Granted Patent B2

US 12,474,464 · App. 17/984,686 · Granted Nov 18, 2025

Inventors: John Wilson (Bicester, GB); Grant Nicholls (Hampshire, GB)

Assignee: SALUNDA LIMITED

G01S13/765G01S5/02G01S13/0209G01S13/876G01S13/886G01S2205/09

Abstract

Claims (35)

1 . A safety sensing method for a person in an industrial environment, the method comprising:

providing a personnel locator device for location on a person and a reference system comprising a plurality of nodes located at predetermined locations in the industrial environment;

transmitting radio ranging signals between the nodes and the personnel locator device;

deriving measurements of timings of the radio ranging signals between the nodes and the personnel locator device;

calculating the location of the personnel locator device within the industrial environment based on the measurements of the timings of the radio ranging signals between the nodes and the personnel locator device and reference information representing the predetermined locations of the nodes;

receiving control information associated with a piece of equipment, located in the industrial environment, wherein a danger zone associated with the piece of equipment is defined in dependence on the control information; and

determining if the calculated location of the personnel locator device is within the danger zone.

2 . The safety sensing method of claim 1 , wherein the control information comprises control signals provided to the equipment to cause the equipment to move.

3 . The safety sensing method of claim 1 , wherein the control information comprises measurements of the motion of the equipment.

4 . The safety sensing method of claim 1 , wherein, in response to the warning signal, a haptic, visual or audible alarm is provided to the person and/or the operation of the equipment is ceased.

5 . A safety sensing method according to claim 1 , wherein the radio ranging signals are transmitted from different personnel locator devices and nodes in time slots allocated to respective personnel locator devices and nodes.

6 . A safety sensing method according to claim 1 , wherein the personnel locator device comprises an inertial measurement unit and the step of calculating the location of the personnel locator device within the industrial environment takes account of the output of the inertial measurement unit.

7 . A safety sensing method according to claim 1 , wherein

the nodes are arranged to detect the angle of arrival of the radio ranging signals, and

the step of calculating the location of the personnel locator device within the industrial environment takes account of the detected angle.

8 . A safety sensing method according to claim 1 , wherein the method further comprises determining if the calculated location of personnel locator device falls within one or more safe zones within the industrial environment represented by the zonal information and ceasing performance of the method in response thereto.

9 . The safety sensing method of claim 1 , wherein the control information includes signals provided to the equipment to operate motors or actuators that cause the equipment to move; and/or

the control information includes measurements of the motion of the motors or actuators that cause the equipment to move.

10 . A safety sensing method, comprising:

receiving first position data associated with a plurality of wearable sensors associated with a plurality of personnel, the first position data being representative of positions of the personnel within a hazardous environment;

receiving second position data representative of a zone associated with equipment within the hazardous environment;

comparing the first position data to the second position data to detect that a personnel from the plurality of personnel is within the zone;

receiving signals provided to the equipment to cause the equipment to move; and

ceasing operation of the equipment, in response to the detection that the personnel is within the zone.

11 . The safety sensing method of claim 10 , further comprising sending a signal to at least one of a plurality of alert devices associated with the hazardous environment such that the at least one alert device issues an alert, wherein each alert device and each wearable sensor are components of a personnel locator device worn by the personnel.

12 . The safety sensing method of claim 10 , wherein the second position data is generated by a sensor attached to the movable machine.

13 . The safety sensing method of claim 10 , wherein the second position data is based on the movement path of the equipment.

14 . The safety sensing method of claim 10 , further comprising sending a signal to an alert device associated with the equipment such that the alert device issues an alert, wherein the alert is a visual alert, an audible alert, or a haptic alert.

15 . The safety sensing method of claim 10 , wherein the second position data defines the zone in three dimensions.

16 . The safety sensing method of claim 10 , wherein each of the plurality of the wearable sensors is a ranging sensor.

17 . The safety sensing method of claim 16 , further comprising receiving, from an optical sensor monitoring the hazardous environment, third position data associated with the human within the hazardous environment, and comparing the first position data and the third position data to the second position data to detect that the human is within the zone.

18 . The safety sensing method of claim 10 , wherein the zone is a danger zone.

19 . The safety sensing method of claim 10 , wherein the signals provided to the equipment to cause the equipment to move are control information that includes:

signals provided to the equipment to operate motors or actuators that cause the equipment to move, and/or

measurements of the motion of the motors or actuators that cause the equipment to move.

Assignments (2)

Priority Claims (5)

Continuity (2)

References Cited (148)