Patent Application
20240034607
The present disclosure relates generally to the field of lift devices. More specifically, the present disclosure relates to sensor systems for lift devices.
Some lift devices include platforms that support an operator. Such platforms are often supported by boom assemblies that facilitate vertical and/or horizontal movement of the platform.
At least one embodiment relates to a lift device including a chassis, a platform configured to support an operator, the platform including an attachment point configured to engage a lanyard to secure the operator to the platform, a lift assembly coupling the platform to the chassis and configured to raise the platform relative to the chassis, a sensor configured to provide sensor data indicative of engagement between the attachment point and the lanyard, and a controller operatively coupled to the sensor. The controller is configured to determine, based on the sensor data, if the lanyard is engaged with the attachment point. In response to a determination that the lanyard is not engaged with the attachment point, the controller is configured to at least one of (a) activate an alarm to provide a notification to alert the operator that the lanyard is not engaged with the attachment point or (b) limit movement of the lift device.
Another embodiment relates to a control method including receiving image data from a camera having a field of view that includes a work area of a platform, determining, based on the image data, if a personal protective equipment (PPE) system is securing an operator to an attachment point of the platform, and in response to a determination that the PPE system is not securing the operator to the attachment point, controlling an alarm to provide a notification to alert the operator.
Another embodiment relates to a control method including receiving image data from a camera having a field of view that includes a work area of a platform, identifying, based on the image data, a first operator and a second operator present within the work area, determining, based on the image data, if a first harness is worn by the first operator and a first lanyard is coupling the first harness to the platform, determining, based on the image data, if a second harness is worn by the second operator and a second lanyard is coupling the second harness to the platform, determining that a personal protective equipment (PPE) system is not operational in response to at least one of (a) a determination that the first harness is not worn by the first operator, (b) the first lanyard is not coupling the first harness to the platform, (c) a determination that the second harness is not worn by the second operator, or (d) the second lanyard is not coupling the second harness to the platform, and limiting operation of a lift assembly to prevent upward movement of the platform in response to a determination that the PPE system is not operational.
Another embodiment relates to a lift device including a chassis, a platform configured to support a operator, a lift assembly coupling the platform to the chassis, an actuator configured to at least one of (a) move the platform relative to the chassis or (b) propel the chassis, a operator protection assembly, a sensor assembly, and a controller. The operator protection assembly includes a jacket, harness, and a lanyard. The jacket and harness are configured to be worn by an operator positioned on the platform. An attachment point of the platform is configured to receive a first end of the lanyard. The harness is configured to receive a second end of the lanyard. The sensor assembly includes a camera positioned on the platform. The camera is configured to provide image data to the controller. The controller is configured to, based on the image data, determine whether the first end of the lanyard is coupled to the attachment point of the platform. The controller is further configured to, based on the image data, determine whether the operator is wearing the jacket. The controller is further configured to, based on the image data, determine whether the second end of the lanyard is coupled to the harness. The controller is operatively coupled to the sensor and the actuator and configured to control the actuator in response to receiving the signal from the sensor.
This summary is illustrative only and is not intended to be in any way limiting. Other aspects, inventive features, and advantages of the devices or processes described herein will become apparent in the detailed description set forth herein, taken in conjunction with the accompanying figures, wherein like reference numerals refer to like elements.
Before turning to the figures, which illustrate certain exemplary embodiments in detail, it should be understood that the present disclosure is not limited to the details or methodology set forth in the description or illustrated in the figures. It should also be understood that the terminology used herein is for the purpose of description only and should not be regarded as limiting.
Referring generally to the figures, a lift device includes a platform configured to support a operator, a chassis, and a lift assembly coupling the platform to the chassis. The operator may control the lift assembly to raise, lower, or otherwise move the platform through a operator interface coupled to the platform. In some embodiments, the operator may wear a personal protective equipment (PPE) assembly. For example, the PPE assembly may include a harness, which may be secured to the torso (or some other body part) of the operator. The harness may be coupled to a first end of a lanyard. A second end of the lanyard may be coupled to one or more attachment points of the platform. The operator may further wear a jacket over the harness to protect the coupling of the harness to the first end of the lanyard, according to some embodiments. In some embodiments, a control system may be operable to ascertain various conditions associated with the PPE assembly. For example, the control system may determine whether the operator(s) present in the platform have their lanyard attached to the attachment point(s) on the platform. As another example, the control system may determine if the operator(s) are wearing the harness and/or the jacket. The control system may determine these and various other conditions associated with the PPE assembly and respond accordingly, which may include various alerts communicated aboard the platform, override operations of the lift assembly, alerts to a remote system, and so on. In some embodiments, the control system includes a camera and a controller (e.g., an embedded device, a processor and memory, etc.). The camera may be operable to collect image data of the environment in and/or around the platform in order to facilitate the determinations suggested above. In order for the controller to interpret the image data in order to perform the determinations suggested above, the control system may implement a neural network (e.g., a neural network model, machine learning, deep learning, deep neural network, etc.) in order to optimize the accuracy of such determinations.
According to the exemplary embodiment shown in
The boom 14 has a first or proximal end 18 pivotally coupled to the chassis 20 and a second or distal end 13 opposite the proximal end 18. The distal end 13 is pivotally coupled to the platform assembly 16. By pivoting the boom 14 at the proximal end 18, the platform assembly 16 may be elevated or lowered to a height above or below a portion of the chassis 20. The boom 14 has a plurality of telescoping segments that facilitate moving the distal end 13 and the platform assembly 16 closer to or away from the proximal end 18 and the chassis 20.
In some embodiments, the chassis 20 includes a chassis, base, or frame, shown as base frame 24. The base frame 24 is coupled to a turntable 26. According to exemplary embodiment, the proximal end 18 of the boom 14 is pivotally coupled to the turntable 26. According to an alternative embodiment, the chassis 20 does not include a turntable 26, and the boom 14 is coupled directly to the base frame 24 (e.g., the boom 14 may be provided as part of a telehandler). According to still another alternative embodiment, the boom 14 is incorporated as part of an articulating boom lift that includes multiple sections coupled to one another (e.g., a base section coupled to the chassis 20, an upper section coupled to the platform assembly 16, and one or more intermediate sections coupling the base section to the upper section, etc.).
In some embodiments, the lift device 10 is mobile and the base frame 24 includes tractive elements, shown as wheel and tire assemblies 28. The wheel and tire assemblies 28 may be driven using a prime mover and steered to maneuver the lift device 10. In other embodiments, the base frame 24 includes other devices to propel or steer the lift device 10 (e.g., tracks). In still other embodiments, the lift device 10 is a trailer that is towed by another vehicle, and the base frame 24 includes one or more wheels or elements configured to support the lift device 10. In still other embodiments, the lift device 10 is a stationary device and the base frame 24 lacks any wheels or other elements to facilitate the movement of the lift device 10 and may instead include legs or other similar structures that facilitate stationary support of the lift device 10.
The turntable 26 is coupled to the base frame 24 such that the turntable 26 may be rotated relative to the base frame 24 about a vertical axis of rotation (e.g., by a motor). According to an exemplary embodiment, the chassis 20 houses one or more pumps and/or motors that power one or more functions of the lift device 10 (e.g., extension and/or movement of the boom 14 and the platform assembly 16, rotation of the turntable 26, rotation of the wheel and tire assemblies 28, etc.). The pumps and/or motors may drive the movement directly, or may provide electrical energy or pressurized hydraulic fluid to another actuator. The lift device 10 may include an onboard engine (e.g., a gasoline or diesel engine), may receive electrical energy from an external source through a tether (e.g., a cable, a cord, etc.), may include an on-board generator set to provide electrical energy, may include a hydraulic pump coupled to a motor (e.g., an electric motor, an internal combustion engine, etc.), and/or may include an energy storage device (e.g., battery).
According to an exemplary embodiment, the turntable 26 includes an internal structure (e.g., one or more bosses coupled to a pin, etc.) configured to support the boom 14. The internal structure may interface with the proximal end 18 of the boom 14 to pivotally couple the boom 14 to the chassis 20. A lift actuator, shown as hydraulic cylinder 30, is coupled between the turntable 26 and the boom 14. According to an exemplary embodiment, the hydraulic cylinder 30 extends or retracts to raise or lower the boom 14 (e.g., to rotate the distal end 13 of the boom 14 relative to the turntable 26). In other embodiments, the hydraulic cylinder is replaced with or additionally includes another type of actuator (e.g., an electric motor, a lead screw, a ball screw, an electric linear actuator, a pneumatic cylinder, etc.).
According to an exemplary embodiment, the boom 14 is a telescoping boom including a series of segments or sections that are configured to translate relative to one another along a longitudinal axis 32. The longitudinal axis 32 extends along the length of the boom 14 between the proximal end 18 and the distal end 13. As shown in
According to an exemplary embodiment, the base boom section 34, the intermediate boom section 36, and the fly boom section 38 have tubular cross sectional shapes (e.g., to facilitate receiving boom sections within one another). The base boom section 34, the intermediate boom section 36, and the fly boom section 38 may have a variety of cross sectional shapes (e.g., hexagonal, round, square, pentagonal, etc.). While the embodiment shown in
In some embodiments, the boom 14 further includes a linkage, shown as connecting linkage 40, which couples the platform assembly 16 to the fly boom section 38. According to an exemplary embodiment, the connecting linkage 40 includes a rotator (e.g., a rotating joint or motor, a hydraulic cylinder, etc.) that drives relative rotation between the boom 14 and the platform assembly 16. According to an exemplary embodiment, the connecting linkage 40 includes a jib (e.g., a four bar linkage) that facilitates translation between the boom 14 and the platform assembly 16.
According to an exemplary embodiment, the connecting linkage 40 includes both a rotator and a jib. Such connecting linkages 40 may facilitate the platform assembly 16 remaining level as the boom 14 is raised or lowered. The connecting linkage 40 may be controlled by a self-leveling system including a slave cylinder (e.g., the slave cylinder may operate based on the position of the hydraulic cylinder 30). In other embodiments, movement of the connecting linkage 40 is otherwise controlled (e.g., by manual or computer control of a hydraulic or electric actuator (e.g., a cylinder, a motor, etc.). In some embodiments, the connecting linkage 40 supports a camera (such as a camera 300 as depicted with reference to
In some embodiments, the lift device 10 may include a controller 420 within the chassis 20 (or some other part of the lift device 10). The controller 420 may be part of a control system 400 (e.g., shown in
Referring now to
The platform assembly 16 can include a human machine interface (HMI) (e.g., an operator interface), shown as the HMI 50. The HMI 50 is configured to receive operator inputs from the operator at or upon the platform assembly 16 to facilitate operation of the boom 10. The HMI 20 can include any number of buttons, levers, switches, keys, etc., or any other operator input device configured to receive an operator input to operate the boom 10.
The platform assembly 16 includes a base member, a base portion, a platform, a standing surface, a shelf, a work platform, a floor, a deck, etc., shown as a deck 100. The deck 100 provides a floor surface for one or more workers to stand upon as the platform assembly 16 is raised and lowered. The worker may stand within the work area 102 positioned above the deck 100.
The platform assembly 16 includes a railing assembly 110 that extends upward from the deck 100 and at least partially surrounds the work area 102. The railing assembly 110 includes various members, beams, bars, guard rails, rails, railings, etc., shown as rails 112. The rails 112 extend along substantially an entire perimeter of the deck 100. The rails 112 provide one or more members for the operator of the lift device 10 to grasp while using the lift device 10 (e.g., to grasp while operating the lift device 10 to elevate the platform assembly 16) and contain the operator within the work area 102. The rails 112 can include members that are substantially horizontal to the deck 100. The rails 112 can also include vertical structural members that couple with the substantially horizontal members. The vertical structural members can extend upwards from the deck 100. One or more of the rails may be coupled to and support the HMI 50.
In some embodiments, the rails 112 include a pair of frame members, shown as vertical rails 120, that extend vertically upward from the deck 100. The vertical rails 120 are positioned on opposite sides of the HMI 50 such that the HMI 50 extends laterally between the vertical rails 120. A rail, shown as cage 130, is fixedly coupled to the vertical rails 120 and extends around the HMI 50. Specifically, the cage 130 extends laterally between the vertical rails 120, longitudinally forward of the vertical rails 120, and longitudinally rearward of the vertical rails 120. The cage 130 includes a pair of inclined portions 132, each extending longitudinally forward and vertically upward from a middle portion of one of the vertical rails 120. The cage 130 further includes a pair of curved portions 134, each coupled to an upper end of one of the inclined portions 132. The curved portions 134 each extend upward and longitudinally rearward from the corresponding inclined portion 134. A u-shaped horizontal portion 136 is coupled to both of the curved portions 134. The horizontal portion 136 extends longitudinally rearward from the curved portions 134 and laterally between the curved portions 134. The horizontal portion 136 is coupled to the top end of each vertical rail 120. The curved portions 134 and the horizontal portion 136 both extend above the HMI 50.
As shown in
Referring to
Referring to
The operator OP may further wear an outer clothing layer (e.g., a vest, a coat, a jacket, etc.), shown as jacket 250 of the PPE system 200. The jacket 250 may be sized and otherwise configured to be worn over the harness 230, such that the second end 214 may be securely coupled to the harness 230 while also preventing contact to the harness 230 that might obstruct the integrity of the harness 230 and lanyard 210. As shown in
Referring now to
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Referring now to
Referring to
The camera 300 may be mounted (e.g., coupled, welded, attached, supported by, etc.) in a location that, depending on the viewable scope of the camera 300, allows the camera 300 to collect image data as necessary for the control system 400 to perform the systems and methods described herein. As shown in
The placement of the camera 300 in
As shown in
The field of view FOV of the camera 300 may be substantially conical and have an angle Θ. In some embodiments, the camera 300 includes a 180° wide angle (i.e., the angle θ is) 180°. In some embodiments, the camera 300 provides image data in accordance with a 1280×960 pixel distribution with MJPEG or H.265 compression. In other embodiments, the camera 300 provides image data with a 1920×1080 pixel distribution. In other embodiments still, the camera 300 is configured differently (e.g., 360° image data, other pixel distributions, etc.).
While depicted herein as including a camera 300, the lift device 10 can include, or in fact be, other sensors. For example, the lift device 10 can be or include any one and/or a combination of camera(s), proximity sensor(s), infrared sensor(s), electromagnetic sensor(s), capacitive sensor(s), photoelectric sensor(s), inductive sensor(s), radar sensor(s), ultrasonic sensor(s), Hall Effect sensor(s), fiber optic sensor(s), Doppler Effect sensor(s), magnetic sensor(s), laser sensor(s) (e.g., LIDAR sensors), sonar sensor(s), and/or the like. Accordingly, any reference herein to the camera 300 may also apply to these other types of sensors.
In some embodiments, the camera 300 includes an image capture device such as visible light cameras, full-spectrum cameras, image sensors (e.g., charged-coupled device (CCD), complementary metal oxide semiconductor (CMOS) sensors, etc.), or any other type of suitable object sensor or imaging device. Sensor data captured by the camera 300 may include, for example, raw image data from one or more cameras (e.g., visible light cameras) and/or proximity data from one or more sensors (e.g., LIDAR, radar, etc.) that may be used to detect objects. In other embodiments, sensor data captured by the camera 300 is video feed data obtained from the camera 300 regarding one or more areas in and/or surrounding platform assembly 16. For example, the sensor data may be or include video feed data (e.g., live or real-time video feed data) of the front, sides, rear, and/or interior of the platform assembly 16. In some embodiments, multiple cameras 300 may be used in order to provide multiple feeds of image data to the controller 420, which may be configured to compile (e.g., cross-reference based on known relative locations of the multiple cameras 300) the image data.
In some embodiments, the camera 300 is active during operation of the platform assembly 16. Additionally or alternatively, the camera 300 may become active in response to a detected operation mode of the platform assembly 16. For example, the camera 300 may activate in response to another sensor (e.g., a low-power camera, a motion detector, etc.) detecting the presence of the operator OP aboard the platform assembly 16.
In some embodiments, the camera 300 (e.g., in conjunction with the control system 400) is configured to determine a number of operator(s) 5 (e.g., 1, 2, 3, 5, etc.) about (e.g., supported by, standing on) the platform assembly 16. In some embodiments, an additional camera 300 (or a different camera or other detection device) may be positioned on or around the HMI 50 (or on the rails 112) in order to determine the number of operators OP present. The camera 300 and/or control system 400 may in turn provide individual determinations regarding multiple attachment points 150, lanyards 210, harnesses 230 and/or jackets 250 with respect to the multiple operators OP in terms of assessing the integrities of the lanyard and PPE systems.
Referring now to
In some embodiments, alert devices 424 can provide auditory alerts to an operator of lift device 10. Alert devices 424 may include speakers, sound output devices, alarms, buzzers, etc. based on the display/alert data provided by controller 402. In some embodiments, alert devices 424 are associated with a corresponding automatic action undertaken by the control system 400. For example, an audible alert or alarm, such as audible natural language based alerts, indicating that the PPE system 200 is not fully functional may can accompany a corresponding action, such as limiting operation of the lift device 10, initiated by the control system 400. The audible natural language based alerts can accord to one or more languages.
In some embodiments, the controller 402 may receive image data from the camera 300 as described herein. The controller 402 may include a processing circuit 404, which may include a processor 406 and a memory 408, that facilitates performance of the systems and methods described herein. For example, the processor 406 may receive the image data and perform object detection (e.g., detecting an object-of-interest) in order to assess the integrity of the PPE system 200 as suggested above. Further, the processor 406 may be configured to compile and utilize a neural network 407 in order to perform the systems and methods described herein. In order to implement the neural network 407 on a device, such as the lift device 10, multiple neural networks 407 may be developed in phases in order to optimize the performance of the control system 400.
In some embodiments, the control system 400 may operate to constantly assess the integrity of the PPE system 200. Where the control system 400 determines a failure of the integrity (e.g., the lanyard 210 is not coupled to the attachment point 150, the operator is not wearing the harness 230 and/or the jacket 250, the harness 230 is not coupled to the lanyard 210, etc.), the control system 400 may function to provide one or more alerts to the HMI 50 as described above. The control system 400 may further function to adjust the operation of the lift device 10 via the controllable elements 410 (e.g., cease movement of the lift device 10, lower the lift assembly 14 to the ground, etc.). The control system 400 may further function to alert a remote device (such as a supervisor of the operator OP) over a remote network 412 in communication with the lift device 10. The particular function of the control system 400 is depicted in greater detail below with reference to
Referring now to
Referring now to
Referring now to
As utilized herein, the terms “approximately,” “about,” “substantially,” and similar terms are intended to have a broad meaning in harmony with the common and accepted usage by those of ordinary skill in the art to which the subject matter of this disclosure pertains. It should be understood by those of skill in the art who review this disclosure that these terms are intended to allow a description of certain features described and claimed without restricting the scope of these features to the precise numerical ranges provided. Accordingly, these terms should be interpreted as indicating that insubstantial or inconsequential modifications or alterations of the subject matter described and claimed are considered to be within the scope of the disclosure as recited in the appended claims.
It should be noted that the term “exemplary” and variations thereof, as used herein to describe various embodiments, are intended to indicate that such embodiments are possible examples, representations, or illustrations of possible embodiments (and such terms are not intended to connote that such embodiments are necessarily extraordinary or superlative examples).
The term “coupled” and variations thereof, as used herein, means the joining of two members directly or indirectly to one another. Such joining may be stationary (e.g., permanent or fixed) or moveable (e.g., removable or releasable). Such joining may be achieved with the two members coupled directly to each other, with the two members coupled to each other using a separate intervening member and any additional intermediate members coupled with one another, or with the two members coupled to each other using an intervening member that is integrally formed as a single unitary body with one of the two members. If “coupled” or variations thereof are modified by an additional term (e.g., directly coupled), the generic definition of “coupled” provided above is modified by the plain language meaning of the additional term (e.g., “directly coupled” means the joining of two members without any separate intervening member), resulting in a narrower definition than the generic definition of “coupled” provided above. Such coupling may be mechanical, electrical, or fluidic.
References herein to the positions of elements (e.g., “top,” “bottom,” “above,” “below”) are merely used to describe the orientation of various elements in the FIGURES. It should be noted that the orientation of various elements may differ according to other exemplary embodiments, and that such variations are intended to be encompassed by the present disclosure.
The hardware and data processing components used to implement the various processes, operations, illustrative logics, logical blocks, modules and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose single- or multi-chip processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, or, any conventional processor, controller, microcontroller, or state machine. A processor also may be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. In some embodiments, particular processes and methods may be performed by circuitry that is specific to a given function. The memory (e.g., memory, memory unit, storage device) may include one or more devices (e.g., RAM, ROM, Flash memory, hard disk storage) for storing data and/or computer code for completing or facilitating the various processes, layers and modules described in the present disclosure. The memory may be or include volatile memory or non-volatile memory, and may include database components, object code components, script components, or any other type of information structure for supporting the various activities and information structures described in the present disclosure. According to an exemplary embodiment, the memory is communicably connected to the processor via a processing circuit and includes computer code for executing (e.g., by the processing circuit or the processor) the one or more processes described herein.
The present disclosure contemplates methods, systems and program products on any machine-readable media for accomplishing various operations. The embodiments of the present disclosure may be implemented using existing computer processors, or by a special purpose computer processor for an appropriate system, incorporated for this or another purpose, or by a hardwired system. Embodiments within the scope of the present disclosure include program products comprising machine-readable media for carrying or having machine-executable instructions or data structures stored thereon. Such machine-readable media can be any available media that can be accessed by a general purpose or special purpose computer or other machine with a processor. By way of example, such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a general purpose or special purpose computer or other machine with a processor. Combinations of the above are also included within the scope of machine-readable media. Machine-executable instructions include, for example, instructions and data which cause a general purpose computer, special purpose computer, or special purpose processing machines to perform a certain function or group of functions.
Although the figures and description may illustrate a specific order of method steps, the order of such steps may differ from what is depicted and described, unless specified differently above. Also, two or more steps may be performed concurrently or with partial concurrence, unless specified differently above. Such variation may depend, for example, on the software and hardware systems chosen and on designer choice. All such variations are within the scope of the disclosure. Likewise, software implementations of the described methods could be accomplished with standard programming techniques with rule-based logic and other logic to accomplish the various connection steps, processing steps, comparison steps, and decision steps.
It is important to note that the construction and arrangement of the lift device 10 as shown in the various exemplary embodiments is illustrative only. Additionally, any element disclosed in one embodiment may be incorporated or utilized with any other embodiment disclosed herein. Although only one example of an element from one embodiment that can be incorporated or utilized in another embodiment has been described above, it should be appreciated that other elements of the various embodiments may be incorporated or utilized with any of the other embodiments disclosed herein.
This application claims the benefit of and priority to U.S. Provisional Application No. 63/393,531, filed on Jul. 29, 2022, the entire disclosure of which is hereby incorporated by reference herein.
| Number | Date | Country | |
|---|---|---|---|
| 63393531 | Jul 2022 | US |
