copyright © 2011 automated positioning systems pty ltd machine guidance and collision avoidance...
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Copyright © 2011 Automated Positioning Systems Pty Ltd
Machine Guidanceand
Collision Avoidance Systems
Released: February, 2011
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Overview Machine Guidance and Situation Awareness Fixed Hazard Warnings Proximity Warnings Spatial Orientation Warnings Integration with Active systems Summary
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Copyright © 2011 Automated Positioning Systems Pty Ltd
Machine Guidance and Situation AwarenessSituation Awareness (SA) is the key to safety
Poor SA has been identified in a number of studies as one of the key contributors to accidents attributed to human error
Improving Situation Awareness is the main focus of current Collision Avoidance technologies
Machine guidance is all about Situation Awareness “Put the plan on the machine” “Eliminate the need for survey stakeout and check” ...
And so forth...All of these characteristic depend on knowing where the machine is in 3 dimensions and helping the operator understand this relationship between the real world and the digital model
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Machine guidance systems
Are systems for improving operator Situation Awareness
Mature technology becoming almost ubiquitous for mobile equipment, heavy vehicles and plant − Generally well understood as tools for production and utilisation
improvement− Less well understood as safety systems− Anecdotal information shows that collision incidents are
substantially reduced by correct use of machine guidance e.g. Stockpiles, underground workings etc.
Are PASSIVE collision avoidance capabilities: Fixed Hazard Warnings; that is relationship to known,
fixed hazards Proximity Warnings; that is, relationship to other
machines Spatial Orientation Warnings: pitch/roll, speed With open systems approach can be integrated with
other Passive systems from multiple vendors
Are the base building block for augmentation with ACTIVE collision avoidance technologies such as RF, Video, Microwave, Fatigue Monitoring and so forth
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Machine Guidance Operator View
Offset to Pivot Line
Cut/Fill
Plan View
SectionView
RearView
Pitch/Roll
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GNSS module: determines the position of the machine in 3 dimensions
Sensors: to detect machine related states, e.g. tilt sensors measure the pitch and roll of the machine
Communications: provides connection to site IT infrastructure
Machine Computer: provides operator interaction and runs the control software
A machine guidance system
Every machine guidance system comprises four basic modules:
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ACTIVE Systems
Systems view of machine guidance and safety
Machine Guidanc
e System
PASSIVE
Communications System
GNSS
Operator
Video
Microwave
FatigueMonitoring
OtherPASSIVE Systems
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Machine Guidance - fixed hazard warnings Capability of many current machine guidance
solutions Alerts the operator when the machine is approaching
too closely to predefined “fixed “hazards The ‘Warning surface’ forms part of the design file Hazards are defined as 3D surfaces or polylines Typical applications:
− Operating near old mine workings or other geologically unsafe areas
− Working near fixed or temporary infrastructure− Defining safe tramming routes around a site− Working around stockpiles
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Hazardous areas - stockpiles
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Example Stockpile Design
Reclaimer valve
Stockpile Base
Lighting Tower
Stockpile Boundary
Design View Operator View
Lighting Tower
Stockpile Boundary
Reclaimer Valve
Stockpile Base
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Machine Guidance - fixed hazard examples
Normal operation
Alert mode
Plan view
DANGER ZONEDANGER ZONE
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Machine Guidance - fixed hazard examples• Reversing truck can ‘see’
what is around the vehicle• Location of “Edge of
Dump” shown relative to truck
• Warning alerts when close to “Edge of Dump”
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StrengthsVery simple to use
Predictable level of accuracy
Works independently of wireless communications
Repeatable results
Any structure can be mapped and used as a warning zone
ConditionsNeeds good GNSS
coverage
Accuracy is a function of the GNSS receiver selected
Where high precision is required, redundant corrections data channels should be considered
Machine Guidance - fixed hazard warnings
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Machine Guidance - Proximity warnings Described as early as 2001as a prospective safety
system1
Capability of some current machine guidance solutions
Communicates a machine's current GNSS derived 3D location to others on the site
Warns the operator when another machine comes within a predefined safe working zone
Operates regardless of machine working direction, lighting or weather conditions
Requires a wireless network between machines
1. Nieto, A, 2001, Development of a real time Proximity Warning and 3D mapping system ... , Colorado School of Mines, Golden
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Machine Guidance - Proximity examples
Dozers working on same bench
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Machine Guidance - Proximity examples
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Machine Guidance – Spatial warnings
Warnings based on safe spatial orientation of machines
Pitch and Roll limits Speed Direction of travel Safe swing zones
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StrengthsVery simple to use
Repeatable results
Predictable accuracy
Based on mature technology – machine guidance
ConditionsSome warnings need GNSS
coverage (e.g. rotation, speed)
Machine Guidance – Spatial warnings
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Guardvant ProxAssist – ACTIVE Collision avoidance Integrated with GNSS Redundant ACTIVE systems• 1-8 patented Radar detectors
• 1-8 IR Cameras
Guardvant AwareAssist - Fatigue Monitoring Independent of lighting
conditions Operates through
sunglasses Detects micro sleep and
distraction events Adjustable thresholds for
fatigue alarms Automatic login based on
facial recognition
ACTIVE Augmentation
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Machine Guidance and Collision Avoidance Machine guidance is a mature technology, rapidly
becoming ubiquitous on heavy mobile equipment It is an existing platform forming a key element in
site wide collision avoidance solutions It is a capability many sites have, but are unaware of,
or are not leveraging effectively
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APS small fleet solutions
Soil Compactors
Graders
Scrapers
Wheel Loaders
Dozers Light Vehicles
Blast Hole Drills
Surface Miners
Excavators & Shovels
Telemetry
Haul Trucks
Data collection & analysisManagement systems
Auxiliary Equipment
www.apsmining.com
Hydraulic Rock Drills