JP2007276996A - Jib operation monitoring device of construction machine, jib operation monitoring method of construction machine and operation monitoring system of construction machine - Google Patents

Jib operation monitoring device of construction machine, jib operation monitoring method of construction machine and operation monitoring system of construction machine Download PDF

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JP2007276996A
JP2007276996A JP2006109533A JP2006109533A JP2007276996A JP 2007276996 A JP2007276996 A JP 2007276996A JP 2006109533 A JP2006109533 A JP 2006109533A JP 2006109533 A JP2006109533 A JP 2006109533A JP 2007276996 A JP2007276996 A JP 2007276996A
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jib
construction machine
operation monitoring
coordinate information
length
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Kazuya Watanabe
和哉 渡辺
Koji Kanba
浩二 神庭
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Obayashi Corp
Nishio Rent All Co Ltd
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Obayashi Corp
Nishio Rent All Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)

Abstract

<P>PROBLEM TO BE SOLVED: To provide a jib operation monitoring device for monitoring operation of a construction machine having a turnable jib for easily and safely performing maintenance-inspection work. <P>SOLUTION: This jib operation monitoring device of the construction machine has the jib turnable in the horizontal direction such as a crane, and has a GPS compass 23 installed in the jib or a turning part turning together with this jib and detecting an azimuth of the jib, and a jib coordinate calculating part 12 calculating jib coordinate information for expressing coordinates of jib respective parts including at least a tip part of the jib on the basis of measuring information including the azimuth detected by the GPS compass and the length of the jib. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

本発明は、建設現場においてクレーンや掘削機などジブを有する建設機械のジブの動作を監視する装置及び方法に関するものである。また、本発明は、この建設機械のジブの座標を計算する装置を用いた建設機械同士の衝突や建設機械と既存建物の接触を防止するための動作監視システムに関する。   The present invention relates to an apparatus and method for monitoring the operation of a jib of a construction machine having a jib such as a crane or an excavator at a construction site. The present invention also relates to an operation monitoring system for preventing a collision between construction machines and a contact between the construction machine and an existing building using the apparatus for calculating the jib coordinates of the construction machine.

従来より、クレーンなどのジブを有する建設機械同士の衝突の防止又は建設機械と周囲の建物との接触を防止するため、建設機械のジブの旋回角度や起伏角度を検出し、検出した旋回角度や起伏角度に基づき、建設機械同士又は周囲の建物との接近を判定することが行われている。   Conventionally, in order to prevent a collision between construction machines having a jib such as a crane or a contact between the construction machine and a surrounding building, the turning angle or the undulation angle of the construction machine jib is detected, and the detected turning angle or The approach between construction machines or surrounding buildings is determined based on the undulation angle.

特許文献１には、このような判定にＧＰＳ（Ｇｌｏｂａｌ Ｐｏｓｉｔｉｏｎｉｎｇ Ｓｙｓｔｅｍ）装置を用いたシステムとして、移動式クレーンなどの建設機械のジブを含む２箇所にＧＰＳアンテナを取り付けてＧＰＳ計測装置により３次元絶対座標を検出し、ＧＰＳ計測装置により検出された３次元座標に基づき、建設機械の位置及びジブの姿勢を計算し、この計算結果に基づいて、建設機械同士の衝突の危険の有無又は建設機械が侵入禁止エリアへ侵入する危険の有無を判定する装置が記載されている。
特開２００５−２９３３８号公報 In Patent Document 1, as a system using a GPS (Global Positioning System) device for such a determination, GPS antennas are attached to two locations including a jib of a construction machine such as a mobile crane, and a three-dimensional absolute value is obtained by a GPS measuring device. The coordinates are detected, and the position of the construction machine and the jib posture are calculated based on the three-dimensional coordinates detected by the GPS measuring device. Based on the calculation result, whether there is a risk of collision between construction machines or the construction machine An apparatus for determining whether or not there is a risk of entering an intrusion prohibited area is described.
JP 2005-29338 A

特許文献１記載の装置では、建設機械の位置及び姿勢を計算する装置として、ジブを含む２箇所に取り付けられたＧＰＳアンテナを用いているが、精度良く建設機械の位置及びジブの姿勢を計算するためには、ＧＰＳアンテナの一方をクレーンのジブの先端に取付ける必要がある。しかしながら、ＧＰＳアンテナをクレーンのジブの先端に取り付けてしまうと、このＧＰＳアンテナの補修、点検が、高所作業となってしまう。   In the device described in Patent Document 1, GPS antennas attached to two locations including the jib are used as a device for calculating the position and posture of the construction machine. However, the position and the jib posture of the construction machine are accurately calculated. This requires that one of the GPS antennas be attached to the tip of the crane jib. However, if the GPS antenna is attached to the tip of the jib of the crane, the repair and inspection of the GPS antenna becomes a work at a high place.

本発明は、上記の問題点に鑑みなされたものであり、その目的は、容易かつ安全に保守、点検作業を行うことのできる旋回可能なジブを備える建設機械のジブの座標情報を計算するジブ動作監視装置及びこの装置を用いた動作監視システムを提供することである。   The present invention has been made in view of the above-described problems, and an object of the present invention is to calculate jib coordinate information of a jib of a construction machine including a swivelable jib that can be easily and safely maintained and inspected. It is an object to provide an operation monitoring apparatus and an operation monitoring system using this apparatus.

本発明の建設機械のジブ動作監視装置は、クレーンなど水平方向に旋回可能なジブを有する建設機械のジブ動作監視装置であって、前記ジブ又はこのジブと共に旋回する旋回部に取り付けられ、前記ジブの方位を検出する方位検出手段と、前記方位検出手段により検出された方位と、前記ジブの長さとに基づき、前記ジブの少なくとも先端部を含むジブ各部の座標を表すジブ座標情報を計算するジブ座標計算部と、を備えることを特徴とする。   A jib motion monitoring device for a construction machine according to the present invention is a jib motion monitoring device for a construction machine having a jib that can pivot in a horizontal direction, such as a crane, and is attached to the jib or a swivel unit that swivels together with the jib. Based on the azimuth detecting means for detecting the azimuth of the jib, the jib coordinate information representing the coordinates of each part of the jib including at least the tip of the jib based on the azimuth detected by the azimuth detecting means and the length of the jib. And a coordinate calculation unit.

また、前記ジブは伸縮可能であり、前記ジブの長さを測定するジブ長さ測定手段を備え、前記ジブ座標計算部は、前記ジブ長さ測定手段により測定された前記ジブの長さと、前記方位とに基づき、前記ジブ座標情報を計算してもよい。   The jib is extendable and includes a jib length measuring unit that measures the length of the jib, and the jib coordinate calculation unit includes the jib length measured by the jib length measuring unit, and the jib length measuring unit. The jib coordinate information may be calculated based on the direction.

また、前記ジブは鉛直方向に起伏可能であり、前記ジブの起伏角度を検出する起伏角度検出手段を備え、前記ジブ座標計算部は、前記起伏角度検出手段により検出されたジブの起伏角度と、前記方位と前記ジブの長さとに基づき前記ジブ座標情報を計算してもよい。
また、前記建設機械は移動可能であり、前記建設機械の位置を検出する位置検出手段を備え、前記ジブ座標計算部は、前記位置検出手段により検出された位置情報と、前記方位と、前記ジブの長さとに基づき、前記ジブ座標情報を計算してもよい。また、前記方位検出手段はＧＰＳコンパスであってもよい。 Further, the jib can be undulated in the vertical direction, and includes a undulation angle detection means for detecting the undulation angle of the jib, and the jib coordinate calculation unit includes the undulation angle of the jib detected by the undulation angle detection means, The jib coordinate information may be calculated based on the azimuth and the jib length.
The construction machine is movable, and includes position detection means for detecting the position of the construction machine. The jib coordinate calculation unit includes position information detected by the position detection means, the direction, and the jib. The jib coordinate information may be calculated based on the length of the jib. Further, the azimuth detecting means may be a GPS compass.

以上の建設機械のジブ動作監視装置によれば、方位検出手段により検出された方位とジブの長さに基づき建設機械の位置及び姿勢を検出することができるため、ジブの先端に測定装置を設置する必要がなく、測定装置の保守、点検にあたって高所作業が不要となり、作業性が向上する。   According to the above-described construction machine jib motion monitoring device, the position and orientation of the construction machine can be detected based on the orientation detected by the orientation detection means and the length of the jib, so a measuring device is installed at the tip of the jib. This eliminates the need to perform work at high places for maintenance and inspection of the measuring device, and improves workability.

また、本発明の建設機械の動作監視システムは、上記の建設機械のジブ動作監視装置と、前記ジブ動作監視装置により計算されたジブ座標情報に基づき、建設機械の侵入禁止エリアへの侵入の危険の有無を判定する危険判定部とを備えることを特徴とする。   Also, the construction machine operation monitoring system of the present invention is based on the above-described construction machine jib motion monitoring device and the jib coordinate information calculated by the jib motion monitoring device. A risk determination unit for determining the presence or absence of

また、本発明の建設機械の動作監視システムは、クレーンなど水平方向に旋回可能なジブを有する複数の建設機械同士の接触又は衝突の危険の有無を判定するための動作監視システムであって、各建設機械の前記ジブ又はこのジブと共に旋回する旋回部に取り付けられ、前記ジブの方位を検出する方位検出手段と、各建設機械の前記方位検出手段により検出された方位と、前記ジブの長さとに基づき、各建設機械の前記ジブの少なくとも先端部を含むジブ各部の座標を表すジブ座標情報を計算するジブ座標計算部と、前記ジブ座標計算部により計算された各建設機械のジブ座標情報に基づき、前記建設機械同士の接触又は衝突の危険の有無を判定する危険判定部を備えることを特徴とする。
また、上記の建設機械の動作監視システムにおいて、各建設機械は移動可能であり、各建設機械の位置を検出する位置検出手段を備え、前記ジブ座標計算部は、前記位置検出手段により検出された各建設機械の位置情報と、前記方位と、前記ジブの長さとに基づき、各建設機械の前記ジブ座標情報を計算してもよい。
また、前記危険判定部は、建設機械同士の接触又は衝突の危険の有無を判定するとともに、前記ジブ座標計算部により計算されたジブ座標情報に基づき、建設機械の侵入禁止エリアへの侵入の危険の有無を判定してもよい。 The operation monitoring system for a construction machine according to the present invention is an operation monitoring system for determining whether there is a risk of contact or collision between a plurality of construction machines having a jib that can pivot in a horizontal direction, such as a crane. The azimuth detecting means attached to the jib of the construction machine or the swivel part turning with the jib and detecting the azimuth of the jib, the azimuth detected by the azimuth detecting means of each construction machine, and the length of the jib Based on the jib coordinate calculation unit for calculating the jib coordinate information representing the coordinates of each part of the jib including at least the tip of the jib of each construction machine, and based on the jib coordinate information of each construction machine calculated by the jib coordinate calculation unit. Further, the present invention is characterized in that a risk determination unit that determines whether there is a risk of contact or collision between the construction machines is provided.
Further, in the above construction machine operation monitoring system, each construction machine is movable, and includes position detection means for detecting the position of each construction machine, and the jib coordinate calculation unit is detected by the position detection means. The jib coordinate information of each construction machine may be calculated based on the position information of each construction machine, the direction, and the length of the jib.
The risk determination unit determines whether there is a risk of contact or collision between construction machines, and based on the jib coordinate information calculated by the jib coordinate calculation unit, the risk of intrusion into the intrusion prohibited area of the construction machine. You may determine the presence or absence of.

また、本発明は、クレーンなど水平方向に旋回可能なジブを有する建設機械のジブ動作監視方法であって、前記ジブ又はこのジブと共に旋回する旋回部に方位検出手段を取り付け、前記方位検出手段によりジブの方位を検出し、前記方位検出手段により検出された方位と、前記ジブの長さとに基づき、前記ジブの少なくとも先端部を含むジブ各部の座標を表すジブ座標情報を計算することを特徴とする建設機械のジブ動作監視方法を含むものとする。   Further, the present invention is a method for monitoring a jib operation of a construction machine having a jib that can turn in a horizontal direction such as a crane, wherein a direction detecting means is attached to the jib or a turning portion that turns together with the jib, and the direction detecting means Detecting the direction of the jib and calculating jib coordinate information representing the coordinates of each part of the jib including at least the tip of the jib based on the direction detected by the direction detection means and the length of the jib It shall include a method for monitoring the jib motion of construction machinery.

本発明によれば、測定装置をクレーンのジブの先端に取り付けなくても、精度良く建設機械のジブの座標情報を検出することができるため、測定装置の保守、点検作業を安全に行うことができる。   According to the present invention, since the coordinate information of the jib of the construction machine can be accurately detected without attaching the measuring device to the tip of the jib of the crane, maintenance and inspection work of the measuring device can be performed safely. it can.

＜第１実施形態＞
以下、本発明の建設機械の動作監視システムの第１実施形態を図面を参照しながら詳細に説明する。なお、以下の説明では、動作監視システムをタワークレーンの動作の監視に適用し、このタワークレーンのジブが旋回や起伏することにより、周囲の建物の近傍などの侵入禁止エリアに侵入する危険の有無を判定する場合について説明する。 <First Embodiment>
Hereinafter, a construction machine operation monitoring system according to a first embodiment of the present invention will be described in detail with reference to the drawings. In the following explanation, the motion monitoring system is applied to monitor the operation of the tower crane, and the presence or absence of danger of entering the intrusion prohibited area such as the vicinity of the surrounding building by turning or undulating the tower crane jib. A case where the determination is made will be described.

図１は、本実施形態の動作監視システム１の構成を示す図である。同図に示すように、本実施形態の動作監視システム１は、タワークレーンのジブとともに旋回する旋回部（以下、タワークレーン旋回部という）に取り付けられたＧＰＳコンパス２３と、タワークレーンのジブに取り付けられた傾斜計２２と、ＧＰＳコンパス２３及び傾斜計２２と無線通信装置２４を介して通信可能な現場事務所等に設置された監視装置１０とを備える。   FIG. 1 is a diagram illustrating a configuration of an operation monitoring system 1 according to the present embodiment. As shown in the figure, the motion monitoring system 1 of the present embodiment is attached to a GPS compass 23 attached to a turning part (hereinafter referred to as a tower crane turning part) that turns together with a tower crane jib, and to the tower crane jib. And the monitoring device 10 installed in a field office or the like that can communicate with the GPS compass 23 and the inclinometer 22 via the wireless communication device 24.

ＧＰＳコンパス２３は、タワークレーン旋回部に取り付けられた一対のＧＰＳアンテナ２１と、このＧＰＳアンテナ２１と電気的に接続された方位計算部２０とを備える。ＧＰＳコンパス２３は、一対のＧＰＳアンテナ２１が衛星よりＧＰＳ信号を受信し、方位算定部２０が、一対のＧＰＳアンテナ２１を結ぶ方向の絶対方位を算定する。従って、一対のＧＰＳアンテナ２１の取付け時に、一対のＧＰＳアンテナ２１を結ぶ方向と、ジブの方向との関係を定めておけば、ＧＰＳコンパス２３により、ジブの絶対方位、すなわちクレーンの絶対方位を得ることができる。なお、この場合の絶対方位は、真北を０°とし、時計回りを正とする。   The GPS compass 23 includes a pair of GPS antennas 21 attached to the tower crane turning unit, and an azimuth calculation unit 20 electrically connected to the GPS antenna 21. In the GPS compass 23, the pair of GPS antennas 21 receive GPS signals from the satellites, and the direction calculation unit 20 calculates the absolute direction in the direction connecting the pair of GPS antennas 21. Therefore, if the relationship between the direction connecting the pair of GPS antennas 21 and the direction of the jib is determined when the pair of GPS antennas 21 is attached, the absolute direction of the jib, that is, the absolute direction of the crane is obtained by the GPS compass 23. be able to. In this case, the absolute direction is 0 ° for true north and positive for clockwise.

傾斜計２２は、後述するように、タワークレーンのジブに取り付けられており、タワークレーンのジブの起伏角度を測定するものである。なお、このような傾斜計としては、例えば、液封入式の傾斜角センサなどを用いることができる。
ＧＰＳコンパス２３及び傾斜計２２により測定されたタワークレーンの絶対方位及びタワークレーンのジブの起伏角度は、無線通信装置２４により監視装置１０に送信される。 As will be described later, the inclinometer 22 is attached to the jib of the tower crane and measures the undulation angle of the tower crane jib. As such an inclinometer, for example, a liquid-filled tilt angle sensor can be used.
The absolute direction of the tower crane and the undulation angle of the jib of the tower crane measured by the GPS compass 23 and the inclinometer 22 are transmitted to the monitoring device 10 by the wireless communication device 24.

ここで、ＧＰＳコンパス２３のＧＰＳアンテナ２１及び傾斜計２２の取り付け位置について説明する。図２は、タワークレーン旋回部２におけるＧＰＳアンテナ２１及び傾斜計２２の取り付け位置を示し、（Ａ）はタワークレーン旋回部２の平面図であり、（Ｂ）は立面図である。同図（Ａ）に示すように、一対のＧＰＳアンテナ２１は、タワークレーン旋回部２の後方の手すり４など、タワークレーン旋回部２の旋回やジブ３の起伏の障害とならず、容易に取り付け可能な２箇所に設置されている。また、同図（Ｂ）に示すように、傾斜計２２はタワークレーンのジブ３の付け根付近などの、ジブ３の起伏の障害とならず、かつ、容易に取り付け可能な位置に取り付けられている。
また、図２（Ａ）によれば、一対のＧＰＳアンテナ２１の方向と、ジブの方向は９０°となっているので、ＧＰＳコンパス２３により得られた絶対方位に９０°を加えたものがタワークレーンの絶対方位となる。 Here, the mounting positions of the GPS antenna 21 and the inclinometer 22 of the GPS compass 23 will be described. FIGS. 2A and 2B show the attachment positions of the GPS antenna 21 and the inclinometer 22 in the tower crane turning unit 2, FIG. 2A is a plan view of the tower crane turning unit 2, and FIG. 2B is an elevation view. As shown in FIG. 5A, the pair of GPS antennas 21 are easily installed without being an obstacle to the turning of the tower crane turning unit 2 or the undulation of the jib 3 such as the handrail 4 behind the tower crane turning unit 2. It is installed at two possible locations. Further, as shown in FIG. 2B, the inclinometer 22 is attached at a position where it does not become an obstacle to the undulation of the jib 3 and can be easily attached, such as near the base of the jib 3 of the tower crane. .
Further, according to FIG. 2A, since the direction of the pair of GPS antennas 21 and the direction of the jib are 90 °, the tower obtained by adding 90 ° to the absolute azimuth obtained by the GPS compass 23 The absolute bearing of the crane.

図１に戻り、監視装置１０は、位置情報受信部１１と、ジブ座標計算部１２と、モデル記憶部１５と、危険判定部１３と、判定結果送信部１４と、表示部１６とを備える。
位置情報受信部１１は、無線通信装置２４を介してＧＰＳコンパス２３及び傾斜計２２により測定されたタワークレーンの旋回部２の絶対方位及びジブ３の起伏角度を受信する。
モデル記憶部１５には、予め、各種タワークレーンの３次元モデルデータと、建築現場の敷地周辺の建物などに基づいて設定された接触等の危険のある侵入禁止エリアを表す３次元モデルデータとが格納されている。 Returning to FIG. 1, the monitoring device 10 includes a position information reception unit 11, a jib coordinate calculation unit 12, a model storage unit 15, a risk determination unit 13, a determination result transmission unit 14, and a display unit 16.
The position information receiving unit 11 receives the absolute azimuth of the turning unit 2 of the tower crane and the undulation angle of the jib 3 measured by the GPS compass 23 and the inclinometer 22 via the wireless communication device 24.
The model storage unit 15 includes, in advance, three-dimensional model data of various tower cranes and three-dimensional model data representing an intrusion prohibited area having a risk of contact or the like set based on buildings around the site of the construction site. Stored.

ジブ座標計算部１２は、位置情報受信部１１が受信したタワークレーンの旋回部２の絶対方位と、ジブ３の起伏角度と、モデル記憶部１５に記録されたタワークレーンの３次元モデルデータに基づきタワークレーンの旋回部２のジブ先端及び各部の座標（以下、ジブの座標情報という）を計算する。
図３は、ジブ先端及び各部の座標を計算する方法を説明するための平面図及び立面図である。図３に示すように、例えば、Ｙ軸正方向と絶対方位の０°が一致するようにＸＹＺの３軸を設定する。ＧＰＳコンパス２３により得られたタワークレーンの絶対方位をφ°とすると、Ｙ軸正方向と絶対方位０°とは一致しているので、Ｙ軸正方向とタワークレーンの絶対方位とのなす角は、φ°となる。また、Ｘ軸正方向と、タワークレーンの絶対方位とのなす角は、（９０−φ）°となる。ジブの起伏角をθ°、ジブの長さをＬ１とし、タワークレーンの中心３次元座標を（Ｘ１、Ｙ１，Ｚ１）とすると、ジブの先端の３次元座標（Ｘ２、Ｙ２，Ｚ２）は、以下の式で算出することができる。
Ｘ２＝Ｘ１＋Ｌ１×ｃｏｓθ×ｃｏｓ（９０−φ）
Ｙ２＝Ｙ１＋Ｌ１×ｃｏｓθ×ｓｉｎ（９０−φ）
Ｚ２＝Ｚ１＋Ｌ１×ｓｉｎθ
また、ジブ座標計算部１２では、ジブ３の先端の３次元座標に限らず、上記式において、Ｌ１に変えて０〜Ｌ１の値を用いることで、タワークレーンのジブ３の各部の３次元座標を計算することができる。 The jib coordinate calculation unit 12 is based on the absolute direction of the turning unit 2 of the tower crane, the undulation angle of the jib 3 received by the position information receiving unit 11, and the three-dimensional model data of the tower crane recorded in the model storage unit 15. The jib tip of the turning part 2 of the tower crane and the coordinates of each part (hereinafter referred to as jib coordinate information) are calculated.
FIG. 3 is a plan view and an elevation view for explaining a method of calculating the coordinates of the jib tip and each part. As shown in FIG. 3, for example, the three axes of XYZ are set so that the positive direction of the Y axis coincides with 0 ° of the absolute direction. If the absolute direction of the tower crane obtained by the GPS compass 23 is φ °, the Y axis positive direction and the absolute direction 0 ° coincide with each other, so the angle formed by the Y axis positive direction and the absolute direction of the tower crane is , Φ °. Further, the angle formed by the positive direction of the X axis and the absolute direction of the tower crane is (90−φ) °. When the undulation angle of the jib is θ °, the length of the jib is L1, and the center three-dimensional coordinates of the tower crane are (X1, Y1, Z1), the three-dimensional coordinates (X2, Y2, Z2) of the tip of the jib are It can be calculated by the following formula.
X2 = X1 + L1 × cos θ × cos (90−φ)
Y2 = Y1 + L1 × cos θ × sin (90−φ)
Z2 = Z1 + L1 × sin θ
Further, the jib coordinate calculation unit 12 is not limited to the three-dimensional coordinates of the tip of the jib 3, but in the above formula, by using a value of 0 to L1 instead of L1, the three-dimensional coordinates of each part of the jib 3 of the tower crane are used. Can be calculated.

危険判定部１３は、モデル記憶部１５に記録されたタワークレーン及び侵入禁止エリアの３次元モデルデータを取得し、取得したタワークレーンの３次元モデルデータ及びジブ座標計算部１２が計算したジブの座標情報に基づき、タワークレーンの周囲に衝突警報ゾーン（図４中に斜線を付して示す）を設定する。そして、この衝突警報ゾーンが、モデル記憶部１５より取得した侵入禁止エリアに侵入するかどうかにより、衝突の危険の有無を判定する。   The risk determination unit 13 acquires the three-dimensional model data of the tower crane and the intrusion prohibited area recorded in the model storage unit 15, and the acquired three-dimensional model data of the tower crane and the jib coordinates calculated by the jib coordinate calculation unit 12. Based on the information, a collision warning zone (shown by hatching in FIG. 4) is set around the tower crane. Then, whether or not there is a danger of collision is determined based on whether or not the collision warning zone enters the intrusion prohibited area acquired from the model storage unit 15.

図４は、表示部１６に描画された侵入禁止エリアにタワークレーンの衝突警告ゾーンが侵入した場合の表示画面の一例を示す図である。図４に示すように、表示部１６は、モデル記憶部１５に記録された建築現場周辺の３次元モデルデータに基づき、建築現場周囲の侵入禁止エリアを表示するとともに、これに重ねて、ジブ座標計算部１２の計算したジブの座標情報に基づき建設機械の姿勢と、危険判定部１３の設定した衝突警報ゾーンとを表示する。   FIG. 4 is a diagram illustrating an example of a display screen when the collision warning zone of the tower crane has entered the intrusion prohibited area drawn on the display unit 16. As shown in FIG. 4, the display unit 16 displays an intrusion prohibited area around the building site based on the three-dimensional model data around the building site recorded in the model storage unit 15, and overlaps this with the jib coordinates. Based on the jib coordinate information calculated by the calculation unit 12, the attitude of the construction machine and the collision warning zone set by the danger determination unit 13 are displayed.

判定結果送信部１４は、危険判定部１３により衝突の危険があると判定された場合に、タワークレーンの無線通信装置２４へ警報信号を送信する。タワークレーンの無線通信装置２４は、この警報信号を受信すると、例えば光の点滅や警報音などによりタワークレーンのオペレータに侵入禁止エリアに侵入する危険がある旨を表示する。   The determination result transmission unit 14 transmits an alarm signal to the wireless communication device 24 of the tower crane when the risk determination unit 13 determines that there is a risk of collision. When the tower crane wireless communication device 24 receives this warning signal, it displays to the operator of the tower crane that there is a risk of entering the prohibited entry area, for example, by flashing light or an alarm sound.

以上説明したように、動作監視システム１によれば、ＧＰＳコンパス２３及び傾斜計２２によりタワークレーン旋回部２の絶対方位及びジブ３の起伏角度を測定し、ジブ座標計算部１２が、この測定結果に基づきタワークレーンの旋回部２のジブの座標情報を計算し、ジブ座標計算部１２により計算されたジブの座標情報に基づき、建築現場の周囲の侵入禁止エリアに侵入する危険を判定し、オペレータに警告することができる。これにより、侵入禁止エリアへの侵入を未然に防止できる。   As described above, according to the motion monitoring system 1, the GPS compass 23 and the inclinometer 22 measure the absolute direction of the tower crane turning unit 2 and the undulation angle of the jib 3, and the jib coordinate calculation unit 12 Based on the jib coordinate information of the swivel unit 2 of the tower crane, and based on the jib coordinate information calculated by the jib coordinate calculation unit 12, the risk of entering the intrusion prohibited area around the building site is determined. Can be warned. Thereby, it is possible to prevent intrusion into the intrusion prohibited area.

また、本実施形態の動作監視システム１において、ＧＰＳコンパス２３のＧＰＳアンテナ２１は、タワークレーンの旋回部２の異なる２点に取り付けられていれば、旋回部２の絶対方位を得ることができる。このため、上述したようにＧＰＳアンテナ２１を例えば運転室後方の手すり４などに取付けることにより、安全かつ容易に保守、点検作業を行うことができる。同様に、傾斜計２２もジブ３の一部であれば、取り付け位置を問わない。このため、上述したように、ジブ３の付け根などに取付けることにより、安全かつ容易に保守、点検作業を行うことができる。このように、本実施形態の動作管理システム１によれば、高所作業を軽減し、安全かつ容易に保守点検作業を行うことができる。   Moreover, in the operation | movement monitoring system 1 of this embodiment, if the GPS antenna 21 of the GPS compass 23 is attached to two different points of the turning part 2 of the tower crane, the absolute direction of the turning part 2 can be obtained. For this reason, by attaching the GPS antenna 21 to the handrail 4 behind the cab, for example, as described above, maintenance and inspection work can be performed safely and easily. Similarly, as long as the inclinometer 22 is a part of the jib 3, the attachment position is not limited. For this reason, as described above, by attaching to the base of the jib 3 or the like, maintenance and inspection work can be performed safely and easily. As described above, according to the operation management system 1 of the present embodiment, it is possible to reduce the work at a high place and perform maintenance and inspection work safely and easily.

なお、上記の実施形態では、ジブ３の起伏が可能であるタワークレーンを対象としたが、トンボクレーンのようなジブ３を起伏する機能を備えないクレーンに対しても適用することができる。この場合には、傾斜計２２が不要となり、ジブ座標計算部１２における計算では、ジブの起伏角度θを０として計算すればよい。   In addition, in said embodiment, although the tower crane which can raise / lower the jib 3 was made into object, it is applicable also to the crane which does not have the function which raises / lowers the jib 3 like a dragonfly crane. In this case, the inclinometer 22 is not necessary, and the jib undulation angle θ may be calculated as 0 in the calculation in the jib coordinate calculation unit 12.

また、本発明は、伸縮可能なジブを有するクレーンに対しても適用することができる。このような場合には、例えば、ジブの付け根にレーザ式の距離計を設置し、ジブの先端に距離計のターゲットを設置すること等により、ジブの長さを測定し、この測定したジブの長さをジブ座標計算部における式のＬ１に代入して計算すればよい、   The present invention can also be applied to a crane having an expandable / contractible jib. In such a case, for example, the length of the jib is measured by installing a laser-type distance meter at the base of the jib and a target of the distance meter at the tip of the jib. What is necessary is just to calculate by substituting the length into L1 of the formula in the jib coordinate calculator.

また、本発明は、移動式クレーンなどの移動可能な建築機械に対しても適用することができる。このような場合には、例えば、適用の対象となる建築機械にＧＰＳ装置などの３次元的な位置を測定する装置を設置し、このＧＰＳ装置により測定された３次元的な位置をジブ座標計算部における計算の（Ｘ１、Ｙ１、Ｚ１）に代入することにより、ジブの座標情報を計算することができ、これに基づき、侵入禁止エリアへの侵入の危険の有無を判定することができる。
また、上記の実施形態では、監視装置１０を現場事務所などに設置する構成としたが、これに限らず、監視装置１０を建設機械に搭載する構成としてもよい。 The present invention can also be applied to movable building machines such as mobile cranes. In such a case, for example, a device for measuring a three-dimensional position, such as a GPS device, is installed in a building machine to be applied, and the three-dimensional position measured by the GPS device is calculated by jib coordinates. By substituting into the calculation (X1, Y1, Z1) in the section, it is possible to calculate the coordinate information of the jib, and based on this, it is possible to determine whether there is a risk of intrusion into the intrusion prohibited area.
In the above embodiment, the monitoring device 10 is installed in a field office or the like. However, the configuration is not limited thereto, and the monitoring device 10 may be mounted on a construction machine.

＜第２実施形態＞
次に、本発明が複数の移動式クレーンの接触の危険を判定する動作監視システムとして適用された場合の実施形態について説明する。なお、第１実施形態と同様の構成部分については、第１実施形態と同じ符号を付して詳細な説明を省略する。
図５は、本実施形態の動作監視システム３０の構成を示す図である。同図に示すように、本実施形態の動作監視システム３０は、各移動式クレーンの旋回部に取り付けられたＧＰＳコンパス２３と、ジブに取り付けられた傾斜計２２と、無線通信装置２４に加えて、ＧＰＳ装置２５が移動式クレーンに取り付けられている。ＧＰＳ装置２５は移動式クレーンの３次元的な位置を測定する。ＧＰＳ装置２５により測定された移動式クレーンの位置情報は、移動式クレーンの旋回部の絶対方位やジブの起伏角度と共に、ネットワーク３１を介して監視サーバ４０に送信される。
ここで、第１実施形態と同様に、ＧＰＳコンパス２３の一対のＧＰＳアンテナの取り付け位置は、移動式クレーンの旋回部の異なる２箇所であればよい。また、傾斜計２２もジブ３の一部であれば、取り付け位置を問わない。 Second Embodiment
Next, an embodiment when the present invention is applied as an operation monitoring system for determining the risk of contact of a plurality of mobile cranes will be described. In addition, about the component similar to 1st Embodiment, the same code | symbol as 1st Embodiment is attached | subjected and detailed description is abbreviate | omitted.
FIG. 5 is a diagram illustrating a configuration of the operation monitoring system 30 according to the present embodiment. As shown in the figure, the motion monitoring system 30 of the present embodiment includes a GPS compass 23 attached to the turning portion of each mobile crane, an inclinometer 22 attached to a jib, and a wireless communication device 24. The GPS device 25 is attached to the mobile crane. The GPS device 25 measures the three-dimensional position of the mobile crane. The position information of the mobile crane measured by the GPS device 25 is transmitted to the monitoring server 40 via the network 31 together with the absolute azimuth of the turning portion of the mobile crane and the undulation angle of the jib.
Here, as in the first embodiment, the mounting positions of the pair of GPS antennas of the GPS compass 23 may be two different locations on the turning portion of the mobile crane. Moreover, if the inclinometer 22 is also a part of the jib 3, an attachment position is not ask | required.

監視サーバ４０は、位置情報受信部４１と、ジブ座標計算部４２と、モデル記憶部４５と、危険判定部４３と、判定結果送信部４４と、表示部４６とを備える。
ジブ座標計算部４２は、各移動式クレーンより位置情報受信部４１を介して受信した、移動式クレーンの３次元位置情報と、移動式クレーンの旋回部の絶対方位と、ジブの起伏角度とに基づき、上記の第１実施形態のジブ座標計算部１２と同様にして、ジブの座標情報を計算する。 The monitoring server 40 includes a position information reception unit 41, a jib coordinate calculation unit 42, a model storage unit 45, a risk determination unit 43, a determination result transmission unit 44, and a display unit 46.
The jib coordinate calculator 42 receives the three-dimensional position information of the mobile crane, the absolute azimuth of the turning part of the mobile crane, and the undulation angle of the jib received from each mobile crane via the position information receiver 41. Based on the jib coordinate calculation unit 12 of the first embodiment, the jib coordinate information is calculated.

モデル記憶部４５には、予め、各種移動式クレーンの３次元モデルデータと、建築現場の敷地周辺の建物などに基づいて設定された、接触等の危険のある侵入禁止エリアを表す３次元モデルデータとが格納されている。
危険判定部４３は、モデル記憶部４５に記録された各移動式クレーン及び侵入禁止エリアの３次元モデルデータを取得し、取得した各移動式クレーンの３次元モデルデータ及びジブ座標計算部４２の計算したジブの座標情報に基づき、移動式クレーンの周囲に衝突警報ゾーン（図６中に斜線を付して示す）を設定する。そして、この衝突警報ゾーンが、モデル記憶部１５より取得した侵入禁止エリアに侵入するかどうかにより、衝突の危険の有無を判定する。
また、危険判定部４３は、各移動式クレーンの周囲の衝突警報ゾーンが他の移動式クレーンの周囲の衝突警報ゾーンに侵入するかどうかに基づき、移動式クレーン同士の衝突の危険の有無を判定する。 The model storage unit 45 stores in advance three-dimensional model data of various mobile cranes and three-dimensional model data representing invasion-prohibited areas with dangers such as contact, which are set based on buildings around the site of the construction site. And are stored.
The danger determination unit 43 acquires the three-dimensional model data of each mobile crane and the entry-inhibited area recorded in the model storage unit 45, and calculates the acquired three-dimensional model data of each mobile crane and the jib coordinate calculation unit 42. Based on the coordinate information of the jib, a collision warning zone (shown by hatching in FIG. 6) is set around the mobile crane. Then, whether or not there is a danger of collision is determined based on whether or not the collision warning zone enters the intrusion prohibited area acquired from the model storage unit 15.
Further, the danger determination unit 43 determines whether there is a danger of collision between mobile cranes based on whether or not the collision warning zone around each mobile crane enters the collision warning zone around another mobile crane. To do.

図６（Ａ）は、表示部４６に描画された移動式クレーン同士が衝突の危険があると判定された場合の表示画面の一例を示す図であり、同図（Ｂ）は別の例を示す図である。図６に示すように、表示部４６は、モデル記憶部４５に記録された移動式クレーンの３次元モデルデータと、ジブ座標計算部４２の計算した移動式クレーンのジブの座標情報とに基づき、危険判定部４３の設定した衝突警報ゾーンを表示する。また、第１実施形態と同様に、表示部４６は、モデル記憶部４５に記録された建築現場周辺の３次元モデルデータに基づき、建築現場周囲の侵入禁止エリアを表示するとともに、これに重ねて、ジブ座標計算部４２の計算したジブの座標情報に基づき建設機械の姿勢と、危険判定部４３の設定した衝突警報ゾーンを表示する。   FIG. 6A is a diagram illustrating an example of a display screen when it is determined that there is a risk of collision between the mobile cranes drawn on the display unit 46, and FIG. 6B is another example. FIG. As shown in FIG. 6, the display unit 46 is based on the three-dimensional model data of the mobile crane recorded in the model storage unit 45 and the jib coordinate information of the mobile crane calculated by the jib coordinate calculation unit 42. The collision warning zone set by the danger determination unit 43 is displayed. Similarly to the first embodiment, the display unit 46 displays an intrusion prohibition area around the building site based on the three-dimensional model data around the building site recorded in the model storage unit 45, and overlaps with this. Based on the jib coordinate information calculated by the jib coordinate calculation unit 42, the attitude of the construction machine and the collision warning zone set by the danger determination unit 43 are displayed.

判定結果送信部４４は、危険判定部４３により移動式クレーン同士が接触する危険があると判定された場合に、該当する移動式クレーンの無線通信装置２４へ警報信号を送信する。また、第１実施形態と同様に、侵入禁止エリアへの侵入の危険があると判定された場合にも、該当する移動式クレーンの無線通信装置２４へ警報信号を送信する。
移動式クレーンの無線通信装置２４は、この警報信号を受信すると、例えば光の点滅や警報音などにより移動式クレーンのオペレータに侵入禁止エリアに侵入する危険又は他の移動式クレーンとの衝突の危険がある旨を表示する。 The determination result transmission unit 44 transmits an alarm signal to the wireless communication device 24 of the corresponding mobile crane when the risk determination unit 43 determines that there is a risk that the mobile cranes come into contact with each other. Similarly to the first embodiment, when it is determined that there is a risk of entering the prohibited entry area, an alarm signal is transmitted to the wireless communication device 24 of the corresponding mobile crane.
When the mobile crane wireless communication device 24 receives this warning signal, for example, there is a risk of the mobile crane operator entering the prohibited entry area or a collision with another mobile crane due to flashing light or an alarm sound. Display that there is.

動作監視システム３０によれば、侵入禁止エリアに侵入する危険又は他の移動式クレーンとの衝突の危険がある場合に、該当する移動式クレーンのオペレータに警告することができるので、侵入禁止エリアへの侵入を防止できるとともに。移動式クレーン同士の衝突を未然に防止することができる。   According to the operation monitoring system 30, when there is a risk of entering the prohibited entry area or a collision with another mobile crane, the operator of the corresponding mobile crane can be warned. As well as preventing intrusions. Collisions between mobile cranes can be prevented in advance.

上記説明したように、本実施形態の動作監視システムによれば、移動式クレーン同士の接触や衝突を防止する際にも用いることができ、この場合にも、第１実施形態と同様に、保守点検の保守点検作業を容易にすることができる。   As described above, according to the operation monitoring system of the present embodiment, it can also be used to prevent contact and collision between mobile cranes. In this case as well, as in the first embodiment, maintenance can be performed. Maintenance inspection work can be facilitated.

なお、上記の実施形態では、移動式クレーンに設けられたＧＰＳ装置２５、ＧＰＳコンパス２３、及び傾斜計２２により測定された測定結果を監視装置４０へ送信し、監視装置４０において、これらに基づき、移動式クレーンのジブの座標情報を計算する構成としたが、これに限らず、移動式クレーン側に演算装置を設けて、このクレーンのジブの座標情報を計算し、その結果を監視装置４０へ送信する構成としてもよい。   In the above-described embodiment, the measurement results measured by the GPS device 25, the GPS compass 23, and the inclinometer 22 provided in the mobile crane are transmitted to the monitoring device 40. In the monitoring device 40, based on these results, Although it was set as the structure which calculates the coordinate information of the jib of a mobile crane, it is not restricted to this, The arithmetic unit is provided in the mobile crane side, the coordinate information of the jib of this crane is calculated, and the result is sent to the monitoring apparatus 40. It is good also as a structure which transmits.

また、本実施形態では、移動式クレーンに適用した場合について説明したが、これに限らず、タワークレーンなどの移動が不可能な建設機械同士の衝突の防止などにも適用することができ、この場合は、予め、旋回の中心の３次元位置情報を取得しておくことによりＧＰＳ装置２５を省略することができる。   Moreover, although this embodiment demonstrated the case where it applied to a mobile crane, it is not restricted to this, It can apply also to the prevention of the collision of construction machines which cannot move, such as a tower crane, etc. In this case, the GPS device 25 can be omitted by acquiring the three-dimensional position information of the center of turning in advance.

また、第１実施形態と同様に、ジブを起伏させる機能を備えていないクレーン同士の衝突の防止にも適用することができ、この場合には、傾斜計２２を省略することができる。また、第１実施形態と同様に、ジブの長さを測定する装置を設けることで、伸縮可能なジブを有するクレーンに対しても適用することができる。   Moreover, it can apply also to prevention of the collision of the cranes which are not provided with the function which raises / lowers a jib similarly to 1st Embodiment, In this case, the inclinometer 22 can be abbreviate | omitted. Moreover, it can apply also to the crane which has a jib which can be expanded-contracted by providing the apparatus which measures the length of a jib similarly to 1st Embodiment.

第１実施形態の動作監視システムの構成を示す図である。It is a figure which shows the structure of the operation | movement monitoring system of 1st Embodiment. タワークレーンにおける傾斜計及びＧＰＳアンテナの取り付け位置を示す図であり、同図（Ａ）は平面図、同図（Ｂ）は立面図である。It is a figure which shows the attachment position of the inclinometer and GPS antenna in a tower crane, The figure (A) is a top view, The figure (B) is an elevation view. ジブ先端及び各部の座標を計算する方法を説明するための平面図及び立面図である。It is the top view and elevation for demonstrating the method of calculating the coordinate of a jib front-end | tip and each part. タワークレーンの衝突警告エリアが侵入禁止エリア内に侵入した場合の表示部の表示画面の一例を示す図である。It is a figure which shows an example of the display screen of a display part when the collision warning area of a tower crane penetrate | invades in an intrusion prohibition area. 第２実施形態の動作監視システムの構成を示す図である。It is a figure which shows the structure of the operation | movement monitoring system of 2nd Embodiment. （Ａ）は、表示部に描画された移動式クレーン同士が衝突の危険があると判定された場合の表示画面の一例を示す図であり、同図（Ｂ）は別の例を示す図である。(A) is a figure which shows an example of the display screen when it determines with the mobile cranes drawn on the display part having the danger of a collision, The figure (B) is a figure which shows another example. is there.

符号の説明Explanation of symbols

１ 動作監視システム
２ タワークレーンの旋回部 ３ ジブ
１０、４０ 監視装置 １１、４１ 位置情報受信部
１２、４２ ジブ座標計算部 １３、４３ 危険判定部
１４、４４ 判定結果送信部 １５、４５ モデル記憶部
１６、４６ 表示部 ２０ 方位計算部
２１ ＧＰＳアンテナ ２２ 傾斜計
２３ ＧＰＳコンパス ２４ 無線通信装置
２５ ＧＰＳ装置 ３０ 動作監視システム DESCRIPTION OF SYMBOLS 1 Operation | movement monitoring system 2 Turning part of tower crane 3 Jib 10,40 Monitoring apparatus 11,41 Position information receiving part 12,42 Jib coordinate calculation part 13,43 Risk judgment part 14,44 Determination result transmission part 15,45 Model storage part 16, 46 Display unit 20 Direction calculation unit 21 GPS antenna 22 Inclinometer 23 GPS compass 24 Wireless communication device 25 GPS device 30 Operation monitoring system

Claims (10)

クレーンなど水平方向に旋回可能なジブを有する建設機械のジブ動作監視装置であって、
前記ジブ又はこのジブと共に旋回する旋回部に取り付けられ、前記ジブの方位を検出する方位検出手段と、
前記方位検出手段により検出された方位と、前記ジブの長さとに基づき、前記ジブの少なくとも先端部を含むジブ各部の座標を表すジブ座標情報を計算するジブ座標計算部と、を備えることを特徴とする建設機械のジブ動作監視装置。 A jib motion monitoring device for a construction machine having a jib that can pivot in a horizontal direction, such as a crane,
Azimuth detecting means that is attached to the jib or a swivel that swirls with the jib and detects the direction of the jib,
A jib coordinate calculation unit that calculates jib coordinate information representing coordinates of each part of the jib including at least the tip of the jib based on the direction detected by the direction detection unit and the length of the jib. Jib motion monitoring device for construction machinery. 請求項１記載の建設機械のジブ動作監視装置であって、
前記ジブは伸縮可能であり、
前記ジブの長さを測定するジブ長さ測定手段を備え、
前記ジブ座標計算部は、前記ジブ長さ測定手段により測定された前記ジブの長さと、前記方位とに基づき、前記ジブ座標情報を計算することを特徴とする建設機械のジブ動作監視装置。 A jib motion monitoring device for a construction machine according to claim 1,
The jib is extendable,
Jib length measuring means for measuring the length of the jib,
The jib coordinate calculation unit calculates the jib coordinate information based on the jib length measured by the jib length measuring unit and the direction, and the jib motion monitoring device for a construction machine. 請求項１又は２記載の建設機械のジブ動作監視装置であって、
前記ジブは鉛直方向に起伏可能であり、
前記ジブの起伏角度を検出する起伏角度検出手段を備え、
前記ジブ座標計算部は、前記起伏角度検出手段により検出されたジブの起伏角度と、前記方位と、前記ジブの長さとに基づき、前記ジブ座標情報を計算することを特徴とする建設機械のジブ動作監視装置。 A jib motion monitoring device for a construction machine according to claim 1 or 2,
The jib can be undulated vertically,
A undulation angle detecting means for detecting the undulation angle of the jib;
The jib coordinate calculation unit calculates the jib coordinate information based on the jib undulation angle detected by the undulation angle detection means, the azimuth, and the jib length. Operation monitoring device. 請求項１から３何れかに記載の建設機械のジブ動作装置であって、
前記建設機械は移動可能であり、
前記建設機械の位置を検出する位置検出手段を備え、
前記ジブ座標計算部は、前記位置検出手段により検出された位置情報と、前記方位と、前記ジブの長さとに基づき、前記ジブ座標情報を計算することを特徴とする建設機械のジブ動作監視装置。 A jib operation device for a construction machine according to any one of claims 1 to 3,
The construction machine is movable;
Comprising position detecting means for detecting the position of the construction machine,
The jib coordinate calculation unit calculates the jib coordinate information based on the position information detected by the position detection means, the azimuth, and the length of the jib. . 前記方位検出手段はＧＰＳコンパスであることを特徴とする請求項１から４何れかに記載の建設機械のジブ動作監視装置。   5. The construction machine jib motion monitoring apparatus according to claim 1, wherein the direction detection means is a GPS compass. 請求項１から５何れかに記載の建設機械のジブ動作監視装置と、
前記ジブ動作監視装置により計算されたジブ座標情報に基づき、建設機械の侵入禁止エリアへの侵入の危険の有無を判定する危険判定部とを備えることを特徴とする建設機械の動作監視システム。 A jib motion monitoring device for a construction machine according to any one of claims 1 to 5,
A construction machine operation monitoring system, comprising: a risk determination unit that determines whether or not there is a risk of entering a construction machine intrusion prohibited area based on the jib coordinate information calculated by the jib operation monitoring device. クレーンなど水平方向に旋回可能なジブを有する複数の建設機械同士の接触又は衝突の危険の有無を判定するための動作監視システムであって、
各建設機械の前記ジブ又はこのジブと共に旋回する旋回部に取り付けられ、前記ジブの方位を検出する方位検出手段と、
各建設機械の前記方位検出手段により検出された方位と、前記ジブの長さとに基づき、各建設機械の前記ジブの少なくとも先端部を含むジブ各部の座標を表すジブ座標情報を計算するジブ座標計算部と、
前記ジブ座標計算部により計算された各建設機械のジブ座標情報に基づき、前記建設機械同士の接触又は衝突の危険の有無を判定する危険判定部を備えることを特徴とする建設機械の動作監視システム。 An operation monitoring system for determining whether there is a risk of contact or collision between a plurality of construction machines having a jib that can pivot in a horizontal direction, such as a crane,
Azimuth detecting means for detecting the azimuth of the jib, which is attached to the jib of each construction machine or a swivel part that swivels with the jib,
Jib coordinate calculation for calculating jib coordinate information representing coordinates of each part of the jib including at least the tip of the jib of each construction machine based on the direction detected by the direction detection means of each construction machine and the length of the jib And
An operation monitoring system for a construction machine, comprising a risk determination unit that determines whether there is a risk of contact or collision between the construction machines based on the jib coordinate information of each construction machine calculated by the jib coordinate calculation unit. . 請求項７記載の建設機械の動作監視システムであって、
各建設機械は移動可能であり、
各建設機械の位置を検出する位置検出手段を備え、
前記ジブ座標計算部は、前記位置検出手段により検出された各建設機械の位置情報と、前記方位と、前記ジブの長さとに基づき、各建設機械の前記ジブ座標情報を計算することを特徴とする建設機械のジブ動作監視システム。 An operation monitoring system for a construction machine according to claim 7,
Each construction machine is movable,
Provided with position detecting means for detecting the position of each construction machine,
The jib coordinate calculation unit calculates the jib coordinate information of each construction machine based on the position information of each construction machine detected by the position detection unit, the direction, and the length of the jib. Jib motion monitoring system for construction machinery. 請求項７又は８記載の動作監視システムであって、
前記危険判定部は、建設機械同士の接触又は衝突の危険の有無を判定するとともに、前記ジブ座標計算部により計算されたジブ座標情報に基づき、建設機械の侵入禁止エリアへの侵入の危険の有無を判定することを特徴とする動作監視システム。 The operation monitoring system according to claim 7 or 8,
The risk determination unit determines whether there is a risk of contact or collision between construction machines, and based on the jib coordinate information calculated by the jib coordinate calculation unit, whether there is a risk of intrusion into the intrusion prohibited area of the construction machine The operation monitoring system characterized by determining. クレーンなど水平方向に旋回可能なジブを有する建設機械のジブ動作監視方法であって、
前記ジブ又はこのジブと共に旋回する旋回部に方位検出手段を取り付け
前記方位検出手段によりジブの方位を検出し、
前記方位検出手段により検出された方位と、前記ジブの長さとに基づき、前記ジブの少なくとも先端部を含むジブ各部の座標を表すジブ座標情報を計算することを特徴とする建設機械のジブ動作監視方法。

A jib motion monitoring method for a construction machine having a jib that can pivot in a horizontal direction, such as a crane,
Azimuth detecting means is attached to the jib or a turning part that turns together with the jib, and the azimuth detecting means detects the azimuth of the jib.
Jib motion monitoring of a construction machine, wherein jib coordinate information representing the coordinates of each part of the jib including at least the tip of the jib is calculated based on the direction detected by the direction detection means and the length of the jib. Method.

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