KR20190078984A - Monitoring system for preventing lift objects collision against crane - Google Patents

Abstract

The present invention relates to a monitoring system for preventing a collision between a hoisted material and a crane. The system includes: an image detector (30) generating a three-dimensional image about a hoisted material through a main camera (32) and a sub camera (34) which are mounted on a crane; a driving detector (40) detecting a position change of the crane as well as a position change of the hoisted material; and a control unit (50) controlling the image detector (30) and the driving detector (40) through a set algorithm. Therefore, collision information and collision expectation information are generated based on current movement information and information about a collision probability of an actual crane, thus securing safety in preparation for a serious accident caused by a collision between cranes or between a crane and a hoisted material.

Description

TECHNICAL FIELD [0001] The present invention relates to a monitoring system for preventing collision against crane,

The present invention relates to a crane collision avoidance system, and more particularly, to a surveillance system for preventing crane collision of a cargo which can effectively avoid interference even in a crane overlapping area by providing accurate information on a cargo within a crane work area .

The crane used in the industrial field, especially the shipyard site, has a work area which interferes horizontally or vertically among the cranes because a plurality of cranes perform mixed work in the same work space. The general technique is to give the information when the crane 's maximum range is overlapped by setting the maximum working area of the crane, or to the information when the area of the boom area overlaps with the crane master.

However, for example, in the case of a crane with a high ground level such as a Goliath crane and a crane with a very long boom (girder) and a tower crane moving on a rail, if the conventional method is applied to inform the work area interference information, When the tower crane is located at the bottom, the interfered information is output. Therefore, it is necessary to provide precise information on the hoisting of the cargo, since the shape and size of the cargo vary in the horizontal direction and the vertical direction in order to provide the hoisting information based on the hoist.

As a prior art document which can be referred to in this connection, Korean Public Utility Model Publication No. 2012-0007032 and Korean Patent Registration No. 1767734 are known.

The former is based on a laser scan sensor mounted on the boom of a tower crane. Tower crane located in a high cab Operator can see the position and the surrounding situation in the operator's cab even if the driver can not see the object approaching the jib from the ground, So that it can be grasped clearly.

The latter has a crane including a beam connecting upper ends of a pair of support members, a laser pointer mounted on the beam and moving along the longitudinal direction, and a hoist having a load measuring section. The end of the beam has a distance to the adjacent beam And a distance sensing sensor for sensing. Therefore, it is expected that the hook of the crane is positioned at the center of the conveyed object, so that the conveyed object is lifted accurately without shaking.

However, according to the above-mentioned prior art documents, the exact shape and size of the cargo is not taken into consideration, and therefore, a lot of skill and concentration of the operator must be relied upon.

Korean Public Utility Model Publication No. 2012-0007032 "Laser Scanning Collision Avoidance System" (Open date: October 12, 2012) Korean Patent Registration No. 1767734 entitled "Crane Safety Diagnosis System" (Open date: Feb. 28, 2017).

It is an object of the present invention to overcome the above-mentioned problems of the prior art by measuring the shape, size and lifting height and range of a lifting body moved by a crane, The present invention provides a surveillance system for preventing crane collision of a cargo which can clearly avoid a dynamic interference region with a surrounding crane or a structure by securing a position and an area in the x, y, and z axis directions with respect to water.

To achieve the above object, the present invention provides a surveillance system for preventing crane collision of a cargo, comprising: image detecting means for generating a three-dimensional image of a cargo by a main camera and a sub camera mounted on a crane; Operation detecting means for detecting a change in the position of the crawler along with a change in the position of the crawler; And control means for controlling the image detecting means and the operation detecting means with an established algorithm.

As a detailed configuration of the present invention, the image detecting means may further include at least one of a TOF camera for generating a depth image of a salvage, and a lid for generating three-dimensional information of a salvage and an area adjacent thereto do.

In the detailed construction of the present invention, the operation detecting means may include at least one of a GPS detector for detecting the absolute position of the cargo, a distance detector for detecting a change in the distance of the cargo to the crane, and a load detector for detecting a change in load of the crane .

The control unit displays information generated through the image processing unit of the controller on the display and alerts the driver of the collision of the cargo through the alarm unit.

At this time, the controller confirms the CAD information of the payee through the communication unit, downloads it from the server, and utilizes it.

As described above, according to the present invention, by measuring the shape of the cargo lifted at the bottom of the crane and reflecting it in the movement information of the crane, information on the possibility of collision of the actual crane and collision information and collision prediction information Therefore, it is possible to secure safety against a large accident caused by a collision between a crane and a crane lifting crane.

 In addition, there is an advantage that it can be used as maintenance data for maintenance of the crane by using the load cell information obtained from the crane together with the shape information of the crane lifting body.

1 is a block diagram generally illustrating a system according to the present invention;
2 is a block diagram showing the main part of the system according to the present invention;
Figure 3 is a block diagram illustrating circuit connections of a system in accordance with the present invention;

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The present invention proposes a surveillance system for crane collision avoidance. It is intended for, but is not necessarily limited to, sites for the construction of ships or offshore structures. 1, the main crane 20 is a Goliath crane traveling on a rail 10, and the sub-crane 25 is a movable tower crane. The main crane 20 causes the lifting and lowering of the lifting water 15 onto the hook 23 in the downward direction of the lifting device (hoist) 22 mounted on the boom rope 21.

If a large number of cranes are mixed in one workspace, if crane collision prevention area is set as a work interfering area between crane, it is often unreasonable in case of crane having different height. For example, in the case of a Goliath crane used for mounting a large block, a ground tower having a height approaching 100 m, while a mobile tower crane having a height of a few tens of meters is located under a Goliath crane, It will be different from displaying the warning information about the actual collision interference according to the position of the lifting object of the crane.

According to the present invention, the image detecting means 30 is a structure for generating a three-dimensional image of a cargo by means of a main camera 32 and a sub camera 34 mounted on a crane. The main camera 32 is a plurality of cameras mounted on the main crane 20 and the sub camera 34 is a plurality of cameras mounted on the sub crane 25. The main camera 32 constitutes a set of three or more so as to enable three-dimensional imaging of the cargo. The sub camera 34 is also preferably in the same manner as the main camera 32, but is not limited thereto.

Conventionally, there is no example in which information on the shape and outer size of the cargo 15, which is an object to be transported, is utilized merely by acquiring only the weight information of the lifted object of the crane using the load cell. As a recent technology, there has been attempted to set a work area for the entire crane working radius, and to provide an approach alarm and a collision avoidance alarm corresponding to another crane approach. However, the description of the information (shape, size, traction range in the z-axis direction) about the cargo is not reflected.

As a detailed configuration of the present invention, the image detecting means 30 includes a TOF camera 36 for generating a depth image of a salvage object, and 38 for generating three-dimensional information of a salvage and an area adjacent thereto And at least one of them is further provided. The TOF camera 36 transmits near infrared rays or ultrasound signals and receives reflected signals to generate depth information of the cargo. The lidar 38 transmits the laser pulse and measures the arrival time of the reflected wave to generate three-dimensional information with the spatial position coordinates of the object. The TOF camera 36 and the lid 38 are preferably installed together with the main camera 32, but may be installed in the lifter 22 for simplicity of configuration.

Further, according to the present invention, the operation detecting means (40) detects a change in the position of the crawler along with the change in the position of the crane. The operation detecting means 40 is means for assisting the image detecting means 30 to acquire 3D information of the cargo corresponding to the moving crane. Conventionally, a method of setting all of the working radius of the crane as an interference region based on the GPS information and a method of forming a dynamic region according to the GPS coordinate transformation of the master boom table 21 of the crane, And a method of setting a crane work area for the area.

The operation detecting means 40 includes a GPS detector 42 for detecting the absolute position of the cargo, a distance detector 44 for detecting the distance variation of the cargo to the crane, And a load detector 46 for detecting a load.

The GPS detector 42 is a means for recognizing the absolute position of the cargo based on the GPS coordinates generated by the GPS receiver and the information of the rail 10 on which the crane on the actual electronic map can move, The location of the tower (Leg / Tower) can be grasped. Of course, based on the location of the crane, it is possible to obtain information about the center point of the cargo. In addition, it is possible to add IMU (Inertial Measurement Unit) sensor or utilize the rail position information of the PLC for crane control (encoder information for rail run motor, limit information for the end point of rail and position information correction at the midpoint).

The distance detector 44 is installed on the hoisting machine 22 of the crane and detects a signal corresponding to a change in the distance (height) of the hook 23. [

The load detector 46 is installed on the bottom surfaces of both legs of the crane and detects a signal of a change in weight corresponding to the movement of the cargo.

On the other hand, the reliability of the shape and size information of the cargo can be enhanced by using a line (grid) laser or white light or the like in the operation detecting means 40.

Further, according to the present invention, the control means (50) controls the image detecting means (30) and the operation detecting means (40) with an established algorithm. The control means 50 is based on a microprocessor, a memory, and a controller 52 equipped with an input / output interface. The image detecting means 30 and the operation detecting means 40 are connected to the input interface. The alarm unit 55, the display, and the like are connected to the output interface. The image processing unit 54 is connected to the input interface and to the output interface. As shown in FIG. 2, a plurality of cameras of the image detecting means 30 are installed so as to directly see the cargo without having the posture change while having the GPS information at the edge of the crane or the central portion (hoist portion). The controller 52 extracts the external shape information of the cargo based on the camera having the hoist GPS coordinate information of the crane shown in the acquired image in the absence of the cargo, and obtains the position of the cargo in the x, y, And the region is extracted.

The control means 50 displays information generated through the image processing unit 54 of the controller 52 on the display and alerts the collision condition of the cargo through the alarm unit 55 .

The image processing unit 54 performs a dynamic estimation function (algorithm) on the cargo while driving the rail while the crane tows the cargo. This is a method in which the shape and size of the salvage extracted from the video screen illuminating the entire crane are calculated by the wired / wireless camera having the GPS coordinate information, and the dynamic estimation of the salvage is performed so that the center point of the salvage can be estimated and moved according to the movement of the GPS coordinates. The resultant processed by the image processing unit 54 is outputted through a display for easy recognition by the operator.

The controller 52 determines whether or not the collision prediction with the nearest crane and the nearest crane monitored in the terminal PC through the current movement speed reference (GPS movement coordinate change information or crane speed information using the IMU sensor) Provide a pre-alarm. An algorithm for calculating a prediction of a collision based on the current measured data is provided, and an audiovisual alarm is provided through the alarm unit 55. Of course, in addition to the collision warning of the crane and the lift, it also includes a collision warning between the crane and the crane.

At this time, the controller 52 confirms the CAD information of the cargo through the communication unit 56, and downloads the CAD information from the server 58 for use. The communication unit 56 allows the video information / GPS coordinate / IMU information acquired from the crane to be transmitted to the central monitoring server 58 and the PC through the wireless communication infrastructure. When the server 58 has CAD information for a crane and a cargo, it can increase the operation speed of the algorithm by retrieving the CAD file and recognizing the shape in advance.

In the actual application, even if there is CAD information about the actual lifting body in the process of measuring the shape of the crane lifting body having various shapes, since the hoisting height of the hoisting body changes in the Z axis direction, It is necessary to combine an algorithm for measuring the number of pixels. That is, even if the CAD drawing information exists, the actual drawing data may be slightly different from the actual drawing information, and accurate monitoring through the system of the present invention is possible even if there is no CAD information.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention. It is therefore intended that such variations and modifications fall within the scope of the appended claims.

10: rail 15:
20: main crane 21: boom
22: lifter 23: hook
25: sub crane 30: image detecting means
32: main camera 34: sub camera
36: TOF camera 38: LiDAR (LiDAR)
40: operation detecting means 42: GPS detector
44: Distance detector 46: Load detector
50: control means 52:
54: image processor 55:
56: communication unit 58: server

Claims (5)

CLAIMS 1. A surveillance system for preventing crane collision of a cargo:
An image detecting means (30) for generating a three-dimensional image of a cargo by means of a main camera (32) and a sub camera (34) mounted on a crane;
An operation detecting means (40) for detecting a change in the position of the crawler as well as a change in the position of the crawler; And
And a control means (50) for controlling the image detecting means (30) and the operation detecting means (40) with an established algorithm. The method according to claim 1,
The image detecting means 30 may further include at least one of a TOF camera 36 for generating a depth image of the salvage, and LR 38 for generating three-dimensional information of the salvage and the area adjacent thereto Monitoring system for crane collision avoidance. The method according to claim 1,
The operation detecting means 40 includes a GPS detector 42 for detecting the absolute position of the cargo, a distance detector 44 for detecting the distance variation of the cargo to the crane, and a load detector 46 for detecting the load change of the crane Wherein at least one of the crane and the crane is provided. The method according to claim 1,
Wherein the control means (50) displays the information generated through the image processing section (54) of the controller (52) on the display and alerts the collision situation of the cargo through the alarm section (55) Monitoring system for. The method of claim 4,
The controller (52) checks the CAD information of the cargo through the communication unit (56), and downloads the downloaded CAD information from the server (58).

Images