JP2003118981A - Crane approach warning device - Google Patents

Abstract

(57) [Problem] To provide a crane approach warning device which can prevent a collision in advance regardless of the type of crane when a possibility of collision occurs in a movable part of the crane such as a jib. SOLUTION: A position detecting device 1a using a GPS or the like is provided.
1b respectively detects the positions of the ends of the jibs of the cranes A, B, and C, and the positions of the turning axes of the jibs, and constructs a simulation model of the movable part. When the occurrence is foreseen and the possibility of contact occurs, an alarm is automatically issued by the alarm device 3 and the crane is automatically stopped.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for giving an alarm when a movable part of a crane approaches an obstacle, and particularly to a crane approach alarm suitable when a plurality of cranes are used in close proximity. Regarding the device.

[0002]

2. Description of the Related Art A jib crane (also called a crane with a jib) is often used to convey a relatively heavy object, and there are various types of this jib crane, for example, as a portable jib crane. Is shown in FIG.
There is a truck crane shown in, and the self-propelled crane has
There is a rail traveling type crane shown in FIG. 8, and a fixed type crane is, for example, a tower crane shown in FIG.

There are also differences in the type of jib, such as an extension jib and a double link jib. Here, the extension jib is freely expandable and contractible as used in the truck crane of FIG. 7, for example. The double-link jib is used in, for example, a gantry crane installed on a wharf.

In the case of this jib crane, a beam member called a jib or a boom is used, a conveyed object is lifted by a rope hung from the tip thereof, and the angle of the beam member and the rotation position by a vertical axis at the base are changed to convey the object. The position can be arbitrarily selected. At this time, in the crane of FIGS. 7 and 8, the beam member is the boom B.
The crane shown in FIG. 9 is generally called a jib J, but here, all of them will be referred to as a jib.

By the way, in a construction site or the like, a plurality of jib cranes are often used at the same time and work close to each other. At this time, in order to ensure the safety of the work, the jib of the own crane is used to convey a product or another object. When there is a risk of contact with the crane jib, etc., it is necessary to automatically generate an alarm and notify the crane operator to prevent a collision.

In view of the collision prevention of the jib crane, for example, Japanese Patent Application Laid-Open No. 4-28640 discloses a collision prevention device having a monitoring function, and Japanese Patent Application Laid-Open No. 7-206382 discloses an angle detection device for a crane. Discloses a collision prevention device equipped in the.

[0007]

The above-mentioned prior art does not take into consideration that the crane collision prevention depends on the operator's safety confirmation processing, and there is a problem in ensuring sufficient safety. .

That is, in a portable jib crane such as a truck crane, the positional relationship between the cranes changes, but in the prior art, an accurate positional relationship is obtained each time the positional relationship changes, and the device settings are changed accordingly. Therefore, it is impractical for this reason, and currently relies on visual confirmation of safety by the operator.

[0009] In this case, when a plurality of cranes are used in close proximity to each other at a work site such as a construction site, the jib and the transported object do not collide with each other, or the jib and the transported object collide with other equipment. It is necessary for the operator to visually check so as not to do so. However, this causes severe operator fatigue, and thus it becomes difficult to secure sufficient safety in the conventional technique.

Moreover, some jib cranes are fixed ones such as tower cranes, truck cranes whose installation positions may change frequently, and extension jibs and double links that have different crane mechanisms. .

Therefore, an object of the present invention is to provide a proximity warning device for a crane which can prevent a collision regardless of the type of the crane when a collision occurs in a movable part of the crane such as a jib. Especially.

[0012]

The above-mentioned object is to simulate the occurrence of a collision by the movable part from the position of the crane itself and the position of the movable part of the crane on the basis of the surrounding condition of the crane which is set in advance. Expected from
This is achieved by issuing an alarm according to this expected result.

Similarly, the above object is to detect the position of each crane itself and the position of the movable part of the crane in each of the plurality of cranes, and transmit the detection results between the plurality of cranes. This can also be achieved by predicting the occurrence of a collision between a plurality of cranes from a simulation model and issuing an alarm in each of the plurality of cranes according to the prediction result.

At this time, the simulation model may be either two-dimensional or three-dimensional when the collision in the height direction is also monitored, and the state load of the conveyed object, the moving direction, the moving speed, the rope length, It is also possible to detect the risk of collision by providing an approach warning area model considering the state of the conveyed object such as a rope angle and a work prohibited area model such as a building or a device at a work site where there is a risk of collision.

At this time, the simulation model considers at least the operating direction and operating speed of the jib of the crane and the stopping distance in order to enable the avoidance operation before a collision occurs. The approach warning area model and the work prohibition area model may be provided so that they can be changed depending on the moving direction and speed of the movable part.

Further, the transmission of the detection result between the cranes may be at least one of wired transmission and wireless transmission, and the wireless transmission may include a case of wireless LAN, and the position of the movable portion is It may be transmitted by a data wireless device.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION A crane approach warning device according to the present invention will be described in detail below with reference to the embodiments shown in the drawings. Here, FIG. 1 and FIG. 2 show an example in which the present invention is applied to a system composed of three cranes, a crane A (own machine), a crane B (other machine 1), and a crane C (other machine 2). It is an embodiment.

1 and 2, 1a is a tip position detecting device, 1b is a turning axis position detecting device, 2 is a monitoring device, 3 is an alarm device, 4 is a wireless device, and 5 is a control device. It is provided on each of the three cranes A, B, and C with a jib.

First, the tip position detecting device 1a is
It functions to detect the position of the tip of the jib of the crane, and then the pivot position detecting device 1b also functions to detect the position of the pivot of the jib.

Here, the position of the tip and the position of the turning axis are both absolute positions at the places where the respective cranes are placed, and therefore, the position detecting devices 1a and 1b are highly accurate. A position detection device using GPS capable of positioning is used.

Next, the monitoring device 2 is provided with a data processing device such as a microcomputer, and it will be described later on the basis of the data inputted through the input interface and the position information detected by the position detecting devices 1a and 1b. It works by constructing a shape simulation model, simulating a collision, and detecting the occurrence of a collision.

Further, the alarm device 3 functions to generate a predetermined sound or the like to notify the operator when a risk of collision is detected, and the wireless device 4 notifies the operator of the risk of collision. It exchanges necessary information such as location information with the crane.

Here, as the wireless device 4, a wireless LAN (local area network) that is easy to handle and capable of high-speed communication is used.

Furthermore, the control device 5 controls the drive device of the crane, and functions to make an emergency stop of the crane when a risk of collision is detected.

As shown in FIG. 2, these devices are individually installed in each of the cranes A, B, and C, and at this time, the devices in each crane are wired by cables. However, at this time, for devices such as the tip position detection device 1a where wiring by a cable is difficult, a wireless LA equipped with an autonomous power source such as a battery is used.
It is designed to be transmitted by N.

Next, the collision detection processing by the monitoring device 2 will be described with reference to the flowchart of FIG.

Here, the processing of FIG. 3 is started by the monitoring device 2 when the crane is put into an operating state,
It is executed in each of the three cranes.

At this time, first, as an initial process at the start of work, the parameters necessary for constructing the shape model of the jib of the machine are set to either a three-dimensional model or a two-dimensional model depending on the application. It is selected and then set (processing step S1).

Specifically, considering the operating direction and speed of the own crane, the parameters of the approach warning area model with a large safety distance are set especially in the moving direction so that the avoiding operation can be performed before the collision. , For example, by a panel computer.

Further, the condition of the conveyed object such as the weight of the conveyed object, the moving direction, the moving speed, the length of the rope hooked down from the jib, the angle of the rope, etc. is also set as a parameter of the approach warning area model.

Similarly, as an initial process at the start of work, the shape model of the jib and the approach warning area model are acquired from the partner crane existing within the access range of the wireless device 2 by wireless communication (processing step S2). .

Therefore, the radio device 2 in each crane
Is configured to continuously transmit the tip position information and the turning position information of its own device to the other device after being activated.

When the initial processing at the start of the work is completed in this way, in each crane, a simulation model representing the approach warning area of the jib is first constructed from the position information of the own machine on the monitoring device 2 (processing step S3). Similarly, on the monitoring device 2, this time, a simulation model representing the approach warning area of the jib is constructed from the position information of the other device (processing step S4).

Thereafter, the collision is simulated and monitored by the mutual simulation models (processing step S5).

First, when the simulation result is "no collision", the process returns to step S3.

On the other hand, as a result of the simulation by the monitoring device 2, when the approach warning area of the own machine comes into contact with the approach warning area of the other party, the alarm device 3 activates the buzzer and the indicator lamp to notify the crane operator of an emergency. Is generated (processing step S6), and then the moving speed of the crane is monitored (processing step S7).

After this, if the crane slows down,
As an operator was notified of the occurrence of an emergency,
The process returns to the processing step S3 as it is, but if the crane is still not decelerated, the processing step S8 is executed.
The control device 5 causes the crane to make an emergency stop and then returns to the processing step S3.

At this time, the monitoring device 2 is constructed so that the positional relationship between the jib of the own machine crane and that of the other machine crane can be displayed graphically, and can help the operator of the crane understand the situation.

Next, regarding the construction process of the simulation model and the collision monitoring process by the shape simulation model at this time, as an example, a case where a two-dimensional model which has a small load required for the calculation process and a wide range of application is used Will be described.

FIG. 4 shows, as an example, the basic shape of the jib and the approach warning area as a two-dimensional model by the horizontal projection plane method. Here, the process of confirming a collision between simulation models is facilitated. Therefore, the shape of the jib is simplified to a level where there is no practical problem.

First, as shown in the figure, the position of the turning axis of the jib is the origin (0, 0), and the tip position thereof is Ps. Next, the shape of the jib is represented by the area surrounded by the coordinates P ₁ , P ₂ , P ₃ , P ₄ , and is closer to the area surrounded by the coordinates P ₁ ′, P ₂ ′, P ₃ ′, P ₄ ′. Represents an alarm area.

Here, the coordinates P ₂ , P ₃ , P ₂ 'and P ₃ ' are set relative to the tip position Ps, and therefore the actual position changes depending on the tip position Ps.

Therefore, the coordinates P ₃ ′ and P ₄ ′ of the approach warning area are given as parameters which are variable in association with the moving speed V, so that the turning direction R can be obtained when the moving speed V is high.
It is possible to issue an appropriate warning in accordance with the moving speed V by, for example, lengthening the approach warning area in FIG.

The moving distance L and the moving speed V at this time are the coordinates Z ₁ (x ₁ , y ₁ ) obtained at a certain time t ₁ from the respective position detecting devices 1a, 1b, and this time t. It can be obtained from the coordinates Z ₂ (x ₂ , y ₂ ) obtained at time t ₂ after ₁ by the following equations (1) and (2).

[0045] _{L = {(x 1 -x 2} ) 2 + (y 1 -y 2) 2} 1/2 ............ (1) V = L / (t 2 -t 1) ...... ...... ( 2) The turning direction R can be obtained from the sign of the outer product of the vector GZ ₁ and the vector Z ₁ Z ₂ where G is the coordinates of the turning position.

Therefore, by setting the above coordinate values and auxiliary parameter values, a proximity warning area is constructed and used as a basic model.

Next, the process of converting the basic model constructed as shown in FIG. 4 into an actual positional relationship will be described with reference to FIG.

In FIG. 5, first, a vector from the origin (0, 0), which is the reference axis of the basic model, to the tip position Ps is Ps , and the turning axis position Po (at the same time detected by the turning axis position detecting device 1b is shown. x _0, y ₀₎ 'Ps the vector directed to the' tip position Ps from, the vector Ps and the vector Ps 'the angle formed by theta, the coordinates of the basic model (x, y), the actual model coordinates (x' , y ′), the following expressions (3) and (4) are established.

Θ = cos ⁻¹ {(Ps · Ps ′) / (| Ps | × | Ps ′ |)} ……… (3)

[Equation 4] Then, by these equations, the coordinates (x,
The coordinate (x ′, y ′) of the actual model is obtained from y), and from this, each proximity warning area model can be created for each crane A, B, and C.

Here, FIG. 6 shows three cranes A, B,
Regarding C, the case where each approach warning area model is created is shown, and whether or not there is a collision between the models at this time,
Line segments J1, J2, J that make up the approach warning area model of the aircraft
3 can be determined by checking the intersection of the line segments that compose the model on the other side, and if they intersect, it can be determined that there is a collision.

Therefore, according to this embodiment, a fixed mechanism such as a tower crane, a mechanism such as a truck crane whose installation position may change frequently, a mechanism of a crane such as an extension jib or a double link, etc. It can be easily installed and moved regardless of the difference.

As a result, when there is a possibility that the jib of the cranes with jib may collide with each other, the operator can be informed by an alarm or the like, so that the collision can be prevented in advance and the safety is sufficiently maintained. can do.

Further, at this time, if the turning axis of the crane does not move during the work, the position of the turning axis is obtained by the position detecting device in the preparatory stage, and is set as a fixed value in the monitoring device, whereby the turning during the work is performed. No need for axis position detector,
The device cost can be suppressed.

Further, according to this embodiment, if there is a building or a device which may cause a collision near the work site,
These are also set in the monitoring device as a work prohibited area model,
By monitoring together with the proximity warning area model,
Collisions with obstacles other than cranes can be avoided in advance.

Further, in the above embodiment, the approach warning area model may be a three-dimensional model and the collision monitoring may be performed by the three-dimensional model. When a direction approach warning is required, it is possible to easily respond and reliably avoid a collision.

Further, in the above embodiment, the communication information between the cranes may be shared also in other places such as the on-site command post. By doing so, centralized monitoring of the work site situation can be performed and accurate work can be performed. Instructions can improve work efficiency and safety.

Here will be described the embodiments of the present invention.
It is as follows.

(1) A position detecting device for obtaining the positional relationship of the jib, a monitoring device for constructing a simulation model of the jib and monitoring a collision between the jibs, and an alarm device for notifying an operator when there is a possibility of collision. , A control device for stopping the operation of the crane, and a communication device for sharing information between the cranes.

(2) In order to prevent a jib collision, a crane simulation model at an actual work site is built in the monitoring device, and this model is operated in real time like an actual machine so that the cranes may collide with each other. If there is any, the operator is notified by voice or display, and if the approach is continued, the crane is stopped by the control device.

(3) The simulation model in (2) above considers the movement direction, movement speed, stop distance, etc. of the jib, so that the avoidance operation can be performed before the collision, so that the jib itself, the conveyed object, and the rope are safe. An approach warning area and a work prohibition area are provided at a distance, and when this approach warning area contacts the approach warning area of the other crane, it is determined that there is a possibility of collision. The positional relationship of the simulation model is determined from the position of the jib pivot and the position of the tip, and this position is obtained in real time by the position detection device.

(4) In (2) above, the partner crane is also equipped with the same system as above, and the simulation model and position information are mutually transmitted in real time using a wireless device, so that the position of the jib of the partner crane is transferred. The relationship is built in the monitoring device and collision monitoring with multiple crane simulation models is performed.

[0062]

According to the present invention, regardless of the type of jib crane, including the case where the crane itself moves, a device that can be easily installed on the crane can detect a collision between the cranes that perform close work. It is possible to inform the operator of the crane, and as a result, it is possible to surely avoid the collision.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment in which a crane proximity warning device according to the present invention is applied to three cranes.

FIG. 2 is an explanatory diagram showing three cranes according to the embodiment of the present invention.

FIG. 3 is a flowchart showing an example of an approach warning processing procedure according to an embodiment of the present invention.

FIG. 4 is an explanatory diagram showing a construction example of a simulation model according to an embodiment of the present invention.

FIG. 5 is an explanatory diagram of an example of coordinate conversion of a simulation model according to the embodiment of the present invention.

FIG. 6 is an explanatory diagram of an approach detection example according to the embodiment of the present invention.

FIG. 7 is a schematic view of a truck crane.

FIG. 8 is a schematic view of a traveling-type crane with a jib.

FIG. 9 is a schematic view of a tower crane with a jib.

[Explanation of symbols] 1a Position detection device (tip) 1b Position detection device (swivel axis) 2 monitoring devices 3 alarm device 4 wireless devices 5 control device

Claims (7)

[Claims] 1. From the position of the crane itself and the position of the movable part of the crane, the occurrence of a collision by the movable part is predicted from a simulation model based on the preset surrounding conditions of the crane. Crane approach warning device characterized by generating an alarm in response. 2. In each of the plurality of cranes,
Detecting the position of each crane itself and the position of the movable part of the crane, transmitting these detection results between each of the multiple cranes, and predicting the occurrence of a collision between the multiple cranes from a simulation model The crane approach warning device is characterized in that an alarm is generated in each of the plurality of cranes according to the predicted result. 3. The crane approach warning device according to claim 1, wherein the simulation model is either two-dimensional or three-dimensional. 4. The approach warning area model according to claim 1, wherein the simulation model considers the state of the conveyed object such as the state load of the conveyed object, the moving direction, the moving speed, the rope length, and the rope angle, Crane approach warning device, which is equipped with a work-prohibited area model such as a work site building or device that has a risk of collision, and which detects the risk of collision. 5. The invention according to claim 2, wherein the simulation model includes at least a moving direction and a moving speed of a jib or a boom of a crane, and a stopping distance in order to enable an avoidance operation before a collision occurs. In view of the above, a crane approach warning device is provided, which is provided with an approach warning area model and a work prohibition area model having a safety distance from them, and is configured to be variable depending on the moving direction and speed of the movable part. 6. The invention according to claim 2, wherein the transmission of the detection result between the cranes is at least one of wired transmission and wireless transmission, and the wireless transmission includes a case of a wireless LAN. Characteristic crane proximity alarm device. 7. The crane approach warning device according to claim 1 or 2, wherein the position of the movable portion is transmitted by a data wireless device.