Vehicle proximity sensor system

Abstract

1. A vehicle proximity sensor system comprising: a magnetometer; and a controller configured to receive a reference magnetic field signal from the magnetometer, receive a measured magnetic field signal from the magnetometer, determine magnetic field displacement data based on the measured magnetic field signal and the reference magnetic field signal, and signal a presence of a vehicle based on the magnetic field displacement data.

Description

[Technical Field]

[0001] This disclosure relates to a vehicle proximity sensor system, and more particularly to a vehicle proximity sensor system comprising a magnetometer. [Overview of the project]

[0002] According to a first aspect of this disclosure, a vehicle proximity sensor system, It is susceptible to the effects of vehicle collisions and has a safety structure equipped with a magnetometer, It includes a controller, and the controller is Receive a reference magnetic field signal from the magnetometer, Receive the measured magnetic field signal from the magnetometer. Based on the measured magnetic field signal and the reference magnetic field signal, magnetic field displacement data is determined. A vehicle proximity sensor system is provided, configured to signal the presence of a vehicle based on magnetic field displacement data.

[0003] By using a magnetometer, the system can favorably distinguish the presence of vehicles from non-vehicle objects such as pedestrians. In this way, the system does not signal the presence of pedestrians in isolation that do not pose a danger.

[0004] The controller may be configured to signal the presence of a vehicle containing a ferromagnetic material.

[0005] The controller may be configured to determine magnetic field displacement data based on the difference or ratio between the measured magnetic field and the reference magnetic field along one or more axes.

[0006] Magnetic field displacement data may include magnetic field displacement data along one or more axes.

[0007] The controller may be configured to receive a reference magnetic field signal as a calibration reference magnetic field as part of a calibration routine.

[0008] The controller may be configured to signal the presence of a vehicle in response to magnetic field displacement data that exceeds one or more displacement thresholds.

[0009] The vehicle proximity sensor system may further include a warning signal generator. The controller may be configured to signal the presence of a vehicle by activating the warning signal generator.

[0010] The warning signal generator may include an audible signal generator and / or a visible signal generator.

[0011] The controller may be configured to signal the presence of a vehicle by transmitting data signals to an external device.

[0012] The controller may be configured to receive multiple measured magnetic field signals from a magnetometer over a period of time and to determine magnetic field displacement data based on these multiple magnetic field signals.

[0013] The controller is Based on multiple magnetic field displacement data, one or more dynamic parameters of the vehicle are determined. It can be configured to signal the presence of a vehicle based on one or more dynamic parameters.

[0014] One or more dynamic parameters may include any of the following: vehicle position, speed, velocity, acceleration, and / or trajectory.

[0015] The controller is The vehicle's trajectory is determined based on multiple magnetic field displacement data. The system may be configured to signal the presence of a vehicle when at least a portion of the vehicle's trajectory is within the threshold range of the proximity sensor.

[0016] The controller can be arranged at the same location as the magnetometer. The controller can be coupled to the magnetometer via a network. The controller can comprise a plurality of processors distributed between being arranged at the same location as the magnetometer or being coupled to the magnetometer via a network.

[0017] The controller receives trigger signaling from a trigger sensor indicating an object within the sensing range of the vehicle proximity sensor system, selectively activates the magnetometer based on the trigger signaling such that the magnetometer provides a measured magnetic field signal to the controller, determines magnetic field displacement data, and may be further configured to determine that the object is a vehicle based on the magnetic field displacement data.

[0018] The vehicle proximity sensor system may comprise a trigger sensor.

[0019] The trigger sensor may comprise an optical sensor. The trigger sensor may comprise a mechanical sensor. The trigger sensor may comprise a vibration sensor or an impact sensor. The trigger sensor may comprise an accelerometer. The trigger sensor may comprise a receiver.

[0020] The trigger signaling may be received from an object.

[0021] The controller may be configured to enable the sleep mode of the vehicle proximity sensor when the magnetic field displacement is less than a sleep threshold.

[0022] The controller may be configured to receive a plurality of reference magnetic field signals from the magnetometer and determine the magnetic field displacement based on the plurality of reference magnetic field signals.

[0023] The vehicle proximity sensor system may be associated with a magnetization structure. The controller may be further configured to determine the state of the magnetization structure based on the plurality of reference magnetic field signals.

[0024] At least the magnetometer may be positioned within a safety structure. The safety structure may include a safety barrier, safety bollard, safety rail, posts for the safety rail, collision sensors, or any of these components.

[0025] The vehicle proximity sensor system is Multiple magnetometers, each magnetometer being coupled to a corresponding transceiver, The system may further include a server configured to communicate with each of several magnetometers via a corresponding transceiver.

[0026] A server may have a controller.

[0027] The vehicle proximity sensor system may further comprise a plurality of controllers, each configured to receive a reference magnetic field and a measurement magnetic field from a corresponding magnetometer.

[0028] Safety structures may include features for protecting or isolating property or pedestrians from vehicles. Safety structures may also include features for protecting or isolating pedestrians from hazardous areas.

[0029] The safety structure may include any of the following: safety barriers, safety bollards, safety rails, posts for safety rails, bumpers, collision sensors, racks, guards, mechanical guards, mechanical fencing, combinations thereof, or components thereof.

[0030] A safety structure comprising any of the vehicle proximity sensor systems disclosed herein. The safety structure may comprise any of a safety barrier, a safety bollard, a safety rail, a post for a safety rail, a collision sensor, or components thereof.

[0031] A network system comprising a server connected to any of the vehicle proximity sensor systems and / or any of the safety structures disclosed herein.

[0032] A further aspect of this disclosure relates to a computer implementation method for sensing the proximity of a vehicle, Receiving a reference magnetic field signal from a magnetometer, Receiving the measured magnetic field signal from the magnetometer, Determining magnetic field displacement data based on the measured magnetic field signal and the reference magnetic field signal, A computer implementation method is provided that includes signaling the presence of a vehicle based on magnetic field displacement data.

[0033] According to further aspects of this disclosure, a vehicle proximity sensor system, A magnetometer and It includes a controller, and the controller is Receive a reference magnetic field signal from the magnetometer, Receive the measured magnetic field signal from the magnetometer. Based on the measured magnetic field signal and the reference magnetic field signal, magnetic field displacement data is determined. A vehicle proximity sensor system is provided, configured to signal the presence of a vehicle based on magnetic field displacement data.

[0034] Hereinafter, one or more embodiments will be described only illustratively with reference to the attached figures. [Brief explanation of the drawing]

[0035] [Figure 1] A schematic diagram of a vehicle proximity sensor system according to one embodiment of the present disclosure is shown. [Figure 2A] A schematic diagram of a further vehicle proximity sensor system according to one embodiment of the present disclosure is shown. [Figure 2B] A schematic diagram of yet another vehicle proximity sensor system according to one embodiment of the present disclosure is shown. [Figure 3] This disclosure shows one implementation form of a vehicle proximity sensor system implemented in a safety structure according to one embodiment of this disclosure. [Figure 4] This invention presents magnetic field displacement data for a forklift truck passing through a vehicle proximity sensor system according to one embodiment of this disclosure. [Figure 5] This shows the linear dependence of magnetic field displacement data on the distance to the forklift truck. [Figure 6] A flowchart of a method for detecting the proximity of a vehicle according to one embodiment of the present disclosure is shown. [Modes for carrying out the invention]

[0036] Vehicle collisions can injure people, including drivers and pedestrians, and damage structures and the vehicle itself. In factory or warehouse environments, vehicles may need to move in close proximity to valuable goods and personnel within confined spaces. For example, in a warehouse, forklift trucks (FLTs) may pass between aisles of racks or shelves containing valuable inventory. FLTs may need to perform sharp turns and maneuvers to load and unload inventory from racks. Even skilled drivers may accidentally collide with racks, causing damage and potentially creating safety problems due to rack collapse, especially if the collision is not detected or reported.

[0037] Collision sensors on racks can mitigate this risk by detecting and reporting collisions. However, collision sensors can generate many false alarms for non-damaging collisions, such as those resulting from a pedestrian slipping through a structure.

[0038] A further hazard in warehouse or factory environments is collisions between vehicles and people. Drivers or pedestrians may become distracted while trying to locate specific inventory, and the resulting increased blind spots can further enhance the risk of collisions between vehicles and pedestrians.

[0039] Proximity sensors can detect movement and warn the user accordingly. However, because proximity sensors cannot distinguish between pedestrians and vehicles, they may create unnecessary warnings for people walking by. Also, pedestrians may become fatigued by constant alerts and ignore the warning signals.

[0040] Similar hazards exist in other environments, particularly airport terminals, parking lots, or the air side of construction sites. The vehicle proximity sensors disclosed herein can be used in any suitable environment where vehicle collisions pose a safety hazard.

[0041] Figure 1 shows a schematic diagram of a vehicle proximity sensor system 100 according to one embodiment of the present disclosure. The vehicle proximity sensor system 100 (hereinafter referred to as System 100) comprises a magnetometer 104 and a controller 106. The controller 106 is configured to receive a magnetic field signal from the magnetometer 104. The magnetic field signal includes (i) a reference magnetic field signal that provides a background or calibration reference magnetic field near the magnetometer at a first time, and (ii) a measured magnetic field signal that provides a measured magnetic field value near the magnetometer at a second time after the first time. The controller 106 determines magnetic field displacement data based on the difference between the measured magnetic field signal and the reference magnetic field signal. The controller 106 can then signal the presence of a vehicle near the magnetometer if the magnetic field displacement data shows a difference greater than a displacement threshold. In this example, the controller 106 can signal the presence of a vehicle using a warning signal generator 108.

[0042] Vehicles, particularly FLTs and heavy vehicles (HVs), typically possess a considerable mass of ferromagnetic (or iron) material. When these vehicles move, the Earth's magnetic field is disturbed. Therefore, when a vehicle moves near a magnetometer 104, the magnetometer 104 can measure the change in the magnetic field and determine magnetic field displacement data.

[0043] By using a magnetometer, system 100 can favorably distinguish the presence of a vehicle from non-vehicle objects such as pedestrians. In this way, the system does not signal the presence of a pedestrian in isolation that is not a hazard. As described below, an example of system 100 can also favorably determine the position and dynamic characteristics of a vehicle in order to further quantify the hazard.

[0044] The sensor system 100 can be associated with structures susceptible to vehicle collisions. These structures may be fixed; for example, the system 100 may be associated with posts, barriers, racks, walls, machine guards, machine fencing, etc., in a warehouse environment. The system 100 may also be associated with bollards and barriers in outdoor environments such as construction sites, parking lots, or airports. Furthermore, the system 100 may be associated with moving structures susceptible to vehicle collisions, such as sliding racks, sliding barriers, autonomous guided vehicles, mobile robots, and other vehicles.

[0045] The structure is equipped with safety features that are susceptible to the effects of vehicle collisions. The safety features may include structures for protecting or isolating property or pedestrians from vehicles, or structures for protecting or isolating pedestrians from hazardous areas. The safety features may include any of the following: safety barriers, safety bollards, safety rails, posts for safety rails, bumpers, collision sensors, racks, guards, mechanical guards, mechanical fencing, combinations thereof, or components thereof.

[0046] In some examples, the safety structure may comprise a polymer safety structure. A polymer safety structure (e.g., a polyurethane safety structure) can provide a robust protective safety structure for warehouse and factory environments and may include safety barriers, safety bollards, safety rails, posts, bumpers, racks, guards, machine guards, machine fencing, or any other structure for protecting or isolating pedestrians and / or property from vehicle collisions, or for protecting or isolating pedestrians from hazardous areas. System 100 can have improved performance using a polymer safety structure because the polymer safety structure provides reduced magnetic field interference compared to a metal safety structure that may affect the vehicle's magnetic field signal. In other examples, the safety structure may comprise a metal or composite safety structure.

[0047] The system 100 may have memory, and the controller 106 may store at least one material property of the safety structure in memory. For example, the controller 106 may store the magnetic permeability of the safety structure material. Based on the material property, the controller 106 may determine one or more parameters relating to the presence of a vehicle. For example, as described below, the controller 106 may determine the distance to the vehicle and / or the vehicle's dynamic characteristics. Based on the stored material property of the safety structure, the controller 106 may scale or calculate the vehicle's distance and / or one or more dynamic characteristics. In this way, the system 100 can compensate for different material types of safety structures having different responses to magnetic field disturbances provided by the vehicle, and for the different signals resulting from being detected by the magnetometer. The relationship between at least one material property, vehicle parameters, and detected magnetic field signals may be determined as part of a calibration routine or stored as an algorithm.

[0048] In some examples, the controller 106 may be located near the magnetometer 104 within the housing 102. The housing 102 may provide the system 100 as a self-contained unit that can be mounted to a structure for monitoring. In other examples, the system 100 may be integrated into a structure or a subcomponent of a structure, for example, into a safety post or a cap for a safety post. The housing 102 (or safety structure) may have one or more input controls (not shown). For example, one or more input controls may include one or more function buttons, touchscreens, switches, etc. In response to the operation of one or more input controls, the controller 106 may cause the magnetometer 104 to provide a reference magnetic field, or to perform a calibration routine (as described below), and / or reset the system 100 by disabling, for example, the warning signal generator 108.

[0049] In some examples, the controller 106 may be located away from the magnetometer, for example, outside the housing 102 and / or on a server. In such examples, the controller 106 may be coupled to the magnetometer 104 wirelessly and / or via a network. In some examples, the controller 106 may comprise a plurality of processors, having one or more processors located locally with respect to the magnetometer 104 (e.g., within the housing 102) and one or more processors located remotely from the magnetometer 104 (e.g., outside the housing 102 or on a server). In other words, any function of the controller 106 described herein may be performed locally with respect to the magnetometer and / or remotely from the magnetometer. The system 100 and / or the controller 106 may include transceivers for communicating with any remote processing device, such as a remote controller 106 or a server.

[0050] The controller 106 can receive a reference magnetic field signal from the magnetometer 104 as a calibration reference magnetic field as part of a calibration routine. The calibration routine may be performed by the controller 106 at any time, including during manufacturing, installation, service, and relocation, and / or periodically during use, for example, according to a schedule or on request. As an example, the controller 106 may capture a reference magnetic field once a day when it is known that no vehicles are present (e.g., at night). The reference magnetic field signal may include the average of multiple magnetic field signals captured over periods when no vehicles are present. In this way, the background magnetic field can be measured periodically to provide a reference for any background changes that may occur that are not related to the movement of FLT / HV (heavy load vehicles). The reference magnetic field signal may include the Earth's magnetic field signal and any static magnetic objects in the vicinity of the system. Therefore, the reference magnetic field signal may change depending on the location of the system 100. Thus, if the system 100 is relocated to a new location, a new reference magnetic field signal may be received as part of the calibration routine.

[0051] The magnetic field signal may include magnetic field measurements along one or more coordinate axes, or magnetic field measurements as absolute values ​​without axial resolution. Controller 106 measures magnetic field B along one or more axes. meas and reference magnetic field B ref Based on the difference or ratio between the two, the magnetic field displacement data ΔB can be determined. For example, the magnetic field displacement data can take the following form:

number

number

[0052] The controller 106 can determine the vehicle's position or distance to the vehicle based on the magnetic field displacement data ΔB. In some examples, the vehicle's magnetic properties can be predetermined. For example, in a warehouse environment, forklift trucks, each having substantially the same mass of ferromagnetic material, may be the only vehicle type for detection. The controller 106 can be pre-configured or programmed with conversion factors to convert the magnetic field displacement values ​​along one or more axes into the corresponding distances to the forklift trucks along one or more axes. In other examples, the controller 106 can receive an identification signal from the vehicle and identify the vehicle's magnetic properties or ferromagnetic mass based on the identification signal. The controller 106 can then determine the vehicle's position or distance to the vehicle based on the magnetic field displacement data and the identification signal.

[0053] In some cases, the controller 106 can receive multiple measured magnetic field signals from the magnetometer 104 over a period of time, for example, several seconds. The controller 106 receives multiple measured magnetic field signals B meas (t) and reference magnetic field signal B ref Based on the difference (or ratio) between the two, the time-dependent magnetic field displacement data ΔB(t) can be determined.

[0054] The controller 106 can signal the presence of a vehicle based on time-dependent magnetic field displacement data ΔB(t). In addition, the controller can determine dynamic parameters related to the vehicle based on the time-dependent displacement data ΔB(t). For example, the controller 106 can determine the direction of movement based on whether the rate of change of the time-dependent displacement data ΔB(t) is less than or greater than zero. Here, a rate of change of the time-dependent displacement data ΔB(t) greater than zero indicates that the vehicle is approaching the magnetometer 104, and a rate of change of the time-dependent displacement data ΔB(t) less than zero indicates that the vehicle is moving away from the magnetometer 104.

[0055] The controller 106 can also determine one or more dynamic parameters of the vehicle's speed, velocity, acceleration, and / or trajectory based on time-dependent displacement data ΔB(t). For example, similar to the distance measurement described above, the controller 106 can determine the vehicle's velocity based on either the rate of change of magnetic displacement data dΔB(t) / dt, and an information signal including a predetermined magnetic property of the vehicle or a magnetic property received from the vehicle. The controller 106 can also determine the distance over a period of time, as described above, and determine the velocity as the rate of change of the distance measurement. Similarly, the controller 106 can determine acceleration as the rate of change of velocity. The controller 106 can determine the trajectory as a simple position-velocity vector based on the determined position and velocity of the vehicle. The controller 106 can also determine the trajectory based on the vehicle's acceleration by applying Newtonian mechanics. The controller 106 can determine any of the described dynamic parameters for one or more axes and / or the absolute magnitude of the displacement.

[0056] By monitoring magnetic field displacement data, the system monitors the magnetic field near the magnetometer 104. The controller 106 can analyze changes in electric field strength in each direction to determine the presence of a vehicle. The controller 106 can analyze the displacement values ​​and the rate of change of the magnetic field displacement data to determine the distance to the vehicle and / or the vehicle speed.

[0057] In some examples, the system 100 may further include a warning signal generator 108, and the controller 106 may signal the presence of a vehicle by activating the warning signal generator 108. The warning signal generator 108 may include an audible signal generator such as a siren, or a visible signal generator such as a display screen that displays (flashing) light or a warning message. In this way, the warning signal generator 108 can warn the driver of a vehicle (or a pedestrian) of the vehicle's proximity to the sensor system and associated sensitive structures. In addition, if the sensor system is located in the corner of a rack or shelf in a warehouse, the warning signal generator can warn a user (such as a pedestrian) of the presence of a vehicle that may not be visible to the user.

[0058] The controller 106 can control the warning signal generator 108 based on the vehicle's position and / or one or more dynamic parameters. For example, if the controller 106 determines that the vehicle's speed is greater than a speed threshold, the controller can control the warning signal generator to produce a warning signal on the display screen, such as a warning light, a warning sound, or a warning message (e.g., "Slow Down"). As a further example, if the controller 106 determines that the vehicle's trajectory is within the warning range of the system 100, the controller can control the warning signal generator to produce a warning signal. The warning signal may be different from the alarm signal, and may, for example, be stronger than the alarm signal.

[0059] The warning signal generator 108 may include a transmitter configured to transmit a warning signal to an external device. For example, the transmitter can transmit a warning signal to a vehicle to activate the vehicle's alarm and warn the driver. The transmitter can also transmit a warning signal to a remote server to capture data regarding the presence of the vehicle. For example, the warning signal may include a data signal containing one or more of the following: a magnetic field sensor signal, magnetic field displacement data, and / or dynamic vehicle parameters. In this way, the data can be captured for the sensor system 100 to indicate, for example, how many collisions and / or near misses a structure associated with the system is exposed to on a daily or weekly basis.

[0060] In the illustrated example, the warning signal generator 108 is shown inside the housing 102. In other examples, the warning signal generator 108 may be located outside the housing and may communicate with the controller via wired or wireless means. For example, the warning signal generator may include an audible or visible signal generator located on a wall close to the sensor system.

[0061] System 100 may include a power supply (not shown). If the system is associated with a fixed structure, the power supply may include a battery. The magnetometer has high power consumption and may consume a significant current. Therefore, in one or more examples, system 100 may be configured to operate in sleep mode or idle mode. System 100 may enter sleep mode after a predetermined period in which the magnetic field displacement data has not exceeded an arbitrary displacement threshold or sleep threshold. In sleep mode, the magnetometer 104 may be disabled to consume no power (or only a very small amount). In sleep mode, the controller 106 may also operate in a reduced state. For example, the controller 106 may perform only essential functions, such as listening for trigger signaling to wake the system from sleep mode. In this way, system 100 operates in sleep mode, which conserves battery power.

[0062] System 100 (or controller 106) can receive a trigger signaling to wake System 100 from sleep mode. System 100 can receive a trigger signaling from a trigger sensor indicating the presence of an object within the sensing range of the proximity sensor. Controller 106 can activate the magnetometer 104 in response to the trigger signaling so that the magnetometer 104 provides Controller 106 with a measured magnetic field signal. Controller 106 can then determine the corresponding magnetic field displacement data. Based on the magnetic field displacement data (for example, if the magnetic field displacement data is greater than one or more displacement thresholds), Controller 106 can determine that the object is a vehicle. For example, if the magnetic field displacement data is greater than one or more displacement thresholds, Controller 106 can determine that the object is a vehicle; otherwise, Controller 106 can determine that the object is not a vehicle (e.g., a pedestrian) and return System 100 to sleep mode. If the object is determined to be a vehicle, the system can keep the magnetometer 104 active until the magnetic field displacement data remains below one or more sleep thresholds for a predetermined period of time. This ensures complete data capture for any vehicle detection event.

[0063] In some examples, system 100 may further include a trigger sensor. The trigger sensor may be a low-power device that can remain active during sleep mode. For example, system 100 may include an optical sensor, a mechanical sensor, or a receiver. The optical sensor may include a passive infrared (PIR) sensor capable of detecting the movement of an object within a given radius. The controller can receive a signal from the PIR sensor and activate the magnetometer when any movement occurs within the given radius.

[0064] The mechanical sensor may include vibration sensors such as accelerometers. The mechanical sensor can detect vibrations resulting from the movement of an object (such as a vehicle) or from a collision between an object and system 100 or a structure associated with system 100. The controller 100 can then activate the magnetometer 104 and compare the magnetic field displacement data with one or more displacement thresholds to determine whether the source of the vibration or collision was a vehicle. In this way, system 100 can distinguish vibrations in the associated structure resulting from a potentially damaging vehicle collision from vibrations resulting from low-risk vibrations, such as a pedestrian scraping the structure. Thus, system 100 can reduce false alarms in the collision sensor system. In one or more examples, system 100 can form part of a collision sensor system, which can provide the following dual functions: (i) warning an approaching vehicle of the risk of collision, and (ii) determining whether the detected vibration or collision is related to a vehicle. The collision sensor system can then warn the user of a vehicle collision if a vehicle is detected.

[0065] In some examples, system 100 may include a trigger sensor in the form of a receiver, such as an RF receiver. The RF receiver can receive trigger signaling from an RF transmitter on a vehicle. For example, in a warehouse environment, an RF transmitter can be mounted on a forklift truck or other vehicle. When a vehicle approaches system 100, the RF receiver can receive trigger signaling from the vehicle's RF transmitter. In response, the controller 106 can activate the magnetometer 106 to provide one or more measurement magnetic field signals as described above.

[0066] In one or more examples, system 100 can be associated with a magnetized structure that is susceptible to collision or damage. The structure may be inherently magnetic or magnetized by the application of magnetic elements such as magnetic strips or magnetic plates. Controller 106 may receive multiple reference magnetic field signals according to a predetermined schedule, for example, once an hour, once a day, or once a week. Controller 106 may determine the state of the magnetized structure based on the multiple reference magnetic field signals. For example, if the structure is damaged or disassembled, the (static) reference magnetic field signal undergoes a permanent change. Controller 106 can detect this change in the reference magnetic field signal and provide a corresponding output signal. For example, controller 106 can activate a warning signal generator 108 or transmit a data signal to a remote device such as a server or mobile terminal. The data signal may indicate to the user that the damage or assembly condition of the magnetized structure should be inspected.

[0067] The controller 106 can determine the state of the magnetization structure based on a comparison of the magnitude of the difference in the reference magnetic field signal with one or more state thresholds. For example, the removal of a barrier from a barrier structure may result in a greater change in the reference magnetic field signal than when the barrier is damaged in a collision. Therefore, the resolution threshold may be higher than the damage threshold.

[0068] The controller 106 can also determine the state of the magnetization structure after detecting the presence of a vehicle. Based on the persistent changes in the received magnetic field signal, the controller 106 can distinguish between changes in the state of the magnetization structure from those of a passing vehicle. In the case of a passing vehicle, the magnetic field displacement data returns to zero once the vehicle has passed. Regarding damage to the magnetization structure caused by a vehicle, the magnetic field displacement data does not return to zero once the vehicle has driven away. Therefore, the controller can activate the warning signal generator as described above in response to magnetic field displacement data that persists above the damage threshold.

[0069] Figure 2A shows a schematic diagram of another vehicle proximity sensor system 200 according to one embodiment of the present disclosure. The features of Figure 2A, which have already been described in relation to Figure 1, are given corresponding reference numbers in the 200s and will not necessarily be described again here.

[0070] System 200 includes multiple subsystems, each associated with a structure for monitoring within an environment such as a warehouse. Each subsystem comprises housings 202a, 202b, and 202n, each containing magnetometers 204a, 204b, and 204n, and controllers 206a, 206b, and 206n. Each subsystem also includes a transceiver (not shown) capable of communicating with a server 210. The server 210 may have a user interface or may communicate with other devices having a user interface, such as a personal mobile terminal or a computer. In this way, the server 210 can collect data from each subsystem to monitor vehicle collisions and near misses in each of the associated structures. System 200 can determine one or more structures that are particularly vulnerable to collisions as structures having a collision frequency and / or near miss frequency greater than the corresponding safety threshold. In this way, the user can analyze the monitoring data and implement changes to the structure layout (such as rearranging the layout or implementing protective measures) to improve the safety of the environment.

[0071] In the example shown in Figure 2A, each subsystem has dedicated magnetometers 204a, 204b, and 204n, and dedicated local controllers 206a, 206b, and 206c, in order to implement the controller functions described above in relation to Figure 1.

[0072] Each subsystem also has its own dedicated warning signal generator 208. In other examples, subsystems may be communicatively coupled to a common warning signal generator. For example, two or more subsystems may be wirelessly coupled to the same audible or visible warning signal generator and / or to a common gateway that can perform some function of the controller 206 and / or exchange information with a server.

[0073] Figure 2B shows a schematic diagram of a further vehicle proximity sensor system 200' according to one embodiment of the present disclosure. The features of Figure 2B, which have already been described in relation to Figure 1, are given corresponding reference numbers in the 200 series and will not necessarily be described again here.

[0074] In this example, system 200' also includes multiple subsystems, each associated with a structure for monitoring within an environment such as a warehouse. However, the controller 206' is located in server 210' and provides the functions described above in relation to Figure 1 to the multiple subsystems. Each subsystem comprises housings 202'a, 202'b, and 202'n, which include magnetometers 204'a, 204'b, and 204'n and transceivers 212'a, 212'b, and 212'c. In this example, the subsystems function as dumb devices, with transceivers 212'a, 212'b, and 212'n transmitting signals from the corresponding magnetometers 204'a, 204'b, and 204'n to controller 206' for processing and receiving signals from controller 206' to activate the corresponding warning signal generators 208'a, 208'b, and 208'n. Thus, the functions of controller 206' described in relation to Figure 1 are implemented in server 210'.

[0075] Figures 2A and 2B illustrate examples where controller functions are implemented locally with respect to the subsystem or on a server, respectively. In other examples, it will be understood that any element of the controller functions described in relation to Figure 1 may be implemented locally with respect to the subsystem or remotely from the subsystem on a server. For example, the system may process magnetic data in a two-step process. First, a local processor may determine magnetic field displacement data and determine vehicle proximity as described above. If the presence of a vehicle is determined, the magnetic data may be further analyzed locally and / or transmitted to a server by wireless means for storage and detailed analysis (such as determination of dynamic parameters).

[0076] Figure 3 illustrates an exemplary implementation of a vehicle proximity sensor system according to an embodiment of the present disclosure. In this example, the vehicle proximity sensor system 300 is integrated into the cap 314 of the safety post 316. A vehicle 318 in the form of a forklift truck (FLT) is approaching the post 316 at a speed of vm / s.

[0077] In this example, the vehicle proximity sensor system 300 includes a low-power trigger sensor. In this example, the low-power trigger sensor is a low-power proximity sensor in the form of a PIR sensor.

[0078] First, since a predetermined period has elapsed without detecting a magnetic field displacement exceeding the sleep threshold, the system 300 is in the sleep mode. In the sleep mode, the magnetometer is disabled and the low-power trigger sensor is active.

[0079] When the vehicle 318 moves within a predetermined detection range of the PIR sensor, the PIR sensor (and the controller) determines the movement of the object and activates or operates the magnetometer. In this example, the magnetometer measures the magnetic field along three Cartesian axes B x 、B y 、B z over a predetermined period. The controller receives the magnetic field signals B x (t), B y (t), B z (t) from the magnetometer and subtracts them (or otherwise compares them) from a reference magnetic field signal B x、y、z (t) to obtain magnetic field displacement data ΔB ref (t).

[0080] The controller determines that an object is a vehicle (FLT) if the magnetic field displacement data exceeds a displacement threshold. The controller can also determine the distance or proximity (or absolute value) to the vehicle along each axis based on the magnetic field displacement data value or the absolute magnitude (root sum of squares) of the displacement data along the corresponding axis. The controller can determine the distance to the vehicle based on the maximum absolute magnetic displacement or the value along the axis. The controller can also determine the vehicle's speed based on the rate of change of the magnetic field displacement data.

[0081] Figure 4 shows the change in the absolute value of magnetic field displacement data over time as a FLT passes through a vehicle proximity sensor system according to one embodiment of the present invention. The first curve 420 shows the change in the magnetic field when the FLT passes through the system and comes within 20 cm of the magnetometer. The second curve 422 shows the change in the magnetic field when the FLT passes through the system and comes within 50 cm of the magnetometer. The third curve 424 shows the change in the magnetic field when the FLT passes through the system and comes within 100 cm of the magnetometer. Each curve shows that the magnetic field displacement increases as the FLT approaches closest and then decreases as the FLT moves away again.

[0082] Figure 5 shows the change in the maximum value of the magnetic field displacement as a function of the minimum distance traversed by the FLT. The plots correspond to the peak values ​​of the three curves in Figure 4.

[0083] Figure 6 shows a flowchart of a method for sensing the proximity of a vehicle according to one embodiment of the present disclosure. This method may be a computer implementation method performed on a processor or controller, such as a controller, as described in relation to any of the systems disclosed herein.

[0084] The first step includes receiving a reference magnetic field signal from a magnetometer. The reference magnetic field signal may include a background magnetic field signal. The second step 632 includes receiving a measured magnetic field signal from the magnetometer. The third step includes determining magnetic field displacement data based on the measured magnetic field signal and the reference magnetic field signal. For example, the magnetic field displacement data may include the difference or ratio between the measured magnetic field signal and the reference magnetic field signal. The fourth step 636 includes signaling the presence of a vehicle based on the magnetic field displacement signal. The method may include signaling the presence of a vehicle when the magnetic field displacement data exceeds one or more displacement thresholds. Signaling the presence of a vehicle may include activating an audible and / or visible warning signal generator, or transmitting a data signal to an external device such as a mobile computing system or server.

[0085] The disclosed vehicle proximity sensor system can detect when a FLT or other large vehicle is approaching a monitoring location, which may be fixed or movable. By monitoring magnetic field displacement over time, the approximate speed of the vehicle can be determined, which can then be used to determine potential or actual hazards. [Explanation of Symbols]

[0086] 100 Systems, Sensor Systems, Vehicle Proximity Sensor Systems 102 cabinets 104 Magnetometer 106 Controllers, Remote Controllers 108 Warning signal generator 200 System, Vehicle Proximity Sensor System 200' System, Vehicle Proximity Sensor System 202'a, 202'b, 202'n enclosure 202a, 202b, 202n inputs 204'a, 204'b, 204'n magnetometer 204a, 204b, 204n magnetometer 206 Controller 206' Controller 206a, 206b, 206c, 206n controllers, local controllers 208 Warning signal generator 208'a, 208'b, 208'n Warning signal generator 210 servers 210' Server 212'a, 212'b, 212'c, 212'n transceivers 300 System, Vehicle Proximity Sensor System 314 Cap 316 Post, Safety Post 318 vehicles 420 The first curve 422 The second curve 424 The Third Curve

Claims

1. A vehicle proximity sensor system, It is susceptible to the effects of vehicle collisions and has a safety structure equipped with a magnetometer, A controller is provided, and the controller is A reference magnetic field signal is received from the magnetometer. The magnetic field signal is received from the magnetometer. Based on the measured magnetic field signal and the reference magnetic field signal, magnetic field displacement data is determined. It is configured to signal the presence of a vehicle based on the aforementioned magnetic field displacement data. A vehicle proximity sensor system, wherein the controller is configured to signal the presence of the vehicle by activating a warning signal generator in order to warn the driver of the vehicle that the vehicle is approaching the safety structure.

2. The vehicle proximity sensor system according to claim 1, wherein the controller is configured to signal the presence of a vehicle in response to the magnetic field displacement data exceeding one or more displacement thresholds.

3. The vehicle proximity sensor system according to claim 1 or 2, further comprising a warning signal generator, wherein the controller is configured to signal the presence of a vehicle by activating the warning signal generator.

4. The vehicle proximity sensor system according to claim 3, wherein the warning signal generator comprises an audible signal generator and / or a visible signal generator.

5. The vehicle proximity sensor system according to any one of claims 1 to 4, wherein the controller is configured to signal the presence of a vehicle by transmitting a data signal to an external device.

6. The aforementioned controller, A vehicle proximity sensor system according to any one of claims 1 to 5, configured to receive a plurality of measured magnetic field signals from the magnetometer over a certain period of time and to determine the magnetic field displacement data based on the plurality of magnetic field signals.

7. The aforementioned controller, Based on the aforementioned plurality of magnetic field displacement data, one or more dynamic parameters of the vehicle are determined. The vehicle proximity sensor system according to claim 6, configured to signal the presence of a vehicle based on one or more of the aforementioned dynamic parameters.

8. The aforementioned controller, The vehicle proximity sensor system according to claim 6 or 7, configured to determine the direction of movement of the vehicle based on whether the rate of change of the magnetic field displacement data is less than or greater than zero.

9. The controller is located in the same place as the magnetometer. The controller is coupled to the magnetometer via a network, or The vehicle proximity sensor system according to any one of claims 1 to 8, wherein the controller comprises a plurality of processors distributed between being located in the same location as the magnetometer or being coupled to the magnetometer via the network.

10. The aforementioned controller, The vehicle proximity sensor system receives a trigger signaling from a trigger sensor indicating an object within its detection range. The magnetometer is selectively activated based on the trigger signaling so that it provides the measured magnetic field signal to the controller. The aforementioned magnetic field displacement data is determined, The vehicle proximity sensor system according to any one of claims 1 to 9, further configured to determine that the object is a vehicle based on the magnetic field displacement data.

11. The vehicle proximity sensor system according to claim 10, comprising the trigger sensor.

12. The vehicle proximity sensor system according to claim 11, wherein the trigger sensor comprises one or more of an optical sensor, a mechanical sensor, and a receiver.

13. The trigger signaling is received from the object, as described in any one of claims 10 to 12, for the vehicle proximity sensor system.

14. The vehicle proximity sensor system according to any one of claims 10 to 13, wherein the controller is configured to enable the sleep mode of the vehicle proximity sensor when the magnetic field displacement is less than a sleep threshold.

15. The vehicle proximity sensor system according to any one of claims 1 to 14, wherein the controller is configured to receive a plurality of reference magnetic field signals from the magnetometer and to determine the magnetic field displacement based on the plurality of reference magnetic field signals.

16. The vehicle proximity sensor system according to claim 15, wherein the vehicle proximity sensor system is associated with a magnetization structure, and the controller is further configured to determine the state of the magnetization structure based on the plurality of reference magnetic field signals.

17. The vehicle proximity sensor system according to any one of claims 1 to 16, wherein at least the magnetometer is located within the safety structure, and the safety structure comprises a safety barrier, a safety bollard, a safety rail, a post for the safety rail, a collision sensor, or components thereof.

18. Multiple magnetometers, each magnetometer being coupled to a corresponding transceiver, The vehicle proximity sensor system according to any one of claims 1 to 17, further comprising a server configured to communicate with each of the plurality of magnetometers via the corresponding transceiver.

19. The vehicle proximity sensor system according to any one of claims 1 to 18, wherein the safety structure comprises a structure for protecting or isolating property or pedestrians from a vehicle, or a structure for protecting or isolating pedestrians from a dangerous area.

20. A computer implementation method for detecting the proximity of a vehicle, Receiving a reference magnetic field signal from a magnetometer with a safety structure that is susceptible to the effects of vehicle collisions, Receiving a measured magnetic field signal from the magnetometer, Determining magnetic field displacement data based on the measured magnetic field signal and the reference magnetic field signal, A computer implementation method comprising signaling the presence of a vehicle based on magnetic field displacement data by activating a warning signal generator to warn the driver of the vehicle that the vehicle has approached the safety structure.

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