POSITION TRACKING AND PROXIMITY WARNING SYSTEM

Abstract

A position tracking system for determining a position of a vehicle. The position tracking system invention includes at least two position-enabled mesh nodes mounted to the vehicle and a mesh network operatively associated with the at least two position-enabled mesh nodes mounted the vehicle. The mesh network is configured to determine a position of the vehicle based on signals received from the at least two position-enabled mesh nodes mounted to the vehicle. The position tracking system also includes a display system, which is operatively associated with the mesh network and which displays the position of the vehicle.

Description

BRIEF DESCRIPTION OF THE FIGURES

The accompanying figures, which are incorporated herein and form a part of the specification, illustrate various embodiments of the present invention and together with the description, serve to explain the invention. In the figures:

FIG. 1 shows a position-enabled mesh node of the present invention.

FIG. 2 shows a mesh network operatively associated with position-enabled mesh nodes installed on vehicles.

FIG. 3 shows an embodiment of the present invention wherein position-enabled mesh nodes are mounted on a haulage truck.

FIG. 4 shows a proximity warning system of the present invention.

FIG. 5 shows another view of the proximity warning system of the present invention.

FIG. 6 shows a display system of the present invention.

FIG. 7 shows a method for providing a proximity warning.

FIG. 8 shows a method for avoiding a collision between a vehicle and an object.

FIG. 9 shows another embodiment of a method for avoiding a collision between a vehicle and an object.

FIG. 10 shows a method for predicting a future course of a vehicle.

DETAILED DESCRIPTION OF THE INVENTION

A position tracking system 10 for determining a position 11 of a vehicle 12 according to one embodiment may comprise a plurality (i.e., at least two) position-enabled mesh nodes 14 mounted to the vehicle 12. Position-enabled mesh node 14 of the present invention is illustrated in FIG. 1.

As shown in FIG. 2, a mesh network 16 is operatively associated with the plurality of position-enabled mesh nodes 14. In addition to the plurality of position-enabled mesh nodes 14, mesh network 16 may comprise signal 13 and access point 17. Signal 13 may comprise any type of wireless or other signal as would be familiar to one of ordinary skill in the art. Mesh network 16 communicates with the position-enabled mesh nodes 14 via signal 13. Signal 13 may comprise peer-to-peer communications between vehicles 12, between vehicle 12 and access point 17 or any combination thereof. Access point 17 may be connected to a local area network, or LAN, via connection line 19. Mesh network 16 is also configured to determine the position 11 of the vehicle 12 based on signal(s) 13 received from the plurality of position-enabled mesh nodes 14 mounted to the vehicle 12. A display system 18 operatively associated with the mesh network 16 displays the position 11 of the vehicle 12.

In one embodiment, each of the position-enabled mesh nodes 14 may comprise a wireless position-enabled mesh node of the type available from Motorola, Inc., as a component of its MeshNetworks Positioning System. When properly configured, the position tracking system 10 may be used to identify the positional locations of the position-enabled mesh nodes 14. Such position-enabled mesh nodes 14 may be utilized to advantage in an environment 15, (e.g., mining, construction or industrial environment) to identify the position(s) 11 of various vehicles 12, such as haulage truck 112, shovels, or other equipment operating within the environment 15. Optionally, the position tracking system 10 may also be provided with a proximity warning system 20 and a collision avoidance system 22 in the manner described herein.

Briefly, the proximity warning system 20 may provide a warning to a vehicle operator (e.g., a truck driver) if the vehicle 12 and another object converge to within a predetermined distance 30 of one another in the environment 15. The object may comprise immoveable object 24 (e.g., building, structure) or moveable object 25 (e.g., vehicle 12, person). The vehicle operator may then take appropriate action to avoid a collision. The collision avoidance system 22 may comprise an additional component of the position tracking system 10 and may be used with or without the proximity warning system 20. As will be described in greater detail below, the collision avoidance system 22 may be used to automatically shut-down the vehicle 12 if a collision in the environment 15 is imminent. Alternatively, the collision avoidance system 22 may be configured to steer the vehicle 12 appropriately in order to avoid a collision in the environment 15.

Continuing now with the description, the at least two position-enabled mesh nodes 14 should be mounted to two different positions on the vehicle 12. The provision of a plurality of position-enabled mesh nodes 14 to the vehicle 12 will reduce position 11 data “drop outs” due to blind spots (e.g., loss of line-of-sight communication between two nodes). In addition, providing a plurality of position-enabled mesh nodes 14 to the vehicle 12 will allow the proximity warning system, 20 an/or collision avoidance system 22 to determine the location of various “extremities” of the vehicle 12. The ability to determine the locations of vehicle extremities may be particularly important in large vehicle 12, such as haulage truck 112, as well as vehicles 12 containing moveable elements, such as dump bed 130, shovel buckets, blades, etc., that are not fixed with respect to a main chassis or frame of the vehicle 12.

In one embodiment position-enabled mesh nodes 14 are mounted to the vehicle 12 so that their respective antennae 16 correspond with the left front 26 and right front 28 corners of the vehicle 12. Consequently, the positions of these position-enabled mesh nodes 14 will correspond to the positions of the respective left and right corners 26, 28 of the vehicle. Similarly, position-enabled mesh nodes 14 may also be mounted to the vehicle 12 so that their respective antennae 16 correspond with the left and right rear corners of the vehicle 12. Thus, the positions of the left and right rear corners of the vehicle 12 may be determined by correlating the positions of the antennae 16 of the position-enabled mesh nodes 14. It may also be desirable to mount positioned-enabled mesh node 14 to the rear axle of the vehicle. So mounting position-enabled mesh node 14 on the rear axle of the vehicle 12 may enhance the ability of the mesh network 16 to receive accurate position 11 information from locations behind the vehicle 12 that might otherwise be blocked by portions of the vehicle 12 positioned between the antenna 16 and a receiving node of the mesh network 16.

Depending on the type of vehicle and its configuration, it may be desirable to mount additional positioned-enabled mesh nodes 14 to the vehicle 12 so that all extremity portions of the vehicle 12 may be monitored by the mesh network 16. For example, as shown in FIG. 3, one or more position-enabled mesh nodes 14 may be mounted to the moveable dump bed 130 of haulage truck 112 to ensure that the location of the raised dump bed 130 can be determined, thereby avoiding contact with overhead items or objects. Similarly, one or more positioned-enabled mesh nodes 14 maybe mounted to a shovel bucket and/or various locations of the bucket arm to ensure that position information of such vehicle extremities can be determined. Consequently, because the positions of all vehicle extremities can be determined, the proximity warning system 20 and/or collision avoidance system 22 will be more effective in providing a warning and/or taking affirmative action (e.g., machine stoppage or shut-down) l order to avoid contact and/or prevent collisions in the environment 15.

The proximity warning system 20 may comprise a portion of the position tracking system 10 and is operatively associated with the mesh network 16. The proximity warning system 20 collects from the mesh network 16 position 11 data (i.e., “fixes”) relating to the vehicle 12 (and its extremities) and compares them to the position 11 associated with immoveable object 24 and moveable object 25. If the vehicle 12 converges to within a predetermined distance 30 of immoveable object 24 or moveable object 25, the proximity warning system 20 may activate an alarm. In this regard it should be noted that the position 11 associated with objects may be fixed or constant (such as that associated with immoveable objects 24, such as buildings and fixed pieces of equipment) and need not necessarily come from the mesh network 16. Alternatively, the position 11 could be data associated with moveable object 25 obtained from the mesh network 16. In order for moveable object 25 to register position 11, moveable object 25 should be equipped with position-enabled mesh node 14, such as that shown in FIG. 1. The proximity warning system 20 may be implemented as computer software operating on a computer associated with the mesh network 16.

The proximity warning system 20 may also comprise a display indicator module 32 for providing a visual or aural warning to the vehicle operator. In one embodiment, the display indicator module 32 comprises red 34, yellow 36, and green 38 annunciator lamps to provide a visual indication about whether any portion of the vehicle 12 is within a predetermined distance 30 of immoveable object 24 or moveable object 25. The display indicator module 32 may also be provided with an audible alarm 35. Predetermined distance 30 may comprise a permitted distance 31, a caution distance 33 and an alarm distance 37. By way of example, as shown in FIG. 4, the proximity warning system 20 may be programmed to illuminate the green annunciator lamp 38 so long as the potentially interfering immoveable object 24 and/or moveable object 25 remain more than permitted distance 31 (e.g., beyond 32 feet) away from vehicle 12. As shown in FIG. 5, if the distance decreases to less than the permitted distance 31, the vehicle 12 may be considered to be within the caution distance 33 of immoveable object 24 or moveable object 25. In that case, the proximity warning system 20 will illuminate the yellow annunciator lamp 36. If the distance between vehicle 12 and immoveable object 24 or moveable object 25 farther closes to within the alarm distance 37 (e.g., 16 feet or less), the proximity warning system 20 will illuminate the red annunciator lamp 34 and sound the audible alarm 35.

The position tracking system 10 may also be provided with a collision avoidance system 22 The collision avoidance system 22 may also be implemented as a computer software program running on a computer operatively associated with the mesh network 16. The collision avoidance system 22 collects data (i.e., “fixes”) for the position 11 of vehicle 12 obtained from the mesh network 16 and compares them to the position 11 associated with immoveable object 24 and/or moveable object 25. If it is determined that vehicle 12 is on a collision course with either immoveable object 24 or moveable object 25, the collision avoidance system 22 will take appropriate action. As was the case for the proximity warning system 20, the position 11 associated with immoveable object 24 may be fixed or constant and need not necessarily be obtained from the mesh network 16. Alternatively, the position 11 could be data associated with moveable object 25 obtained from the mesh network 16. In order for moveable object 25 to register position 11, moveable object 25 should be equipped with position-enabled mesh node 14, such as that shown in FIG. 1.

The collision avoidance system 22 may comprise an automatic vehicle shut-down system to automatically (i.e., without operator intervention) shut-down or stop the vehicle 12 if the distance between the vehicle 12 and immoveable object 24 or moveable object 25 closes to within the alarm distance 37 (e.g., 16 feet). Alternatively, the collision avoidance system 22 may also be configured to steer the vehicle 12 out of the way of immoveable object 24 or moveable object 25.

Other embodiments of the invention may be provided with a predictive path or trajectory calculation system to map out or determine a predicted future course of the vehicle 12. Briefly, the system utilizes a plurality of positions 11, or “fixes,” over time to ascertain a vehicle vector. The direction and magnitude of the vehicle vector may then be used to predict the path of the vehicle 12 and its future position. Subsequent position 11 data received from the position-enabled mesh nodes 14 on the vehicle 12 maybe used to update the vehicle vector, predicted path and position 11. If a potential conflict is discovered, an appropriate warming maybe issued such as, for example, via the proximity warning system 20 or collision avoidance system 22.

In addition to the display indicator module 32 that may be provided in vehicle 12 or in any other suitable location, various embodiments of the invention may comprise display system 18 operatively associated with the mesh network 16 to provide a graphic display of vehicle 12 and its respective position 11. The display system 18 of the position 11 of vehicle 12 may be presented in graphic form showing an aerial view (e.g., a satellite image) of the environment 15. For example, in FIG. 6, the display system 18 displays an aerial view of environment 15, showing vehicles 12, 12a, 12b and 12c with their respective positions 11, 11a, 11b and 11c. The display system 18 may allow a system operator to readily obtain a “birds eye” view of the position(s) 11 of the vehicle(s) 12 and predicted paths, if so desired. Display system 18 may also be provided within vehicle 12 or in a central location or other suitable location as would be familiar to one of ordinary skill in the art after becoming familiar with the teachings disclosed herein.

According to one embodiment of the invention shown in FIG.7, a method 200 for providing a proximity warning, may comprise collecting 210 vehicle position data from a first position-enabled mesh node 14′ mounted at a first location of the vehicle 12 (e.g., the left front 26 corner) and a second position-enabled mesh node 14″ mounted at a second location of the vehicle 12 (e.g., the right front 28 corner). After the position 11 data has been collected, the method 200 may comprise comparing 220 the vehicle position 11 data to object position 11 data associated with at least one other object, which may be moveable object 25 or immoveable object 24, for example. Then, the method 200 may comprise activating 230 an alarm if the vehicle position 11 data and the object position 11 data indicate that the vehicle 12 and the object 24, 25 are within predetermined distance 30 of one another

As explained above, the alarm may be a visual or aural alarm. Thus, another embodiment of the method may comprise activating a green-colored annunciator 38 so long as a distance separating the object 24, 25 and the vehicle 12 exceeds a first distance, which may be permitted distance 31; activating a yellow-colored annunciator 36 when the distance separating the object 24, 25 and the vehicle 12 is less than the first distance but greater than a second distance, which may be within caution distance 33; and activating a red-colored annunciator 34 when the distance separating the object 24, 95 and the vehicle 12 is less than the second distance, which may be alarm distance 37.

In another embodiment, the vehicle position 11 data may comprise raw data. The method may further comprise correlating the raw position data with information relating to the respective positions on the vehicle 12 of the first and second locations to produce the vehicle position 11 data.

FIG. 8 illustrates method 300 for avoiding a collision between vehicle 12 and the object, which may be either moveable object 25 or immoveable object 24. Method 300 may comprise collecting 310 vehicle position 11 data from first position-enabled mesh node 14′ mounted at the first location of vehicle 12 and second position-enabled mesh node 14″ mounted at the second location of the vehicle 12. Method 300 may further comprise comparing 320 the vehicle position 11 data to object position 11 data associated with at least one other object 24, 25. Method 300 may comprise stopping 330 motion of the vehicle 12 if the vehicle position 11 data and the object position 11 data indicate that the vehicle 12 and the object 24, 25 are within predetermined distance 30 of one another.

In still another embodiment of the invention, FIG. 9 illustrates method 400 for avoiding a collision between vehicle 12 and object 24, 25. Method 400 may comprise collecting 410 vehicle position 11 data from first position-enabled mesh node 14′ mounted at the first location of vehicle 12 and the second position-enabled mesh node 14″ mounted at the second location of the vehicle 12. Method 400 may further comprise comparing 420 the vehicle position 11 data to object position 11 data associated with at least one other object 24, 25, and steering 430 the vehicle 12 away from the object 24, 25 if the vehicle position 11 data and the object position 11 data indicate that the vehicle 12 and the object 24, 25 are within predetermined distance 30 of one another.

An additional embodiment of the present invention is illustrated in FIG. 10. Method 500 for predicting a future course of vehicle 12 may comprise, at a first time, collecting 510 vehicle position 11 data from first position-enabled mesh node 14′ mounted at the first location of vehicle 12 and second position-enabled mesh node 14″ mounted at the second location of the vehicle 12. At a second time (which is after the first time), method 500 may further comprise collecting 520 vehicle position 11 data from the first position-enabled mesh node 14′ and the second position-enabled mesh node 14″. Method 500 may also comprise calculating 530 a vehicle vector based on the vehicle position 11 data collected at the first time and at the second time. Method 500 may further comprise predicting 540 a path of the vehicle 12 based on the vehicle vector.

Any of the methods of the present invention may be implemented by computer it readable storage media tangibly embodying program instructions for performing the methods.

Having herein set forth various embodiments of the present invention it is anticipated that modifications will naturally occur to those of skill in the art after becoming familiar with the present invention. It is anticipated that such suitable modifications will nonetheless remain within the scope of the invention. The invention shall therefore be construed in accordance with the following claims.

Claims

1. A position tracking system for determining a position of a vehicle, comprising: at least two position-enabled mesh nodes mounted to the vehicle;a mesh network operatively associated with the at least two position-enabled mesh nodes mounted the vehicle, the mesh network being configured to determine a position of the vehicle based on signals received from the at least two position-enabled mesh nodes mounted to the vehicle; anda display system operatively associated with the mesh network, the display system displaying the position of the vehicle.

2. The position tracking system of claim 1, further comprising a proximity warning system operatively associated with the mesh network, the proximity warning system issuing a warning signal related to a separation between the vehicle and another object.

3. The position tracking system of claim 2, wherein the proximity warning system further comprises a display indicator module, the display indicator module providing a visual waning indication related to separation between the vehicle and another object.

4. The position tracking system of claim 3, further comprising a computer operatively associated with the mesh network and the display indicator module and wherein the proximity warning system is implemented by the computer.

5. The position tracking system of claim 1, further comprising a collision avoidance system operatively associated with the mesh network and the vehicle, the collision avoidance system automatically stopping movement of the vehicle if a collision is imminent between the vehicle and another object.

6. The position tracking system of claim 5, further comprising a computer operatively associated with the mesh network and the vehicle and wherein the collision avoidance system is implemented by the computer.

7. The position tracking system of claim 6, wherein the collision avoidance system operates to steer the vehicle if a collision is imminent between the vehicle and another object.

8. The position tracking system of claim T, further comprising a trajectory calculation system operatively associated with the mesh network, the trajectory calculation system determining a trajectory of the vehicle based on a plurality of position fixes for the vehicle over a time interval.

9. A method for providing a proximity warning comprising: collecting vehicle position data from a first position-enabled mesh node mounted at a first location of a vehicle and a second position-enabled mesh node mounted at a second location of the vehicle;comparing the vehicle position data to object position data associated with at least one other object; andactivating an alarm if the vehicle position data and the object position data indicate that the vehicle and the object are within a predetermined distance of one another.

10. The method of claim 9, wherein collecting vehicle position data further comprises: collecting raw position data from the first and second position-enabled mesh nodes on the vehicle; andcorrelating the raw position data with information relating to the respective positions on the vehicle of the first and second locations to produce the vehicle position data.

11. The method of claim 9, wherein the object comprises a stationary object and wherein object position data comprises information relating to the position of the stationary object.

12. The method of claim 9, wherein the object comprises a moveable object and wherein object position data is obtained by collecting object position data from at least one position-enabled mesh node mounted at a first location on the object.

13. The method of claim 9, wherein activating an alarm comprises activating a visual alarm.

14. The method of claim 13, wherein activating a visual alarm comprises: activating a green-colored annunciator so long as a distance separating the object and the vehicle exceeds a first distance;activating a yellow-colored annunciator when the distance separating the object and the vehicle is less than the first distance but greater than a second distance; andactivating a red-colored annunciator when the distance separating the object and the vehicle is less than the second distance.

15. The method of claim 9, wherein activating an alarm comprises activating an aural alarm.

16. A method for avoiding a collision between a vehicle and an object, comprising: collecting vehicle position data from a first position-enabled mesh node mounted at a first location of a vehicle and a second position-enabled mesh node mounted at a second location of the vehicle;comparing the vehicle position data to object position data associated with at least one other object; andstopping motion of the vehicle if the vehicle position data and the object position data indicate that the vehicle and the object are within a predetermined distance of one another.

17. A method for avoiding a collision between a vehicle and an object, comprising; collecting vehicle position data from a first position-enabled mesh node mounted at a first location of the vehicle and a second position-enabled mesh node mounted at a second location of the vehicle;comparing the vehicle position data to object position data associated with at least one other object; andsteering the vehicle away from the object if the vehicle position data and the object position data indicate that the vehicle and the object are within a predetermined distance of one another.

18. A method for predicting a future course of a vehicle, comprising: at a first time, collecting vehicle position data from a first position-enabled mesh node mounted at a first location of the vehicle and a second position-enabled mesh node mounted at a second location of the vehicle;at a second time after the first time, collecting vehicle position data from the first position-enabled mesh node and the second position-enabled mesh node;calculating a vehicle vector based on the vehicle position data collected at the first time and at the second time; andpredicting a path of the vehicle based on the vehicle vector.

19. A computer-readable storage medium tangibly embodying program instructions which, when executed by a computer, implement a method for providing a proximity warning, the method comprising: collecting vehicle position data from a first position-enabled mesh node mounted at a first location of a vehicle and a second position-enabled mesh node mounted at a second location of the vehicle;comparing the vehicle position data to object position data associated with at least one other object; andactivating an alarm if the vehicle position data and the object position data indicate that the vehicle and the object are within a predetermined distance of one another.

20. The computer-readable storage medium of claim 19, wherein collecting vehicle position data further comprises: collecting raw position data from the first and second position-enabled mesh nodes on the vehicle; andcorrelating the raw position data with information relating to the respective positions on the vehicle of the first and second locations to produce the vehicle position data.

21. The computer-readable storage medium of claim 19, wherein the object comprises a stationary object and wherein object position data comprises information relating to the position of the stationary object.

22. The computer-readable storage medium of claim 19, wherein the object comprises a moveable object and wherein object position data is obtained by collecting object position data from at least one position-enabled mesh node mounted at a first location on the object.

23. A position tracking system, comprising; a vehicle having a top side and al underside;a first position-enabled mesh node having an antenna, the antenna of the first mesh node being mounted at a first location on the top side of the vehicle;a second position-enabled mesh node having an antenna, the antenna of the second mesh node being mounted at a second location on the top side of the vehicle;a third position-enabled mesh node having an antenna, the antenna of the third mesh node being mounted at a third location on the underside of the vehicle;a mesh network operatively associated with the first, second, and third position-enabled mesh nodes, the mesh network determining a position of the vehicle based on signals received from the antennas of the first, second, and third position-enabled mesh nodes mounted to the vehicle; anda display system operatively associated with the mesh network, the display system displaying the position of the vehicle.

24. The position tracking system of claim 23, wherein the first location on the top side of the vehicle comprises a left side o f the vehicle and wherein the second location on the top side of the vehicle comprises a right side of the vehicle.

25. The position tracking system of claim 23, wherein the first location on the top side of the vehicle comprises a left front extremity of the vehicle and wherein the second location on the top side of the vehicle comprises a right front extremity of the vehicle.

26. The position tracking system of claim 23, wherein the third location on the underside of the vehicle comprises a location on a rear axle of the vehicle.

27. A position tracking system, comprising: a vehicle having a main body portion;a moveable element mounted to the main body portion of the vehicle so that the moveable element is moveable with respect to the main body portion of the vehicle;a first position-enabled mesh node having an antenna, the antenna of the first position-enabled mesh node being mounted at a first location on the main body portion of the vehicle;a second position-enabled mesh node having an antenna, the antenna of the second position-enabled mesh node being mounted at a second location on the main body portion of the vehicle;a third position-enabled mesh node having an antenna, the antenna of the third position-enabled mesh node being mounted to the moveable element of the vehicle;a mesh network operatively associated with the first, second, and third position-enabled mesh nodes, the mesh network determining a position of the main body portion of the vehicle and the moveable element of the vehicle based on signals received from the antennas of the first, second, and third position-enabled mesh nodes mounted to the vehicle; anda display system operatively associated with the mesh network, the display system displaying the position of the main body portion of the vehicle and the moveable element of the vehicle.

28. The position tracking system of claim 27, wherein the vehicle comprises one or more selected from the group consisting of a haul truck, a dozer, a drill, and a shovel and wherein the moveable element comprises one or more selected from the group consisting of a dump bed, a blade, a drill column, and a shovel bucket.

29. A method for determining a position of a vehicle, comprising: mounting a first position-enabled mesh node at a first location on the vehicle;mounting a second position-enabled mesh node at a second location on the vehicle;collecting vehicle position data from the first and second position-enabled mesh nodes; anddisplaying the position of the vehicle.

30. The method of claim 29, wherein collecting vehicle position data comprises, collecting first position data from the first position-enabled mesh node;collecting second position data from the second position-enabled mesh node; andcorrelating the first and second position data received from the first and second positions-enabled mesh nodes with known positions of the first and second mounting locations.

31. The method of claim 30, further comprising determining a position of a vehicle extremity after the correlating.