Fall protection device, system, and method

Abstract

A fall protection device is disclosed. The fall protection device includes a body. The body includes a hook at least partially defining an area of attachment configured to receive a support structure. The body further includes a gate movably connected to the hook and configured to move between an open position and a closed position. The open position provides access to the area of attachment and the closed position restricts access to the area of attachment. The fall protection device further includes at least one sensor disposed on the body. The at least one sensor includes a time-of-flight sensor configured to generate sensor data indicating at least whether the support structure is disposed in the area of attachment.

Description

[0001] FALL PROTECTION DEVICE, SYSTEM, AND METHOD

[0002] Technical Field

[0003] The present disclosure relates generally to a fall protection device, a fall protection system, and a fall protection method.

[0004] Background

[0005] Fall protection equipment may be important for workers operating at potentially harmful or even deadly heights. For example, to help ensure safety in the event of a fall, workers often wear safety harnesses connected to support structures with fall protection equipment such as lanyards, energy absorbers, selfretracting lifelines (SRLs), descenders, and the like. In order to maintain safe working conditions when working at height, at least one connection to the support structure may need to be maintained at all times.

[0006] Fall protection equipment may be connected to the support structure via fall protection devices, such as those including a gated hook. It may be important that the fall protection devices are properly tied off to the support structure during use in order to maintain the safe working conditions. Furthermore, it may be important that the fall protection devices remain distal to unsupported ends or discontinuities of the support structure during use to maintain the safe working conditions. Conventional fall protection systems and methods employing conventional fall protection devices may fail to reliably detect proper tie off of the conventional fall protection devices to the support structure and may fail to reliably detect the unsupported ends or discontinuities of the support structure, thereby exposing the workers to potential safety risks.

[0007] Summary

[0008] In a first aspect, the present disclosure provides a fall protection device. The fall protection device includes a body. The body includes a hook at least partially defining an area of attachment configured to receive a support structure. The body further includes a gate movably connected to the hook and configured to move between an open position and a closed position. The open position provides access to the area of attachment and the closed position restricts access to the area of attachment. The fall protection device further includes at least one sensor disposed on the body. The at least one sensor includes a time-of-flight (ToF) sensor configured to generate sensor data indicating at least whether the support structure is disposed in the area of attachment.

[0009] In a second aspect, the present disclosure provides a fall protection system. The fall protection system includes at least one fall protection device. The at least one fall protection device includes a body. The body includes a hook at least partially defining an area of attachment configured to receive a support structure. The body further includes a gate movably connected to the hook and configured to move betweenan open position and a closed position. The open position provides access to the area of attachment and the closed position restricts access to the area of attachment. The at least one fall protection device further includes at least one sensor disposed on the body. The at least one sensor includes a time-of-flight (ToF) sensor configured to generate sensor data indicating at least whether the support structure is disposed in the area of attachment. The fall protection system further includes at least one processor communicably coupled to the at least one sensor. The at least one processor is configured to receive the sensor data from the at least one sensor. The at least one processor is further configured to determine, based on the sensor data, whether the support structure is disposed in the area of attachment.

[0010] In a third aspect, the present disclosure provides a fall protection method. The fall protection method includes providing a fall protection device. The fall protection device includes a body. The body includes a hook at least partially defining an area of attachment configured to receive a support structure. The body further includes a gate movably connected to the hook and configured to move between an open position and a closed position. The open position provides access to the area of attachment and the closed position restricts access to the area of attachment. The fall protection device further includes at least one sensor disposed on the body. The at least one sensor includes a time-of-flight (ToF) sensor configured to generate sensor data indicating at least whether the support structure is disposed in the area of attachment. The fall protection method further includes receiving the sensor data from the at least one sensor. The fall protection method further includes determining, based on the sensor data, whether the support structure is disposed in the area of attachment. The fall protection method further includes producing, via an alert device, a first alert upon determining that the support structure is not disposed in the area of attachment.

[0011] The details of one or more examples of the disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the disclosure will be apparent from the description and drawings, and from the claims.

[0012] Brief Description of Drawings

[0013] Exemplary embodiments disclosed herein are more completely understood in consideration of the following detailed description in connection with the following figures. The figures are not necessarily drawn to scale. Like numbers used in the figures refer to like components. However, it will be understood that the use of a number to refer to a component in a given figure is not intended to limit the component in another figure labelled with the same number.

[0014] FIG. 1 is a schematic diagram of a fall protection system including a fall protection device with a gate thereof in an open position according to an embodiment of the present disclosure;

[0015] FIG. 2 is a schematic diagram of the fall protection system with the gate in a closed position according to an embodiment of the present disclosure;FIG. 3 is a schematic diagram of the fall protection system with a support structure disposed in an area of attachment of the fall protection device according to an embodiment of the present disclosure;

[0016] FIG. 4 is a schematic diagram of the fall protection system including a fall protection device with an optical sensor according to an embodiment of the present disclosure;

[0017] FIG. 5 is a schematic diagram of the fall protection system including a fall protection device with a time-of-flight sensor according to an embodiment of the present disclosure;

[0018] FIG. 6 schematically illustrates a field of view of the multi-zone time-of-flight sensor according to an embodiment of the present disclosure;

[0019] FIG. 7A is a range map generated based on range data generated by a one-dimensional ToF sensor when the support structure is not disposed in the area of attachment according to an embodiment of the present disclosure;

[0020] FIG. 7B is a range map generated based on a plurality of range data generated by a multizone ToF sensor when the support structure is not disposed in the area of attachment according to an embodiment of the present disclosure;

[0021] FIG. 8A is a schematic diagram of the fall protection system of FIG. 5 with the support structure disposed within the area of attachment of the fall protection device according to an embodiment of the present disclosure;

[0022] FIG. 8B is a range map generated based on range data generated by the one-dimensional ToF sensor when the support structure is disposed in the area of attachment according to an embodiment of the present disclosure;

[0023] FIG. 8C is a range map generated based on a plurality of range data generated by the multizone ToF sensor when the support structure is disposed in the area of attachment according to an embodiment of the present disclosure;

[0024] FIG. 9 is a schematic diagram of a portion of a fall protection device according to an embodiment of the present disclosure;

[0025] FIG. 10 is a schematic diagram of a portion of a fall protection device according to another embodiment of the present disclosure;

[0026] FIG. 11 is a schematic diagram of a fall protection device according to another embodiment of the present disclosure;

[0027] FIG. 12A is a schematic diagram of the fall protection system including a fall protection device that is tied off to a support structure that is above a worker according to an embodiment of the present disclosure;FIG. 12B is a schematic diagram the fall protection system of FIG. 12A with the fall protection device tied off to a support structure that is below the worker according to an embodiment of the present disclosure; and

[0028] FIG. 13 is a flowchart depicting various steps of a fall protection method according to an embodiment of the present disclosure.

[0029] Detailed Description

[0030] In the following description, reference is made to the accompanying figures that form a part thereof and in which various embodiments are shown by way of illustration. It is to be understood that other embodiments are contemplated and may be made without departing from the scope or spirit of the present disclosure. The following detailed description, therefore, is not to be taken in a limiting sense.

[0031] In the following disclosure, the following definitions are adopted.

[0032] As used herein, “a,” “an,” “the,” “at least one,” and “one or more” are used interchangeably. As used herein as a modifier to a property or attribute, the term “generally,” unless otherwise specifically defined, means that the property or attribute would be readily recognizable by a person of ordinary skill but without requiring absolute precision or a perfect match (e.g., within + / - 20 % for quantifiable properties).

[0033] The term “substantially,” unless otherwise specifically defined, means to a high degree of approximation (e.g., within + / - 10% for quantifiable properties) but again without requiring absolute precision or a perfect match.

[0034] As used herein, all numbers should be considered modified by the term “about.” The term “about,” unless otherwise specifically defined, means to a high degree of approximation (e.g., within + / - 5% for quantifiable properties) but again without requiring absolute precision or a perfect match.

[0035] As used herein, the terms “first” and “second” are used as identifiers. Therefore, such terms should not be construed as limiting of this disclosure. The terms “first” and “second” when used in conjunction with a feature or an element can be interchanged throughout the embodiments of this disclosure.

[0036] As used herein, “at least one of A and B” should be understood to mean “only A, only B, or both A and B.”

[0037] As used herein, the term “support structure” refers to any structure that is designed to support the weight of a worker that is tethered to the structure. A support structure may include an anchor, a lifeline, a D-ring (e.g., of a fall-protection harness), or any other structure capable of supporting the weight of a worker in the event of a fall.

[0038] The present disclosure provides a fall protection device. The fall protection device includes a body. The body includes a hook at least partially defining an area of attachment configured to receive a supportstructure. The body further includes a gate movably connected to the hook and configured to move between an open position and a closed position. The open position provides access to the area of attachment and the closed position restricts access to the area of attachment. The fall protection device further includes at least one sensor disposed on the body. The at least one sensor includes a time-of-flight (ToF) sensor configured to generate sensor data indicating at least whether the support structure is disposed in the area of attachment.

[0039] The fall protection device of the present disclosure may allow reliable detection of whether the support structure is disposed in the area of attachment. Specifically, the sensor data generated by the at least one sensor may be processed to reliably detect the presence of the support structure in the area of attachment. Furthermore, the performance of the at least one sensor may not depend on the material of the support structure. For example, the at least one sensor may sense the presence of the support structure in the area of attachment regardless of whether the support structure is made from metal, plastic, fabric, wood, and the like. The at least one sensor may be compact, and therefore may not add significant bulk to the body. The fall protection device may be conveniently used with various fall protection equipment, including, but not limited to, lanyards, energy absorbers, self-retracting lifelines (SRLs), descenders, and the like.

[0040] The fall protection device may be used in a fall protection system. The fall protection system may reliably determine whether the fall protection device is properly tied off to the support structure. The fall protection system may notify a worker if the fall protection device is not properly tied off to the support structure via an alert device. Further, the fall protection system may reliably determine whether the body is proximal to an unsupported end of the support structure. The fall protection system may further notify the worker upon determining that the fall protection device is proximal to the unsupported end. The fall protection system may therefore improve the safety of the worker by notifying the worker of unsafe work conditions.

[0041] Referring now to the figures, FIGS. 1 to 3 schematically illustrate a fall protection system 10 according to an embodiment of the present disclosure.

[0042] Referring to FIGS. 1 to 3, the fall protection system 10 includes at least one fall protection device 100 (hereinafter interchangeably referred to as “the fall protection device 100”). The fall protection device 100 includes a body 102. The body 102 includes a hook 104 and agate 110. The hook 104 at least partially defines an area of attachment 106. The area of attachment 106 is configured to receive a support structure 108. The support structure 108 may be received in the area of attachment 106, such that the hook 104 at least partially surrounds a periphery of the support structure 108.

[0043] The gate 110 is movably connected to the hook 104. The gate 110 is configured to move between an open position 112 (shown in FIG. 1) and a closed position 114 (shown in FIGS. 2 and 3). The open position 112 provides access to the area of attachment 106. The closed position 114 restricts access to thearea of attachment 106. In some embodiments, the hook 104 and the gate 110 in the closed position 114 may together define the area of attachment 106.

[0044] In the open position 112 of the gate 110, the support structure 108 may be readily insertable into and removable from the area of attachment 106. In the closed position 114 of the gate 110, the support structure 108 may not be insertable into and removable from the area of attachment 106. When the support structure 108 is disposed in the area of attachment 106 and the gate 110 is in the closed position 114, the fall protection device 100 may be secured to the support structure 108, or in other words, properly tied off to the support structure 108.

[0045] The fall protection device 100 further includes at least one sensor 116 (hereinafter also referred to as “the sensor 116”) disposed on the body 102. The sensor 116 includes a time-of-flight sensor. The sensor 116 may optionally also include an optical sensor, a contact sensor, or both.

[0046] As used herein, the term “optical sensor” broadly refers to any sensor configured to sense light and produce an output based on the sensed light. An optical sensor may include, for example, a camera, a photodetector, a photodiode, or a photocell. In some examples, an optical sensor may include a light transmitter and a light receiver.

[0047] As used herein, the term “time-of-flight sensor” or “ToF sensor” broadly refers to any sensor configured to measure a distance between an object and the sensor based on a time difference between the emission of a signal by the sensor and the return of the signal to the sensor after being reflected by the object. Examples of ToF sensors include, but are not limited to, optical ToF sensors, acoustic ToF sensors, and electromagnetic ToF sensors.

[0048] As used herein, the term “contact sensor” broadly refers to any sensor configured to sense contact and / or pressure. A contact sensor may include, for example, depressible buttons, as well as sensors capable of sensing changes in conductivity, pressure, capacitance, and / or resistance.

[0049] The sensor 116 is configured to generate sensor data 25 indicating at least whether the support structure 108 is disposed in the area of attachment 106. That is, the sensor data 25 may be processed to determine whether the support structure 108 is disposed in the area of attachment 106. The sensor data 25 may be of various different types depending upon the type of the sensor 116.

[0050] The fall protection device 100 may allow reliable detection of whether the support structure 108 is disposed in the area of attachment 106. Specifically, the sensor data 25 generated by the sensor 116 may be processed to reliably detect the presence of the support structure 108 in the area of attachment 106. Furthermore, the performance of the sensor 116 may not depend on the material of the support structure 108. For example, the sensor 116 may sense the presence of the support structure 108 in the area of attachment 106 regardless of whether the support structure 108 is made from metal, plastic, fabric, wood, and the like. The sensor 116 may be compact, and therefore may not add significant bulk to the body 102.The fall protection device 100 may be conveniently used with various fall protection equipment, including, but not limited to, lanyards, energy absorbers, self-retracting lifelines (SRLs), descenders, and the like. The fall protection device 100 may include suitable connection means (not shown in FIGS. 1-3) for connection with the fall protection equipment.

[0051] As discussed above, the sensor 116 is disposed on the body 102. The positioning of the sensor 116 on the body 102 may vary depending on desired application attributes. In the illustrated embodiment of FIGS. 1 to 3, the sensor 116 is disposed on the hook 104. In some other embodiments, the sensor 116 may be disposed on the gate 110.

[0052] The fall protection system 10 may further include an alert device 20 configured to generate an alert upon receiving an alert signal. The alert device 20 may be located at any suitable position relative to a worker, such that the worker is notified of the alert generated by the alert device 20. In some embodiments, the alert device 20 may be configured to be worn by the worker. The alert generated by the alert device 20 may be of any suitable type, such as audible, visual, haptic, and so forth. Examples of the alert device 20 include, but are not limited to, visual alert devices, speakers, earphones, tactile actuators, radios, etc. In some embodiments, the alert device 20 may be disposed on the fall protection device 100.

[0053] The fall protection system 10 further includes at least one processor 30 (hereinafter interchangeably referred to as “the processor 30”). The term “processor” broadly refers to one or more microcomputers, processors, application-specific integrated circuits, or any other suitable programmable circuit or combination of circuits. The processor 30 may include both hardware and software components, and the term “processor” is meant to broadly encompass the combination of such components.

[0054] The processor 30 is communicably coupled to the sensor 116. The processor 30 may be further communicably coupled to the alert device 20. In some implementations, the alert device 20 may include the processor 30. The processor 30 may be communicably coupled to the alert device 20 and the sensor 116 by a wireless or a wired connection. In some embodiments, the processor 30 may be disposed on the body 102. In some other embodiments, the processor 30 may be remote from the body 102.

[0055] The processor 30 is configured to receive the sensor data 25 from the sensor 116. The processor 30 is further configured to determine, based on the sensor data 25, whether the support structure 108 is disposed in the area of attachment 106. As discussed above, the sensor data 25 indicates at least whether the support structure 108 is disposed in the area of attachment 106. The processor 30 may be configured to process the sensor data 25 to determine whether the support structure 108 is disposed in the area of attachment 106. In other words, the processor 30 may be configured to process the sensor data 25 to determine whether the fall protection device 100 is properly tied off to the support structure 108.

[0056] The processor 30 may be further configured to provide a first alert signal 15 to the alert device 20 to produce a first alert upon determining that the support structure 108 is not disposed in the area ofatachment 106. In other words, upon determining that the support structure 108 is not disposed in the area of atachment 106 (i.e., the fall protection device 100 is not tied off to the support structure 108), the processor 30 may cause the alert device 20 to produce the first alert. For example, in the case where the fall protection system 10 includes a single unit of the fall protection device 100 that is connected to the support structure 108, when a worker disconnects the fall protection device 100 from the support structure 108, the processor 30 may determine that the support structure 108 is not disposed in the area of attachment 106 and cause the alert device 20 to continuously produce the first alert until the fall protection device 100 is connected back to the support structure 108 (which, in some embodiments, may be a D-ring, e.g., a dorsal D-ring, of a fall protection harness worn by the worker). This implementation may be helpful in cases where a single unit of the fall protection device 100 is used by a worker.

[0057] The fall protection system 10 may reliably determine whether the support structure 108 is disposed in the area of attachment 106. In other words, the fall protection system 10 may reliably determine whether the fall protection device 100 is properly tied off to the support structure 108. The fall protection system 10 may further notify the worker if the fall protection device 100 is not properly tied off to the support structure 108 via the alert device 20. The fall protection system 10 may therefore improve the safety of the worker by notifying the worker of unsafe work conditions.

[0058] In some embodiments, the at least one fall protection device 100 may include a plurality of fall protection devices 100. Such an arrangement might take the form of, e.g., a so-called twin-leg lanyard that comprises first and second fall -protection devices 100 in the form of gated hooks that are individually connectable to a support structure. Arrangements that comprise multiple fall -protection devices 100 are described e.g. in U.S. Patent Application Publication 2020 / 0016439, which is incorporated by reference in its entirety herein (noting in passing that in the US‘439 publication, the terminology of a fall protection “article” and a fall protection “device” generally corresponds to the terminology herein of a fall protection “device” and a fall protection “system”).

[0059] The sensor 116 of each of the plurality of fall protection devices 100 may be communicably coupled with the processor 30. The processor 30 may be configured to receive and process the sensor data 25 received from the sensor 116 of each of the plurality of fall protection devices 100. The processor 30 may be configured to provide the first alert signal 15 to the alert device 20 to produce the first alert upon detecting that the support structure 108 is not disposed in the area of attachment 106 of each of the plurality of fall protection devices 100. In other words, the processor 30 may cause the alert device 20 to produce the first alert only when each of the plurality of fall protection devices 100 is disconnected from the support structure 108. This implementation may be helpful in cases where multiple units of the fall protection device 100 are used by a single worker.In some embodiments, the at least one processor 30 may include a plurality of processors 30 corresponding to the plurality of fall protection devices 100. Each of the plurality of processors 30 may be configured to receive and process the sensor data 25 received from the sensor 116 of a corresponding fall protection device 100 from the plurality of fall protection device 100 to determine whether the support structure 108 is disposed in the area of attachment 106 of the corresponding fall protection device 100. The plurality of processors 30 may be further configured to communicate with each other and determine if the support structure 108 is not disposed in the area of attachment 106 of each of the plurality of fall protection devices 100. If the support structure 108 is not disposed in the area of attachment 106 of each of the plurality of fall protection devices 100, one or more of the plurality of processors 30 may provide the first alert signal 15 to the alert device 20 to produce the first alert. This implementation may be helpful in cases where multiple units of the fall protection device 100 are used by a single worker.

[0060] Referring to FIG. 3, in some embodiments, the sensor data 25 may further indicate whether the body 102 is proximal to an unsupported end 109 of the support structure 108. Specifically, in some embodiments, the sensor 116 may be further configured to sense whether the body 102 is proximal to the unsupported end 109.

[0061] As used herein, the term “unsupported end” may refer to an end of a support structure at which the support structure terminates, or beyond which the support structure extends in such a way that the extending portion of the support structure is incapable of supporting the weight of the worker. Unsupported end also refers to discontinuities in the support structure that allow detachment of the fall protection device 100 from the support structure when the support structure is disposed in the area of attachment 106 and the gate 110 is in the closed position 114. It may be noted that a support structure may include multiple unsupported ends. The processor 30 may be further configured to determine, based on the sensor data 25, whether the body 102 is proximal to the unsupported end 109 of the support structure 108. In other words, the processor 30 may be configured to process the sensor data 25 to determine whether the body 102 is proximal to the unsupported end 109. By “proximal” to an unsupported end is meant within 50 centimeters (cm) of the unsupported end.

[0062] The processor 30 may be further configured to provide a second alert signal 16 to the alert device 20 to produce a second alert upon determining that the body 102 is proximal to the unsupported end 109 of the support structure 108. In other words, upon determining that the body 102 is proximal to the unsupported end 109 of the support structure 108, the processor 30 may cause the alert device 20 to produce the second alert. The second alert may be different from the first alert. As noted above, by “proximal” to an unsupported end is meant within 50 cm of the unsupported end. In various embodiments, a second alert may be issued e.g. if the body 102 is detected as being with 50 cm, 40 cm, 30 cm, 20 cm, 10 cm, or 5 cmof the supported end. In some embodiments, a series of escalating second alerts may be issued if the body 102 is detected as moving increasingly closer to the unsupported end.

[0063] The fall protection system 10 may reliably determine whether the body 102 is proximal to the unsupported end 109 of the support structure 108. The fall protection system 10 may further notify the worker upon determining that the fall protection device 100 is proximal to the unsupported end 109. The fall protection system 10 may therefore improve the safety of the worker by notifying the worker of unsafe work conditions.

[0064] In some embodiments, the sensor 116 includes a contact sensor. The contact sensor may generate the sensor data 25. The sensor data 25 may include a signal representing a contact between the support structure 108 and the contact sensor. In some embodiments, the signal may further represent a degree of contact between the support structure 108 and the contact sensor. In other words, the signal may represent the area of contact between the contact sensor and the support structure 108 and / or the force being exerted by the support structure 108 on the contact sensor (or vice versa). The processor 30 may be configured to process the signal generated by the contact sensor to determine whether the support structure 108 is disposed in the area of attachment 106.

[0065] When the fall protection device 100 is properly tied off to the support structure 108 (i.e., support structure is 108 disposed in the area of attachment 106), the support structure 108 may engage with the contact sensor, and the contact sensor may generate the signal. In this case, the processor 30 may determine, based on the signal, that the fall protection device 100 is properly tied off to the support structure 108.

[0066] In contrast, when the fall protection device 100 is not tied off to the support structure 108, the contact sensor may not generate the signal, or may generate a different signal than the signal. In this case, the processor 30 may determine, based on the different signal or absence of the signal, that the fall protection device 100 is not tied off to the support structure 108.

[0067] The contact sensor may be of any suitable type. In some embodiments, the contact sensor is selected from the group consisting of a resistive contact sensor, an impedance contact sensor, a capacitive contact sensor, a piezoelectric contact sensor, and a continuity contact sensor.

[0068] In some embodiments, the sensor 116 includes an optical sensor, e.g., an image sensor. The image sensor may be configured to generate the sensor data 25. The sensor data 25 may include image data representing an image captured by the image sensor.

[0069] The processor 30 may be configured to determine, based on the image data, whether the support structure 108 is disposed in the area of attachment 106. For example, the processor 30 may be configured to process the image data using computer vision technologies and algorithms to determine whether the support structure 108 is disposed in the area of attachment 106.The image sensor may be of any suitable type. In some embodiments, the image sensor may be selected from the group consisting of a charge-coupled device (CCD) sensor, a complimentary metal -oxide semiconductor (CMOS) sensor, a dual-gain output (DGO) sensor, and a single photon avalanche diode (SPAD) sensor.

[0070] In some embodiments, the image data of the image sensor may further indicate whether the body 102 is proximal to the unsupported end 109 of the support structure 108. For example, the image captured by the image sensor may include the unsupported end 109 of the support structure 108. The processor 30 may determine, based on the image data, whether the body 102 is proximal to the unsupported end 109 of the support structure 108. For example, the processor 30 may be configured to process the image data using computer vision technologies and algorithms to determine whether the body 102 is proximal to the unsupported end 109.

[0071] While specific examples of the fall protection system 10 and the fall protection device 100 are discussed, it may be noted that the sensor 116 may include a plurality of sensors 116. The plurality of sensors 116 may include the optical sensor, the ToF sensor, and the contact sensor. It may be noted that different types of the sensor 116 may be used to improve the performance of the fall protection system 10 and the fall protection device 100.

[0072] FIG. 4 illustrates a schematic diagram of the fall protection system 10 including a fall protection device 200 according to an embodiment of the present disclosure. The fall protection device 200 is similar to the fall protection device 100 of FIGS. 1 to 3, with like components designated by like reference characters. The fall protection device 200 has a specific configuration of the sensor 116.

[0073] In the illustrated embodiment of FIG. 4, the sensor 116 is an optical sensor 120, which may be present, e.g., in addition to a time-of-flight sensor (not shown in FIG. 4). The optical sensor 120 includes a receiver 122 configured to detect a light having a wavelength in a predetermined wavelength range. The optical sensor 120 further includes a transmitter 124 configured to emit an emitted light 125 having a wavelength in the predetermined wavelength range toward the receiver 122. The predetermined wavelength range may lie in, for example, one of ultraviolet, infrared, and visible wavelength ranges. In some embodiments, the predetermined wavelength range may extend from 100 nanometers (nm) to 1000 nm. In some embodiments, the wavelength of the emitted light 125 may be about 590 nm.

[0074] Further, in the illustrated embodiment of FIG. 4, the sensor data 25 includes a signal indicating detection of the emitted light 125 by the receiver 122. Specifically, the receiver 122 may generate the signal upon detecting the emitted light 125. The processor 30 may be configured to process the signal generated by the optical sensor 120 to determine whether the support structure 108 is disposed in the area of attachment 106.When the fall protection device 200 is properly tied off to a support structure (i.e., the support structure is disposed in the area of attachment 106), the support structure may obstruct the emitted light 125 and prevent the receiver 122 from receiving the emitted light 125. In this case, the receiver 122 may not generate the signal, or may generate a different signal than the signal. The processor 30 may determine, based on the different signal or absence of the signal, that the fall protection device 200 is properly tied off to the support structure 108.

[0075] In contrast, when the fall protection device 200 is not tied off to the support structure (i.e., support structure is not disposed in the area of attachment 106), the receiver 122 may receive the emitted light 125 from the transmitter 124 and subsequently generate the signal. In this case, the processor 30 may determine, based on the signal, that the fall protection device 200 is not tied off to the support structure 108.

[0076] In some embodiments, the transmitter 124 may be further configured to modulate the emitted light 125, such that the emitted light 125 has predetermined modulated characteristics. Further, the receiver 122 may be configured to detect the emitted light 125 having the predetermined modulated characteristics. The emitted light 125 being modulated may allow the receiver 122 to differentiate between the emitted light 125 having the predetermined modulated characteristics and light emitted by other light sources. For example, the receiver 122 may only detect the emitted light 125 having the predetermined modulated characteristics and ignore unmodulated light, such as solar radiation. Further, the emitted light 125 being modulated may allow multiple fall protective devices 200 to operate in close proximity to each other without issues.

[0077] FIG. 5 illustrates a schematic diagram of the fall protection system 10 including a fall protection device 250 according to an embodiment of the present disclosure. The fall protection device 250 is similar to the fall protection device 100 of FIGS. 1 to 3, with like components designated by like reference characters. The fall protection device 250 has a specific configuration of the sensor 116.

[0078] In the illustrated embodiment of FIG. 5, the sensor 116 is a time-of-flight (ToF) sensor 126. The ToF sensor 126 includes an emitter 128 and a detector 130. The ToF sensor 126 may generate the sensor data 25. Specifically, the detector 130 may generate the sensor data 25. The sensor data 25 may include range data sensed by the detector 130.

[0079] The processor 30 may be configured to determine, based on the range data, whether a support structure is disposed in the area of attachment 106. The processor 30 may be configured to process the range data to determine whether the support structure is disposed in the area of attachment 106. For example, the range data may get modified when the support structure is disposed in the area of attachment 106 as opposed to when the support structure is not disposed in the area of attachment 106. The processor 30 may be configured to determine this modification in the range data and determine whether the support structure is disposed in the area of attachment 106. As will be discussed in more detail below, the rangedata generated by the ToF sensor 126 may indicate whether the support structure is disposed in the area of attachment 106, and in some cases, whether the body 102 is proximal to an unsupported end of the support structure.

[0080] The ToF sensor 126 may be of any suitable type. In some embodiments, the ToF sensor 126 may be selected from the group consisting of a laser ToF sensor, an optical ToF sensor, an acoustic ToF sensor, an ultrasonic ToF sensor, a pulsed radiofrequency ToF sensor, and a continuous wave radiofrequency ToF sensor. The ToF sensor 126 may be small in size, which may allow the ToF sensor 126 to be disposed on the body 102 without significantly increasing the size or weight of the fall protection device 250.

[0081] The ToF sensor 126 may be one-dimensional (hereinafter also referred to as “one-dimensional ToF sensor 126”) or two-dimensional (hereinafter also referred to as “the multizone ToF sensor” and “the multizone ToF sensor 126”). Specifically, the detector 130 may include an array of pixels (not shown) arranged in a one dimensional-array or a two-dimensional array. The ToF sensor 126 may have a field of view 134. The field of view 134 will be discussed in greater detail with reference to FIG. 6.

[0082] FIG. 6 schematically illustrates the field of view 134 of the ToF sensor 126 according to an embodiment of the present disclosure.

[0083] In the illustrated embodiment of FIG. 6, the ToF sensor 126 is the multizone ToF sensor 126 having the field of view 134 segmented into a plurality of discrete zones 136. Specifically, the detector 130 may include an array of pixels arranged in a two-dimensional array defining the plurality of discrete zones 136. In the illustrated embodiment of FIG. 6, the field of view 134 is segmented into 8x8 discrete zones 136. The range data may include a plurality of range data corresponding to the plurality of discrete zones 136. Specifically, the range data generated by the multizone ToF sensor 126 may have discrete range data for each of the plurality of discrete zones 136. As will be discussed in greater detail below, such multizone ToF sensor 126 may improve the performance of the fall protection system 10.

[0084] FIG. 7A illustrates a range map 131 generated based on the range data received from the ToF sensor 126 of FIG. 5 according to an embodiment of the present disclosure.

[0085] Referring to FIGS. 5 and 7A, the range map 131 may be generated by the processor 30 based on the range data received from the one-dimensional ToF sensor 126 having the field of view 134 that is inclusive of a portion of the gate 110 of the body 102. The range map 131 may correspond to the range data generated by the one-dimensional ToF sensor 126 when the gate 110 is in the closed position 114 and a support structure is not disposed in the area of attachment 106.

[0086] The range map 131 includes a plurality of range points 132 representing distances sensed by the one-dimensional ToF sensor 126. When the gate 110 is in the closed position 114 and the support structure is not disposed in the area of attachment 106, the plurality of range points 132 may remain relatively consistent and correspond to a rough outline of the gate 110 in the closed position 114. Based on the rangemap 131, the processor 30 may determine that the support structure is not disposed in the area of attachment 106, i.e., the fall protection device 250 is not tied off to the support structure 108.

[0087] FIG. 7B illustrates a range map 133 generated based on the range data received from the ToF sensor 126 of FIG. 5 according to another embodiment of the present disclosure.

[0088] Referring to FIGS. 5, 6, and 7B, the range map 133 may be generated by the processor 30 based on the plurality of range data received from the multizone ToF sensor 126 having the field of view 134 that is inclusive of a portion of the gate 110 of the body 102. The range map 133 may correspond to the plurality of range data generated by the multizone ToF sensor 126 when the gate 110 is in the closed position 114 and a support structure is not disposed in the area of attachment 106.

[0089] The range map 133 includes a three-dimensional plot 133P representing distances measured by the multizone ToF sensor 126 for the plurality of discrete zones 136 (no-retum is plotted as a range value of 200 millimeters (mm) in the range map 133). When the gate 110 is in the closed position 114 and the support structure is not disposed in the area of attachment 106, the plurality of range data corresponding to at least some discrete zones 136 (e.g., zone 5 in FIG. 7B) may remain relatively consistent and correspond to a rough outline of the gate 110 in the closed position 114. Based on the range map 133, the processor 30 may determine that the support structure is not disposed in the area of attachment 106.

[0090] FIG. 8 A illustrates a schematic diagram of the fall protection system 10 of FIG. 5 with the support structure 108 received within the area of attachment 106 of the fall protection device 250. Further, FIG. 8B illustrates a range map 135 generated based on the range data received from the ToF sensor 126 of FIG. 8A according to an embodiment of the present disclosure.

[0091] Referring to FIGS. 8A and 8B, the range map 135 may be generated by the processor 30 based on the range data received from the one-dimensional ToF sensor 126 having the field of view 134 that is inclusive of a portion of the gate 110 of the body 102. The range map 135 may correspond to the range data generated by the one-dimensional ToF sensor 126 when the gate 110 is in the closed position 114 and the support structure 108 is disposed in the area of attachment 106.

[0092] The range map 135 includes a plurality of range points 137 representing distances sensed by the one-dimensional ToF sensor 126. When the gate 110 is in the closed position 114 and the support structure is disposed in the area of attachment 106, at least some of the plurality of range points 137 may correspond to a rough outline of the support structure 108. Specifically, the plurality of range points 137 may include a set of structure range points 137S representing distances between the one-dimensional ToF sensor 126 and the support structure 108. Based on the range map 135, the processor 30 may determine that the support structure 108 is disposed in the area of attachment 106, i.e., the fall protection device 250 is properly tied off to the support structure 108.FIG. 8C illustrates a range map 139 generated based on the range data received from the ToF sensor 126 of FIG. 8A according to another embodiment of the present disclosure.

[0093] Referring to FIGS. 6, 8A, and 8C, the range map 139 may be generated by the processor 30 based on the plurality of range data received from the multizone ToF sensor 126 having the field of view 134 that is inclusive of a portion of the gate 110 of the body 102. The range map 139 may correspond to the plurality of range data generated by the multizone ToF sensor 126 when the gate 110 is in the closed position 114 and the support structure 108 is disposed in the area of attachment 106.

[0094] The range map 139 includes a three-dimensional plot 139P representing distances measured by the multizone ToF sensor 126 for the plurality of discrete zones 136 (no-retum is plotted as a range value of 200 millimeters (mm) in the range map 139). When the gate 110 is in the closed position 114 and the support structure 108 is disposed in the area of attachment 106, the plurality of range data corresponding to at least some discrete zones 136 may remain relatively consistent and correspond to a rough outline of the support structure 108. Based on the range map 139, the processor 30 may determine that the support structure 108 is disposed in the area of attachment 106.

[0095] Furthermore, the range data generated by the multizone ToF sensor 126 may also indicate whether the body 102 is proximal to the unsupported end 109 of the support structure 108. Specifically, at least some discrete zones 136 (e.g., zones 1-4 and 6-8 in FIG. 8C) may correspond to areas outside of the body 102. When the body 102 is proximal to the unsupported end 109, the multizone ToF sensor 126 may report no-retum (plotted as 200 mm in FIG. 8C), based on which the processor 30 may determine that the body 102 is proximal to the unsupported end 109.

[0096] Specifically, in some embodiments, determining, based on the sensor data 25, whether the body 102 is proximal to the unsupported end 109 of the support structure 108 may include producing, based on the plurality of range data, the range map 139, and determining, based on the range map 139, whether the body 102 is proximal to the unsupported end 109 of the support structure 108.

[0097] FIG. 9 illustrates a schematic diagram of a portion of a fall protection device 300 according to an embodiment of the present disclosure. The fall protection device 300 is similar to the fall protection device 250 of FIGS. 5 and 8A, with like components designated by like reference characters.

[0098] In some embodiments, the sensor 116 includes two or more ToF sensors 126 spaced apart from each other and angularly offset from each other. Specifically, in the illustrated embodiment of FIG. 9, the two or more ToF sensors 126 include a first ToF sensor 151 and a second ToF sensor 152. The first ToF sensor 151 is spaced apart from the second ToF sensor 152 by a distance 140. The distance 140 may vary based on desired application attributes.

[0099] As shown in FIG. 9, the body 102 may include a first surface 142 and a second surface 144 that is opposite to the first surface 144. The hook 104 may include the first and second surfaces 142, 144. The firstToF sensor 151 may define a first angle a with respect to the first surface 142. The second ToF sensor 152 may define a second angle P with respect to the first surface 142. Further, in some embodiments, each ToF sensor 126 may have an inset distance 148 from the second surface 142.

[0100] In some embodiments, each ToF sensor 126 from the two or more ToF sensors 126 may have a corresponding field of view 134. The field of views 134 of the two or more ToF sensors 126 may be nonoverlapping. Specifically, in the illustrated embodiment of FIG. 9, the first ToF sensor 151 may have a field of view 151f, and the second ToF sensor 152 may have a field of view 152f non-overlapping with the field of view 15 If.

[0101] Referring to FIGS. 8A and 9, the first angle a, the second angle , the distance 140, and the inset distance 148 may be adjusted as per desired application attributes. For example, the first angle a, the second angle P, the distance 140, and the inset distance 148 may be adjusted to optimize the field of views 15 If, 152f so as to reduce “blind spots” of the fall protection system 10. In other words, the field of views 15 If, 152f may be optimized to reduce areas in which the support structure 108 cannot be sensed by the ToF sensor 126.

[0102] FIG. 10 illustrates a schematic diagram of a fall protection device 310 according to another embodiment of the present disclosure. The fall protection device 310 is similar to the fall protection device 250 of FIGS. 5 and 8A, with like components designated by like reference characters.

[0103] Referring to FIGS. 8A and 10, in some embodiments, the two or more ToF sensors 126 may be arranged on the body 102, such that the field of views 134 of the two or more ToF sensors 126 are nonoverlapping and exclusive of the body 102. Specifically, in the illustrated embodiment of FIG. 10, the two or more ToF sensors 126 include a first ToF sensor 161 having afield of view 16 If and a second ToF sensor 162 having a field of view 162f. The first ToF sensor 161 is positioned on the body 102, such that the field of view 16 If is exclusive of the body 102. Further, the second ToF sensor 162 is positioned on the body 102, such that the second field of view 162f is exclusive of the body 102 and non-overlapping with the field of view 161 f. It may be noted that the field of views 134 of the two or more ToF sensors 126 may not need to be inclusive of the body 102 for determining whether the support structure 108 is disposed in the area of attachment 106 and / or whether the body 102 is proximal to the unsupported end 109 of the support structure 108.

[0104] FIG. 11 is a schematic diagram of a fall protection device 320 according to another embodiment of the present disclosure. The fall protection device 320 is similar to the fall protection device 250 of FIGS. 5 and 8A, with like components designated by like reference characters. However, the fall protection device 320 has a specific configuration of the sensor 116.In some embodiments, the sensor 116 includes a plurality of ToF sensors 126. At least one ToF sensor 126 from the plurality of ToF sensors 126 may have the field of view 134 inclusive of a portion of the gate 110 of the body 102.

[0105] Specifically, in the illustrated embodiment of FIG. 11, the plurality of ToF sensors 126 includes a first ToF sensor 171, a second ToF sensor 172, and a third ToF sensor 173. The first ToF sensor 171 has a field of view 171f inclusive of a portion of the body 102. Further, each of the second ToF sensor 172 and the third ToF sensor 173 has a field of view exclusive of the body 102. Specifically, the second ToF sensor 172 has a field of view 172f and the third ToF sensor 173 has a field of view 173f. Each of the field of view 172f and the field of view 173f is exclusive of the body 102. This configuration may increase a sensing region of the fall protection device 320 and facilitate detecting whether the support structure 108 (shown in FIG. 8A) is disposed in the area of attachment 106 and / or whether the body 102 is proximal to the unsupported end 109 (shown in FIG. 8 A) of the support structure 108.

[0106] FIGS. 12A and FIG. 12B schematically illustrate the fall protection system 10 including a fall protection device 350 according to another embodiment of the present disclosure. The fall protection device 350 is similar to the fall protection device 100 of FIGS. 1 to 3, with like components designated by like reference characters. However, the fall protection device 350 includes additional components to improve the performance thereof.

[0107] Referring to FIGS. 12A and 12B, in some embodiments, the fall protection device 350 may further include an accelerometer 180 disposed on the body 102 and configured to generate orientation data 182 indicating an orientation of the body 102 with respect to gravity. Specifically, the orientation data 182 may indicate the orientation of the body 102 with respect to the gravity direction.

[0108] The processor 30 may be communicably coupled to the accelerometer 180. The processor 30 may be further configured to receive the orientation data 182 from the accelerometer 180. The processor 30 may determine the orientation of the body 102 with respect to gravity by processing the orientation data 182. The orientation of the body 102 may facilitate determining the unsupported end 109 of the support structure 108 in some cases.

[0109] For example, the support structure 108 is above the worker in FIG. 12A. In FIG. 12A, the support structure 108 includes a horizontal portion 191 and an upward extending portion 192 extending from the horizontal portion 191 in a direction opposite to the gravity direction. Further, the body 102 is proximal to the upward extending portion 192.

[0110] The support structure 108 is below the worker in FIG. 12B. In FIG. 12B, the support structure 108 includes the horizontal portion 191 and a downward extending portion 193 extending from the horizontal portion 191 along the gravity direction. Further, the body 102 is proximal to the downward extending portion 193.For both configurations shown in FIGS. 12A and 12B, the sensor 116 (e.g., a ToF sensor) may identically sense the support structure 108. That is, the sensor 116 may not be able to differentiate between the upward extending portion 192 and the downward extending portion 193. While the upward extending portion 192 of FIG. 12A may not cause a safety hazard in the case of a fall, the downward extending portion 193 may be one of the unsupported ends 109 of the support structure 108, as the body 102 may slide down the downward extending portion 193. The downward extending portion 193 may fail to support the worker in the case of a fall. The orientation data 182 generated by the accelerometer 180 may allow the processor 30 to differentiate between the downward extending portion 193 and the upward extending portion 192 and allow determining the unsupported end 109. In some embodiments, determining, based on the sensor data 25, whether the body 102 is proximal to the unsupported end 109 of the support structure 108 may include receiving the orientation data 182 from the accelerometer 180, combining the orientation data 182 with the sensor data 25 to obtain a combined sensor data, and determining, based on the combined sensor data, whether the body 102 is proximal to the unsupported end 109 of the support structure 108.

[0111] Thus in at least some embodiments, the use of orientation data 182 generated by the accelerometer 180 may enhance the functioning of the fall protection system 10. Such accelerometer data may also enhance the functioning of the fall protection system 10 e.g., by way of providing an indication that the fall protection device 350 (e.g. a gated hook) is positioned and oriented relative to the support structure 108, so that the fall protection device 350 is likely to be subjected to side-loading. (In such a case, an alert, e.g., an alert that specifically denotes a possible side-loading situation, may be issued.)

[0112] FIG. 13 illustrates a flowchart of a fall protection method 400 according to an embodiment of the present disclosure. The fall protection method 400 may be carried out, for example, by the fall protection system 10 of FIGS. 1 to 3. The fall protection method 400 will be described with further reference to FIGS.

[0113] 1 to 12B.

[0114] At step 402, the fall protection method 400 includes providing a fall protection device. The fall protection device includes a body including a hook at least partially defining an area of attachment configured to receive a support structure. The body further includes a gate movably connected to the hook and configured to move between an open position and a closed position. The open position provides access to the area of attachment and the closed position restricts access to the area of attachment. The fall protection device further includes at least one sensor disposed on the body. The at least one sensor includes a time-of-flight (ToF) sensor configured to generate sensor data indicating at least whether the support structure is disposed in the area of attachment. Referring to FIGS. 1 to 3, for example, the fall protection method 400 may include providing the fall protection device 100.At step 404, the fall protection method 400 further includes receiving the sensor data from the at least one sensor. Referring to FIGS. 1 to 3, for example, the fall protection method 400 may include receiving the sensor data 25 from the sensor 116.

[0115] At step 406, the fall protection method 400 further includes determining, based on the sensor data, whether a support structure is disposed in an area of attachment. Referring to FIGS. 1 and 2, for example, the fall protection method 400 may include determining, based on the sensor data 25, whether the support structure 108 is disposed in the area of attachment 106.

[0116] At step 408, the fall protection method 400 further includes producing, via an alert device, a first alert upon determining that the support structure is not disposed in the area of attachment. Referring to FIGS. 1 to 3, for example, the fall protection method 400 may include producing the first alert, via the alert device 20, upon determining that the support structure 108 is not disposed in the area of attachment 106.

[0117] In some embodiments, the fall protection method 400 further includes determining, based on the sensor data, whether the body is proximal to the unsupported end of the support structure. Referring to FIGS. 1-3, 12A, and 12B, for example, the fall protection method 400 may further include determining, based on the sensor data 25, whether the body 102 is proximal to the unsupported end 109 of the support structure 108.

[0118] In some embodiments, the fall protection method 400 further includes producing, via the alert device, a second alert upon determining that the body is proximal to the unsupported end of the support structure. Referring to FIGS. 1-3, for example, the fall protection method 400 may further include producing, via the alert device 20, the second alert upon determining that the body 102 is proximal to the unsupported end 109 of the support structure 108.

[0119] In some embodiments, determining, based on the sensor data, whether the body is proximal to the unsupported end of the support structure includes producing, based on the plurality of range data, a range map. Determining, based on the sensor data, whether the body is proximal to the unsupported end of the support structure further includes determining, based on the range map, whether the body is proximal to the unsupported end of the support structure.

[0120] Referring to FIGS. 5, 8, 7B, and 8C, for example, determining, based on the sensor data 25, whether the body 102 is proximal to the unsupported end 109 of the support structure 108 may include producing the range map 133, 139 based on the plurality of the range data, and determining, based on the range map 133, 139, whether the body 102 is proximal to the unsupported end 109 of the support structure 108.

[0121] In some embodiments, determining, based on the sensor data, whether the body is proximal to the unsupported end of the support structure includes receiving the orientation data from the accelerometer. Determining, based on the sensor data, whether the body is proximal to the unsupported end of the support structure further includes combining the orientation data with the sensor data to obtain a combined sensordata. Determining, based on the sensor data, whether the body is proximal to the unsupported end of the support structure may further include determining, based on the combined sensor data, whether the body is proximal to the unsupported end of the support structure.

[0122] Referring to FIGS. 1-3, 5, 8A, 12A, and 12B, for example, determining, based on the sensor data 25, whether the body 102 is proximal to the unsupported end 109 of the support structure 108 may include: receiving the orientation data 182 from the accelerometer 180, combining the orientation data 182 with the sensor data 25 to obtain the combined sensor data, and determining, based on the combined sensor data, whether the body 102 is proximal to the unsupported end 109 of the support structure 108.

[0123] The fall protection method 400 may reliably determine whether the fall protection device is properly tied off to the support structure. The fall protection method 400 may notify a worker if the fall protection device is not properly tied off to the support structure via the alert device. Further, the fall protection method 400 may reliably determine whether the body is proximal to the unsupported end of the support structure. The fall protection method 400 may further notify the worker upon determining that the fall protection device is proximal to the unsupported end. The fall protection method 400 may therefore improve the safety of the worker by notifying the worker of unsafe work conditions.

[0124] It will be appreciated that many variations are available within the herein-presented arrangements. For example, in some embodiments a sensor (e.g. a ToF sensor) that is configured to generate sensor data indicating at least whether the support structure is disposed in the area of attachment, may be used in cooperation with at least one gate sensor that provides sensor data indicating a status of a movable gate (e.g. the gate 110) of a fall protection device. In some embodiments, such a gate sensor may provide the sensor data indicating whether the gate is open (as shown in FIG. 1) or closed (as shown in FIG. 2). In some embodiments, such a gate sensor may provide the sensor data indicating whether a closed gate is locked or is unlocked. (A locked gate is a gate that is physically prevented from moving from a closed position to an open position unless an unlocking operation is performed to reposition the item(s) that prevents the gate from moving to the open position, so that the item(s) no longer prevents the closed gate from moving to the open position.) Gate sensors and arrangements that make use of gate sensors are described in detail e.g., in U.S. Patent 11633633, which is incorporated by reference in its entirety herein.

[0125] In some embodiments, the arrangements disclosed herein may be used in configurations in which the sensor data indicating whether a support structure is disposed in the area of attachment (optionally along with data from at least one gate sensor that provides sensor data indicating a status of a movable gate), is used to actively lock or unlock a closed gate of the fall protection device 100. Arrangements of this general type (e.g., in which a gate is actively lockable by a monitoring system, e.g. by way of an electromagnetic actuator such as a solenoid) are described e.g. in U.S. Patent Application Publication 2020 / 0016439, which is incorporated by reference in its entirety herein.It will be appreciated that the arrangements disclosed herein can be used with a support structure of any type and configuration. For example, in some embodiments the fall protection device 100 as disclosed herein can be configured to be connected to a support structure that is an anchor (sometimes referred to as an anchorage or an anchorage connector), meaning a secure point of attachment provided e.g. in a structure (including, but not limited to, a building, a building under construction, an elevated structure such as a tower, and so on). In some such embodiments, the fall protection device 100 will be located at a distal end of a fall protection equipment such as e.g. a lanyard or a self-retracting lifeline, with a proximal end of the fall protection equipment being connected to a fall protection safety harness worn by the user. Numerous such anchors are described e.g. on pages 50-59 of the 3M DBI-SALA Fall Protection Full Line Catalogue (2022).

[0126] In some embodiments, the fall protection device 100 as disclosed herein can be configured to be connected to a support structure that is a D-ring of a fall protection safety harness. In some such embodiments, the fall protection device 100 will be located at a proximal end of a fall protection equipment such as e.g. a lanyard or a self-retracting lifeline, with a distal end of the fall protection equipment being connected to a secure anchor of a structure. (In these discussions, the terms proximal and distal are specifically used with respect to a fall protection safety harness worn by a user.) Embodiments of this general type are disclosed e.g. in U.S. Patents 11213705 and 11633632, both of which are incorporated by reference in their entirety herein.

[0127] In some embodiments a support structure (whether e.g. an anchor of a structure, a D-ring of a fall protection safety harness, etc.) may comprise a surface that is configured to exhibit an enhanced ability to be interrogated by a time-of-flight sensor. Such a surface may be, e.g., configured to have enhanced reflectivity to one or more particular wavelengths of electromagnetic radiation used by the time-of-light sensor.

[0128] In some embodiments, the arrangements disclosed herein may be used in configurations in which the fall protection device 100 is used in conjunction with an aerial lift, e.g. to ensure that an operator of the aerial lift is properly tied-off to an anchor of the aerial lift. (It will thus be understood that a structure that comprises an anchor, can be a movable structure.) Such arrangements can provide that if the operator is not detected as being properly tied-off, the herein-disclosed system can issue one or more alerts; and / or, the herein-disclosed system can be interlocked with the aerial lift so that the aerial lift cannot perform at least one function (e.g., cannot elevate above a specified height) if the operator is not detected as being properly tied-off. Such arrangements are discussed in detail in U.S. Patent 11633632 and in U.S. Patent Application Publication No. 2024 / 0270554, both of which are incorporated by reference in their entirety herein.

[0129] Unless otherwise indicated, all numbers expressing feature sizes, amounts, and physical properties used in the specification and claims are to be understood as being modified by the term “about”.Accordingly, unless indicated to the contrary, the numerical parameters set forth in the foregoing specification and attached claims are approximations that can vary depending upon the desired properties sought to be obtained by those skilled in the art utilizing the teachings disclosed herein.

[0130] Although specific embodiments have been illustrated and described herein, it will be appreciated by those of ordinary skill in the art that a variety of alternate and / or equivalent implementations can be substituted for the specific embodiments shown and described without departing from the scope of the present disclosure. This application is intended to cover any adaptations or variations of the specific embodiments discussed herein. Therefore, it is intended that this disclosure be limited only by the claims and the equivalents thereof.

Claims

CLAIMSWhat is claimed is:

1. A fall protection device comprising :a body comprising:a hook at least partially defining an area of attachment configured to receive a support structure; anda gate movably connected to the hook and configured to move between an open position and a closed position, wherein the open position provides access to the area of attachment and the closed position restricts access to the area of attachment; and at least one sensor disposed on the body, wherein the at least one sensor comprises a time- of-flight (ToF) sensor configured to generate sensor data indicating at least whether the support structure is disposed in the area of attachment.

2. The fall protection device of claim 1, wherein the sensor data further indicates whether the body is proximal to an unsupported end of the support structure.

3. The fall protection device of claim 1, further comprising an accelerometer disposed on the body and configured to generate orientation data indicating an orientation of the body with respect to gravity.

4. The fall protection device of claim 1, wherein the at least one sensor further comprises an image sensor, and wherein the sensor data comprises image data representing an image captured by the image sensor.

5. The fall protection device of claim 4, wherein the image sensor is selected from the group consisting of a charge-coupled device (CCD) sensor, a complimentary metal-oxide semiconductor (CMOS) sensor, a dual-gain output (DGO) sensor, and a single photon avalanche diode (SPAD) sensor.

6. The fall protection device of claim 1, wherein the at least one sensor further comprises an optical sensor comprising:a receiver configured to detect a light having a wavelength in a predetermined wavelength range; anda transmitter configured to emit an emitted light having a wavelength in the predetermined wavelength range toward the receiver, wherein the sensor data comprises a signal indicating detection of the emitted light by the receiver.

7. The fall protection device of claim 6, wherein the transmitter is further configured to modulate the emitted light, such that the emitted light has predetermined modulated characteristics, and wherein the receiver is further configured to detect the emitted light having the predetermined modulated characteristics.

8. The fall protection device of claim 1, wherein the ToF sensor comprises an emitter and a detector, and wherein the sensor data comprises range data sensed by the detector.

9. The fall protection device of claim 8, wherein the ToF sensor is selected from the group consisting of a laser ToF sensor, an optical ToF sensor, an acoustic ToF sensor, an ultrasonic ToF sensor, a pulsed radiofrequency ToF sensor, and a continuous wave radiofrequency ToF sensor.

10. The fall protection device of claim 8, wherein the ToF sensor is a multizone ToF sensor having a field of view segmented into a plurality of discrete zones, and wherein the range data comprises a plurality of range data corresponding to the plurality of discrete zones.

11. The fall protection device of claim 1, wherein the at least one sensor comprises two or more ToF sensors spaced apart and angularly offset from each other.

12. The fall protection device of claim 11, wherein each ToF sensor from the two or more ToF sensors has a corresponding field of view, and wherein the field of views of the two or more ToF sensors are nonoverlapping.

13. The fall protection device of claim 1, wherein the at least one sensor comprises a plurality of ToF sensors, wherein at least one ToF sensor from the plurality of ToF sensors has a field of view inclusive of a portion of the gate of the body.

14. The fall protection device of claim 13, wherein the plurality of ToF sensors comprises a first ToF sensor, a second ToF sensor, and a third ToF sensor, wherein the first ToF sensor has a field of view inclusive of a portion of the body, and wherein each of the second ToF sensor and the third ToF sensor has a field of view exclusive of the body.

15. The fall protection device of claim 1, wherein the at least one sensor further comprises a contact sensor, and wherein the sensor data comprises a signal representing a contact between the support structure and the contact sensor.

16. The fall protection device of claim 15, wherein the contact sensor is selected from the group consisting of a resistive contact sensor, an impedance contact sensor, a capacitive contact sensor, a piezoelectric contact sensor, and a continuity contact sensor.

17. A fall protection system comprising:at least one fall protection device comprising:a body comprising:a hook at least partially defining an area of attachment configured to receive a support structure; anda gate movably connected to the hook and configured to move between an open position and a closed position, wherein the open position provides access to the area of attachment and the closed position restricts access to the area of attachment; andat least one sensor disposed on the body, wherein the at least one sensor comprises a time-of-flight (ToF) sensor configured to generate sensor data indicating at least whether the support structure is disposed in the area of attachment; andat least one processor communicably coupled to the at least one sensor, wherein the at least one processor is configured to:receive the sensor data from the at least one sensor; and determine, based on the sensor data, whether the support structure is disposed in the area of attachment.

18. The fall protection system of claim 17, further comprising an alert device configured generate an alert upon receiving an alert signal, wherein the at least one processor is further communicably coupled to the alert device, and wherein the at least one processor is further configured to provide a first alert signal to the alert device to produce a first alert upon determining that the support structure is not disposed in the area of attachment.

19. The fall protection system of claim 18, wherein the sensor data further indicates whether the body is proximal to an unsupported end of the support structure, and wherein the at least one processor is further configured to:determine, based on the sensor data, whether the body is proximal to the unsupported end of the support structure; andprovide a second alert signal to the alert device to produce a second alert upon determining that the body is proximal to the unsupported end of the support structure.

20. The fall protection system of claim 19, wherein the at least one fall protection device further comprises an accelerometer disposed on the body and configured to generate orientation data indicating an orientation of the body with respect to gravity, and wherein determining, based on the sensor data, whether the body is proximal to the unsupported end of the support structure comprises:receiving the orientation data from the accelerometer;combining the orientation data with the sensor data to obtain a combined sensor data; and determining, based on the combined sensor data, whether the body is proximal to the unsupported end of the support structure.

21. The fall protection system of claim 19, wherein the ToF sensor comprises an emitter and a detector, and wherein the sensor data comprises range data sensed by the detector.

22. The fall protection system of claim 21, wherein the ToF sensor is a multizone ToF sensor having a field of view segmented into a plurality of discrete zones, wherein the range data comprises a plurality of range data corresponding to the plurality of discrete zones, and wherein, determining, based on the sensor data, whether the body is proximal to the unsupported end of the support structure comprises:producing, based on the plurality of range data, a range map; anddetermining, based on the range map, whether the body is proximal to the unsupported end of the support structure.

23. The fall protection system of claim 17, wherein the at least one sensor further comprises an image sensor, and wherein the sensor data comprises image data representing an image captured by the image sensor.

24. The fall protection system of claim 17, wherein the at least one sensor further comprises an optical sensor comprising:a receiver configured to detect a light having a wavelength in a predetermined wavelength range; anda transmitter configured to emit an emitted light having a wavelength in the predetermined wavelength range toward the receiver, wherein the sensor data comprises a signal indicating detection of the emitted light by the receiver.

25. The fall protection system of claim 24, wherein the transmitter is further configured to modulate the emitted light, such that the emitted light has predetermined modulated characteristics, and wherein the receiver is further configured to detect the emitted light having the predetermined modulated characteristics.

26. The fall protection system of claim 17, wherein the at least one sensor further comprises a contact sensor, and wherein the sensor data comprises a signal representing a contact between the support structure and the contact sensor.

27. A fall protection method comprising:providing a fall protection device comprising:a body comprising:a hook at least partially defining an area of attachment configured to receive a support structure; anda gate movably connected to the hook and configured to move between an open position and a closed position, wherein the open position provides access to the area of attachment and the closed position restricts access to the area of attachment; andat least one sensor disposed on the body, wherein the at least one sensor comprises a time-of-flight (ToF) sensor configured to generate sensor data indicating at least whether the support structure is disposed in the area of attachment;receiving the sensor data from the at least one sensor;determining, based on the sensor data, whether the support structure is disposed in the area of attachment; andproducing, via an alert device, a first alert upon determining that the support structure is not disposed in the area of attachment.

28. The fall protection method of claim 27, wherein the sensor data further indicates whether the body is proximal to an unsupported end of the support structure, and wherein the fall protection method further comprises:determining, based on the sensor data, whether the body is proximal to the unsupported end of the support structure; andproducing, via the alert device, a second alert upon determining that the body is proximal to the unsupported end of the support structure.

29. The fall protection method of claim 28, wherein the fall protection device further comprises an accelerometer disposed on the body and configured to generate orientation data indicating an orientation of the body with respect to gravity, and wherein determining, based on the sensor data, whether the body is proximal to the unsupported end of the support structure comprises:receiving the orientation data from the accelerometer;combining the orientation data with the sensor data to obtain a combined sensor data; and determining, based on the combined sensor data, whether the body is proximal to the unsupported end of the support structure.

30. The fall protection method of claim 28, wherein the ToF sensor is a multizone ToF sensor having a field of view segmented into a plurality of discrete zones, wherein the sensor data comprises a plurality of range data corresponding to the plurality of discrete zones, and wherein, determining, based on the sensor data, whether the body is proximal to the unsupported end of the support structure comprises:producing, based on the plurality of range data, a range map; anddetermining, based on the range map, whether the body is proximal to the unsupported end of the support structure.

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