computer-readable and computer-executable instructions reside, for example, in tangible data storage features such as memory 1730 and/or non-volatile memory 1735. More specifically, instructions for executing a method for providing lifting device sensor unit location data can be stored in memory 1730, or non-volatile memory 1735. In one or more embodiments, position determining component 1505 further comprises a data output 1740 for outputting position data to, for example, communications link controllers 1502 and/or 1503.
In FIG. 17, phase measurement component 1740 performs analysis of the signals received from tags 1601, 1602, and 1603 to determine the position of lifting device sensor unit 1500. Typically, phase measurements are made within one radio frequency cycle of 360 degrees. Therefore, an estimate of the number of integer wavelengths between transceiver 1501 and each tag responding to it is made by phase measurement component 1740. In one embodiment, data from multiple tags is taken into account to reduce the search space needed to find an acceptable estimate of all integer wavelengths from all tags responding to positioning transceiver 1501. One system which performs this type of phase measurement is described in U.S. Pat. No. 5,519,620 titled Centimeter Accurate Global Positioning System Receiver for On-The-Fly Real-Time Kinematic Measurement and Control by Nicolas C. Talbot et al. U.S. Pat. No. 5,519,620 is assigned to the assignee of the present application and is incorporated in its entirety herein. In at least one embodiment, signal strength of signals received from responding tags (e.g., 1601, 1602, and 1603) can be used to provide an initial distance estimate from each of tags 1601, 1602, and 1603 to positioning transceiver 1501. This facilitates determining the number of integer wavelengths and partial wavelengths between positioning transceiver 1501 and one or more of tags 1601, 1602, and 1603. Similarly, round-trip time of flight of signals to and from positioning transceiver 1501 can be used to provide an initial estimate from each of tags 1601, 1602, and 1603 and positioning transceiver 1501 and thus facilitate determining the number of integer wavelengths and partial wavelengths between positioning transceiver 1501 and one or more of tags 1601, 1602, and 1603.
Example Communication Network
FIG. 18 is a block diagram of an example communication network 1800 in accordance with one or more embodiments. In FIG. 18, a sensor unit 1500 (e.g., lifting device sensor unit 1500A of FIG. 15A, or sensor unit 1500B of FIG. 15B) is communicatively coupled with display unit 113 via communication connection 1811. For the purpose of brevity, a comprehensive illustration of components of sensor unit 110 which are implemented as sensor unit 1500 are not shown in FIGS. 18 and 19. However, it is understood that various features and components of sensor unit 110 as described above are combined in implementations of sensor unit 1500. In FIG. 18, sensor unit 1500 comprises a positioning transceiver 1501. In accordance with various embodiments, positioning transceiver 1501 is a point-to-point radio ranging system such as, which may include but is not limited to, an RTLS or RFID transceiver. Sensor unit 1500 further comprises a power supply 1804 for supplying power to sensor unit 1500. It is noted that power supply 1804 can comprise batteries and/or a connection to vehicle supplied power.
Communications link controllers 1502, 1503, and 1862 provide communications with other components of local area network 1301 and communication network 1800. It is noted the communications link controllers 1502, 1503, and 1862 can be one or more of a transmitter, a receiver, or a transceiver in accordance with various embodiments. As an example, in one embodiment communications link controller 1502 and/or 1862 may be configured to operate on any suitable wireless communication protocol including, but not limited to: WiFi, WiMAX, implementations of the IEEE 802.11 specification, cellular, two-way radio, satellite-based cellular (e.g., via the Inmarsat or Iridium communication networks), mesh networking, implementations of the IEEE 802.15.4 specification for personal area networks, and a short range wireless connection operating in the Instrument Scientific and Medical (ISM) band of the radio frequency spectrum in the 2400-2484 MHz range (e.g., implementations of the Bluetooth® standard). Personal area networks refer to short-range, and often low-data-rate, wireless communications networks. Additionally, communications link controller 1503 and/or 1862 may operate on implementations of any suitable communication protocol including, but not limited to: RS-232, Ethernet, and TCP/IP protocols. In one or more embodiments, communications link controllers 1502 and 1503 may both be configured to communicate using the wireless communication protocols listed above. It is understood that communications link controllers 1502, 1503, and 1862 may be separate devices, may be dedicated hardware within another device, may be implemented in computer readable instructions, or may comprise a combination of such techniques. Similarly, physical layer interfaces 1806 and 1863 may be separate device, or may dedicated hardware within another device. In accordance with various embodiments, components of communication network 1800 may be configured for automatic detection of other components and for automatically establishing communications. Alternately, components of communication network 1800 may be preconfigured for communicating with other components or can implement manual configuration of components for communicating with other components. In one embodiment, sensor unit 1500 only uses communications link controllers 1502 and/or 1503 to communicate with display unit 113 via communication network 1800. For communication with components outside of communication network 1800 communications controller 1862 is used to communicate within local area network 1301, such as with local reference station 1304 of FIG. 13. Thus, sensor unit 1500 can forward positioning data (e.g., raw data, processed data, or position fixes) to display unit 113 via communication connection 1811. This data can either be used by display unit 113, or forwarded to another location.
Sensor unit 1500 further comprises one or more load monitors 1807 which are implemented to accomplish load monitoring and/or as described above with reference to load monitors 214. Load monitors 1807 can further be used for lift plan implementation, position control, collision monitoring, and initiating avoidance actions as discussed above with reference to sensor unit components 216 of FIG. 2A. These components of sensor unit 1500 are communicatively and/or electrically coupled with one another as required for performing functions of load monitoring, collision avoidance, and/or load hazard avoidance as described above.
In accordance with various embodiments, the components of sensor unit 1500 are housed within a housing 201 (see e.g., FIG. 2D). In one embodiment, housing 201 is coupled with hook 111 (see e.g., FIG. 2D) and one or more of the components of sensor unit 1500 that described above in FIGS. 2A, 2B, and 3 are coupled with housing 201. Alternatively, the components of sensor unit 1500 may be coupled with hook 111 and enclosed by housing 201. It is further noted that other components of sensor unit 110 (e.g., sound emitting device 251, light emitting device 252, access hatch 253, recharge contacts 254, and/or protective bumper 255) may be included in housing 201 in accordance with various embodiments.
As discussed above, display unit 113 may be a dedicated display with a transceiver or may be part of an electronic device such as smart phone, netbook, notebook computer, tablet computer, or the like. In the embodiment of FIG. 18, display unit 113 is removeably coupled with a docking station 1808 which provides connection to a power source (not shown) and a communication connection with L1 GNSS antenna 1810. In accordance with various embodiments, display device 1860 may be a liquid crystal device, cathode ray tube, or a touch screen assembly configured to detect the touch or proximity of a user's finger, or other input device, at or near the surface of display device 1860 and to communicate such an event to a processor (e.g., processors 1006A, 1006B, and/or 1006C of FIG. 10). Display unit 113 further comprises batteries 1861 for providing power to display unit 113 when it is de-coupled from docking station 1808.
Display unit 113 further comprises one or more communications controllers 1862 and physical layer interface 1863 for communicating with other components of communication network 1800. In the embodiment of FIG. 18, display unit 113 comprises a GNSS receiver 1864 and GNSS antenna 1865 configured for receiving satellite navigation signals and for determining the position of display unit 113. As shown in FIG. 18, display unit 113 is communicatively coupled with L1 GNSS antenna 1810 which is used to receive satellite navigation signals when display unit 113 is coupled with docking station 1808. This may improve the reception of satellite navigation signals which may be blocked or degraded when display unit 113 is located within cab 121. An example of a commercially available model of display unit 113 is the Yuma® computer from Trimble Navigation of Sunnyvale, Calif.
As described above, communications controllers 1862 may operate on any suitable communication protocol including, but not limited to: RS-232, Ethernet, and TCP/IP, WiFi, WiMAX, implementations of the IEEE 802.11 specification, cellular, two-way radio, satellite-based cellular (e.g., via the Inmarsat or Iridium communication networks), mesh networking, implementations of the IEEE 802.15.4 specification for personal area networks, and a short range wireless connection operating in the Instrument Scientific and Medical (ISM) band of the radio frequency spectrum in the 2400-2484 MHz range (e.g., implementations of the Bluetooth® standard). In accordance with embodiments of the present technology, components of communication network 1800 are configured for automatic detection of other components and for automatically establishing wireless communications. In one embodiment, display unit 113 comprises a first wireless radio transceiver 1862 for communicating with other components of communication network 1800 (e.g., with a wireless communications link controller 1502) and one or more wireless radio transceivers 1862 for wirelessly communicating outside of communication network 1800.
FIG. 19 is a block diagram of an example communication network 1900 in accordance with one or more embodiments. In FIG. 19, communication network 1900 comprises sensor unit 1500 and display unit 113 as described above with reference to FIG. 18. In FIG. 19, communication network 1900 further comprises GNSS antenna unit 1820. In the embodiment of FIG. 19, positioning transceiver 1501 and position determining component 1505 are configured for determining the position of sensor unit 1500. In the embodiment of FIG. 19, sensor unit 1500 communicates with display unit 113 via communications connection 1911 and display unit 113 communicates with GNSS antenna unit 1820 via communications connection 1912.
Communications link controllers 1502 and 1503 can provide communications with other components of local area network 1301 and communication network 1900 of FIG. 19. As an example, in one embodiment communications link controller 1502 may be configured to operate on any suitable wireless communication protocol including, but not limited to: WiFi, WiMAX, implementations of the IEEE 802.11 specification, cellular, two-way radio, satellite-based cellular (e.g., via the Inmarsat or Iridium communication networks), mesh networking, implementations of the IEEE 802.15.4 specification for personal area networks, and a short range wireless connection operating in the Instrument Scientific and Medical (ISM) band of the radio frequency spectrum in the 2400-2484 MHz range (e.g., implementations of the Bluetooth® standard). Additionally, communications link controller 1503 may operate on any suitable communication protocol including, but not limited to: RS-232, Ethernet, and TCP/IP protocols. In one or more embodiments, communications link controllers 1502 and 1503 may both be configured to communicate using the wireless communication protocols listed above. In one embodiment, sensor unit only utilizes communications link controller 1502 to communicate with display unit 113 via communication network 1900. For communication with components outside of communication network 1900, display unit 113 uses one of communication controllers 1862 to communicate within local area network 1301, such as with local reference station 1304 of FIG. 13. Thus, sensor unit 1500 can forward positioning data (e.g., raw data, processed data, or position fixes) to display unit 113 via communication network 1900. This data can either be used by display unit 113, or forwarded to another location. An example of a commercially available model of GNSS antenna unit is the SPS 882 Smart GPS Antenna from Trimble Navigation of Sunnyvale, Calif. In one embodiment, GNSS antenna unit 1820 is mounted at the rear of lifting device 120 as shown by global navigation satellite receiver 108 of FIG. 1A.
In operation, sensor unit 1500, display unit 113, and GNSS antenna unit 1820 are configured to implement a communication network to assist in or accomplish one or more of efficient load delivery, load monitoring, collision avoidance, and load hazard avoidance as described above. In one embodiment, sensor unit 1500 display unit 113, and GNSS antenna unit 1820 are configured to initiate an automatic discovery process in which components of communication network 1900 detect each other by exchanging messages without the necessity of user initiation and/or intervention. Additionally, in one embodiment sensor unit 1500, display unit 113, and GNSS antenna unit 1820 are configured to automatically initiate processes to assist in or accomplish one or more of efficient load delivery, load monitoring, collision avoidance, and load hazard avoidance such as determining the position of sensor unit 1500, display unit 113, and/or load 104 in manners previously described herein. Furthermore, in one embodiment display unit 113 is configured to send and receive data outside of communication network 1900. Thus, display unit can be used to receive updates, correction data for position determination, and other instructions for implementing a plan at a site. Additionally, display unit 113 can be used for storing, forwarding, and reporting data used in site monitoring or other purposes. In one embodiment, communications link controllers 1502 is used to establish communications with display unit 113 and/or GNSS antenna unit 1820. In one embodiment, communications link controller 1502 is used to establish a wireless connection with local area network 1301 to forward data such as raw data, processed data, status reports, or position reports. In another embodiment, such as when positioning transceiver 1501 is a WiFi transceiver, communications link controller 1502 may be redundant, and wireless connections with local area network 1303 can be established using positioning transceiver 1501.
FIG. 20 is a flowchart of a method 2000 for providing sensor unit location data in accordance with one or more embodiments. In operation 2010 of FIG. 20 a point-to-point radio ranging system is coupled with a mobile construction device 1590 which may be a lifting device such as lifting device 120. As discussed above, various embodiments utilize point-to-point radio ranging systems to determine the position of sensor unit 1500.
In operation 2020 of FIG. 20, a position determining component configured for determining a position of a sensor unit in at least two dimensions is coupled with the point-to-point radio ranging system. As discussed with reference to FIGS. 15, 18 and 19, position determining component 1505 is coupled with sensor unit 1500 which further comprises positioning transceiver 1501.
In operation 2030 of FIG. 20, a transceiver configured to provide information, including the sensor unit position, to a receiving unit located apart from the sensor unit is communicatively coupled with the position determining component. As described with reference to FIGS. 18 and 19, at least one of communication controllers 1162 comprises a transceiver which is configured to forward data to local area network 1301. In one or more embodiments, this information comprises sensor unit position, raw positioning data, or post-processed positioning data.
FIG. 21 is a flowchart of a method 2100 for providing sensor unit location data in accordance with one embodiment. In operation 2110 of FIG. 21, communications are received between a point-to-pint radio ranging system coupled with a sensor unit of a mobile construction device and a plurality of tags respectively located at a plurality of knowable locations within an operating environment of the mobile construction device.
In operation 2120 of FIG. 21, a position determining component coupled with the point-to-point radio ranging system is used to determine a position of the sensor unit in at least two dimensions.
In operation 2130 of FIG. 21, information, including the sensor unit position is provided to a receiving unit located apart from the sensor unit using a communications link controller communicatively coupled with the position determining component.
Embodiments of the present technology are thus described. While the present technology has been described in particular embodiments, it should be appreciated that the present technology should not be construed as limited to these embodiments alone, but rather construed according to the following claims.

## Claims

1. A mobile construction device sensor unit, said sensor unit comprising:
a point-to-point radio ranging system configured to couple with a mobile construction device; and
a position determining component coupled with said point-to-point radio ranging system and configured for determining a position of said sensor unit in at least two dimensions based on communications between said point-to-point radio ranging system and a plurality of tags respectively located at a plurality of knowable locations within an operating environment of said mobile construction device.

2. The sensor unit of claim 1 further comprising:
a Global Navigation Satellite System (GNSS) receiver configured for determining a position in at least two dimensions.

3. The sensor unit of claim 1, further comprising:
a collision monitor coupled configured for monitoring for a collision related hazard in a vicinity of said mobile construction device.

4. The sensor unit of claim 3, further comprising:
an avoidance action initiator configured for initiating at least one hazard avoidance action in response to a monitored occurrence of said collision related hazard.

5. The sensor unit of claim 1 wherein said position determining component is configured to determine a respective signal strength from each of said plurality of tags.

6. The sensor unit of claim 1 wherein said position determining component is configured to determine a direction to each of said plurality of tags.

7. The sensor unit of claim 1 wherein said position determining component is configured to determine a respective round trip time of flight indicating the time elapsed between transmission of a respective signal to each of said plurality of tags and reception of a respective response from each of said plurality of tags.

8. The sensor unit of claim 1, wherein said position determining component is configured to determine distance between said point-to-point radio ranging system and a tag of said plurality of tags based on a phase measurement of a signal from said tag.

9. The sensor unit of claim 8, wherein said phase measurement comprises a measurement of integer wavelengths and a fractional wavelength in a signal received from said tag.

10. The sensor unit of claim 1, wherein said mobile construction device comprises a vehicle.

11. The sensor unit of claim 1, wherein said operating environment of said mobile construction device comprises a construction site.

12. The sensor unit of claim 1, wherein said mobile construction device comprises a lifting device and wherein said point-to-point radio ranging system is coupled with a load line of said lifting device.

13. The sensor unit of claim 12, further comprising:
a load line positioner configured for adjustably positioning said sensor unit along said load line of said lifting device.

14. The sensor unit of claim 12, further comprising:
a load monitor configured for monitoring a load coupled with a load line of said lifting device, including monitoring a load position and a load orientation of said load.

15. The sensor unit of claim 14, wherein said load monitor is further configured for monitoring for load related hazards in a vicinity of said load.

16. The sensor unit of claim 14, wherein said load monitor is selected from the group consisting of a camera, a plurality of cameras, an ultrasonic sensor, a laser scanner, a bar code scanner, a radio frequency identification device transceiver, and an inertial sensor.

17. The sensor unit of claim 14, wherein said load monitor is configured for monitoring for one or more object identifiers coupled with said load or one or more other objects in a field of view of said load monitor from said sensor unit.

18. A method for providing mobile construction device location data, said method comprising:
receiving communications between a point-to-point radio ranging system and a plurality of tags respectively located at a plurality of knowable locations within an operating environment of said mobile construction device, wherein said point-to-point radio ranging system is coupled with a sensor unit of a mobile construction device; and
using a position determining component coupled with said point-to-point radio ranging system to determine a position of said sensor unit in at least two dimensions.

19. The method as recited in claim 18, further comprising:
providing information, including said position, to a receiving unit located apart from said sensor unit using a communications link controller communicatively coupled with said position determining component.

20. The method as recited in claim 19, further comprising:
using said communications link controller to wirelessly communicate said position with a display unit via a wireless data transmission link, wherein said display unit and said sensor unit are physically separate entities, said wireless data transmission link selected from the group consisting of: a cellular wireless data transmission link, an Institute of Electrical and Electronics Engineers (IEEE) 802.11 compliant data transmission link, an IEEE 802.15.4 compliant data transmission link, an IEEE 802.16 compliant data transmission link, and a short range wireless data transmission link operating in Instrument Scientific and Medical (ISM) band of radio frequency spectrum in 2400-2484 MHz range.

21. The method as recited in claim 20, further comprising:
using a second communications link controller of said display unit to wirelessly communicate with said sensor unit; and
using a third communications link controller of said display unit to wirelessly communicate with said receiving unit via another communication network using a second wireless data transmission link.

22. The method as recited in claim 21 wherein said using a third communications link controller of said display unit to wirelessly communicate with said receiving unit via another communication network using a second wireless data transmission link comprises:
using said third communications line controller to wirelessly communicate with another communication network using a second wireless connection selected from the group consisting of a WiFi connection, a WiMAX connection, a WWAN connection, an IEEE 802.11 compliant connection, a cellular telephone connection, a two-way radio connection, a satellite-based cellular connection, and a mesh networking connection.

23. The method as recited in claim 20, further comprising:
using a Global Navigation Satellite System (GNSS) receiver coupled with said mobile construction device to determine a position of said mobile construction device in at least two dimensions.

24. The method as recited in claim 23, further comprising:
communicatively coupling said GNSS receiver with said display unit via said wireless data transmission link.

25. The method as recited in claim 18, further comprising:
using said position determining component to determine a respective signal strength of a respective signal from each of said plurality of tags.

26. The method as recited in claim 18, further comprising:
using said position determining component to determine a direction to each of said plurality of tags.

27. The method as recited in claim 18, further comprising:
using said position determining component to determine a respective round trip time of flight indicating the time elapsed between transmission of a respective signal to each of said plurality of tags and reception of a respective response from each of said plurality of tags.

28. The method as recited in claim 18, further comprising:
using said position determining component to determine distance between said point-to-point radio ranging system and a tag of said plurality of tags based on a phase measurement from a signal of said tag.

29. The method as recited in claim 28, wherein said using said position determining component to determine distance between said point-to-point radio ranging system and a tag of said plurality of tags based on a phase measurement from a signal of said tag comprises:
measuring wavelengths and a fractional wavelength in a signal received from said tag.

30. The method as recited in claim 18, wherein said receiving communications between a point-to-point radio ranging system and a plurality of tags respectively located at a plurality of knowable locations within an operating environment of said mobile construction device, wherein said point-to-point radio ranging system is coupled with a sensor unit of a mobile construction device comprises:
receiving communications between said point-to-point radio ranging system and said plurality of tags respectively located at said plurality of knowable locations within said operating environment of said mobile construction device, wherein said point-to-point radio ranging system is coupled with said sensor unit of said mobile construction device, wherein said mobile construction device is a vehicle and wherein said operating environment is a construction site.

31. The method as recited in claim 18, wherein said receiving communications between a point-to-point radio ranging system and a plurality of tags respectively located at a plurality of knowable locations within an operating environment of said mobile construction device, wherein said point-to-point radio ranging system is coupled with a sensor unit of a mobile construction device comprises:
receiving communications between said point-to-point radio ranging system and said plurality of tags respectively located at said plurality of knowable locations within said operating environment of said mobile construction device, wherein said point-to-point radio ranging system is coupled with said sensor unit of said mobile construction device, and wherein said mobile construction device is a lifting device.

32. The method as recited in claim 31, further comprising:
monitoring a load coupled with a load line of said lifting device by using a load monitor coupled with said sensor unit, said monitoring including monitoring a load position and a load orientation of said load.

33. The method as recited in claim 32, further comprising:
monitoring, with said load monitor, for load related hazards in a vicinity of said load.

34. The method as recited in claim 32, further comprising:
monitoring, with said load monitor, for one or more object identifiers coupled with said load or one or more other objects in a field of view of said load monitor from said lifting device sensor unit.

35. The method as recited in claim 32, wherein said monitoring a load coupled with said load line by using a load monitor coupled with said sensor unit, comprises:
using a load monitor selected from the group consisting of a camera, a plurality of cameras, an ultrasonic sensor, a laser scanner, a bar code scanner, a radio frequency identification device transceiver, and an inertial sensor.

36. The method as recited in claim 31, further comprising:
monitoring, by using a collision monitor coupled with said sensor unit, for collision related hazards in a vicinity of said lifting device.

37. The method as recited in claim 36, further comprising:
in response to a monitored occurrence of said collision related hazard, initiating at least one hazard avoidance action using an avoidance action initiator that is coupled with said sensor unit.

38. The method as recited in claim 31, further comprising:
using a load line positioner coupled with said sensor unit to adjustably position said sensor unit along a load line of said lifting device.

39. The method as recited in claim 31, further comprising:
using a lift plan generator coupled with said sensor unit to generate a lift plan for lifting a load to a destination associated with said load.

40. A mobile construction device comprising:
a sensor unit coupled with said mobile construction device, said sensor unit comprising:
a point-to-point radio ranging system configured to couple with a mobile construction device; and
a position determining component coupled with said point-to-point radio ranging system and configured for determining a position of said sensor unit in at least two dimensions based on communications between said point-to-point radio ranging system and a plurality of tags respectively located at a plurality of knowable locations within an operating environment of said mobile construction device.

41. The mobile construction device of claim 40, wherein said sensor unit further comprises:
a communications link controller communicatively coupled with said position determining component and configured for providing information, including said position of said sensor unit, to a receiving unit located apart from said sensor unit.

42. The mobile construction device of claim 41, wherein said communications link controller is configured to wirelessly communicate said position of said sensor unit with a display unit via a wireless data transmission link, wherein said display unit and said sensor unit are physically separate entities, said wireless data transmission link selected from the group consisting of: a cellular wireless data transmission link, an Institute of Electrical and Electronics Engineers (IEEE) 802.11 compliant data transmission link, an IEEE 802.15.4 compliant data transmission link, an IEEE 802.16 compliant data transmission link, and a short range wireless data transmission link operating in Instrument Scientific and Medical (ISM) band of radio frequency spectrum in 2400-2484 MHz range.

43. The mobile construction device of claim 40, wherein said sensor unit further comprises:
a Global Navigation Satellite System (GNSS) receiver configured for determining a position in at least two dimensions.

44. The mobile construction device of claim 40, wherein said sensor unit further comprises:
a collision monitor coupled configured for monitoring for a collision related hazard in a vicinity of said mobile construction device.

45. The mobile construction device of claim 44, wherein said sensor unit further comprises:
an avoidance action initiator configured for initiating at least one hazard avoidance action in response to a monitored occurrence of said collision related hazard.

46. The mobile construction device of claim 40, wherein said position determining component is configured to determine a respective signal strength from each of said plurality of tags.

47. The mobile construction device of claim 40, wherein said position determining component is configured to determine a direction to each of said plurality of tags.

48. The mobile construction device of claim 40, wherein said position determining component is configured to determine a respective round trip time of flight indicating the time elapsed between transmission of a respective signal to each of said plurality of tags and reception of a respective response from each of said plurality of tags.

49. The mobile construction device of claim 40, wherein said position determining component is configured to determine distance between said point-to-point radio ranging system and a tag of said plurality of tags based on a phase measurement of a signal from said tag.

50. The mobile construction device of claim 49, wherein said phase measurement comprises a measurement of integer wavelengths and a fractional wavelength in a signal received from said tag.

51. The mobile construction device of claim 40, wherein said mobile construction device comprises a vehicle.

52. The mobile construction device of claim 40, wherein said operating environment of said mobile construction device comprises a construction site.

53. The mobile construction device of claim 40, wherein said mobile construction device comprises a lifting device and wherein said sensor unit is coupled with a load line of said lifting device.

54. The mobile construction device of claim 53, further comprising:
a load line positioner configured for adjustably positioning said sensor unit along said load line of said lifting device.

55. The mobile construction device of claim 53, further comprising:
a load monitor configured for monitoring a load coupled with a load line of said lifting device, including monitoring a load position and a load orientation of said load.

56. The mobile construction device of claim 55, wherein said load monitor is further configured for monitoring for load related hazards in a vicinity of said load.

57. The mobile construction device of claim 55, wherein said load monitor is selected from the group consisting of a camera, a plurality of cameras, an ultrasonic sensor, a laser scanner, a bar code scanner, a radio frequency identification device transceiver, and an inertial sensor.

58. The mobile construction device of claim 55, wherein said load monitor is configured for monitoring for one or more object identifiers coupled with said load or one or more other objects in a field of view of said load monitor from said sensor unit.