KR101096228B1 - System and method of monitoring for preventing collision of cranes using gnss - Google Patents

Abstract

PURPOSE: A crane conflict prevention monitoring system and method are provided to automatically control the movement of a crane for preventing the conflict between cranes by notifying a conflict risk to a operator and a central management part. CONSTITUTION: A crane conflict prevention monitoring system comprises a central management part(100), a jib crane(10), a GNSS(Global Navigation Satellite System) receiver, and PC terminals(50,150). The GNSS receiver is installed in a central axis and a boom of the jib crane and receives GNSS location information. The GNSS receiver transmits the GNSS location information to the central management part. The PC terminal is included in cranes and operates a conflict prevention program and comprises a monitor for conflict prevention. The central management part transmits GNSS location correction data to the GNSS receiver of the cranes. The PC terminal receives location information from the GNSS receiver of the cranes and indicates a current location of entire cranes operating in workplace in real time. The PC terminal operates the conflict prevention program when a mutual conflict risk is generated.

Description

System and method of monitoring for preventing collision of cranes using GNSS}

The present invention relates to a crane collision prevention monitoring system and method using GNSS, and more particularly, to a collision prevention and control, monitoring system and method of a crane using a GNSS receiver and GNSS-RTK technique docks of construction sites and shipyards Real-time monitoring of the movement between various cranes in operation by GNSS receiver using high-precision GNSS-RTK technique, alarming the driver and central management department when a collision risk occurs, and automatically controlling crane movement to prevent collision between cranes System and method.

 In general, high-rise building construction, shipbuilding, industrial plant construction, and large cargo unloading operations at ports or docks are performed by various large-scale cranes, such as goliath cranes, jib cranes, and tower cranes, independently or in collaboration. have.

Typically, the goliath crane moves along the goliath rail, and the jib crane moves along the respective jib rails to move the jib crane boom up and down or side to side.

 In addition, the tower crane rotates left and right while its position is fixed for several days or several tens of days.

The cranes are operated according to the operator's instructions at a relatively slow speed, but there is always a risk of collision between the crane or the crane boom.

As such, when the cranes are in close proximity to each other during operation, the system automatically generates a warning message about the danger of collision, and when the cranes are in close proximity to each other, the system automatically stops the crane to prevent an accident. This is necessary.

In addition, during the unloading operation, when the crane exceeds the weight of each crane, several cranes frequently perform cooperative work (collaboration), and in this case, each crane needs to approach a very close position. The boom end can be approached to less than one meter. In this case, the operator must constantly check the distance between the booms of the working cranes until they have completed the collaboration to avoid collisions.

In addition, during crane unloading operations, the height of the current material should be checked and other cranes should be prevented from colliding with the wire or material of the crane being unloaded.

The present invention has been made to solve the conventional problems as described above, its purpose is to monitor the movement between the various cranes in operation using a high-precision GNSS-RTK technique in real time with a GNSS receiver, when the risk of collision, the driver and the central management unit It is to provide a system and method for automatically controlling the movement of the crane in order to alarm and prevent collision between the crane.

Crane anti-collision monitoring system using GNSS to achieve the above object is installed on the central axis and boom of the jib crane, two GNSS receivers receiving the GNSS position information and transmitting to the central management unit, the central axis of the tower crane or One or two GNSS receivers installed on the boom to receive and transmit the GNSS position data to the central management unit, the PC terminals provided on the cranes, and the anti-collision monitors are displayed to display the anti-collision monitors, respectively, the GNSS receivers of the cranes. The central management unit for transmitting the GNSS position correction data to the central control unit, and the collision prevention program that receives the position information from the GNSS receiver of the crane to display in real time the current position of all the cranes in operation in the workplace, and alerts in case of danger of mutual collision Characterized in that it comprises a PC terminal driven.

In addition, in the crane collision prevention monitoring system using the GNSS according to the present invention, the central management unit, the GNSS receiver installed on the crane to generate the GNSS correction data so as to calculate the correct position by the GNSS-RTK technique and transmitted to the GNSS receiver It characterized in that it comprises a GNSS reference unit, and a wireless transmission unit for transmitting and receiving the GNSS correction data and the GNSS position of each crane between the central management unit and the crane.

In addition, in the anti-collision monitoring system using a GNSS according to the present invention, the anti-collision program of the central management unit, the crane position coordinate receiving module for acquiring the position of the GNSS receiver installed at the end of the boom and the central axis of each crane, the Crane coordinate recording module that stores the coordinate information acquired from each crane in a file of every hour unit, and screen display that displays the position and working status of all cranes by reflecting GNSS coordinates received from each crane to the specifications of the previously entered crane. Module, the collision alarm module that warns against collision when there is a risk of mutual collision between cranes, and when a collision accident occurs in the workplace, replays the movement of the crane by replaying the movement of the crane using a file that records the location of each crane. And a crane start reproduction module to reproduce.

In addition, in the crane collision prevention monitoring system using the GNSS according to the present invention, the jib crane, the first GNSS receiver installed on the central axis of the jib crane, the second GNSS receiver installed on the end of the boom of the jib crane, the center The wireless communication unit that receives GNSS correction data provided by the management unit and transmits the position information of the GNSS receiver to the central management unit, and when the crane approaches, slows down the crane when the dangerous distance is reached and stops the crane movement when the collision distance is reached. It is characterized in that it comprises a crane control unit, and an encoder which is installed on the drum to which the wire of the crane is wound, and which calculates the height of the crane hook by detecting the rotational speed of the wire to be wound on the drum.

In addition, in the anti-collision monitoring system using GNSS according to the present invention, the jib crane anti-collision program, a crane coordinate receiving module for receiving each coordinate from the GNSS receiver of the crane, each of the coordinates of the crane received When the crane approaches by the screen display module displaying the location of the crane and the collision avoidance program, the crane is decelerated by sending a deceleration command to the crane controller when the dangerous distance is reached, and the stop command is sent to the crane controller when the collision distance is reached. Crane control module for stopping the movement of the crane, bypass module for processing so that the crane is in the collision range but the deceleration or stop signal that controls the movement of the crane is not transmitted to the crane control unit, and the height information of the hook from the encoder Applied to the collision avoidance program It comprises a hook height module.

In addition, in the crane anti-collision monitoring system using the GNSS according to the present invention, the second GNSS receiver is to hang a heavy weight on the fixed rod connected to the second GNSS receiver to maintain the vertical always over the boom end support It is characterized by.

In addition, in the crane collision avoidance monitoring system using GNSS according to the present invention, the collision avoidance program does not involve the mutual crane invading the safety distance and the movement radius of the crane at all, the operation of the crane in the workplace there is no risk of mutual collision. If the movement of the crane continues, the risk distance that can cause a risk of collision, and the movement radius of the crane crosses each other, characterized in that the management is divided into a collision distance that can always occur.

In addition, in the crane collision avoidance monitoring system using the GNSS according to the present invention, the tower crane, the first GNSS receiver or the second GNSS receiver which is installed at the end of the central axis or boom of the jib crane, GNSS provided by the central management unit A wireless communication unit for receiving correction data and transmitting position information of the GNSS receiver to the central management unit, a crane control unit for decelerating the crane when the dangerous distance is reached and stopping the movement of the crane when the collision distance is reached when the crane approaches, and a crane. It is characterized in that it comprises an encoder for installing the wire wound on the drum, calculating the height of the crane hook by detecting the number of turns of the wire wound on the drum.

In addition, in the crane collision prevention monitoring system using the GNSS according to the present invention, the tower crane collision prevention program, the crane coordinate receiving module for receiving each coordinate from the GNSS receiver of the crane, and receives each coordinate of the crane When the crane approaches by the screen display module displaying the location of the crane and the collision avoidance program, the crane is decelerated by sending a deceleration command to the crane controller when the dangerous distance is reached, and the stop command is sent to the crane controller when the collision distance is reached. Crane control module for stopping the movement of the crane, bypass module for processing so that the crane is in the collision range, but the deceleration or stop signal for controlling the movement of the crane is not transmitted to the crane control unit, and receives the height information of the hook from the encoder Applied to the collision avoidance program It comprises a hook height module.

On the other hand, the crane collision prevention monitoring method using the GNSS according to the present invention, the collision prevention program is driven by dividing the specifications and the collision prevention distance of the monitoring target cranes such as crane boom length, elevation, etc. into safety distance, danger distance, collision distance Inputting to a PC terminal, collecting position data by connecting to a GNSS receiver, finding a center point of a target crane to be monitored based on the position data, and identifying each position of the GNSS receiver installed in the crane Search for nearby cranes within a radius, periodically update and save the current status of nearby cranes, select the nearest crane through distance comparison with nearby cranes, and continuously calculate the distance between the cranes. Determine if the distance is a collision If it becomes, generate audio-visual alarm, calculate collision point and anticipated collision time, determine whether distance between two nearest cranes is dangerous distance, and generate audio-visual alarm if dangerous distance, collision prediction point And calculating a predicted collision time, and generating a crane stop or deceleration command in the case of a dangerous distance or a collision distance.

In addition, in the crane collision prevention monitoring method using the GNSS according to the present invention, the distance between the two cranes determine the collision distance or the dangerous distance to generate an alarm, and after calculating the collision prediction point and the collision prediction time, If it is determined that the bypass is a bypass, and moving to the nearest crane selection and the distance calculation between the crane step, if not the bypass characterized in that it further comprises the step of generating a crane stop or deceleration command.

Crane collision prevention system and method using the GNSS according to the present invention has the effect of preventing the collision between cranes in advance, and provides visualization and monitoring of crane movement.

In addition, it is possible to ensure the stability of the work according to the close warning by real-time measurement, and to enable the crane work in bad weather and night.

In addition, it is possible to quantify and statistically analyze the work characteristics and workload of the workers, and to trace back the collisions in order to identify the cause of the accident.

1 is an overall configuration diagram of a crane collision prevention monitoring system using GNSS according to an embodiment of the present invention.
Figure 2 is a block diagram of the central management unit of the crane collision prevention monitoring system using GNSS according to the present invention.
3 is a communication configuration diagram of a crane collision prevention monitoring system using GNSS according to the present invention.
Figure 4 is a detailed configuration of the collision avoidance program installed in the central management unit of the system according to the present invention.
5 is a block diagram of a collision prevention distance setting of the monitoring system according to the present invention.
6 is a configuration diagram of a jib crane in a crane collision prevention monitoring system according to the present invention.
7 is an embodiment of an apparatus for vertically holding a GNSS receiver installed in a boom of a crane.
8 is a detailed configuration diagram of a collision avoidance program installed in a PC terminal of jib crane.
Fig. 9 is an explanatory view of the calculation of the crane center point using the GNSS receiver of jib crane.
10 is an explanatory diagram for calculating elevation and azimuth angles of the jib crane boom.
11 is an explanatory view of the height calculation of the jib crane hook.
12 is a block diagram of a tower crane in a crane collision prevention monitoring system according to the present invention.
13 is a flowchart of a crane collision prevention monitoring method using GNSS according to the present invention.
14 is an explanatory diagram according to an embodiment of calculating an anticipated collision point within a rotation radius of two cranes.
15 is an explanatory diagram according to another embodiment of calculating a predicted collision point in a radius of rotation of two cranes.
16 is an explanatory diagram according to an embodiment of calculating an anti-rotational collision anticipation point of two cranes.
17 is an explanatory diagram according to another embodiment of calculating an anticipated collision point outside the rotation radius of two cranes.

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

1 is an overall configuration diagram of a crane collision prevention monitoring system using a GNSS according to an embodiment of the present invention, Figure 2 is a configuration diagram of a central management unit of the crane collision prevention monitoring system using a GNSS according to the present invention, Figure 3 Is a communication configuration of the crane collision prevention monitoring system using GNSS according to the present invention.

As shown in Figure 1, the crane collision prevention monitoring system is largely the central management unit 100, jib crane 10, GNSS receiver attached to the tower crane 20, the central management unit 100 and the crane (10, 20) is configured to include a PC terminal (50, 150) is provided with a collision prevention program respectively installed.

The anti-collision program is driven on the PC terminal 50 provided in the crane, and the anti-collision monitor is displayed on the PC terminal. The anti-collision program is driven in the PC terminal 150 provided in the central management unit 100. You can monitor the situation.

The jib crane 10 and the tower crane 20 are arranged and operated in the workplace and transmit the position information of each crane to the central management unit 100 by wireless communication.

The jib crane 10 wirelessly transmits the first GNSS receiver 12 and the second GNSS receiver 14 and the received location information to the central management unit 100 to receive location information from a global navigation satellite system (GNSS). It comprises a wireless communication unit 15 for transmitting.

In addition, the tower crane 20 is a wireless communication unit for transmitting the position information from the first GNSS receiver 22, the second GNSS receiver 24 and the received position information to the central management unit 100 by wireless to the central management unit 100 (25).

First, each crane (10, 20) equipped with GNSS (Global Navigation Satellite System: GPS) and GLONASS of Russia, Galileo of Europe, SBAS, etc. receivers is equipped with GNSS-RTK (RTK: Real). Time Kinematic) is used to calculate the exact coordinates of the receiver installed on each crane.

Here, the GNSS-RTK (RTK: Real Time Kinematic) technique uses two GNSS receivers.

One of the GNSS receivers is installed at a known point where the exact coordinates are known, calculates a correction value using the calculated coordinates and the known coordinate difference, and transmits it to the unknown GNSS receiver.

The unknown GNSS receiver is a GNSS positioning method that receives the GNSS correction signal of the known point and calculates the exact position of cm in real time.

The position of the crane is displayed on the collision prevention program display module of the central management unit 100 and the collision prevention program display module of each crane based on the coordinates.

If there is a risk of collision between operations, alarms are issued to the central management unit 100 and the driver to generate the risk of collisions set by stages for each approach distance, to notify the danger, and to automatically reduce or stop the crane to prevent the collision of cranes. Let's do it.

Referring to the configuration diagram of the central management unit shown in FIG. 2, the central management unit is composed of a PC terminal 150 having a GNSS reference unit 102, a wireless communication unit 105 and a collision prevention program. Is the same as

Referring to FIG. 3, the GNSS reference unit 102 generates a GNSS correction data for the GNSS receivers 12, 14, 22, and 24 installed in each crane to calculate an accurate position using the GNSS-RTK technique. 105) to transmit.

In order to generate GNSS correction data, first, a GNSS receiver is installed at a stable point having good GNSS reception, and the received GNSS data is processed to calculate the exact coordinates of the point where the receiver is installed.

GNSS correction data is generated using the calculated exact coordinates and the calculated coordinates, and transmitted through a wireless communication network, a radio modem, or other medium for all cranes to acquire.

If a failure occurs in the GNSS reference unit 102 and cannot generate correction data, all cranes cannot generate accurate coordinates in cm class.

In order to prevent this, GNSS reference part correction data is provided using a real-time precision survey system (Virtual Reference Station system) provided by the National Geographic Information Institute.

The wireless communication unit 105 is a means for transmitting and receiving GNSS correction data and the GNSS position of each crane between the central management unit 100 and the cranes 10 and 20.

The wireless communication unit 105 transmits the RTK correction signal of the GNSS reference unit 102 of the central management unit 100 to each of the cranes 10 and 20, and is driven by the PC terminal 150 of the central management unit 100. The crane collision avoidance program receives the GNSS positioning results of each crane.

4 is a detailed configuration diagram of the collision avoidance program installed in the central management unit 100.

The anti-collision program installed in the central management unit 100 receives the location information from the GNSS receivers 12, 14, 22, and 24 of each crane, displays the current positions of all cranes in operation in real time, and collides with each other. It acts as an alarm in case of danger.

The configuration of the collision avoidance program installed in the central management unit 100 will be described below.

The crane position coordinate receiving module 151 receives position information from the GNSS receivers 12, 14, 22, and 24 of each crane, and the crane position coordinate recording module 152 records and stores the received data.

In addition, the display module 153 displays in real time the current position of all cranes in operation in the workplace, the collision alarm module 154 calculates the risk of collision between the crane to serve as a collision avoidance alarm when a collision is expected Do this.

The crane start reproducing module 155 replays the movement of the crane by using a file in which the location of each crane is recorded in case of a crash in the workplace, thereby providing a basis for judging the cause by reproducing the situation at the time of the accident. do.

Referring to the operation of the collision avoidance program installed in the central management unit as follows.

The crane position coordinate receiving module 151 of the collision prevention program of the central management unit 100 uses the wireless communication unit 105 to install the GNSS receivers 12, 14, 22, which are installed at the center of each crane 10 and 20 and at the end of the boom. Obtain the position of 24).

At the same time, the crane coordinate recording module 152 stores coordinate information acquired from all cranes in a file of every unit of time.

The GNSS coordinates received from each crane are displayed on the display module 153 to display the positions of all the cranes and the work status by reflecting the specifications of the previously input crane.

In the display module 153, the position of all cranes is a 2D plan view, and the elevation of the crane and the height of the hook are visually displayed according to the specifications of the crane in the side view.

Split representations of floor plans and side views help to determine the location and status of workers or managers.

In addition, in order to double the realism on the screen display module, the real-time interlocking process with commercial map service contents (Google map or Daum map) as a background screen, the operation status of the crane can be intuitively confirmed.

5 is a block diagram of a collision prevention distance setting of the monitoring system according to the present invention.

To prevent the collision between cranes, the system administrator can input safety distance, danger distance and collision distance separately according to the situation of the site.

In this case, the safety distance means a distance at which the crane in the workplace operates and there is no risk of mutual collision.

Danger distance is the distance between cranes that do not involve the movement radius of the crane, but if the crane's movement continues, the collision distance is the distance that the risk of collision can always occur because the movement radius of the crane crosses each other. do.

Each distance described above is calculated using the center position of the two cranes and the length of the crane boom, the formula of which is shown in FIG.

6 is a configuration diagram of a jib crane in a crane collision prevention monitoring system according to the present invention.

Referring to FIG. 6, the jib crane 10 includes two GNSS receivers 12 and 14, a wireless communication device 15, a monitor PC terminal 50 equipped with a driver collision prevention program, a crane control unit PLC, 16) and encoder 17.

Of the two GNSS receivers, the first GNSS receivers G1 and 12 are installed at the center axis of the jib crane, and the second GNSS receivers G2 and 14 are installed at the ends of the boom, respectively.

When the second GNSS receiver 14 installed at the end of the boom is fixedly installed at the end side of the boom, the second GNSS receiver 14 cannot maintain the vertical position according to the vertical motion of the boom, and thus cannot calculate the exact coordinates of the boom end. .

Therefore, regardless of the vertical movement of the boom, the second GNSS receiver should be installed and operated at the end of the boom to maintain a vertical device at all times.

7 is an embodiment of an apparatus for vertically holding a GNSS receiver installed in a boom of a crane.

Referring to Fig. 7, the second GNSS receiver 14 suspends a heavy weight on the fixed rod connected to it so that the second GNSS receiver 14 always remains vertical over the boom end support.

The two GNSS receivers 12 and 14 receive the GNSS correction data provided by the GNSS reference unit 102 of the central management unit 100 by using the wireless communication unit 15 and process them in the receiver, thereby correcting the accurate GNSS receiver of cm level. NMEA (National Marine Electronics Association: standard format for outputting GNSS positioning results) to output the location of the collision prevention program of the PC terminal 50 provided in the jib crane 10 and the wireless communication unit of the central management unit 100 ( 105 to provide to the collision avoidance program of the crane of the PC terminal 150, respectively.

8 is a detailed configuration diagram of a collision avoidance program installed in a PC terminal of jib crane.

Referring to FIG. 8, the crane coordinate receiving module 51 receives respective coordinates from the first GNSS receiver 12 and the second GNSS receiver 12 of the crane 10 to display the position of the crane on the display module 52. Indicates.

The center point of the crane control position is determined using the circular locus function of the first GNSS receiver 12 and the second GNSS receiver 14.

The alarm for collision risk is generated by the collision avoidance program by the collision alarm module 53, and when the crane approaches, the crane control module 54 is activated to send a deceleration command to the crane controller PLC 16 when the dangerous distance is reached. The transmission is to decelerate the crane, and when the collision distance is reached, a stop command is transmitted to the crane controller (PLC) 16 to stop the movement of the crane.

On the other hand, although the two cranes are within the collision range, the signal for controlling the movement of the crane (deceleration or stop signal) for smooth operation, if it should not be transmitted to the control unit 16 of the crane, this bypass module 55 Process on

Hook height receiving module 56 is a module that receives the height information of the hook from the encoder 17 and applies to the collision avoidance program.

Fig. 9 is an explanatory view of the calculation of the crane center point using the GNSS receiver of jib crane.

Since the first GNSS receiver 12 cannot be realistically installed in the center of the crane, the center of the centers of the two circles generated by the coordinates of the first and second GNSS receivers generated by rotating the crane boom one time in order to obtain the center point of the crane precisely. Calculate and calculate the center point of the crane.

In FIG. 9, when the two GNSS receivers are used, the centers of the circles generated by the first GNSS receiver G1 and the second GNSS receiver G2 when the boom rotates are referred to as C1 and C2. Set midpoint M of C2 to the center of the crane.

The range of the collision distance, the danger distance, and the safety distance designated in FIG. 5 based on the midpoint M is displayed.

In the figure below, when there is one GNSS receiver, the center of a circle M generated by the second GNSS receiver G2 when the boom rotates is defined as the center of the crane.

The center point M of the crane is used as a reference to indicate the collision distance, dangerous distance and safety distance of the crane.

The anti-collision program defines a crane model in advance based on the actual crane specifications and receives coordinates output from the first GNSS receiver 12 and the second GNSS receiver 14 to display the shape of the crane. ).

10 is an explanatory diagram for calculating elevation and azimuth angles of the jib crane boom.

In FIG. 10, the top view shows a side view of the crane and the bottom view a top view, and the azimuth and elevation of the boom for indicating the rotational movement and the vertical movement of the crane boom can be calculated using two GNSS receivers 12 and 14, respectively. .

The body side coordinates P1 of the boom are calculated using the first GNSS receiver 12, the second GNSS receiver 14, and the specifications of the crane, and D1 is calculated using the coordinates of P1 and G2.

Finally, using the inverse cosine function from the fixed lengths R and D1 of the boom, calculate the elevation of the boom (θ).

That is, since D1 = dist (G2-P1) and cosθ = D1 / R, θ = arccos (D1 / R).

The azimuth angle (the angle rotated clockwise from the true north direction) is calculated using the tangent inverse function using the coordinates of the first GNSS receiver 12 and the second GNSS receiver 14.

That is, when G1 (x1, y1), G (x2, y2), tan (90-α) = (y2-y1) / (x2-x1)

α = 90-arctan ((y2-y1) / (x2-x1)).

By calculating the elevation angle and azimuth angle of the boom using two GNSS receivers 12 and 14, a separate sensor for calculating the elevation angle and the rotation angle of the boom is not necessary.

Basically, the driver collision prevention program for the driver installed in the PC terminal 50 of the jib crane 10 uses the same program as the collision prevention program installed in the central management unit 100.

The difference from the collision avoidance program of the central management unit 100 is that when the crane approaches near the crane control module 54 is activated, the deceleration crane by transmitting a deceleration command to the crane control unit (PLC, 16) when the dangerous distance is reached. When the collision distance is reached, a stop command is transmitted to the crane controller 16 to stop the movement of the crane.

When two or more jib cranes 10 collaborate, the cranes are located in close proximity to each other to perform collaborative work.

At this time, although the two cranes are in the collision range, signals for controlling crane movement (deceleration or stop signal) should not be transmitted to the crane controller 16 for smooth operation. The bypass module (ByPass, 55) ).

When the cranes reach close distance, the driver issues a command to collaborate with the collision avoidance program, the collision avoidance program continues to generate an alert for collision risk in the collision alert module 53, but the collision avoidance program detects the movement of the crane. Do not control

Hook height receiving module 56 is a module that receives the height information of the hook from the encoder 17 and applies to the collision avoidance program.

The encoder 17 is a sensor which is installed in the drum which the wire of the crane 10 winds, and detects the rotation speed which a wire winds in a drum, and calculates the height of a crane hook.

11 is an explanatory view of the height calculation of the jib crane hook.

Referring to FIG. 11, the height information of the hook calculates the length of the wire from the boom end to the hook using the height value of the second GNSS receiver 14 installed at the end of the boom and the rotation speed detected by the encoder 17. .

Therefore, the height of the hook may be calculated as the height H1 of the second GNSS receiver-the length H2 of the wire according to the rotation speed detected by the encoder 17-the elevation H3 of the workplace.

The wireless communication unit 15 is a device for mutual data communication between the central management unit 100 and the crane, and is installed at a point where communication with the wireless communication unit 105 installed in the central management unit is good in the crane.

12 is a block diagram of a tower crane in a crane collision prevention monitoring system according to the present invention.

Referring to FIG. 12, the tower crane 20 includes one or two GNSS receivers 22 and 24, a wireless communication unit 25, a PC terminal 50 installed with a driver collision prevention program, a crane control unit 26, and the like. It consists of an encoder 27.

In the case of the tower crane, only the rotary motion is performed without moving from the fixed point.

Therefore, only one GNSS receiver G2 can be installed and operated. At this time, only the second GNSS receiver 24 is installed at the end of the boom to use a crane collision prevention program.

On the other hand, in the case of the tower crane it is the same as described in the jib crane, so the description thereof will be omitted.

Next, collision risk determination according to the crane collision prevention monitoring method using GNSS according to the present invention will be described.

13 is a flowchart of a crane collision prevention monitoring method using GNSS according to the present invention.

Referring to FIG. 13, first, specifications of the monitor target cranes such as a crane boom length and an elevation and a collision avoidance distance are input by dividing them into safety distance, danger distance, and collision distance (S10).

Next, connect to the GNSS receiver to collect the position data (S20).

The center point of the target crane to be monitored is found based on the position data (S30).

Next, based on each position of the GNSS receiver installed in the crane to search for near cranes within a certain radius, and periodically while updating the status of the nearby crane (S40). This is to minimize the search time for the collision risk target crane.

Next, the nearest crane is selected through distance comparison with the surrounding crane, and the distance between the cranes is continuously calculated (S50 and S60).

Here, it is determined whether the distance between the two closest cranes is the collision distance, and when the collision distance becomes an audio-visual alarm, calculates the collision prediction point and the anticipated collision time (S70, S90, S100).

In addition, it is determined whether the distance between the two closest cranes is a dangerous distance, if the dangerous distance is an audio-visual alarm, and calculates the collision prediction point and the anticipated collision time (S80, S90, S100).

After the step S90, it is determined whether the bypass (S110).

In the step S110, if the bypass is moved to step S60 again, if not the bypass to generate a crane stop or deceleration command (S120).

Since the collision avoidance program of the central control unit is not directly connected to the crane, the display indicates whether the crane has reached the collision danger distance and whether the deceleration or stop signal is properly generated by each crane.

The algorithm for calculating the collision prediction point when reaching the collision distance is as follows.

14 is an explanatory diagram according to an embodiment of calculating an anticipated collision point within a rotation radius of two cranes.

First, the midpoints P5 of the intersection points P1, P2 and P1, P2 of the turning radius of the two jib cranes are calculated, and the equations L1 and L2 of the straight lines of the respective crane booms are calculated.

Next, the equation L5 of the straight line connecting P1 and P5 and the equation L6 of the straight line connecting P5 and P2 are generated.

As shown in Fig. 14, when both L1 and L2 cross L5 or L6, the collision prediction point becomes the intersection of L1 and L2.

For convenience of calculation, a straight line equation is used, but collision can be determined using the straight line equation passing through the plane.

That is, when the L1 and L2 straight lines in the two planes (ΔC1P1C2 and ΔC1P2C2) formed by the center point of each of the two cranes exist in one plane, the collision prediction point within the rotation radius may be calculated.

15 is an explanatory diagram according to another embodiment of calculating a predicted collision point in a radius of rotation of two cranes.

In the case shown in Fig. 15, when L1 and L2 intersect L5 or L6, respectively, the intersection point of the normal line of the slow moving straight line (crane boom) and the remaining straight line (crane boom) will be the collision prediction point.

In addition, when the two planes (ΔC1P1C2, ΔC1P2C2) and the L1 and L2 straight lines exist in each plane, the center point of the two cranes and the intersection points may be calculated.

16 is an explanatory diagram according to an embodiment of calculating an anti-rotational collision anticipation point of two cranes.

In the case of FIG. 16, a collision is expected outside the rotation radius of each crane, but the rotation of the crane is expected to continue as shown in FIG.

In this case, when the equations L1 and L2 of the two straight lines do not have intersections in both L5 and L6, the point where the normals of L1 and L2 intersect is the predicted collision point.

Here, the equation of the plane of two planes (ΔC1P1C2, ΔC1P2C2) formed by the center point of each crane and the intersections and the predicted collision point within the rotation radius can be calculated when the L1 and L2 straight lines exist in each plane.

17 is an explanatory diagram according to another embodiment of calculating an anticipated collision point outside the rotation radius of two cranes.

Finally, there is a collision prediction point outside the radius of rotation. One straight line L1 intersects with L5, but the other straight line L2 rotates out of the collision zone. At this time, the predicted collision point is located outside the radius of rotation of a crane, and the collision point is the intersection of the equations of the straight lines L1 and L2.

Here, the equation of the plane of two planes (ΔC1P1C2, ΔC1P2C2) formed by the center point of each crane and the intersections and the predicted collision point within the rotation radius can be calculated when the L1 and L2 straight lines exist in each plane.

When the collision prediction point is calculated, the distance to the collision prediction point and the estimated time may be calculated and displayed on the screen display module of the collision avoidance program using the speed of the currently moving boom.

If the predicted collision point is called P6, calculate the distance between G2 and P6 of the slow moving straight line L1 or L2 and divide it by the speed of the slow moving straight line L1 or L2. In other words, the estimated collision time t = Dist (P6, (G2, L1 or L2)) / (L1 or L2 moving speed) can be calculated.

In addition, the vertical height difference between the crane is displayed as the viewpoint of the side of the crane.

If a collision accident occurs in the workplace, the replay function of the crane movement is used by using a file that records the location of each crane to provide a basis for judging the cause by reproducing the situation at the time of the accident.

 Although the present invention has been described in detail only with respect to the specific embodiments described, it will be apparent to those skilled in the art that various modifications and variations are possible within the technical spirit of the present invention, and such modifications and modifications belong to the appended claims. .

10: jib crane 12, 22: first GNSS receiver
14, 24: second GNSS receiver 15, 25, 105: wireless communication unit
16, 26: crane control unit (PLC) 17, 27: encoder
20: tower crane 50, 150: PC terminal
51: crane coordinate receiving module 52: screen display module
53: collision warning module 54: crane control module
55: bypass module 56: hook height receiving module
100: Central Management Department 102: GNSS Reference Department
151: crane position coordinate receiving module 152: crane position coordinate recording module
153: display module 154: collision alarm module
155: crane start reproduction module

Claims (11)

Two GNSS receivers installed on the central axis and the boom of the jib crane to receive the GNSS position information and to transmit it to the central management unit;
One or two GNSS receivers installed on the central axis or boom of the tower crane to receive the GNSS position data and transmit them to the central management unit;
PC terminals provided in the cranes and the collision prevention program is driven to display a collision prevention monitor, respectively;
A central management unit for transmitting GNSS position correction data to the GNSS receivers of the cranes; And
Receiving the location information from the GNSS receiver of the crane to display in real time the current position of all cranes in operation in the workplace, and includes a PC terminal is driven a collision avoidance program for warning when a collision risk occurs,
The anti-collision program includes a safety distance at which cranes operate in the workplace and no danger of mutual collisions, and a danger distance at which the risks of a collision may occur if the cranes continue to move but mutual cranes do not invade each other's movement radius. , Crane collision prevention monitoring system using the GNSS, characterized in that the movement radius of the crane cross each other and managed by separating the collision distance that can occur at any time. The method of claim 1,
The central management unit,
A GNSS reference unit for generating GNSS correction data and transmitting the GNSS correction data to the GNSS receiver so that the GNSS receiver installed in the crane calculates an accurate position by a GNSS-RTK technique; And
Crane collision prevention monitoring system using GNSS, characterized in that it comprises a GNSS correction data between the central management unit and the crane and a GNSS transmission and reception of each crane GNSS position. The method of claim 1,
The collision prevention program of the central management unit,
A crane position coordinate receiving module for acquiring a position of a GNSS receiver installed at an end of a boom and a central axis of each crane;
A crane coordinate recording module for storing coordinate information acquired by each crane in a file of every time unit;
A display module for displaying the position and working status of all cranes by reflecting the GNSS coordinates received from each crane in the specifications of the previously input cranes;
A collision alarm module that provides an anti-collision alarm when a collision risk between each crane occurs; And
In the event of a crash in the workplace, a crane collision prevention monitoring system using a GNSS, comprising a crane maneuvering reproducing module that reproduces the situation at the time of the accident by replaying the crane movement using a file in which the location of each crane is recorded. . The method of claim 1,
In the jib crane,
A first GNSS receiver installed at the central axis of the jib crane;
A second GNSS receiver installed at the end of the boom of the jib crane;
A wireless communication unit which receives the GNSS correction data provided by the central management unit and transmits the position information of the GNSS receiver to the central management unit;
A crane control unit that decelerates the crane when the dangerous distance is reached when the crane approaches, and stops the movement of the crane when the collision distance is reached; And
A crane collision prevention monitoring system using a GNSS, comprising an encoder installed on a drum to which the wire of the crane is wound, and calculating the height of the crane hook by detecting the rotational speed of the wire to be wound on the drum. The method of claim 1,
The jib crane collision avoidance program,
A crane coordinate receiving module for receiving each coordinate from a GNSS receiver of a crane;
A screen display module for receiving the coordinates of the crane and displaying the position of each crane;
When the crane approaches by the collision avoidance program, the crane control module decelerates the crane by sending a deceleration command to the crane control unit when the dangerous distance is reached, and stops the movement of the crane by sending a stop command to the crane control unit when the collision distance is reached. ;
A bypass module for processing the cranes within a collision range so that a deceleration or stop signal for controlling the movement of the crane is not transmitted to the crane controller; And
Crane collision prevention monitoring system using GNSS, characterized in that it comprises a hook height receiving module for receiving the height information of the hook from the encoder to apply to the collision prevention program. The method of claim 4, wherein
The second GNSS receiver by hanging a heavy weight on the fixed rod connected to the collision prevention monitoring system using a crane GNSS, characterized in that the second GNSS receiver to maintain the vertical always over the boom end support. delete The method of claim 1,
In the tower crane,
A first GNSS receiver or a second GNSS receiver installed at the end of the central axis or boom of the jib crane;
A wireless communication unit which receives the GNSS correction data provided by the central management unit and transmits the position information of the GNSS receiver to the central management unit;
A crane control unit that decelerates the crane when the dangerous distance is reached when the crane approaches, and stops the movement of the crane when the collision distance is reached; And
A crane collision prevention monitoring system using a GNSS, comprising an encoder installed on a drum to which the wire of the crane is wound, and calculating the height of the crane hook by detecting the rotational speed of the wire to be wound on the drum. The method of claim 1,
The collision prevention program of the tower crane,
A crane coordinate receiving module for receiving each coordinate from a GNSS receiver of a crane;
A screen display module for receiving the coordinates of the crane and displaying the position of each crane;
When the crane approaches by the collision avoidance program, the crane control module decelerates the crane by sending a deceleration command to the crane controller when the dangerous distance is reached, and stops the crane movement by sending a stop command to the crane controller when the collision distance is reached. ;
A bypass module for processing the cranes within a collision range but not transmitting a deceleration or stop signal for controlling the movement of the crane to a crane controller; And
Crane collision prevention monitoring system using GNSS, characterized in that it comprises a hook height receiving module for receiving the height information of the hook from the encoder to apply to the collision prevention program. Dividing the specifications and the collision avoidance distance of the monitored target cranes such as the crane boom length, the elevation, etc. into a safety distance, a danger distance, and a collision distance and inputting them to a PC terminal on which the collision avoidance program is driven;
Connecting to the GNSS receiver to collect location data;
Finding a center point of a target crane to be monitored based on the position data;
Searching for nearby cranes within a specific radius based on each position of the GNSS receiver installed in the crane, and periodically storing and updating the current state of the adjacent cranes;
Selecting the nearest crane through distance comparison with the surrounding crane and continuously calculating the distance between the cranes;
Determining whether the distance between the two nearest cranes is a collision distance, generating an audiovisual alarm when the collision distance is reached, and calculating an expected collision point and an estimated collision time;
Determining whether the distance between the two nearest cranes is a dangerous distance, generating an audiovisual alarm when the dangerous distance is reached, and calculating a predicted collision point and an estimated collision time; And
Crane collision prevention monitoring method using GNSS comprising the step of generating a crane stop or deceleration command in the case of dangerous distance or collision distance. The method of claim 10,
The distance between the two cranes determine the collision distance or the dangerous distance to generate an alarm, and after calculating the collision prediction point and the collision prediction time, it is determined whether it is a bypass and in the case of the bypass, the selection of the nearest crane and the crease. Moving to a human distance calculation step, if not the crane collision prevention monitoring method using a GNSS, characterized in that it further comprises the step of generating a crane stop or deceleration command.

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