Collision Avoidance Systems

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Collision Avoidance Systems CWSCompiled By B.Arunachalam, Manager- Hospet

Extracts from Collision Avoidance Systems Technical Report April 2007 by Anglo American

General

In many cases the mobile machine operator are not aware of light vehicles around their

machine. Due to the size of haul trucks, the operator is not able to see significant areasaround the machine. Figure shows blind spot areas around a small 50ton capacity haul truck.

Most collisions occur in congested areas in the pit or park up areas

Light vehicles are the major at risk vehicles

Collisions with light vehicles primarily happens because the heavy vehicle driver did notsee the light vehicle

Whilst heavy to heavy vehicle collisions causing injuries occur, the risk and consequence is

far less than light/heavy vehicle collisions

Any system chosen must reduce the current risk. When a collision situation (routecontention) has been detected the CWS system is expected to series of progressive alerts to

the driver. These progressive alerts indicate that the distance between the vehicles is closing

and the driver should take action. These progressive warnings can escalate from audio tone

only to audio, visual, or other warning modes.Driver vehicle interface requirements

These requirements define specific ways in which the CWS systems interface with the driver(i.e., Driver-Vehicle Interface), and include indicators, displays, and warning methods.

CWS should utilize different audible tones (e.g., different pitches, patterns, lengths, etc.) or

tactile warnings to provide multiple progressive warnings as an object crosses the warningthresholds.

The CWS system should include a visual indicator when no vehicles or objects are posing a

hazard. The indication may be provided by an instrument panel warning light or an indicator

that is integral to each system.The CWS system should use a visual indicator to provide system operational status. This

status may be indicated by an instrument panel warning light or an indicator that is integral toeach system. The CWS system should use a visual or audible indicator to indicate a systemfailure or malfunction. This status may be indicated by an instrument panel warning light or

an indicator that is integral to the system.

The CWS system indicators should be clearly discernable in direct sunlight and at night.Consideration should be given to adjust the brightness of the indicators during night

operation. Excessively bright indicators have been found to be a distraction to operators.


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1.0 TYPES OF COLLISION AVOIDANCE

The first and most prevalent, is close proximity (


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Distance) to prevent collision by bringing truck to a complete stop.

For the purposes of these calculations two actions that an operator could take to avoid collisions a

assumed. The first avoiding action is to bring the machine to a complete stop from a predeterminspeed. The second type of avoiding action was to reduce the speed of the machine from a

Predetermined speed to 20km/h. At 20km/h it was determined that the operator could safely swerve

avoid a collision without loosing control of the machine and incurring secondary collisions such

driving into a berm or overturning. It can be seen from Table 1 that for both scenarios the slow speclose proximity class systems are effective up to 20km/h.

Beyond this speed this class of devices will not provide adequate warning time and insufficient time

stop or slow the machine to avoid a collision.Technologies that specifically target close proximity type collisions are radar based, low frequency radi

identification (RFID), and high frequency RFID. Technologies using Mesh Networking and Machine

Vision Cameras are currently being developed. It should be pointed out that most long range high speedtype collision avoidance technologies would also be suitable for close proximity-high speed collisions

albeit at a higher capital cost.

1.3 Collision scenarios Figures show the typical type collision scenarios.

Short

Range

Radar

Low

Freq-

RFID

Mesh

Network

High Freq-

RFID GPS

Long

Distance

radar

SPEED

Decele

ration

Distance travelled

to bringmachine

undrer control

(20km/h) in order

to erve=minimum

CASwarning

distanceneeded) Preco Hazard

Mesh

Network

RFIDCAS

CAM GPS VORAD

km/h m/s'2

5 -1.050 0.0Yes Yes Yes Yes Yes Yes




25 -1.050 15.2 No Yes Yes Yes Yes Yes

30 -1.050 28.7 No No Yes Yes Yes Yes

35 -1.050 40 No No No Yes Yes Yes

40 -1.050 55.2 No No No Yes Yes Yes

45 -1.050 72.2 No No No No Yes Yes



Will the collisionavoidance technologybeable to warn

the operator insufficent timeto allowhimtoslow

downhis machineto 20km/handtakeevasiveaction.

It isassumedthat evasive actiontakenat higher

speedswill result inasecondarycollision (drivinginto

the bermfor e.g)


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Figure 1 Collision at intersection where one machine fails to adhere to the stop signal

Figure 2. Lane departure one truck drifts into the oncoming lane.

Figure 3 Rear truck moving faster and front slower

Figures 4,5, 6 &11 Haul truck reversing into parked obstacles that are in the blind areas

of the operator

Figure 7 . Light vehicle overtaking haul truck

Figure 8 Haul truck parked or moving inside the swing radius of shovels, draglines etc.

Figure 9. Haul trucks simultaneously reversing at crusher / tip or inside the pit

Figure 10 Haul truck reversing towards an embankment.

Figure 12. Haul truck on collision course (at slow speed) with fixed structure.

Figure 13. Haul truck runs into berm.Figure 14. Truck following with differential speed. Forward machine is slowing

down. There is potential for duck tailing or forward machine is parked in which case a

collision is possible

1.4 Collision scenarios --:- Long range (0m 150m) High Speed (0km/h speed

55km/h) collision warning systems


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The second class of collision warning system is high speed-long range collision avoidance

systems. These systems operate on the principle of detecting potential threats (light vehicles,other haul trucks etc.) in the direction of travel and providing sufficient warning time to the

operator to take action.

Action could include applying brakes to bring the machine to a stop or it may involve

slowing the machine to a controllable safe speed before swerving to avoid a collision. Table 1shows the calculations of stopping distances and times. It can be seen that this class of CAS

that these systems would operate at speeds up to 55km/h where stopping distances of 150m

are required on a downhill gradientHigh frequency RFID which typically has a range of 50m 70m would not provide sufficient

warning time above 35km/h. At 35km/h the operator needs approximately 65m to bring the

machine to a stop. Hence the 50m warning is insufficient. If it were possible for the operatorto slow the machine down to 20km/h and take action then high frequency RFID would be

effective up to a speed to 40km/h

Long distance radar and GPS have long ranges. Long distance radar can detect up to 150m

while GPS based systems are effectively limited to 500m by the vehicle to vehicle wirelesscommunications network. Both these technologies would be able to provide adequate

warning to the operator at all speeds.

Lane departure one truck drifts into the oncoming lane .

A truck drifts onto the oncoming lane. Several factors can cause this including, driving

around a curve, loss of concentration due to operator fatigue, avoiding a slow or parked

vehicle ahead etc. A long range CAS would detect a potential collision and provide warningto the operator to correct course

Slow moving machines or parked machines pose a potential hazard. This can be even more

hazardous if the parked machine is around a curve. A long range CAS system should be ableto detect slower moving or parked machines in time to allow the fast moving machine behind

to slow down or stop.

Haul truck runs into berm.

Several factors can lead to a truck running into a berm. Taking avoiding action, operator

fatigue, poor road conditions are some of them. Technologies that use tags or receivers

(RFID or GPS) will not be effective in preventing collisions with embankments.Technologies are available to detect if the operator is driving within his lane and alarm the

operator if he drifts out (Accumine, Dephi systems)

2.0 COLLISION WARNING TECHNOLOGIES

These technologies include Radar, Radio frequency Identification, Mesh Networking, GPS

and Machine Vision systems. The aim is to describe the operation of these technologies,discuss their advantages and limitations that are applicable to surface mining conditions.

2.1.1 Radar

There are several radar based CAS systems.

Fitted only to the host unit but can detect other people, objects and equipment Works on lineof site although some technologies use multiple units and software to bend the signal

slightly to try to avoid spurious alarms

Antennas fitted outside the vehicle with alarm units (rows of lights or pie chart screen forvisual and audible alarm) fitted inside cab.

2.1.2 Basic principle of radar (RAdio Detection And Ranging)


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The basic principle behind radar is a signal is transmitted, it bounces off an object and it is

later received by some type of receiver. Radars use certain kinds of electromagnetic wavescalled radio waves and microwaves.

EM waves transport energy through a vacuum this implies that the speed of the signal is

constant (c = 292,792,458 m/s). This feature is used to determine distance calculations to

targets and is called ranging.. Once the radar receives the returned signal, it calculates usefulinformation from it such as the time taken for it to be received, the strength of the returned

signal, or the change in frequency of the signal. This information is then translated to reveal

useful data: an image, a position or distance away and the velocity (speed) of a haul truck.

2.1.3 Radar for mining equipment

There are several types of radar systems which include Pulsed, Synthetic Aperture Radio,

Doppler, Continuous Wave etc. Collision avoidance systems for mining equipment that useradar as their primary technology have the advantage that they are low cost.. Another

advantage of radar its ability to work in all weather conditions (rain, mist, fog etc.)

although significant mud build up onto an antennae can cause operation to deteriorate. Radar

systems are relatively easy to install. The positioning of the antennas is critical. If the unitsare installed too low in front or behind then too many rocks etc. will be detected. Mounting

the unit too high may cause the radar to miss low objects which, depending on the size of the

haul truck, might be light vehicles or people.Radar systems can detect any object that is able to reflect the EM signal back. Hence other

vehicles, people, rocks, buildings, trees etc will be detected. The detection of rocks and

foliage may be seen as a false alarm. Too many false alarms could be seen as a nuisance tooperators. Nuisance alarms are those emanating from objects of which the operator is already

aware or from objects that pose no danger. Too many nuisance alarms may result in an

operator not taking a system seriously and ignoring alarms even when a potential collision isimminent. Because of the potential nuisance alarms. In addition it is advisable to integrate

radar systems with cameras in order to minimize the number of LCD displays inside the

machine. The forward and rear cameras should be activated by a switch on the transmission

and the radar alarms should be superimposed on the picture.

2.2 Radio Frequency Identification (RFID)

2.2.1 How it works

Radio Frequency Identification operates on a Reader and Tag principle. In its simplest form

RFID systems work on the principle of inductive coupling. The reader's antenna coil

generates a strong, electro-magnetic field, which then penetrates the tag. The tag isessentially a coil many windings of copper. The electromagnetic field induces a voltage

that allows the tag to function. The tag or more accurately called the transponder sends back

an electromagnetic signal to the reader. Each tag normally has a unique identity, so when the

reader receives the signal from the Tag it can identify where it came from.RFID systems can be classified as active or passive, high frequency or low frequency.. These

features are important when evaluating RFID systems for collision avoidance, because they

determine the range (read distance) of the system as well as the effect of the metals etc on thesystem.

2.2.2 Nautilus Buddy Haul Truck System

Nautilus International has a low frequency RFID product called the Nautilus Buddy Haul

Truck System. It is 125 kHz system that uses two loop antennaes to propagate a magnetic


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signal. The system uses a radio frequency communication link to transmit signal back to the

haul truck. One Antenna is mounted at the front of the truck close to the front railing and asecond at the rear. These antennas radiate a field which surrounds the truck completely,

including underneath the truck. A tag (Belt pack) is mounted on people or on light vehicles.

The range of the coverage is shown where it can be seen that it fluctuates between 15m in the

front of the truck to approximately 9m on the sides and the rear of the machine. The completeBuddy system CAS equipment is shown below .

The system calculates the distance that the potential threatening light vehicle/ haul truck is,

and displays this information on the haul truck display as well as on the Tag inside the light

vehicle. The system uses two antennas to differentiate if the target is approaching frombehind or in front. The system has an optional Cab Video Unit where the data can also be

displayed This display data includes warning messages for the driver and also shows whether

the "target" is a pedestrian or a small vehicle. An audible alarm built into the Cab Video Unitwill increase in frequency as the Haul truck approaches the "target".

Once the Haul truck gets too close to the "target" the Haul truck's air horn will automatically

sound and the headlights will flash on and off to warn personnel and small vehicles in closeproximity to move away to a safe distance.

Summary

The Nautilus system has excellent coverage all around the machine and even underneath itmaking it suitable for close proximity slow speed collisions. On the other hand the system is

expensive to install and every haul truck and light vehicle needs to be equipped with the

system for it to be effective. The size of the Belt pack could also be a deterrent for adoption.

Also against this system is the relatively high cost of the unit.

2.3 High Frequency RFID systems Advanced Mining Technologies (AMT) CAS-CAMSystem description

Radio Frequency Identification This technology uses radio frequency signals and detection via antennas.

Requires line of sight between transmitters and receivers.

Requires each unit or object to be fitted with the technology.


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Is often combined with camera technology with some manufacturers using several units to

add sophistication to the alarm logic that can be programmed, and switching of cameraslooking at the side of the equipment where the

potential collision has been detected.

On smaller vehicles and equipment the RF unit is combined in rotary flashing light with just

an alarm box in the cab Can be programmed to alarm at set distances, and even identify specific vehicles with the

alarm

Is the same technology used in modern hospitals to keep track of patients, and in factories tokeep track of tools and components.

The AMT CAS-CAM system is a high frequency RFID system. It operates on the 433MHz

frequency which puts it into the high frequency range.. the tags provide their own power andare not dependant on the EM field emitted from the reader in order to communicate.

The CAS-CAM system consists of readers, tags and cameras. Tags are installed on each

person, light vehicle, heavy vehicle and other items of value. Figure shows the RF unit as

well as the camera installed on the rear of a haul truck.. Heavy Vehicles also have videocameras and an LCD video display unit. The images from the camera and the alarms from the

RF units are displayed, simultaneously on the LCD unit inside the haul truck.

AMT CAS-CAM RFID reader and camera. The Radio Frequency system transmits

digitally coded data such as tag identification number, tag type, vehicle status and tag status.

This allows the systemto discriminate between classes of objects e.g. Heavy Vehicle (HV), Light Vehicle (LV),

Stationary Object (SO) Personnel Tag (PT), Test Station (TS) etc. The system comes in three

options:

1. Video Only system for enhanced vision applications: CAS-CAM2. RF Only system for automatic object detection: CAS-RF

3. Video & RF systems (vision & object detection): CAS-CAM/RF

2.4 GPS Based systems2.4.1 How GPS works

The Global Positioning System (GPS) consists of a constellation of 27 Earth-orbiting

satellites (24 in operation and three extras in case one fails). These satellites are in a fixedorbit approximately 20,000km above earth.. A GPS receiver, such as a handheld unit or an

electronic circuit board type receives radio messages from these satellites. The receiver then

calculates its distance from the satellite sending it a message. The receiver obtains messages

from at least three satellites in order to triangulate its position on the earths surface.


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Typically a receiver would use around 6 to 12 satellites (if available) to triangulate its

position. The more satellites available the more accurate the position fix. Because the earth isrotating, satellites appear and disappear over the horizon, hence the more satellites that are

available not only increases the accuracy but also reduces the risk of loosing accuracy.

GPS Technology

Each vehicle or machine is fitted with a GPS unit The individual vehicle or machine positions as determined by GPS are transmitted to a

central computer and are scanned for potential collisions

If a potential collision is detected warnings are sent to the vehicles or machines involvedusing radio transmission

2.4.2 GPS based collision avoidance

GPS by itself cannot do collision avoidance it is simply a means to establish position. Byknowing the positions of vehicles in a mine and communicating these positions to machines

it is possible to start to have the first part of a collision avoidance system based on GPS

positioning. The principle of a GPS based collision avoidance system is as follows: - Each

machine is equipped with a GPS receiver to obtain its position - In addition a communicationsystem is required on each machine in order to broadcast its position as well as listen to the

position of other machines in the vicinity (0 500m range) around. The communication

network is probably where the most differentiation occurs with GPS based systems. - Oneach machine calculations are performed to see if any machine (light, heavy etc. is a threat

and an alarm is activated if it is a threat.

2.4.3 Acumine Proximity Detection System.

The Proximity Warning System is a GPS based system that operates on Haul trucks, Light

vehicles as well as People. Three modules are used: Haul Truck Proximity System (HTPS),

Light Vehicle Proximity System (LVPS), Personnel Proximity System (PPS) and a BaseStation. The HTPS alarms the haul truck driver when another truck, a light utility vehicle or

personnel is within the defined proximity of the haul truck. The haul truck forms an ad-hoc

mesh network with these agents, all of which are equipped with GPS, and broadcasts its

position and velocity.. The HTPS will generate a different alarm according to the threat level,e.g. truck approaching in front, vehicle behind etc.

The system uses a dedicated on-board computer for processing and alarming in the haul truck

and light vehicles. A Personal Digital Assistant (PDA) is used to warn personnel such aspedestrians etc. Each agent uses a GPS sensor and an Omni directional antenna for wide area

coverage. All these agents are registered in a single ad-hoc network. The area of operation is

by line of sight of the agents in the proximity and the area of detection. This is possibly alimitation of the system .Systems based on line of sight will typically give ranges of 100m

500m depending on conditions. However if line of sight is obscured such as on ramped

curved roads or possibly at intersections this could become an issue and the system would not

detect with required level of fidelity The operator interface is either a simple audible alarm ora full graphical interface as shown in Figure


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Figure Haul truck graphical interface.

The system can be classed as a long range high speed system There are two major drawbacksof this system. Both relate to the wireless network system that they have adopted. One

drawback involves the issue of line of sight which cannot be guaranteed in mining

environments. The other involves the use of a base station which is a weak link thatcompromises the system long term operation. The entire fleet would be left without a

collision warning system if the base station went down.

2.6 Camera Based Technologies

Collision Avoidance Cameras

A reliable technology of video cameras that the operator can select to give better vision in

the blind spots of the vehicle.

A passive system relying on the operator to choose the camera. (Can be tied into the reversegear signal or other functions)

Multiple cameras (blind side, reversing, etc.) are sometimes fitted. Additional cameras,

whilst increasing visibility, can also complicate use. Modern LCD colour screens are much more reliable than old CRT ones. When correctly

trained operators can choose night settings to reduce night time glare inside the cab.

Installation of cameras will not guarantee that collisions will be avoided. However, theirinstallation gives operators better tools to enable them to do their jobs safely.

2.6.1 Caterpillar WAVS

WAVS stands for Work Area Vision System.. The WAVS system comes in fourconfigurations single camera, 2 and 3 cameras and a special 793 haul truck configuration.

Single camera systems are popular with smaller machines such as wheeled loaders, etc. For

haul trucks multiple camera units are required. The multiple camera units are automatic units

i.e. the rear camera is activated via the transmission. Side cameras are manually activated. Auseful feature is that the operator cannot defeat the cameras (switch them off) as there is no

manual override. This implies that the cameras are always functional. Cameras come in two

configurations 115 degrees and 78 degree options which are used depending on theapplication. The cameras come with special mounting brackets and have internal heaters to

prevent misting in cold weather. The cameras can take vibration and is sealed (High pressure

washer compatible). This makes the WAVS an extremely rugged unit. In comparison theCAS-CAM cameras (discussed above) the CAT cameras can go down to 0.5 Lux (CAS CAM

goes down to 1 LUX).


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.

It is recommended that multiple cameras be installed on haul trucksa. Four cameras (front, rear and two side cameras) are recommended. Depending on the size

of the truck the side camera on the operator cab side of the truck may be omitted. Installing

an additional camera under the truck could help the operator see large rocks which coulddamage tyres.

b. The rear and forward cameras of the system should be linked to the transmission of themachine and activated automatically when the reverse or forward gears are selected.

2.6 Machine Vision Systems

Machine Vision commonly known as Vision Systems is a software technique that analyses

images and outputs characteristics found such as objects, characters, edges, distances, coloursetc. The software does this by analyzing pixels and calculating features inherent in the pixel

configuration. For example objects can be recognized using a technique called pattern

recognition. In pattern recognition the system is trained using sample photographs or images.

Similarly character recognition is performed. Bar coding is one of the most common forms ofmachine vision systems. In Bar coding a laser line is shone on the bar code to illuminate the

bar. The machine recognition software detects the edges of the bar code and calculates the

width of each bar. A combination of different widths constitutes a bar code. Machine visionsystems are very dependant on lighting conditions. Bright light can blur edges and this

confuses machine vision software. Therefore infra red light is often used to illuminate

objects. Nevertheless ambient light still poses a significant problem and needs to be dealtwith in an application. Camera vibration is another threat to machine vision applications and

can blur images. Perhaps the most significant problem with pure machine vision systems

from a collision avoidance perspective is that it is a 2 dimensional technology. This implies

that standard machine vision system will not be able to decipher how far away a threat isfrom the host vehicle. Solution to this problem Stereo Vision. This involves two cameras

which use disparity calculations to calculate distance.

2.7 Pros and cons of various systemsGPS & RF

Pros Cons

Provide an active warning Can be integrated with camerasystems Can display multiple items Easily configurable for many

Not global coverage Susceptible to shadowing effects Not Commercially available Requires lots of repeaters Every unit must be tagged


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different scenarios Reliable components Doesnt differentiate betweenday/night Short and long range

configurations Can provide speed, distance andazimuth information No licensing requirements Can identify individual unitnumbers Can define zones in mine eg high riskzones, speed limits, etc Can integrate with machine

Large objects can shadow smallerobjects Integrity of the systems relies onall components in series Requires additional infra-structure

on site for operation

Cameras

Pros Cons

Allows to view blind spots

Provides positive ID of objects Commercially available

Easily configurable for many different

scenarios (position, units, link to gears, etc)

Reliable

Can provide day/night coverage

Operator/community acceptance

Provides clear lifelike image (orientation issame as what is seen in the mirrors)

Low cost of implementationImprove operator visibility

during manoeuvring

Provide operational as well as safety benefits

Stand alone system per EME

Line of sight detection

Cameras cannot provide an alarmCameras may be effected byenvironmental conditions

Trade of between image clarity and fieldof view

Distance perception is difficult

Not beneficial for high speed

applications Relies on operator to look at the Screen

RFID

Pros Cons

Identifies tagged itemsNo false alarms Wide azimuth at front & rear of vehicle does

not generate false alarms

Not impacted by environmental conditions Provide an active warning

Commercially available

Can link to camera systems

Easily configurable for many differentscenarios

Reliable?

Display can be integrated with camera

systems Doesnt differentiate between day/night

Does not identify untagged items

Requires management discipline to ensure


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Can display multiple tagged items all items are tagged Cannot pin point exact position of tagged

item (general direction only)

Wont detect whether tag is moving or

fixed

Requires licensing to meet country laws Line of sight detection for both units

Global support not currently Available

RFID + Cameras

Pros Cons

Identifies tagged items No false alarms

Wide azimuth at front & rear of

vehicle does not generate falsealarms Not impacted by environmentalconditions Provide an active warning Commercially available Can link to camera systems Can display multiple tagged items Easily configurable for manydifferent scenarios Reliable?

Display can be integrated withcamera systems Doesnt differentiate

Does not identify untagged items Requires management disciplineto ensure all items are tagged

Cannot pin point exact position oftagged item (general directiononly) Wont detect whether tag ismoving or fixed Requires licensing to meetcountry laws Line of sight detection for bothunits Global support not available Cameras may be effected by

environmental conditions (NoteBlack and White cameras muchbetter for night use)

Radar

Pros Cons

Not impacted by environmental conditions

Provide an active warning

Commercially available

Can be integrated with camera systems Can display multiple items

Easily configurable for many differentscenarios

Reliable

Doesnt differentiate between day/night Detects all items

Stand alone

Requires line of sight detection

Large objects can shadow smaller objects

Non-essential alarms - detects items

outside of vehicles travel path? Cannot differentiate for the type of

vehicle, object or person of similar sizesNo positive unit ID on object Detected


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Short and long range configurationsCan provide speed, distance and

azimuth information

No licensing requirements

Can focus detection area to a defined width

(eg width of vehicle for forward travel)

CONCLUSION The recommendations for Anglo American operations are as follows:

1. Each operation needs to undertake a risk assessment in order to determine its risk profile.This should involve studying past collisions, near misses or high potential incidents etc. The

risk assessment should also identify what actions needs to be taken in order to reduce the risk

of collisions between people, mobile machinery and other dangerous machinery. It shouldalso take into account the possible speed of vehicles and determine the minimum and

maximum distances from a vehicle at which the detection and warning alarm are needed to

sound off;2. It is prudent to inform operations that all collision avoidance (CAS) systems / technologies

investigated by the working group were found to have certain technical and operational

limitations. This report provides the necessary technical information discussing limitationsand strengths of each system. Understanding the risk profile of the mine together with the

technical and operational limitations of the CAS system is a key to mitigating the risk of

collisions.

3. Systems that are aimed to be used for anti collision and proximity warning should be notbe named: Safety Systems, rather they should be referred to as Operator Enhancement

Systems. This would ensure that the responsibility remains on individuals for ensuring their

own safety. It also ensures that individuals do not rely solely on the technology for

protection.Surface Mining Equipment

4. It is recommended that multiple cameras be installed on haul trucks.a. Four cameras (front, rear and two side cameras) are recommended. Depending on the size

of the truck the side camera on the operator cab side of the truck may be omitted.

Installing an additional camera under the truck might help increasing tyre life.

b. The rear and forward cameras of the system should be linked to the transmission of themachine and activated automatically when the reverse or forward gears are selected.

c. The working group did not comprehensively evaluate all vendors of camera systems. The

robustness of the camera system as well as the ability to clean the lenses is important factorsto consider when making a choice of camera system.

5. In addition to cameras a RFID based system and/or a radar based system should beinstalled.a. If the risk assessment shows that slow speed, close proximity collisions are the major

threat then radar systems should be installed.

b The Preview Radar* system should be installed. The system has a limitation of an 8mrange and this should be carefully considered before deciding to install the system. A

recommended configuration is discussed in the body of the report.


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c. If the risk assessment shows that high speed, long range collisions are the major threat then

an RFID based system is recommended6 The range of the system chosen should be set to a minimum of 50m. If possible the

maximum range of 100m should be used.

7 The ability of the system to detect near / alongside metal structures such as conveyor belts

should be tested. If loss of detection around metal structures is found then alternative safetyprocedures should be put in place around these areas.

8 A reverse / back up audible alarm should be used for warning while reversing.

9. It is recommended that a reverse / back up audible alarm should be used for warning whilereversing.

Reference NSW web siteCollision Avoidance Technical Report Author(s)H. Faul; M Ruplal (ATD)O. Munoz; E. Riffo (Anglo Base)S. Niven (Anglo Coal)

A. Naidoo (Anglo Ferrous)D. Janicijevic; V. Nhlapo (Anglo Platinum)

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Collision Avoidance Systems