Patent · US9547969B2 · B2 · US

Methods and apparatus to detect and warn proximate entities of interest

(11) Publication number

US9547969B2

(21) Application number

14/610,833

(22) Filing date

2015-01-30

(30) Priority date

2010-07-27

(43) Publication date

2017-01-17

(45) Date of grant

2017-01-17

(51) IPC

B60Q 1/00; B60Q 1/26; B60Q 1/50; B60Q 1/52; B60Q 9/00; B66F 17/00; G08B 21/02; G08B 21/18; G08B 5/36; G08B 6/00; G08G 1/005; G08G 1/16

(52) CPC

B60Q Arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general: 1/2673, 1/26, 1/50, 1/525, 2400/50, 2800/20, 9/008
B66F Hoisting, lifting, hauling or pushing, not otherwise provided for, e.g. devices which apply a lifting or pushing force directly to the surface of a load: 17/003
G08B Signalling systems, e.g. personal calling systems; order telegraphs; alarm systems: 21/02, 21/18, 5/36, 6/00
G08G Traffic control systems: 1/005, 1/166

(73) Assignee

Right-Hite Holding Corp

(72) Inventors

Ryan P. Beggs; James C. Boerger; David J. Hoffmann; Ken Markham; Matthew McNeill; Timothy Muhl; Kyle Nelson; James Oates; Jason Senfleben

(54) Title

Methods and apparatus to detect and warn proximate entities of interest

(57) Abstract

Systems and methods to detect and warn proximate entities of interest are described herein. An example method for assessing a possibility of a collision between entities of interest, each having their own characteristics of movement, includes sampling movement of each entity at least two points in time, generating a trajectory vector for each entity based on the movement sampling, expanding the trajectory vector of each entity based on at least one characteristic of movement of that entity, and analyzing the expanded trajectory vector of each entity for overlap to assess a possibility of a collision between the entities of interest.

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Claims (19)

A method for assessing a possibility of a collision between a first entity of interest and a second entity of interest, the method comprising: creating a first safety zone around a first entity of interest; creating a second safety zone around a second entity of interest; dynamically modifying the first safety zone and the second safety zone based on a first characteristic of movement of the respective first entity of interest and the second entity of interest, wherein the first characteristic of movement being a range of speed; dynamically modifying the first safety zone and the second safety zone based on a second characteristic of movement of the respective first entity of interest and the second entity of interest, the second characteristic of movement being a direction of travel; and analyzing the modified first safety zone of the first entity of interest and the modified second safety zone of the second entity of interest for overlap to assess a possibility for a collision between the first entity of interest and second entity of interest.
A method for assessing a possibility of a collision between a first entity of interest and a second entity of interest, the method comprising: creating a first safety zone around a first entity of interest; creating a second safety zone around a second entity of interest; dynamically modifying the first safety zone and the second safety zone based on a first characteristic of movement of the respective first entity of interest and the second entity of interest; dynamically modifying the first safety zone and the second safety zone based on a second characteristic of movement of the respective first entity of interest and the second entity of interest; dynamically modifying at least one of the first safety zone or the second safety zone based on a non-movement characteristic of the respective entity; and analyzing the modified first safety zone of the first entity of interest and the modified second safety zone of the second entity of interest for overlap to assess a possibility for a collision between the first entity of interest and second entity of interest.
The method of claim 2, further comprising generating a warning signal when a first modified safety zone of a first entity overlaps a second modified safety zone of a second entity.
The method of claim 2, wherein at least one of the first characteristic of movement or the second characteristic of movement of the respective entity includes at least one of a range of speed, a direction of travel of the entity, or a position of a vehicle steering.
The method of claim 1, further comprising modifying at least one of the first safety zone or the second safety zone based on an experience level of an operator of each entity.
The method of claim 2, further comprising determining whether the entities of interest are within a distance of interest relative to each other.
The method of claim 6, further comprising determining if a barrier exists between the entities of interest that are determined to be within the distance of interest.
The method of claim 1, further including generating a warning signal to warn the second entity of interest detected in the second modified safety zone of a proximity of the first entity.
The method of claim 8, further comprising determining whether a distance between the first entity of interest and the second entity of interest is less than a distance of interest threshold prior to generating the warning signal, and generating the warning signal when the distance is less than the distance of interest threshold.
The method of claim 9, further comprising determining whether a barrier is positioned between the first and second entities of interest if the first and second entities of interest are within the distance of interest.
The method of claim 2, wherein the first characteristic of movement is a range of speed.
The method of claim 2, wherein the non-movement characteristic includes at least one of a level of training or experience of the respective entity of interest.
The method of claim 12, further comprising modifying the first safety zone associated with the first entity of interest to cover a first area and modifying the second safety zone associated with the second entity to cover a second area that is larger than the first area when the level of training of the first entity of interest associated with the first safety zone is higher than a level of training of the second entity of interest associated with the second safety zone.
The method of claim 2, further comprising retrieving the non-movement characteristic from a lookup table.
The method of claim 1, further comprising detecting a presence of an obstacle between the first entity of interest and the second entity of interest.
The method of claim 1, further including modifying at least one of the first safety zone or the second safety zone based on a third characteristic of movement of the respective first entity and the second entity.
The method of claim 1, further including generating a warning signal to warn at least one of the first entity of interest detected in the modified second safety zone of a proximity of the second entity of interest or the second entity of interest detected in the modified first safety zone of a proximity of the first entity of interest.
A method for assessing a possibility of a collision between a first entity of interest and a second entity of interest, the method comprising: creating a first safety zone around a first entity of interest; creating a second safety zone around a second entity of interest; dynamically modifying the first safety zone and the second safety zone based on a first characteristic of movement of the respective first entity of interest and the second entity of interest; dynamically modifying the first safety zone and the second safety zone based on a second characteristic of movement of the respective first entity of interest and the second entity of interest; and analyzing the modified first safety zone of the first entity of interest and the modified second safety zone of the second entity of interest for overlap to assess a possibility for a collision between the first entity of interest and second entity of interest; detecting a presence of an obstacle between the first entity of interest and the second entity of interest; and ignoring a detected overlap between the first safety zone and the second safety zone when the detected obstacle is positioned between the first entity of interest and the second entity of interest.
A method for assessing a possibility of a collision between a first entity of interest and a second entity of interest, the method comprising: creating a first safety zone around a first entity of interest; creating a second safety zone around a second entity of interest; dynamically modifying the first safety zone and the second safety zone based on a first characteristic of movement of the respective first entity of interest and the second entity of interest; dynamically modifying the first safety zone and the second safety zone based on a second characteristic of movement of the respective first entity of interest and the second entity of interest; modifying at least one of the first safety zone or the second safety zone based on a third characteristic of movement of the respective first entity and the second entity, the third characteristic of movement including past movement patterns of the entities of interest; and analyzing the modified first safety zone of the first entity of interest and the modified second safety zone of the second entity of interest for overlap to assess a possibility for a collision between the first entity of interest and second entity of interest.

Description

This disclosure relates generally to loading docks and, more particularly, to methods and apparatus to detect and warn proximate entities of interest.

There are many environments where enhancing worker safety is desirable. Examples of such environments include loading dock areas, warehouses, distribution centers, and similar facilities. In addition to such places usually being crowded, noisy and full of activity and other distractions, the juxtaposition of people and vehicles (fork trucks, pallet jacks, etc.) greatly increases the potential dangers. People and heavy, moving vehicles do not consistently interact this way in other environments (e.g. on the street with defined lanes/roads for vehicles, sidewalks and crosswalks for pedestrians, stop signs, stoplights, etc.), but it is currently the status quo in the enumerated environments. As a result, accidents in which individuals are struck by forktrucks, and similar and related accidents, are all too common.

Several factors can increase the likelihood of such accidents occurring. One factor is the crowded, busy, noisy, distracting environment referred to above. The presence of such distractions can prevent an endangered individual from realizing and reacting to a dangerous situation. Ironically, one source of such distractions are the myriad lights, strobes, horns and/or buzzers intended to warn against such dangers. Another factor is the presence of blind spots. An individual walking down an aisle in such a facility is not able to see potential dangers around the corner at the end of the aisle, or at a mid-aisle break.

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Record as JSON

{
  "publication_number": "US9547969B2",
  "country": "US",
  "kind": "B2",
  "title": "Methods and apparatus to detect and warn proximate entities of interest",
  "abstract": "Systems and methods to detect and warn proximate entities of interest are described herein. An example method for assessing a possibility of a collision between entities of interest, each having their own characteristics of movement, includes sampling movement of each entity at least two points in time, generating a trajectory vector for each entity based on the movement sampling, expanding the trajectory vector of each entity based on at least one characteristic of movement of that entity, and analyzing the expanded trajectory vector of each entity for overlap to assess a possibility of a collision between the entities of interest.",
  "claims": [
    "1. A method for assessing a possibility of a collision between a first entity of interest and a second entity of interest, the method comprising: creating a first safety zone around a first entity of interest; creating a second safety zone around a second entity of interest; dynamically modifying the first safety zone and the second safety zone based on a first characteristic of movement of the respective first entity of interest and the second entity of interest, wherein the first characteristic of movement being a range of speed; dynamically modifying the first safety zone and the second safety zone based on a second characteristic of movement of the respective first entity of interest and the second entity of interest, the second characteristic of movement being a direction of travel; and analyzing the modified first safety zone of the first entity of interest and the modified second safety zone of the second entity of interest for overlap to assess a possibility for a collision between the first entity of interest and second entity of interest.",
    "2. A method for assessing a possibility of a collision between a first entity of interest and a second entity of interest, the method comprising: creating a first safety zone around a first entity of interest; creating a second safety zone around a second entity of interest; dynamically modifying the first safety zone and the second safety zone based on a first characteristic of movement of the respective first entity of interest and the second entity of interest; dynamically modifying the first safety zone and the second safety zone based on a second characteristic of movement of the respective first entity of interest and the second entity of interest; dynamically modifying at least one of the first safety zone or the second safety zone based on a non-movement characteristic of the respective entity; and analyzing the modified first safety zone of the first entity of interest and the modified second safety zone of the second entity of interest for overlap to assess a possibility for a collision between the first entity of interest and second entity of interest.",
    "3. The method of claim 2, further comprising generating a warning signal when a first modified safety zone of a first entity overlaps a second modified safety zone of a second entity.",
    "4. The method of claim 2, wherein at least one of the first characteristic of movement or the second characteristic of movement of the respective entity includes at least one of a range of speed, a direction of travel of the entity, or a position of a vehicle steering.",
    "5. The method of claim 1, further comprising modifying at least one of the first safety zone or the second safety zone based on an experience level of an operator of each entity.",
    "6. The method of claim 2, further comprising determining whether the entities of interest are within a distance of interest relative to each other.",
    "7. The method of claim 6, further comprising determining if a barrier exists between the entities of interest that are determined to be within the distance of interest.",
    "8. The method of claim 1, further including generating a warning signal to warn the second entity of interest detected in the second modified safety zone of a proximity of the first entity.",
    "9. The method of claim 8, further comprising determining whether a distance between the first entity of interest and the second entity of interest is less than a distance of interest threshold prior to generating the warning signal, and generating the warning signal when the distance is less than the distance of interest threshold.",
    "10. The method of claim 9, further comprising determining whether a barrier is positioned between the first and second entities of interest if the first and second entities of interest are within the distance of interest.",
    "11. The method of claim 2, wherein the first characteristic of movement is a range of speed.",
    "12. The method of claim 2, wherein the non-movement characteristic includes at least one of a level of training or experience of the respective entity of interest.",
    "13. The method of claim 12, further comprising modifying the first safety zone associated with the first entity of interest to cover a first area and modifying the second safety zone associated with the second entity to cover a second area that is larger than the first area when the level of training of the first entity of interest associated with the first safety zone is higher than a level of training of the second entity of interest associated with the second safety zone.",
    "14. The method of claim 2, further comprising retrieving the non-movement characteristic from a lookup table.",
    "15. The method of claim 1, further comprising detecting a presence of an obstacle between the first entity of interest and the second entity of interest.",
    "16. The method of claim 1, further including modifying at least one of the first safety zone or the second safety zone based on a third characteristic of movement of the respective first entity and the second entity.",
    "17. The method of claim 1, further including generating a warning signal to warn at least one of the first entity of interest detected in the modified second safety zone of a proximity of the second entity of interest or the second entity of interest detected in the modified first safety zone of a proximity of the first entity of interest.",
    "18. A method for assessing a possibility of a collision between a first entity of interest and a second entity of interest, the method comprising: creating a first safety zone around a first entity of interest; creating a second safety zone around a second entity of interest; dynamically modifying the first safety zone and the second safety zone based on a first characteristic of movement of the respective first entity of interest and the second entity of interest; dynamically modifying the first safety zone and the second safety zone based on a second characteristic of movement of the respective first entity of interest and the second entity of interest; and analyzing the modified first safety zone of the first entity of interest and the modified second safety zone of the second entity of interest for overlap to assess a possibility for a collision between the first entity of interest and second entity of interest; detecting a presence of an obstacle between the first entity of interest and the second entity of interest; and ignoring a detected overlap between the first safety zone and the second safety zone when the detected obstacle is positioned between the first entity of interest and the second entity of interest.",
    "19. A method for assessing a possibility of a collision between a first entity of interest and a second entity of interest, the method comprising: creating a first safety zone around a first entity of interest; creating a second safety zone around a second entity of interest; dynamically modifying the first safety zone and the second safety zone based on a first characteristic of movement of the respective first entity of interest and the second entity of interest; dynamically modifying the first safety zone and the second safety zone based on a second characteristic of movement of the respective first entity of interest and the second entity of interest; modifying at least one of the first safety zone or the second safety zone based on a third characteristic of movement of the respective first entity and the second entity, the third characteristic of movement including past movement patterns of the entities of interest; and analyzing the modified first safety zone of the first entity of interest and the modified second safety zone of the second entity of interest for overlap to assess a possibility for a collision between the first entity of interest and second entity of interest."
  ],
  "description_excerpt": "This disclosure relates generally to loading docks and, more particularly, to methods and apparatus to detect and warn proximate entities of interest.\n\nThere are many environments where enhancing worker safety is desirable. Examples of such environments include loading dock areas, warehouses, distribution centers, and similar facilities. In addition to such places usually being crowded, noisy and full of activity and other distractions, the juxtaposition of people and vehicles (fork trucks, pallet jacks, etc.) greatly increases the potential dangers. People and heavy, moving vehicles do not consistently interact this way in other environments (e.g. on the street with defined lanes/roads for vehicles, sidewalks and crosswalks for pedestrians, stop signs, stoplights, etc.), but it is currently the status quo in the enumerated environments. As a result, accidents in which individuals are struck by forktrucks, and similar and related accidents, are all too common.\n\nSeveral factors can increase the likelihood of such accidents occurring. One factor is the crowded, busy, noisy, distracting environment referred to above. The presence of such distractions can prevent an endangered individual from realizing and reacting to a dangerous situation. Ironically, one source of such distractions are the myriad lights, strobes, horns and/or buzzers intended to warn against such dangers. Another factor is the presence of blind spots. An individual walking down an aisle in such a facility is not able to see potential dangers around the corner at the end of the aisle, or at a mid-aisle break.",
  "cpc": [
    "B60Q 1/2673",
    "B60Q 1/26",
    "B60Q 1/50",
    "B60Q 1/525",
    "B60Q 2400/50",
    "B60Q 2800/20",
    "B60Q 9/008",
    "B66F 17/003",
    "G08B 21/02",
    "G08B 21/18",
    "G08B 5/36",
    "G08B 6/00",
    "G08G 1/005",
    "G08G 1/166"
  ],
  "ipc": [
    "B60Q 1/00",
    "B60Q 1/26",
    "B60Q 1/50",
    "B60Q 1/52",
    "B60Q 9/00",
    "B66F 17/00",
    "G08B 21/02",
    "G08B 21/18",
    "G08B 5/36",
    "G08B 6/00",
    "G08G 1/005",
    "G08G 1/16"
  ],
  "assignees": [
    "Right-Hite Holding Corp"
  ],
  "inventors": [
    "Ryan P. Beggs",
    "James C. Boerger",
    "David J. Hoffmann",
    "Ken Markham",
    "Matthew McNeill",
    "Timothy Muhl",
    "Kyle Nelson",
    "James Oates",
    "Jason Senfleben"
  ],
  "filing_date": "2015-01-30",
  "publication_date": "2017-01-17",
  "grant_date": "2017-01-17",
  "priority_date": "2010-07-27",
  "application_number": "US-201514610833-A",
  "family_id": "44583389",
  "cited_by_count": 29,
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