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Traffic Awareness and Vehicle Collision Warning Systems for Surface Mobile Equipment
April 2009
Steven Niven
Anglo Coal Regional Engineering Services
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ProfileSteven Niven
Control and Instrumentation Engineer Anglo Coal Regional Engineering Services
Qualified as An Electrical Technician British Steel Corporation 1978South Wales
Worked at Texaco & BP Petrochemical refinery's in West Wales
Emigrated to South Africa 1983 and worked at Highveld Steel (Flat products)
Joined Anglo Coal 1985 Goedehoop Colliery
Transferred to Anglo Coal Regional Engineering Services 2006
Presenter
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I would like to share with you today, the progress and learning's with regards to collision warning, for Open Pit operations within Anglo Coal.
IntroductionIntroduction
This presentation is not to endorse any one product or company but to give an overview of various technologies, what is available and currently in use.
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Content• Introduction• Content• Types of Collisions• Anglo Coal Road Map• Safemine GPS System• Key Features• Collision Scenarios• Alarm Descriptions and Matrix• Vehicle Classification• Safemine Display Status
– System Status Indications– Traffic Awareness Far and Near Indication– Traffic Awareness Close Proximity (10mtrs)– Vehicle Operating Scenarios
• Additional Options
Presentation Content
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Slow Speed Close Proximity
Vehicle Blind Spots
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Types of Collisions• Close Proximity Slow Speed.
Within 20 meters at less than 15km/h
• Long Range High speed At speeds from 15 to 60km/h
Open Pit Operations
12/03/0712/03/07
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These systems work on the principal of detecting potential threats (light vehicles or other haul trucks) in the direction of travel and provide sufficient warning time to allow the operator to take evasive action, either by applying brakes or slowing down to a controllable safe speed before swerving to avoid the vehicle.
Collision Warning Systems
Slow Speed Close Proximity
High Speed Long Range
Typically these systems are designed to assist the operator at start-up (before moving the machine) or whilst reversing.
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Collision Warning Road Map to Date
• October 2006 formation of the Anglo Collision Avoidance Working Group
• June 2007 installation of Orlarco & Brigade camera system at Klienkopjies to evaluate
• June 2007 testing of Pathfinder Forward Looking Infrared cameras (FLIR) at Kriel and Klienkopjies for haul trucks.
• August 2007 commenced trials of Becker RFID and camera collision avoidance system at Landau for evaluation.
• February 2008 GPS proof of concept carried out at Sishen.
• August 2008 Commenced installation of Cameras on Surface Mobile Equipment at all operations.
• October 2008 Installation of Safemine GPS traffic awareness and collision warning system.
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RFID Collision Warning System Equipment
VehicleTransponder (TAG)
CAS Receiver & ControllerRF Signal
CAS Controller
DPOD Receiver
Vehicle Transponder
(TAG)
Light Vehicle System
Large Vehicle System (Haul Trucks)
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RFID Collision Warning System Coverage
80 Mtrs15 Mtrs
Front Field 20 - 80m
Right Field 10 - 30m
Left Field10 - 30m
Rear Field 10 -30m
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Detection range varies by as much as 30% depending on terrain
No alarm filtering, every time the system detects a tag on another vehicle it sounds the buzzer, this leads to complacency and the operator gets used to the alarm going off.
The operators find it difficult to determine which vehicle were being detected
Vehicle identified on the perimeter of the detection range tend to come and go on the CAS unit causing nuisance alarms.
Cluster display not bright enough during the day (being addressed in next version)
The system alarmed when the vehicle was stationary.
The system is quite complex and has many components.
As more vehicles have RFID equipment installed the number of alarms will increase.
Equipment had a large foot print in the cabin
RFID Findings
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• SafeMine previously known as FLARM• Base in Switzerland• Predominantly involved with aviation ( in excess of 12000 units)• Proof of concept trials carried out at Sishen February 2008 20 units• Development of a industrialised unit for mining with a compact and remote
display unit• Initial testing at Landau Colliery August 2008• Rollout to all of Anglo Coal open pit operations October 08 – April 09 (850
units)
Safemine GPS
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SAFEMINE GPS Aviation System
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Global Positioning System satellites transmit signals to equipment on the ground. The SAFEmine System GPS receiver passively receive the satellite signals to determine the vehicles position using trilateration.
There are about 24 operational GPS satellites at all times. ground stations are used to precisely track each satellite's orbitand correct their position. The SAFEmine Systemonly needs to receive positional information from 4 of the 24 satellites to predict an accurate collision path.
Unique to the SAFEmine system, is that the control units are constantly transmitting and receiving information from other units in close proximity. This additional information is processed by each unit using patented algorithms to determine and alert the operators of an imminent collision path. The SAFEminesystem greatly improves the GPS accuracy by using the differential position of the vehicles.
SafeMINE GPS
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SafeMine GPS Key Features360 degrees protection at any speedHighly selective 3D motion prediction500m range, no line of sight between vehicles required
Simple installation, no IT infrastructure requiredProven peer-to-peer radio network and and warning algorithmsCost effective
Well proven technology outside of miningConfigurable for all vehicle size, type and characteristicOption of a compact unit or remote display unit
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Open Pit Collision Scenarios
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Equipment and Installations
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Vehicle Classifications
Class 1 Class 2 Class 3 Class 4 Class 5 Class 6
Lightvehicle
Bakie
Combi
Condors
Tractor
Haul Truck ADT Excavator Grader Train
Dump Truck Fuel Bowser Shovel Front End Loader
Water TankerService Truck PC Tire Handler
Low Bed TruckDozer
Cable Handler
Mobile Crane
DraglineTLB (JCB)
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Alarm Descriptions and Matrix
Type LED Sound
1 Green steady -
2 Red steady -
3 Red flashing -
4 Red flashing buzzer
Threat Type Description
FAR Vehicles within 100m
NEARVehicles within 40m
CP Close Proximityvehicles edges within 10m
DMDangerous MovementThis alarm has priority over all other
threat types
Alarm Types
Threat Descriptions Alarm Matrix
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Alarm Matrix
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Safemine Configuration
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Safemine GPS Functionality
•Indicate to the operator the presence of other vehicles in his or her immediate vicinity.
•Warn the operator of any vehicles parked within 10 meters of the haul trucks and larger vehicles (flashing red led in the direction of the close proximity vehicle).
•Warns the operator when following too close to another vehicle and adapts the warning to the speed of the vehicles.
•Calculates the speed and direction of the vehicle, and receives the same information from vehicles in the immediate area (+/- 500 meters) then predicts the path of the vehicles and alerts the operator to the possibility of a collision between vehicles.
•Reduces nuisance alarming and only alarms when the vehicle is in motion and only the vehicle posing the threat will get the alarm.
•Does not require the operator to acknowledge alarms, the alarm clears automatically when the threat has passed either by the operator slowing down or stopping or by changing direction.
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Power Indication Red
Power Indication Green
Ready Indication Red
Ready Indication Green
Reverse Indication Flashing Red or Red
Reverse Indication Green
Operational Status System Healthy
Fault return to workshop
Power OK
Finding Satellites wait 2 min till Green
GPS Satellite signal received
Machine does not know direction of travel (normally after powering up the system)
Machine travelling in reverse
Safemine Display Status
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Power Indication Red
Power Indication Green
Ready Indication Red
Ready Indication Green
Reverse Indication Flashing Red or Red
Reverse Indication Green
Operational Status System Healthy
Fault return to workshop
Power OK
Finding Satellites wait 2 min till Green
GPS Satellite signal received
Machine does not know direction of travel (normally after powering up the system)
Machine travelling in reverse
Safemine Animated Display Status
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Far Indication: Closer than 100 meters but more than 40 meters. Green led indication
Near Indication: Vehicle Closer than 40 meters Red led indication
Safemine Traffic Awareness Display Status
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Close Proximity Indication Vehicle Closer than 10 meters Red flashing led indication
Safemine Traffic Awareness Display Status
Red Flashing Indication Danger vehicle in close proximity
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Two Trucks
Approaching
Intersection
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Two Trucks Following each Other
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• Static Rollover Alarming• Voice Output• Over Speed basic ( fwd & rev) and advanced (defined areas)
• Static Obstacle Detection such as buildings intersections, power lines or drop-offs
• Track and Event Recording Option Records • GSM/GPRS or SMS Gateway• Digital and Analog I/O modules• CAN Bus Listener• Test Station• Dragline & shovel optional unit
Safemine Additional Options
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CAS and IVMS in one package
Door Open
Seat Belt On
Handbrake On
Spare Input
Camera viewswitching
Output 2
Output 3
Output 4
Remote Display(optional) Voice
(optional)
I/O ModuleFor In Vehicle Monitoring System
(IVMS)
SAFEmine Unit (CAS)
GPS/RF Antenna
CAN Bus interfaceFor In Vehicle Monitoring System
(IVMS)GSM / GPRS / SMS
InterfaceLive Tracking, Event Reporting,
Anti Theft
Safemine Additional Options
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Safemine Additional Options Tracking
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At the lowest point, there is 8 satellites. only 4 are required.
confidential
SafeMINE GPS Coverage
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•The test station is situated at the brake test ramps for both light and heavy vehicles, they can also be situated at various positions along the haul roads
•The purpose of the test station is to physically test the operation of the Safemine GPS traffic awareness and collision warning system.
GPS Test Station
Test ProcedureWhen the vehicle approaches the test station the Safemine unit on the vehicle will transmit its position and approach speed to the test station. As the vehicle is approaching the test station the Safemine unit will indicate on the display led first in green (100mtrs) and then in red (40 mtrs) the position of the test station (far and near indication)
•Once the vehicle is closer than 12 meters to the test station it will trigger the flashing strobe light on the test station. This indicates that the GPS reciever and radio transmitter is working correctly.
•At the same time the Safemine unit on the vehicle will give a collision warning alert and indicate on the display the position of the test station in relation to the vehicle. This has then proven that the GPS radio receiver and the Safemine unit is working correctly.
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Brake Test Ramp GPS Test Station
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• SafeMine GPS Traffic Awareness and Collision Warning is intended as an additional tool in determining potential traffic threats, supporting an alert and conscientious driver.
• It is not a substitute for normal safe driving procedures. • All current rules and procedures with regards to driving
must still be obeyed• A vehicle equipped with the Safemine System should be
operated in the same safe manner as if the Safemine System were not installed.
• The Safemine System will provide no warning for some hazards, such as vehicles, obstacles, and other objects not equipped with properly operating Safemine devices.
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Thank you