JP4218449B2 - Crane operation monitoring system and method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention, operations relating to the monitoring system and method of the crane with jib capable movements of swivel and undulations.
[0002]
[Prior art]
Conventionally, to control the crane work range and prevent collisions between cranes, the crane turning angle and undulation angle are detected by an encoder and angle detector, and the cranes approach each other based on the detected information. Or approach to a no-entry area is performed. However, since the absolute position of the crane cannot be detected with an encoder or angle detector, the above method assumes that the crane position is fixed, and the crane position changes as in a traveling crane. Not applicable to Also, the encoder and angle detector need to be calibrated, but this calibration work must be performed by a professional engineer, which is inconvenient for installation and replacement.
[0003]
On the other hand, for example, in the crane contact alarm device disclosed in Patent Document 1, an inclination sensor or an obstacle detection sensor is attached to the crane vehicle, and the boom approaches the intrusion prohibited area based on the boom angle detected by the inclination sensor. Alternatively, it is determined whether or not the vehicle has entered, and whether or not the vehicle has approached the obstacle is determined based on the obstacle detection sensor. As described above, in the configuration using the obstacle detection sensor, it is possible to determine the approach of the obstacle even when the crane moves as long as it is within a range that can be detected by the obstacle detection sensor.
[0004]
[Patent Document 1]
Japanese Utility Model Publication No. 7-4482 [0005]
[Problems to be solved by the invention]
However, in the apparatus disclosed in Patent Document 1, an overhead line is assumed as an obstacle, and an obstacle detection sensor is attached to the tip of the boom to detect the approach to the overhead line. For this reason, for example, it is difficult to detect that the booms of the two construction machines approach each other at a portion other than the tip.
[0006]
The present invention has been made in view of the above, it is possible to correctly determine the risk of entering the swivel and cranes etc. collision or forbidden entry area of bovine of undulating movements have jib capable It is an object to provide an operation monitoring system and method for a simple crane .
[0007]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides a clay having a traveling part, a revolving part that is arranged on the traveling part and capable of revolving in a horizontal plane, and a jib that can move up and down with respect to the revolving part. a down of the operation monitoring system,
For each of the plurality of cranes, a model storage unit storing 3D model data representing the 3D contour shape;
For each of the plurality of cranes , a first position detecting means capable of detecting the three-dimensional coordinates of any one part of the jib ,
For each of the plurality of cranes, a second position detecting means capable of detecting the three-dimensional coordinates of any one part of the swivel part deviating from the swivel center position ;
The turning angle of the turning unit is calculated based on the detection result of the three-dimensional coordinates by the first and second position detecting means , and the calculated turning angle and the three-dimensional coordinates are detected by the second position detecting means. The coordinates of the turning center position are calculated based on the result and the relative position of the detection part detected by the second position detecting means with respect to the turning center position, and the calculated coordinates of the turning center position and the first position are calculated. Calculation means for calculating the undulation angle of the jib based on the detection result of the three-dimensional coordinates by the detection means and the relative position of the undulation center of the jib to the turning center position ;
Based on the calculation result by the calculation means and the three-dimensional model data stored in the model storage unit, there is at least one of the presence / absence of a collision between cranes and the presence / absence of a danger that each crane enters the intrusion prohibited area. And a risk judging means for judging the above.
[0008]
Further, in the present invention, the wireless communication means provided in each of the plurality of cranes , and a monitoring device capable of communicating with the wireless communication means, the wireless communication means, the detection result by the position detection means The monitoring device may have a function of transmitting to the monitoring device, and the monitoring device may include the calculation unit and the danger determination unit.
[0009]
Alternatively, a wireless communication means provided in each of the plurality of cranes and a monitoring device capable of communicating with the wireless communication means are provided, the calculation means is provided in each crane , and the wireless communication means is provided by the calculation means. It may have a function of transmitting a calculation result to the monitoring device, and the monitoring unit may include the danger determination unit.
[0010]
Here, the said monitoring apparatus is good also as having a function which transmits the signal to that effect to the said radio | wireless communication means of an applicable crane , when it determines with a danger by the said danger determination means.
[0011]
Further, the monitoring device is provided in common for a plurality of building sites and is configured by a server computer connected to a network, and the wireless communication means provided in each crane via the network. Communication may be performed.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is an overall configuration diagram of a crane monitoring system 10 according to an embodiment of the present invention. The crane monitoring system 10 according to the present embodiment determines the danger of collision between cranes and intrusion into an intrusion prohibited area with a mobile crane as a monitoring target.
[0013]
As shown in FIG. 1, the crane monitoring system 10 includes a first GPS antenna 12 and a second GPS antenna 14 attached to each mobile crane. The first GPS antenna 12 and the second GPS antenna 14 are connected to the wireless communication device 16 via the GPS measurement device 15. The GPS measuring device 15 and the wireless communication device 16 are installed, for example, on a cab of a mobile crane. The GPS measurement device 15 detects the three-dimensional absolute coordinates of each antenna attachment site, that is, (latitude, longitude, altitude), based on the GPS signals received by the first GPS antenna 12 and the second GPS antenna 14 from the GPS satellites. . The wireless communication device 16 has a function of performing communication by a wireless method such as wireless LAN, mobile phone communication, infrared communication, or laser communication, and can communicate with the monitoring device 18 installed in the office work. it can.
[0014]
In the present embodiment, the wireless communication device 16 transmits the coordinate information detected by the GPS measurement device 15 and the crane ID unique to the mobile crane 50 to the monitoring device 18. The monitoring device 18 identifies the mobile crane 50 that is the transmission source based on the crane ID received from the wireless communication device 16, and determines whether or not there is a risk of collision between cranes or intrusion into the intrusion prohibited area based on the coordinate information. To do.
[0015]
FIG. 2 is a side view showing the configuration of the mobile crane 50 and the attachment positions of the GPS antennas 12 and 14 to the mobile crane 50, and FIG. 3 is a plan view thereof. As shown in these drawings, the mobile crane 50 includes a traveling unit 52, a revolving unit 54 that is disposed on the traveling unit 52 and capable of revolving in a horizontal plane, and a boom that can move up and down with respect to the revolving unit 54. 56 (corresponding to “jib” in the present invention). The first GPS antenna 12 is attached to the tip of the boom 56 of the mobile crane 50, and the second GPS antenna 14 is a vertical including the attachment position of the first GPS antenna 12 and the turning center O <b> 1 of the turning portion 52. It is attached at a position in the plane.
[0016]
In the following description, as shown in FIGS. 2 and 3, the distance between the mounting position of the second GPS antenna 14 and the turning center O1 is L1, and the rotation center (hereinafter referred to as the undulation center) O2 of the hoisting motion of the boom 56 is O2. The distance from the turning center 1 is represented by L2, the distance between the mounting position of the first GPS antenna 12 and the undulation center O2, L3, the ground height of the mounting position of the second GPS antenna 14 is represented by H1, and the ground height of the undulation center O2 is represented by H2. And Further, the coordinates of the first GPS antenna 12 and the second GPS antenna 14 are represented by (x1, y1, h1) and (x2, y2, h2), respectively, and the planar position of the mobile crane 50 is the absolute center of the turning center O1. It shall be represented by coordinates (X, Y). Furthermore, the turning angle of the mobile crane is represented by an angle φ from the X-axis direction, and the undulation angle is represented by an angle θ from the horizontal plane.
[0017]
Referring to FIG. 1 again, the monitoring device 18 includes functional units such as a position information receiving unit 20, a position and orientation calculation unit 22, a model storage unit 24, a risk determination unit 26, and a determination result transmission unit 28. ing.
[0018]
The position information receiving unit 20 receives position information detected by the GPS measuring device 15 from the wireless communication device 16 of each mobile crane 50.
[0019]
The position / orientation calculation unit 22 calculates the position and orientation of each mobile crane based on the coordinate information received by the position information reception unit 20. More specifically, based on the coordinates (x1, y1, h1) and (x2, y2, h2) measured by the GPS measuring device 15, the turning angle φ of the turning unit 52 and the absolute coordinates (X of the turning center O1) , Y), and the boom 56 undulation angle θ is calculated according to the following formula.
[0020]
φ = tan ⁻¹ {(y1−y2) / (x1−x2)}
X = x2 + L1 · cosφ
Y = y2 + L1 · sinφ
θ = tan ⁻¹ [(h ¹ −H 2) / [{(x 1 −X) ² + (y 1 −Y) ² } ^1/2 −L ² ]]
The model storage unit 24 stores 3D model data of each mobile crane 50. Specifically, data representing a three-dimensional contour shape of the mobile crane 50 is stored in association with a crane ID unique to each mobile crane 50. The model storage unit 24 also stores three-dimensional model data representing an entry prohibition area such as a building around the site of the construction site.
[0021]
The risk determination unit 26 calculates the position / posture calculation results of the mobile cranes 50 by the position / posture calculation unit 22 and the three-dimensional model data of the mobile cranes 50 and the entry prohibition area stored in the model storage unit 24. Based on the drawing, the work status of the mobile crane 50 at the construction site is drawn on the display device 30, and the risk of contact between the mobile cranes 50 and the risk of entry into the intrusion prohibited area is determined.
[0022]
4 and 5 are diagrams showing examples of display screens drawn by the danger determination unit 26, and show a situation where it is determined that there is a danger of collision between the two mobile cranes 50. FIG. The presence or absence of the danger of contact between the mobile cranes 50 is determined based on the three-dimensional model data and the position / posture of each mobile crane 50 in the collision warning zone (FIGS. 4 and 5). It is determined by whether or not the collision warning zone of another mobile crane 50 has entered this collision warning zone.
[0023]
6 and 7 are diagrams showing another example of the screen drawn by the danger determination unit 26, and show a situation where it is determined that there is a risk that the mobile crane 50 will enter the intrusion prohibited area. In the same way as in the case of the above-described collision determination, a collision warning zone is set around the mobile crane 50, and there is an intrusion prohibited area in the collision warning zone. Judgment is made based on whether or not it entered.
[0024]
The determination result transmission unit 28, when the danger determination unit 26 determines that there is a danger of collision between cranes or there is a risk of entry into the intrusion prohibited area, the corresponding mobile crane based on the crane ID. 50 is identified, and an alarm signal is transmitted to the wireless communication device 16 of the mobile crane 50. It is assumed that the wireless communication device 16 is provided with an alarm function by, for example, blinking light or an alarm sound when receiving this alarm signal.
[0025]
The monitoring device 18 described above is configured by a computer system, the position / orientation calculation unit 22 and the risk determination unit 26 are realized by a computer executing a program, and the model storage unit 24 is a storage such as a hard disk provided in the computer system. Stored in the device.
[0026]
As described above, according to the system of the present embodiment, by attaching the first GPS antenna 12 and the second GPS antenna 14 to each mobile crane 50, not only the posture of each mobile crane 50 but also the absolute position. Can also be determined accurately. For this reason, the monitoring apparatus 18 can determine the presence or absence of the danger of the collision of the mobile crane 50 or the invasion into the intrusion prohibited area based on such posture and position information. If it is determined that there is such a danger, an alarm signal can be transmitted to the corresponding mobile crane 50, so that the operator of the mobile crane 50 is alerted to a collision or intrusion prohibited area. Can be prevented in advance.
[0027]
Further, since the position and orientation are detected using GPS, it is possible to eliminate the complicated calibration work that was necessary when the encoder was used as before.
[0028]
In the above description, the position information detected by the GPS measuring device 15 provided in the mobile crane 50 is transmitted to the monitoring device 18, and the monitoring device 18 uses the position information to determine the position of the mobile crane 50 and The posture was calculated. However, the present invention is not limited to this, and a computing device may be provided on the mobile crane 50 side to calculate the position / posture of the mobile crane 50 and transmit the calculation result to the monitoring device 18.
[0029]
FIG. 8 is an overall configuration diagram of another embodiment of the present invention. In this embodiment, a common monitoring server 100 for a plurality of construction sites is installed, for example, at the head office or factory of a construction company. The monitoring server 100 is configured by a server computer connected to a network 102 such as the Internet, and has a functional block configuration similar to that of the monitoring device 18 shown in FIG. Further, the wireless communication device 16 provided in each mobile crane 50 can be connected to the network 102 via an appropriate base station. Therefore, the monitoring server 100 communicates with the wireless communication device 16 of the mobile crane 50 arranged at each construction site via the network 102 and is based on the coordinate information detected by the GPS measuring device 15 of each mobile crane 50. Thus, it is determined whether or not there is a risk of collision of the mobile crane 50 or intrusion into the intrusion prohibited area. If it is determined that there is a risk, an alarm signal can be transmitted to the corresponding mobile crane 50.
[0030]
In the present embodiment, the model storage unit 24 provided in the monitoring server 100 stores three-dimensional model data representing the intrusion prohibited area of each building site in association with the ID of each building site, and the intrusion prohibited area. The risk of entry into the building shall be determined based on the data at the relevant construction site.
[0031]
According to this embodiment, since the monitoring server 100 common to a plurality of construction sites is provided, even when the mobile crane 50 is moved to another construction site and used, the monitoring server 100 keeps the state as it is. Can be monitored. That is, for example, even when the mobile crane 50 is a leased product and the construction site changes frequently, it is possible to make a risk determination such as a collision of the mobile crane 50 without changing any setting. .
[0032]
Each mobile crane 50 is provided with an environmental sensor such as an anemometer or a sensor for detecting various faults, and the detection information is transmitted to the monitoring server 100 so that each movement is performed by the monitoring server 100. You may enable it to centrally manage the operating environment and failure condition of the crane 50.
[0033]
In each of the above-described embodiments, the case where the present invention is applied to the operation monitoring of the mobile crane 50 has been described. However, the present invention is not limited to this, and various cranes, excavators, etc. It can be widely applied to the operation monitoring of construction machines having a movable jib.
[0034]
In the above embodiments, the case has been described where the present invention is applied to the operation monitoring of the mobile crane 50 is not limited to this, the operation monitoring of the crane with jib capable swivel movement and undulation movements Widely applicable to.
[0035]
【The invention's effect】
According to the present invention, it is possible to correctly determine the risk of entering the swivel and cranes etc. collision or forbidden entry area of bovine of undulating movements have jib possible.
[Brief description of the drawings]
FIG. 1 is an overall configuration diagram of a crane monitoring system according to an embodiment of the present invention.
FIG. 2 is a side view showing a configuration of a mobile crane and a position where each GPS antenna is attached to the mobile crane.
FIG. 3 is a plan view of FIG. 2;
FIG. 4 is a diagram illustrating a first example of a display screen drawn by a risk determination unit, and illustrates a situation where it is determined that there is a risk of collision between two mobile cranes.
FIG. 5 is a diagram illustrating a second example of a display screen drawn by a risk determination unit, showing a situation where it is determined that there is a risk of collision between two mobile cranes.
FIG. 6 is a diagram illustrating a third example of the screen drawn by the danger determination unit, and illustrates a situation where it is determined that there is a risk that the mobile crane may enter the intrusion prohibited area.
FIG. 7 is a diagram illustrating a fourth example of the screen drawn by the danger determination unit, and illustrates a situation where it is determined that there is a risk that the mobile crane may enter the intrusion prohibited area.
FIG. 8 is an overall system configuration diagram of another embodiment of the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Crane monitoring system 12 1st GPS antenna 14 2nd GPS antenna 16 Wireless communication apparatus 18 Monitoring apparatus 20 Position information receiving part 22 Position and orientation calculation part 24 Model storage part 26 Risk determination part 28 Determination result transmission part 50 Mobile crane 100 Monitoring server 102 network

Claims (6)

A traveling portion, and said disposed on the traveling portion pivoting movable pivot portion in a horizontal plane, a crane of the operation monitoring system having a jib capable undulating motion relative said pivot portion,
For each of the plurality of cranes, a model storage unit storing 3D model data representing the 3D contour shape;
For each of the plurality of cranes , a first position detecting means capable of detecting the three-dimensional coordinates of any one part of the jib ,
For each of the plurality of cranes, a second position detecting means capable of detecting the three-dimensional coordinates of any one part of the swivel part deviating from the swivel center position ;
The turning angle of the turning unit is calculated based on the detection result of the three-dimensional coordinates by the first and second position detecting means , and the calculated turning angle and the three-dimensional coordinates are detected by the second position detecting means. The coordinates of the turning center position are calculated based on the result and the relative position of the detection part detected by the second position detecting means with respect to the turning center position, and the calculated coordinates of the turning center position and the first position are calculated. Calculation means for calculating the undulation angle of the jib based on the detection result of the three-dimensional coordinates by the detection means and the relative position of the undulation center of the jib to the turning center position ;
Based on the calculation result by the calculation means and the three-dimensional model data stored in the model storage unit, there is at least one of the presence / absence of a collision between cranes and the presence / absence of a danger that each crane enters the intrusion prohibited area. A crane operation monitoring system, comprising: Wireless communication means provided in each of the plurality of cranes , and a monitoring device capable of communicating with the wireless communication means,
The wireless communication unit has a function of transmitting a detection result by the position detection unit to the monitoring device,
2. The crane operation monitoring system according to claim 1, wherein the monitoring device includes the calculation unit and the risk determination unit. Wireless communication means provided in each of the plurality of cranes , and a monitoring device capable of communicating with the wireless communication means,
The calculation means is provided in each crane , and the wireless communication means has a function of transmitting a calculation result by the calculation means to the monitoring device,
2. The crane operation monitoring system according to claim 1, wherein the monitoring device includes the danger determining means. The said monitoring apparatus has a function which transmits the signal to that effect to the said radio | wireless communication means of an applicable crane , when it determines with a danger by the said danger determination means. Crane operation monitoring system. In the crane operation monitoring system according to any one of claims 2 to 4,
The monitoring device is provided in common for a plurality of construction sites and is configured by a server computer connected to a network, and communicates with the wireless communication means provided in each crane via the network. A crane motion monitoring system characterized by A crane operation monitoring method comprising: a traveling unit; a revolving unit disposed on the traveling unit and capable of revolving within a horizontal plane; and a jib capable of moving up and down relative to the revolving unit ,
For each of the plurality of cranes, the three-dimensional model data representing the three-dimensional contour shape is stored,
For each of the plurality of cranes , the first position detector capable of detecting the three-dimensional coordinates of any one part of the jib, and the three-dimensional part of any one part of the swiveling part that is out of the turning center position. A second position detector capable of detecting coordinates ;
The turning angle of the turning unit is calculated based on the detection result of the three-dimensional coordinates by the first and second position detectors , and the calculated turning angle and the three-dimensional coordinates are detected by the second position detector. The coordinates of the turning center position are calculated based on the result and the relative position of the detection part detected by the second position detector with respect to the turning center position, and the calculated coordinates of the turning center position and the first position are calculated. Calculating the undulation angle of the jib based on the detection result of the three-dimensional coordinates by the detector and the relative position of the undulation center of the jib to the turning center position ;
And the results of these calculations, based on the three-dimensional model data the storage, and wherein determining at least one of the presence or absence of risk risk of presence, absence or each crane entering the forbidden entry area of collision and if the crane To monitor the operation of the crane .

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