GB2586988A

GB2586988A - Method to determine suitability of a lifting vehicle

Info

Publication number: GB2586988A
Application number: GB1913053.3A
Authority: GB
Inventors: Cross Martin; Clare James
Original assignee: Nifty Lift Ltd
Current assignee: Nifty Lift Ltd
Priority date: 2019-09-10
Filing date: 2019-09-10
Publication date: 2021-03-17
Also published as: GB201913053D0

Abstract

A method for determining whether a lifting vehicle is suitable for an environment comprises: receiving 100 model data 12 representative of the vehicle and envelope data 22 defining the outer limits of movement of the vehicle when performing lifting tasks. The method further comprises receiving 102 media data 32 representative of the environment 24, and combining 108 the media data, model data, and media data into augmented media data 46 and outputting 110 and displaying 112 the augmented media data. The envelope data may represent the outer limits of the reach of the operator of the vehicle. The industrial vehicle may be a cherry picker, work platform, or forklift truck and may comprise a scissor lift. The slope of the ground may be determined through analysis of the augmented data and an alarm may be sounded if the angle is greater than a safe threshold. The combination of the model, the envelope data, and the media data may take place in real time.

Description

Intellectual Property Office Application No. GII1913053.3 RTM Date:4 March 2020 The following terms are registered trade marks and should be read as such wherever they occur in this document: Rambus RDRAM Intellectual Property Office is an operating name of the Patent Office www.gov.uk/ipo Method to determine suitability of a lifting vehicle The present disclosure relates to a lifting vehicle, and relates particularly. but not exclusively, to the combination of a digital model of a lifting vehicle with captured image 5 data of a possible working environment for the lifting vehicle.

Lifting vehicles have a base unit and a work platform connected via an extending structure to the base unit. The work platform includes a cage which carries one or more operator and any necessary tools to an elevated working position by means of operation of the extending 10 structure..

The extending structure rotates about two axes relative to the base unit and can extend and contract to provide the cage with three degrees of motion relative to the base unit. This motion is limited by how much the extending structure can rotate, and by how far the 15 extending structure can extend away from the base unit.

For a given application, a suitable lifting vehicle and operating location for that lifting vehicle must be determined. The lifting vehicle should be able to elevate an operator to an appropriate height and it is optimal to do so while avoiding any and all obstacles in the environment. For instance, in one scenario, a relatively large lifting vehicle may be easily capable of elevating the operator to the desired height., but may be in danger of striking a wall, lamppost, or overhead cable when the extending structure rotates, and thus should be ruled out as unsuitable and a different lifting vehicle chosen. Further, it is dangerous to use a machine that is too small for a given application as the operator may be tempted to stretch or climb on the cage, which risks injury to the operator, so selecting a lifting vehicle which is too small for a given application should also be avoided.

In order to determine a suitable lifting vehicle, it is often necessary to perform a site survey. A site survey includes taking a variety of measurements in the potential working 30 environment. This is a time-consuming and costly exercise which includes the potential for human error in performing the survey to cause some obstacles to be incorrectly measured or overlooked. Such errors increase the likelihood of damage to the lifting vehicle, or even injury to the operator or other people.

Digital three-dimensional (3D) models of potential working environments can be generated 5 on a computer, then combined with a digital 3D model of a possible lifting vehicle to determine whether the lifting vehicle would be suitable in that working environment (see Figure 1). This approach requires access to a building model for the environment in question. This may be a CAD/3D representation of the working environment and its contents, including fixed structures such as trees, buildings, gates etc., and areas for movable items to I() be populated, such as car parking areas etc. The building model may already exist, but if it does not, then it is necessary to generate the building model.

Gaining access to an existing building model is often difficult. The building model may be private property, requiring permission o f the owner associated with die working environment to view or use, and the use may carry a fee. Generation of a building model is time-consuming and requires costly expertise. In either case, an accurate determination of a suitable lifting vehicle depends on the accuracy and completeness of the building model. If, for instance, the building model is out of date, or has simply been generated incorrectly, then there may be obstacles missing, objects in the wrong places, or objects having the wrong dimensions.

According to an aspect of the present disclosure, there is provided a computer-implemented method of determining whether at least one lifting vehicle is suitable for an environment, the method comprising: receiving model data representative of the at least one lifting vehicle, wherein the model data includes envelope data representing at least outer limits of motion of the at least one lifting vehicle in operation; receiving media data representative of the environment; combining the media data with the model data into augmented media data indicative of the at least one lifting vehicle and at least its outer limits of motion in the environment; and outputting the augmented media data.

Providing a combination of model data, which is representative of one or more lifting vehicles and their working envelopes, with media data provides a user with a full visualisation of how the lifting vehicles, if placed in the environment represented by the media data might interact (or not) with objects in the environment, and provides the advantage of enabling the user to more quickly and accurately examine whether one or more of the lifting vehicles are suitable for operation in the environment.

The envelope data may further represent outer limits of reach of an operator of the Biting vehicle.

This increases the accuracy of the working envelope and increases safety by taking into 10 account operator reach for a given application.

The method may comprise determining, based on the augmented media data, whether the at least one lifting vehicle is appropriate for the environment. The determination may comprise determining whether one or more objects of the environment overlap with the envelope data 15 such that the overlap indicates a hindering of the operation of the at least one lifting vehicle.

This reduces the likelihood of a part of a tilling vehicle coming into contact with an object of the environment, thereby reducing the likelihood of damage to the lifting vehicle and injury to an operator of the lifting vehicle.

The determination may comprise deteimining whether a ground slope of the environment exceeds a threshold angle. The method may comprise the step of outputting a warning signal if the slope of the ground is determined to exceed the threshold angle. The warning signal may comprise at least one of an audible or visual warning message, a warning sound, and a warning symbol.

This enables the user to reject working environments which are unsuitable for the lifting vehicle, thereby improving the safety of the operator of the lifting vehicle, and others in the vicinity.

The method may comprise receiving a selection input to select a portion of the media data representing a candidate location of the environment. The method may comprise combining the media data with the model data to arrange the model data at the selected portion such that die outputted augmented media data indicates at least one lifting vehicle at the candidate location.

This enables a user to choose a particular site of the environment at which to place the model data of a lifting vehicle, which enables the user to review the augmented media data at various distances and angles to achieve a better understanding of a lifting vehicle's relationship with the environment., and thereby to improve the ability of the user to make an accurate determination of whether a lifting vehicle is suitable. Further, the augmented media I() data may be useful for training purposes to convey safe practice and intended use of the vehicle.

The method may comprise providing a control interface for receiving movement input data for moving at least a portion of the model data relative to the media data. The control interface may be configured to receive movement input data representing at least one of cage rotation, cage jib position, links movement, and boom movement of at least one lifting vehicle. The method may comprise moving the model data relative to the media data in accordance with the movement input data. The selection input may be received via the control interface. The control interface may include touch-screen controls and/or a graphical user interface manipulable using input devices such as a keyboard and/or mouse.

This further improves the user's ability to assess a lifting vehicle's possible interactions with the environment.

The control interface may be configured to receive configuration input data representing a configuration state of at least one lifting vehicle. The method may comprise configuring the model data in accordance with the configuration input data.

This enables the user to determine not only whether a lifting vehicle is suitable for the 30 environment, but also to determine whether a lifting vehicle will be transportable to and from the environment, such as where there are height and/or width restrictions in place.

The control interface may be configured to receive scaling input data. The method may comprise scaling the model data according to the scaling input data.

This enables the user to perform the method with a scale model of the environment rather 5 than the environment itself, thereby increasing the versatility of the method.

The scaling input data may include an input to lock the model data to a 1:1 scale with the actual size of the corresponding lifting vehicle.

This prevents accidental resealing and consequent erroneous determination of the appropriate vehicle for a given application.

The steps of receiving the media data, combining the media data with the model data and outputting the augmented media data may be performed in real time.

This provides the advantage of enabling the user to perform a more comprehensive survey of the augmented model data in less time.

The media data may comprise video data.

This provides the advantage of increasing the ease with which a comprehensive survey can be performed.

The envelope data may be at least partially transparent. The envelope data may be divided into a plurality of portions. Each portion may have different transparencies and/or colours. For example, the envelope includes at least one outer portion and at least one inner portion, and wherein a given outer portion among the at least one outer portion and a given inner portion among the at least one inner portion have different transparencies and/or colours.

This enables a user to more easily determine where and to what extent objects of the environment might interfere with the operation of the lifting vehicle and/or the reach of the operator. Further, this allows an easier determination of whether it is the operator and/or the vehicle itself that might impinge on an object overlapping with a portion of the envelope data According to another aspect of the present disclosure, there is provided a computing device, 5 the computing device having one or more processors that are configured to be programmed with executable instructions which, when executed, perform the steps of any preceding method, the device comprising: a media capture device for capturing media data representative of an environment; memory for storing model data representative of a lifting vehicle, wherein the model data includes envelope data representing outer limits of motion 10 of the lifting vehicle in operation; a processor for combining the media data and model data into augmented media data; and a display device for displaying the augmented media data.

The computing device may be configured to capture the media data with the media capture device. The computing device may be configured to combine the media data with the model 15 data into the augmented media data. The computing device may be configured to display the augmented media data on the display device in real time.

The media capture device may comprise a video capture device. The media data may comprise still images or video data. The media capture device may be a camera associated with and/or part of the computing device. The computing device may be a personal computer comprising a monitor, keyboard, and mouse. Alternatively, the computing device may be a smart phone, a laptop computer, a virtual reality headset, or an augmented reality headset. Where the computing device is a smart phone, laptop, virtual reality headset, or augmented reality headset, the media capture device may be integral to the computing device.

Preferred embodiments of the present disclosure will now he described, by way of example only and not in any limitative sense, with reference to the accompanying drawings, in which: Figure 1 illustrates a three-dimensional digital representation of an environment together 30 with a digital representation of a lifting vehicle and its working envelope; Figure 2 is a design drawing side view of a lifting vehicle; Figure 3 shows an example of a potential environment in which the present disclosure may be used; Figure 4 illustrates media data corresponding to a view of the environment of Figure 3 in accordance with an embodiment of the present disclosure; Figure 5 illustrates augmented media data in accordance with an embodiment of the present disclosure in the environment of Figure 3; Figure 6 illustrates augmented media data in accordance with an embodiment of the present disclosure; Figure 7 illustrates augmented media data in accordance with an embodiment of the present 10 disclosure; Figure 8 shows a flow chart of method steps in accordance with an embodiment of the present disclosure; and Figure 9 depicts a computing device for implementing the method according to the present disclosure.

Examples of digital model data of a lifting vehicle are shown in Figures 1, 2, and 5 to 7. In Figure 1, the model data of the lifting vehicle includes a working envelope of the lifting vehicle, and the model data is shown combined with a digital model of a possible working environment. Figures 5 to 7 also include a working envelope of the lifting vehicle, which corresponds to the extent of motion of the moving parts of the lifting vehicle.

A lifting vehicle 10 suitable for use with all embodiments of the present disclosure is shown in Figure 2 in three of a plurality of possible arrangements.

The lifting vehicle 1() of Figure 2 and digital model data 12 representing the lifting vehicle 10, shown in Figures 5 to 7, include a base unit 14 and a mobile elevating work platform 16 attached to the base unit 14 via an extending structure 18. The extending structure 18 may be hydraulically powered. The platform 16 includes a cage 20 for an operator of the lifting vehicle.

The lifting vehicle 10 can move between a stored configuration, where the extending structure 18 is fully retracted to the base unit 14 for transport and/or storage of the lifting vehicle 10, and a plurality of extended configurations (see Figure 2), where the extending structure 18 extends away from the base unit 14 to provide the operator in cage 20 access to an elevated working area.

The full extent of each extended configuration, and therefore the limits of motion of the outermost parts of the cage 20 relative to the base unit 14, define respective points on a working envelope, represented in Figures 5 to 7 by working envelope data 22 surrounding model data 12 of the lifting vehicle 10. The working envelope is a volume which surrounds the lifting vehicle 10 outside of which no part of the lifting vehicle 10 can extend.

Specifically, the volume is defined as all points in space that any part of the lifting vehicle 10 can pass through if the lifting vehicle 10 is moved through all its degrees of freedom. This volume may define an inner portion of a working envelope 22. An outer portion may be defined which corresponds to additional reach of an operator in the cage 20. The outer portion may correspond to an additional 0.5 metres, for example, extending outward from at least a part of the inner portion.

The components of the lifting vehicle 10 as described above are all conventional and will not therefore be described in further detail. It should be understood however that the lifting vehicle 10 may take various alternative forms. For example, the operator cage 20 may be mounted to the base unit 14 via a lifting mechanism comprising a scissor lift, or any other suitable lifting mechanism. The present disclosure is also applicable to other types of lifting vehicle including, for example, forklifts and telescopic handling machines.

A possible working environment 24 is shown in Figure 3. Objects of the possible working environment include parked cars 26, flagpoles 28, and a building 30. The possible working environment 24 is to be assessed to determine whether one or more lifting vehicles 10 can be safely operated in the possible working environment 24 to successfully carry out a given operation.

Figure 4 shows media data 32 on a display screen of a computing device. In one embodiment, the media data 32 is captured by a media capture device in the form of a camera of the computing device and displayed on a display of the same computing device. The device may be a tablet computer, a smart phone, a laptop computer or similar. In one embodiment, the camera and the display are separate devices or integral to separate devices. The media data 32 may include video data. The video data may be captured by the camera of the computing device and shown on the display of the computing device in real time. The computing device may comprise a processor, volatile and non-volatile memory.

The media data 32 shown in Figure 4 corresponds to a possible site 34 of the working environment 24 shown in Figure 3 for placing a lifting vehicle 10. Figure 4 shows guidance markings 36 overlaying the media data 32 for marking a centre of the media data 32. Also shown is a control interface 38 comprising a selection input control 40 and a refresh input control 42. In one embodiment, the selection input control 40 is configured to enable selection of the site 34 whose centre is defined as falling within the guidance markings 36. In one embodiment, the refresh input control 42 is configured to deselect a selected site 34.

In one embodiment, the computing device comprising the camera can be moved around relative to the environment 24 to, in combination with movement sensors (such as accelerometers), gather parallax data for passing to the processor of the computing device. In one embodiment, two or more cameras can be used in combination to gather parallax data The processor can be configured to process the parallax data to impart depth data to the media data 32 in a manner well known to the person skilled in the art. In this way the processor can determine the arrangement of a ground surface 44 at which the camera or cameras are pointed and can co-ordinate the section of the ground surface 44 within the guidance markers 36 with the model data 12 of the lifting vehicle 10, as described in detail below.

lithe determination of the ground surface arrangement concludes that the ground surface at which the camera or cameras are pointed is not sufficiently level for the lifting vehicle 10 to be safely operated, the device may be configured to output a warning signal. The warning signal may take the form of one or more of a warning sound output from a speaker of the device, a warning message displayed on the display, or a warning symbol on the display.

A sufficiently level surface may be a surface which is within five degrees of perpendicular to the direction of gravity. The device may include one or more gyroscopes and/or other sensors for determining the relative orientation of the ground surface 44 in accordance with known techniques.

Once a site 34 in the environment 24 has been selected, model data 12 of a lifting vehicle 10 is combined with the media data 32 such that the model data 12 of the lifting vehicle 10 is placed within the media data 32 at the selected site 34. The combined data is referred to as augmented media data 46. IT the media data 32 is video data, the augmented media data 46 is augmented video data.

Examples of augmented media data 46 are shown in Figures 5 to 7. The model data 12 representing the lifting vehicle 10 is shown to be visible together with the environment 24 on the display. The model data 12 can be locked to the selected site 34 of the environment 24 such that movement of the device away from the site 34, and subsequent capture of further media data, does not cause the model data 12 representing the lifting vehicle 10 visible in the augmented media data 46 to move relative to the environment 24 shown in the augmented media data 46 This locking is illustrated in Figures 5 to 7, which show three different views of model data 12 representing the lifting vehicle 10 in the environment 24.

Figures 5 to 7 also show working envelope data 22 representing the working envelope of the lifting vehicle 10. The working envelope data 22 illustrates the extent to which other parts of the model data 12 can move relative to the base unit 14 of the model data 12. Therefore, if the working envelope data 22 is seen to impinge on an obstacle or object (26, 28, 30) present in the environment 24, then it may be determined by examining the augmented media data 46 that the lifting vehicle 10 represented by the model data 12 is not suitable for the application. In other circumstances, such as where an object, perhaps a building, impinges on the working envelope 22, this may be desirable as it means that the portion of the building that impinges on the working envelope 22 can be reached by the cage 20 and/or an operator in the cage 20. In these circumstances, it may be determined that the lifting vehicle 10 is suitable for the application.

The working envelope data 22, which is used to display the working envelope on the device, can be considered as a part of the model data 12 of the lifting vehicle 10.

In some examples, the computing device may be configured to automatically determine suitability of the lifting vehicle. In one example this is based on an artificial neural network 5 (ANN) that may be trained based on one or more reference input parameters or images to detect the presence of objects in an environment within working envelope.

Artificial neural networks (ANNs) are computational models inspired by biological neural networks and are used to approximate functions that are generally unknown. ANNs can be hardware (neurons are represented by physical components) or software-based (computer models) and can use a variety of topologies and learning algorithms. ANNs can be configured to approximate and derive functions without a prior knowledge of a task that is to be performed and instead, they evolve their own set of relevant characteristics from learning material that they process.

In some examples ANNs usually have three layers that are interconnected. The first layer may consist of input. neurons. These input neurons send data on to the second layer, referred to a hidden layer which implements a function and which in turn sends output neurons to the third layer. With respect to the number of neurons in the input layer, this may be based on training data or reference data that is provided to train the ANN.

The second or hidden layer in a neural network implements one or more functions. There may be a plurality of hidden layers in the ANN. For example, the function or functions may each compute a linear transformation of the previous layer or compute logical functions. For instance, considering that an input vector can be represented as x, the hidden layer functions as h and the output as y,then the ANN may be understood as implementing a function using the second or hidden layer that maps from x to h and another function g that maps from h to y. So the hidden layer's activation is f(x) and the output of the network is g(f(x)) For the present disclosure and application discussed, the training data could be examples of parameters, data or images associated with the envelope data as well as environment data that are considered to represent objects inside the working envelope, therefore with a known result to be rejected as "failed" , as well as parameters, data and images that are considered to represent a scenario with no objects within the working envelope, with a known result to be accepted as "pass". The ANN can then be configured to learn, process and refine results based on the training inputs and known results, which can in turn enables it to infer or determine the result for a current or real input data relating to the working envelope and an environment.

The model data 12 of one or more lifting vehicles 10, together with corresponding working envelope data 22, can be downloaded from a database populated in advance of the survey of the environment 24.

hi an embodiment, the control interface 38 includes movement input controls for receiving movement input data. The movement input controls allow a user to move one or more parts of the model data 12 representing the lifting vehicle 10 relative to the media data 32 representing the environment 24. The movement controls can enable one or more of rotation of the cage 20 and movement of the extending structure 18 of the model data 12. For example, the user can use the movement input controls to cause the extending structure 18 of the model data 12 to extend and retract.

Use of the movement controls enables the user to obtain a better understanding of how the lifting vehicle 10 may interact with the environment 24, particularly in circumstances where the environment 24 is crowded, or where the choice of which lifting vehicle 10 is suitable is difficult to make. For example, in circumstances where the working envelope represented by working envelope data 22 impinges on an obstacle (26, 28, 30), it may be possible to determine that the lifting vehicle 10 is nevertheless suitable because the movement of the model data 12 or part thereof illustrates that the impingement is reasonably unlikely to occur.

hi one embodiment, the control interface 38 includes configuration input controls for receiving configuration input data. The configuration input controls allow a user to cause the model data 12 to move between a stored configuration state, where the cage 20 and extending structure 18 are fully retracted, and an extended configuration state, where the cage 20 and extending structure 18 are extended.

hi one embodiment, the control interface 38 includes scaling input controls for receiving scaling input data. The scaling input controls allow a user to shrink or enlarge the model data 12 relative to a reference scale. The reference scale, defined relative to the environment 24. may be 1:1, which could prevent erroneous determination of suitability of the lifting vehicle.

The device may be configured to scale the working envelope data 22 together with the model data 12 The computing device may be configured to include dimensional data in the augmented media data. For example, the augmented media data could include a height above ground of one or more parts of the model data and may include a working height and outreach from an axis of rotation of the extending structure (often referred to as a slew axis). The dimensional data may be presented in units of length or as a percentage of the lifting vehicle's capability.

A method embodying the present disclosure will now be described with reference to Figure 8.

In Step 100, a computing device, such as a smart phone or tablet computer, receives model data 12 from a database. The database may be remote from the computing device. The computing device may download the model data 12 over a wireless or wired connection in a conventional manner. Additionally, or alternatively, the database may be wholly or partially stored on non-volatile memory of the computing device. The model data 12 may include model data representative of more than one lifting vehicle. The model data 12 includes working envelope data 22 of each lifting vehicle. The model data 12 may take the form of one or more computer-aided design (CAD) files, where a CAD file contains a 3D representation of a lifting vehicle 10 and associated working envelope data 22 created using known CAD software.

In Step 102, the computing device receives media data 32 representative of the possible working environment 24. The computing device may include an integral camera for 30 receiving the media data 32. The computing device may include an integral display for displaying the media data 32. In one embodiment, the computing device comprises an integral camera and integral display capable of capturing and displaying the media data 32 in real time.

hi Step 104, the computing device receives selection input data from a user. The selection 5 input data corresponds to a site 34 of the environment 24 at which the user has chosen to place the model data 12 representative of a lifting vehicle 10.

At Decision 105, the computing device determines the angle of the ground area of the selected site 34 and compares the determined angle with a threshold angle or threshold condition. The threshold condition may be that if the determined ground angle exceeds five degrees deviation from level, then the computing device does not place the model data at the selected site 34, and the computing device may return to Step 104, instructing the user to choose a different site or to select a different product with greater or more suitable working angle capability. In some examples, the threshold condition may a pre-determined angle suitable for a given lifting vehicle. The threshold angle may be different for a different application, for example for a different lifting vehicle, so if the ground is determined to be at an angle greater than five degrees the method may be restarted for a different lifting vehicle that is capable of being operated at the greater ground angle. If the determined angle is less than five degrees, the computing device proceeds to Step 106.

At Step 106, the computing device associates the selected site 34 with the model data 12. The computing device may lock the selected site 34 such that subsequent movement of the computing device relative to the environment does not cause the selected site to move with the computing device.

At Step 108, the computing device places the model data 12 into the media data 32 such that the model data 12 of the lifting vehicle 10 is visible at selected site 34 of the media data 32. The model data 12 includes envelope data 22, and the envelope data 22 is also displayed. The combination of the model data 12 and media data 32 is called augmented media data 46.

At Step 110, the computing device outputs the augmented media data 46. In an embodiment where the computing device is a smart phone, tablet computer, or other portable device, the computing device outputs the augmented media data 46 to a display of the device. In other embodiments, the computing device may output the augmented media data 46 wirelessly or via a wired connection to a separate display, such as a computer monitor.

At Step 112, the computing device displays the augmented media data 46 to the user so that the user can make a determination of whether the lifting vehicle 10 represented by the model data 12 is suitable for the environment 24 if placed at site 34.

At Step 114, the computing device receives input data via its control interface 38 from the user for manipulating the model data 12 relative to the media data 32. For example, the computing device may receive configuration input data from the user, cause the model data 12 to move from an extended configuration to a stored configuration, and display the model data 12 in the stored configuration to the user as a result. In some examples, the computing device may facilitate transmission of data associated with the model data 12 such that the display the model data 12 in a given or stored configuration may take place remotely. Such transmission may be via a wireless communication network such as the Internet.

A computer-implemented method of determining whether a lifting vehicle is suitable for an environment is disclosed. The method comprises: receiving model data representative of the lifting vehicle, wherein the model data includes envelope data representing at least outer limits of motion of the lifting vehicle in operation; receiving media data representative of the environment; combining the media data with the model data into augmented media data indicative of the lifting vehicle and its outer limits of motion in the environment; and outputting the augmented media data. A device configured to perform the method is also disclosed.

Figure 9 illustrates a block diagram of one example implementation of a computing device 900 that can be used for implementing the steps indicated in Figure 8 and explained throughout the detailed description. The computing device is associated with executable instructions for causing the computing device to perform any one or more of the methodologies discussed herein. The computing device 900 may operate in the capacity of a user terminal or mobile phone or laptop or camera or image capture device that has been mentioned above. In alternative implementations, the computing device 900 may be connected (e.g., networked) to other machines in a Local Area Network (LAN), an intranet. an extranct, or the Internet. The computing device may operate in the capacity of a server or a client machine in a client-server network environment, or as a peer machine in a peer-to-peer (or distributed) network environment. The computing device may be a personal computer (PC), a tablet computer, a set-top box (STB), a Personal Digital Assistant (PDA). a cellular telephone, a web appliance, a server, a network router, switch or bridge, or any machine capable of executing a set of instructions (sequential or otherwise) that specify actions to be taken by that machine Further, while only a single computing device is illustrated, the term "computing device" shall also be taken to include any collection of machines (e.g., computers) that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein.

The example computing device 900 includes a processing device 902, a main memory 904 (e.g., read-only memory (ROM), flash memory, dynamic random-access memory (DRAM) such as synchronous DRAM (SDRAM) or Rambus DRAM (RDRAM), etc.), a static memory 906 (e.g., flash memory, static random-access memory (SRAM), etc.), and a secondary memory (e.g., a data storage device 918), which communicate with each other via a bus 930.

Processing device 902 represents one or more general-purpose processors such as a microprocessor, central processing unit, or the like. More particularly, the processing device 902 may be a complex instruction set computing (CISC) microprocessor, reduced instruction set computing (RISC) microprocessor, very long instruction word (VLIVs7) microprocessor, processor implementing other instruction sets, or processors implementing a combination of instruction sets. Processing device 902 may also be one or more special-purpose processing devices such as an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a digital signal processor (DSP), network processor, or the like. Processing device 902 is configured to execute the processing logic (instructions 922) for performing the operations and steps discussed herein.

The computing device 900 may further include a network interface device 908. The computing device 900 also may include a video display unit 910 (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)), an alphanumeric input device 912 (e.g., a keyboard or touchscreen), a cursor control device 914 (e.g., a mouse or touchscreen), and an audio device 916 (e.g., a speaker).

The data storage device 918 may include one or more machine-readable storage media (or more specifically one or more non-transitory computer-readable storage media) 928 on which is stored one or more sets of instructions 922 embodying any one or more of the methodologies or functions described herein. The instructions 922 may also reside, completely or at least partially, within the main memory 904 and/or within the processing device 902 during execution thereof by the computer system 900, the main memory 904 and the processing device 902 also constituting computer-readable storage media.

The various methods described above may be implemented by a computer program. The computer program may include computer code arranged to instruct a computer to perform the functions of one or more of the various methods described above. The computer program and/or the code for performing such methods may be provided to an apparatus, such as a computer, on one or more computer readable media or, more generally, a computer program product. The computer readable media may be transitory or non-transitory. The one or more computer readable media could be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or a propagation medium for data transmission, for example for downloading the code over the Internet. Alternatively, the one or more computer readable media could take the form of one or more physical computer readable media such as semiconductor or solid-state memory, magnetic tape, a removable computer diskette, a random-access memory (RAM), a read-only memory (ROM), a rigid magnetic disc, and an optical disk, such as a CD-ROM, CD-R/W or DVD.

In an implementation, the modules, components and other features described herein can be implemented as discrete components or integrated in the functionality of hardware 30 components such as AS ICS, FPGAs, DSPs or similar devices.

A "hardware component" is a tangible (e.g., non-transitory) physical component (e.g., a set of one or more processors) capable of performing certain operations and may be configured or arranged in a certain physical manner. A hardware component may include dedicated circuitry or logic that is permanently configured to perform certain operations. A hardware component may be or include a special-purpose processor, such as a field programmable gate array (FPGA) or an ASIC. A hardware component may also include programmable logic or circuitry that is temporarily configured by software to perform certain operations.

Accordingly, the phrase "hardware component" should be understood to encompass a 10 tangible entity that may be physically constructed, permanently configured (e.g., hardwired), or temporarily configured (e.g., programmed) to operate in a certain manner or to perform certain operations described herein.

In addition, the modules and components can be implemented as firmware or functional circuitry within hardware devices. Further, the modules and components can be implemented in any combination of hardware devices and software components, or only in software (e.g., code stored or otherwise embodied in a machine-readable medium or in a transmission medium).

Unless specifically stated otherwise, as apparent. from the following discussion, it is appreciated that throughout the description, discussions utilizing terms such as "creating", "providing", "calculating", "computing," "identifying", "comparing", "establishing" "sending", "receiving", "storing", "authorising" , "generating" ,"checking", "obtaining" or the like, refer to the actions and processes of a computer system, or similar electronic computing device, that manipulates and transforms data represented as physical (electronic) quantities within the computer system's registers and memories into other data similarly represented as physical quantities within the computer system memories or registers or other such information storage, transmission or display devices.

It is to be understood that the above description is intended to be illustrative, and not restrictive. Many other implementations will be apparent to those of skill in the art upon reading and understanding the above description. Although the disclosure has been described with reference to specific example implementations, it will be recognized that the disclosure is not limited to the implementations described but can be practiced with modification and alteration within the scope of the appended claims. Accordingly, the specification and drawings are to be regarded in an illustrative sense rather than a restrictive sense. The scope of the disclosure should, therefore, be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

Claims

CLAIMS1. A computer-implemented method of determining whether at least one lifting vehicle is suitable for an environment, the method comprising: receiving model data representative of the at least one lifting vehicle, wherein the model data includes envelope data representing at least outer limits of motion of the at least one lifting vehicle in operation; receiving media data representative of the environment; combining the media data with the model data into augmented media data indicative of the at least one lifting vehicle and at least its outer limits of motion in the environment; and outputting the augmented media data.
2. The method of claim 1, wherein the envelope data further represents outer limits of reach of an operator of the lifting vehicle.
3. The method of claim 1 or claim 2, comprising determining, based on the augmented media data whether the at least one lifting vehicle is appropriate for the environment.
4 The method of claim 3, wherein the determination comprises determining whether one or more objects of the environment overlap with the envelope data such that the overlap indicates a capability of the at least one lifting vehicle to reach the one or more objects.
5. The method of claim 3 or claim 4, wherein the determination comprises determining whether a ground slope of the environment exceeds a threshold angle.
6. The method of claim 5, comprising the step of outputting a warning signal if the slope of the ground is determined to exceed die threshold angle.
7 The method of claim 6, wherein the warning signal comprises at least one of a warning message, a warning sound, and a warning symbol.
8. The method of any preceding claim, comprising receiving a selection input to select a portion of the media data representing a candidate location of the environment and combining the media data with the model data to arrange the model data at the I() selected portion such that the outputted augmented media data indicates the at least one lifting vehicle at the candidate location.
9. The method of any preceding claim, further comprising providing a control interface for receiving movement input data for moving at least a portion of the model data relative to the media data.
10. The method of claim 9, wherein the control interface is configured to receive movement input data representing at least one of cage rotation, cage jib position, links movement, and extending structure movement of the at least one lifting vehicle, and comprising moving the model data relative to the media data in accordance with the movement input data.
11. The method of claim 9 or claim 10, wherein the control interface is configured to receive configuration input data representing a configuration state of the at least one lifting vehicle, and comprising configuring the model data in accordance with the configuration input data.
12. The method of any one of claims 9 to 11, wherein the control interface is configured to receive scaling input data, and comprising scaling the model data according to the scaling input data.
13. The method of claim 12, wherein the scaling input data includes an input to lock the model data to a 1:1 scale with the actual site of the corresponding at least one Biting vehicle.
14. The method of any preceding claim, wherein the steps of receiving the media data, combining the media data with the model data, and outputting the augmented media data are performed in real time.
15. The method of any preceding claim, wherein the media data comprises video data.
16. The method of any preceding claim, wherein the envelope data is at least partially transparent.
17 The method of any preceding claim, wherein the envelope data includes at least one outer portion and at least one inner portion, and wherein a given outer portion among the at least one outer portion and a given inner portion among the at least one inner portion have different transparencies and/or colours.
18. A computing device, the computing device having one or more processors that are configured to be programmed with executable instructions which, when executed, perform the steps of any preceding method, the device comprising: a media capture device for capturing media data representative of an environment; memory for storing model data representative of at least one lifting vehicle, wherein the model data includes envelope data representing at least outer limits of motion of the at least one E Ring vehicle in operation; a processor for combining the media data and model data into augmented media data; and a display device for displaying the augmented media data.
19. The computing device of claim 18, configured to capture the media data with the media capture device, combine the media data with the model data into the augmented media data, and display the augmented media data on the display device in real time.
20. The computing device of claim 18 or claim 19, wherein the media capture device comprises a video capture device, and wherein the media data comprises video data.
21. The computing device of any one of claims 18 to 20 further including one or more processor that are configured to automatically determine the presence of one or more objects within the envelope of the environment.