KR20110000462A - Crane collision prevention system using compound methods in detecting collision possibility - Google Patents

Crane collision prevention system using compound methods in detecting collision possibility Download PDF

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Publication number
KR20110000462A
KR20110000462A KR1020090057956A KR20090057956A KR20110000462A KR 20110000462 A KR20110000462 A KR 20110000462A KR 1020090057956 A KR1020090057956 A KR 1020090057956A KR 20090057956 A KR20090057956 A KR 20090057956A KR 20110000462 A KR20110000462 A KR 20110000462A
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South Korea
Prior art keywords
crane
collision
collision detection
gps
management unit
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KR1020090057956A
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Korean (ko)
Inventor
오훈
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울산대학교 산학협력단
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Priority to KR1020090057956A priority Critical patent/KR20110000462A/en
Publication of KR20110000462A publication Critical patent/KR20110000462A/en

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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
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/22—Control systems or devices for electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
    • B66C2700/084—Protection measures

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

Abstract

The present invention relates to a crane collision avoidance system using a mixture of a direct collision detection method and an indirect collision detection method, wherein the GPS coordinates of the crane are acquired using one or more GPS receivers installed on the crane, and the acquired GPS coordinate information is mainly used. Transmission to the management unit, and detects the collision signal information from the collision detection sensor installed on the fixed obstacle fixed to the crane, moving object, work site, and transmits to the main management unit, the main management unit through the communication network including the communication means GPS receiver And predicting a collision at the work site based on the GPS coordinate information and the collision signal information transmitted from the collision detection sensor.

Crane, mixed, prediction

Description

Crane Collision Prevention System Using Compound Methods in Detecting Collision Possibility}

The present invention relates to a crane collision avoidance system in which a direct collision detection method and an indirect collision detection method are mixed, and more specifically, to monitor in real time by modeling the shapes and movements of various types of large-scale cranes working in a shipbuilding dock, In addition to notifying and notifying when the risk of collision between cranes is predicted, the system for detecting whether the distance between the crane and the fixed obstacle, the crane and the carrying object, the carrying object and the fixed obstacle is within the collision prediction distance, and notifying the user will be.

Various types of large-scale cranes (golias cranes, jib cranes, tower cranes, etc.) move and perform tasks at ship construction or construction sites.

Goliath cranes move along the golias rails. In addition, the jib crane moves the jib crane boom up and down or left and right while moving along each jib rail. And, the tower crane is fixed in its position, but the tower crane boom is rotated to the left and right, the tower crane is fixed in position for several days or tens of days and then moved to another position as needed.

Each of these cranes has a slow body speed of up to 0.6 m / s, a boom up to 2.5 m / s, and follows the instructions of the ground operator to ensure the safety of the work. There is a danger of the cranes colliding due to the carelessness of the crane.

In addition to the collision between the cranes, or in addition to the collision between the cranes, collision between the fixed obstacles and the cranes arranged on the work site, collision between the transported objects moved by the crane and the crane or the fixed obstacles, and collisions between the transported objects and the fixed obstacles may occur. It may be. These collisions can lead to material loss due to the breakage of the crane, prolonged interruption of work and delays in delivery, and in serious cases, injury to the crane or ground workers.

Conventional crane collision prediction systems detect the possibility of collision by modeling the movement of the crane body and the crane boom as the movement of several connected line segments and tracking the shortest distance between the line segments modeling different cranes. It uses either a detection method or a direct collision detection method that detects the possibility of a collision with a collision detection sensor such as a car rearward warning sensor.

The former has the advantage of being able to build a detection system at a low price, but since the crane boom and the body are modeled as one line segment, it is difficult to detect the possibility of the collision precisely, and the object carried by the crane can There is a disadvantage that does not solve the problem of colliding or colliding with a fixed third object crane.

In the latter case, it is difficult to install the collision sensor in all the important positions of the crane, and the installation cost is high. Also, it cannot provide a solution to the problem that the object carried by the crane collides with another fixed object. have.

The present invention is to monitor the movement of each crane in real time and to predict the collision between cranes in real time to inform the risk of accidents, in order to accurately predict the collision in the indirect collision detection method, the crane body or crane boom each of a plurality of sets of segments The purpose is to suggest a modeling method.

In addition, the present invention by using a direct collision detection sensor and a communication network, by combining a direct collision detection method and an indirect collision detection method, to solve the problem of cost and installation difficulties that are a problem when using only the direct collision detection method, It aims to warn of collision risks by predicting collisions between cranes and fixed obstacles, cranes and transported objects, and transported objects and fixed obstacles.

On the other hand, another object of the present invention is to accurately predict that they collide with other objects in consideration of the actual size and shape of the crane and crane boom.

In order to achieve the above object, the present invention obtains the GPS coordinates of the crane using one or more GPS receivers installed crane, and transfers the acquired GPS coordinate information to the main management unit, the movement carried by the crane, crane The collision signal information is detected from a collision detection sensor installed on a fixed obstacle fixed to an object and a work site and transmitted to the main management unit, and the main management unit is transmitted through a communication network including a communication means from a GPS receiver and a collision detection sensor. Provided is a mixed collision detection system for predicting collision at the work site based on the GPS coordinate information and collision signal information.

In addition, the main management unit by substituting the GPS coordinates for each crane in the 3D model shape of the corresponding crane, respectively, to model the shape and movement of each crane, the mixed collision detection system, characterized in that for predicting the collision between cranes To provide.

In addition, the main management unit calculates coordinate information about a plurality of critical points serving as a collision prediction criterion previously designated on the 3D model shape, derives a predicted line segment connecting the plurality of critical point coordinates, and predicts a segment line of another crane. It provides a mixed collision detection system characterized in that it calculates the minimum adjacent distance and predicts the collision between the crane by determining whether the minimum adjacent distance is within the collision possible distance.

Meanwhile, two or more GPS receivers are installed for each crane, and the GPS coordinates acquired by each GPS receiver are transmitted to the main management unit through the communication network, and the main management unit inputs the GPS coordinates as a reference point. Mixed collision detection, characterized by matching the 3D model shape of the mounted crane with the coordinates of the actual crane with the corresponding GPS receiver, and calculating the movement, rotation, and tilt of the crane using the GPS coordinates acquired from the other one or more GPS receivers. Provide a system.

In addition, the jib crane boom, which is the crane boom of the jib crane, is further provided with a rotation sensor and a tilt sensor for respectively detecting the rotation angle and the inclination of the jib crane boom and transmitting the detection result value to the main management unit through the communication network. ,

The tower crane boom, which is a crane boom of the tower crane, is further provided with a rotation sensor which detects the rotation angle of the tower crane boom and transmits a detection result value to the main management unit through the communication network, and the main management unit is configured to receive the GPS receiver. GPS coordinates of each crane received, the rotation sensor, the tilt angle of the jib crane boom received from the tilt sensor, the tilt information and the angle information of the rotation angle of the tower crane boom, respectively, receiving any one of the prediction unit of the main management unit The 3D model shape of the crane that has been input based on the GPS coordinates of the machine and the coordinates of the actual crane installed with the corresponding GPS receiver are matched, and the movement, rotation, and tilt of the crane are calculated using the rotation angle and the tilt information. It provides a mixed collision detection system.

In addition, the main management unit provides a mixed collision detection system, characterized in that the warning of the risk of collision when any object approaches the detection area of the collision detection sensor.

In addition, the main management unit is a mixed collision detection system, characterized in that the warning of the risk of collision when the detection area of any one collision detection sensor overlaps the detection area of the other collision detection sensor at the work site where a plurality of collision detection sensors are installed To provide.

In addition, the GPS receiver, the rotation sensor, the tilt sensor, the information of the collision detection sensor is transmitted to the main management unit through a communication network including a communication means, the communication network, the communication means having only information transmission and reception function, the GPS receiver, It provides a mixed collision detection system comprising a communication module in which a relay node is coupled to any one or more of a rotation sensor, an inclination sensor, and a collision detection sensor.

In addition, the communication network provides a mixed collision detection system, characterized in that the GPS receiver, the rotation sensor, the tilt sensor, only the communication module of the relay node is coupled to the collision detection sensor.

According to the mixed collision detection system of the present invention, it is possible to accurately predict the collision between cranes by real-time monitoring not only the position of each crane but also the rotation angle and the inclination of the crane boom, and various kinds of accidents by notifying the manager or worker in real time of the collision risk. Can greatly reduce the risk of human rights and the consequences of human and material property.

Further, in addition to the collision between the crane, by directly predicting and warning the collision between the crane and the transport object, the crane and the fixed obstacle, the transport object and the fixed obstacle, it is possible to prevent damage due to the collision.

On the other hand, in consideration of the shape of the crane boom, by accurately predicting the collision prediction point and the collision, it is possible to increase the reliability of the detection system.

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

As shown in FIG. 1, the mixed collision detection system according to an exemplary embodiment of the present invention includes a GPS receiver 110 used in an indirect collision prediction method, a collision detection sensor 150 used in a direct collision prediction method, and received from them. Detects and predicts a collision based on the received information, and includes a main management unit 200. The indirect collision prediction method further includes a rotation sensor 120 or a tilt sensor 130 in addition to the GPS receiver 110. can do.

The GPS receiver 110 is installed for each of the plurality of cranes 10, 20, 30, and acquires GPS coordinates of each of the cranes 10, 20, 30 and transmits them to the main manager 200. GPS coordinates acquired by each crane (10, 20, 30) may be transmitted directly from the GPS receiver 110 via the sink node 160 to the main management unit 200, the main through a separate relay node 140 It may be transmitted to the management unit 200.

The main management unit 200 is a part for predicting a collision between each crane (10, 20, 30) based on the GPS coordinates of each crane (10, 20, 30) received from the GPS receiver 110, the main 3D model shapes of the cranes 10, 20, and 30 are stored in the prediction unit of the management unit 200, and the GPS coordinates of the cranes 10, 20, and 30 are substituted into the respective cranes 10, 20. , Modeling the position of 30, collision can be predicted.

For example, the height of the pair of pillars supporting both sides of the horizontal support block 11 of the goliath crane 10 moving along the rail 12 and the left and right lengths of the horizontal support block 11 are the main management unit ( If it is stored in advance in the prediction unit of 200, and only the GPS coordinates are inserted on a specific reference point of the golias crane 10, the actual position of the golias crane 10 can be represented together with the 3D model shape, which is the collision of the crane. It is used as a reference data for prediction. At this time, the number and position of the GPS receiver 110 to be installed in the golias crane 10 is not limited, but if only one GPS receiver 110 in the longitudinal center of the upper surface of the horizontal support block 11 is installed. As described above, the shape of the Golias crane 10 may be modeled by substituting the position of the GPS receiver 110 and the acquired GPS coordinates on the 3D model shape of the Golias crane 10.

In addition, when the GPS receivers 110 are installed at both ends in the longitudinal direction of the upper surface of the horizontal support block 11, even if there is no pre-stored 3D model shape, the length and height of the upper surface of the horizontal support block 11 can be measured. In addition, depending on the position of the GPS receiver 110 installed in the horizontal support block 11, the shape of the goliath crane 10 can be modeled even without the 3D model shape.

Meanwhile, the crane on which the GPS receiver 110 is mounted may include one or a plurality of selected ones of the goliath crane 10, the jib crane 20, or the tower crane 30, and generally as shown in FIG. 1. In this case, the three cranes are often placed and worked together in the appropriate number of sites.

Although only the Goliath crane 10 having the horizontal support block 11 has been described above, the jib crane 20 moves along the rail 22 and has a jib crane boom 21 that rotates and moves up and down. In order to model the shape of each crane and crane boom by installing the above-described GPS receiver 110 in the tower crane 30 having the tower crane boom 31 rotating at a fixed position, and substituting the previously stored 3D model shape. Can be.

2A and 2B are schematic conceptual views showing the jib crane boom 21 modeled as a line segment when two jib crane booms 21 are approached as they rotate in the direction of the respective arrows. First, as shown in FIG. 2A, each of the jib cranes 20 may model the shape of the crane and the crane boom using the GPS coordinates obtained by using the plurality of GPS receivers 110 (see the jib crane on the left side). The shape of the crane and the crane boom may be measured based on the information obtained by using the GPS coordinates obtained from the GPS receiver 110, the rotation sensor 120, and the tilt sensor 130 (see the right jib crane).

 That is, since the tower crane 30 moves the object to be transported by the tower crane boom 31, only the rotation sensor 120 can be mounted on the tower crane boom 31, and the jib crane 20 is the jib crane boom. Since not only the rotation 21 but also the vertical movement, the rotation sensor 120 and the tilt sensor 130 can be mounted to obtain information about the shape and movement.

The shape and position of each crane and crane boom thus obtained are substituted into a pre-stored 3D model shape, as shown in FIG. 2B, and used to determine the position of the critical point 1, or are themselves critical points. The predicted line segment 2 between the critical points 1 is derived, and the minimum adjoining distance with the predicted line segment 2 of another crane is measured to predict the collision between the cranes as will be described later.

Referring to FIG. 2B, an analysis method for predicting a collision of a crane will be described. First, a point having a high probability of collision with another object in the shape of a modeled crane may be designated as the critical point 1. 1) can be specified in plurality in accordance with the shape of the crane. In addition, in consideration of the moving direction, position, and the like of the crane, it is also possible to separately designate a point having a high possibility of collision at the site. As such, when the critical points 1 which are the collision prediction points are connected to each other, a plurality of prediction line segments 2 can be obtained, and the adjacent distance D which is the distance between the prediction line segments 2 of different cranes that rotate or move. ) Is less than or equal to the threshold distance that becomes the collision prediction criterion, the prediction unit detects a collision risk. At this time, as the number of predicted line segments 2 increases, the prediction of the collision point at which the crane actually collides with another object becomes more accurate.

3A to 3C illustrate collision prediction by selecting one of the plurality of prediction line segments 2 derived through the critical points 1 of the crane booms 21 and 31 or the horizontal support block 11. Looking further, in Figures 3a to 3c each line (Line1 or Line2), such as the horizontal support block 11, the jib crane boom 21 and the tower crane boom 31, the crane body, the boom It may be any one of the predicted line segments 2 modeled as line segments. For example, the points (a 1 , b 1 , c 1 ) and (a 2 , b 2 , c 2 ) at both ends of the line segment are both ends of the horizontal support block 11 of the goliath crane 10 and the jib crane boom. It may correspond to both ends of the (21) or both ends of the tower crane boom (31).

In FIG. 3A, the length (D: (a 0 , b 0 , c 0 ) coordinates and (x 0 , y) associated with any one point between Line1 and Line2, and the inner product of Line1 and 2 is zero . 0 , z 0 ) the distance between coordinates) corresponds to the minimum distance between Line1 and Line2.

In the case of Fig. 3B, Line3 is perpendicular to Line1 at the end of Line2 because the inner product of Line1 and Line2 is both zero, that is, there are no line segments perpendicular to both Lines.

In the case of FIG. 3C, there is no line segment connecting Line1 and Line2 that make up the dot product of Line 1 and 2, and the distance between the two end points of Line1 and the two end points of Line2 is closest to (a 1). The length (D) of the Line3 line segment between (b 1 , c 1 ) coordinates and (x 1 , y 1 , z 1 ) coordinates is the minimum adjacent distance.

As described above, the minimum adjacent distance, which is the minimum distance between the predicted line segment 2 connected between the plurality of critical points 1 in one crane and the predicted line segment 2 of the other crane, is less than or equal to the threshold distance that is the basis of collision prediction. When measured and analyzed, the alarm unit of the main management unit 200 may enable the auditory confirmation of the collision of the crane in real time through an alarm alarm or a notification message.

As described above, the predicted line segment of the crane modeled using the GPS coordinates or the rotation information and the slope information substituted in the 3D model shape including the size, shape, and structure information for each crane previously stored in the main management unit 200. Through, by enabling the auditory guidance informing the danger of the collision between the crane, it is possible for the manager or the like to quickly enable the acoustic recognition of the collision situation.

The alarm unit may divide the distance corresponding to the threshold distance or less into a plurality of distance stages, and may express the guidance of the alarm alert or notification message differently for each corresponding distance stage in which the minimum adjacent distance is entered. .

For example, when the critical distance is 3m, the distance step is divided into 1.5m (collision emergency zone), 2m (collision attention zone), 3m (collision possibility zone), and the calculated minimum adjacent distance is 3m to 1.5m The faster the alarm is output, the faster the alarm output period is, or the different notification messages (3m is "collision area", 2m is "collision area", 1.5m is "collision emergency area"), or The alarm can be divided and guided.

Meanwhile, as shown in FIGS. 1 and 2A, the display unit displays the 3D model shape of each crane in which GPS coordinates of each crane, rotation angle and inclination information of the jib crane 20, and rotation angle information of the tower crane 30 are substituted. By using the current shape and position of each crane in 3D real-time display is provided.

When the collision between each crane is predicted, the display unit blinks the collision target crane in a specific color or expresses the color of the collision target crane differently from the color of the non-collision crane, so that visual confirmation of the collision target crane can be performed in real time. You can do that.

In addition, the display unit divides the distance corresponding to the threshold distance or less into a plurality of distance stages, differently display the display color of the collision target crane for each corresponding distance step to enter the minimum adjacent distance, or the collision target crane is the threshold Which distance step of the plurality of distance steps below the distance may be displayed in the form of a combination of one or a plurality of selected images, text, graphics, or a table.

For example, the display color of the 3D model shape of the crane may be differently displayed for each case in which the crane enters the collision probable region, the collision attention region, and the emergency emergency region among the above-described distance steps.

In addition, the location of the collision target crane, the collision warning zone, the emergency emergency zone, etc. can be guided to display in the selected form of the image, graphics, table (table form) for each crane.

Meanwhile, in the present invention, the GPS receiver 110 is connected to a communication module, and sends the acquired GPS coordinate information to a server using wired communication or through a plurality of wireless communication relay nodes 140 constituting a communication network. Node 160 (server) can be delivered.

On the other hand, the present invention may further include an operator terminal (not shown) owned by the worker of each crane or a manager terminal (not shown) owned by the safety manager managing the work site where the crane work is made.

Here, the worker terminal and the manager terminal is related to the display unit and the collision target crane to display the information on the collision target crane received from the main management unit 200 (name of the crane, location, worker information of the crane, etc.) on a real-time screen Including a notification unit that notifies the information to an alarm or notification message, if a collision between specific cranes is predicted, the operator of the crane or the safety manager of the site can be immediately recognized, and prompt action can be taken to prevent the collision accordingly. Can be.

In this way, the collision between the crane is the position of the crane obtained by using the GPS receiver 110, the rotation sensor 120, the tilt sensor 130, the movement information on the 3D model shape of each crane previously stored in the main management unit 200 After determining the critical point 1 of each crane, the minimum adjacent distance between the predicted line segment 2 derived by connecting the plurality of critical points 1 and the predicted line segment 2 of another crane is the critical distance. If it is below, the main management unit 200 can predict this.

Hereinafter, the cranes 10, 20, 30 and the fixed obstacle 50, the cranes 10, 20, 30, the carrying object 40 and the fixed obstacle 50, and the carrying object during the collision that may occur at the work site will be described below. A method of predicting and preventing collisions between the 40 will be described.

Collisions at work sites can be problematic, as well as collisions between moving and rotating cranes, as well as collisions caused by obstacles fixed on the site and conveyed objects moved by cranes. Such a collision can be predicted by detecting a direct collision. As shown in FIG. 1, a collision detection sensor 150 can be used to prevent a direct collision.

1 and 2a, by attaching a collision detection sensor 150 at a point where a collision is expected at the crane 10, 20, 30, the fixed obstacle 50, the transport object 40, the collision detection sensor ( If any object approaches 150, give a warning. In addition, when the two collision detection sensors 150 enter each other's sensing area, a sensor using a microwave that detects microwaves of the counterpart and transmits an alarm signal may be used.

The collision detection sensor 150, the sensor and the communication means is preferably installed as a collision detection sensor module in which the relay node 140 is coupled, in this case, since the wireless sensor network is established between the collision detection sensor module When the collision detection sensor 150 detects a possibility of collision, the collision detection sensor 150 detects the sink node 160 through the relay of the collision detection sensor module or another communication module (relay node 140, collision detection sensor module, etc.). You can send the contents. The sink node 160 transmits the detected contents to the main manager 200 through a wireless network, and the main manager 200 transmits a warning message to the manager and the crane worker.

Such a collision prediction using the direct collision sensor 150 is temporarily carried in the work site, unlike an indirect collision detection method that detects a distance between cranes using GPS coordinates and a stored 3D model shape of a crane. As a method of easily predicting collision with the carrying object 40 or the fixed obstacle 50 which does not move by itself, it may serve to detect a collision that is difficult to cover in an indirect collision detection method.

In addition, in the case of temporarily being placed on the work site or for predicting a direct collision due to a short-term movement, it is preferable to detach the collision detection sensor 150 after the operation and attach it to a necessary place so that it can be reused.

The warning of the main management unit for the direct collision prediction method using the collision detection sensor can be applied to the warning and notification method of the indirect collision prediction method, it is possible to hear audible and visual. In addition, the warning level may be adjusted according to the degree of approach of the collision prediction object to the detection area of the collision detection sensor or the degree of overlap with the detection area of another collision detection sensor.

As described above, the collision between cranes can be predicted by substituting GPS coordinates, rotation angle, and inclination information into the 3D model shape of the crane to obtain the minimum adjacent distance between the predicted line segments 2 of different cranes. The collision between the 10, 20, 30 and the fixed obstacle 50, the crane 10, 20, 30 and the carrying object 40, the collision between the fixed obstacle 50 and the carrying object 40 is directly detected collision It is preferable to predict using the sensor 150. By using the indirect collision prediction method and the direct collision prediction method at the same time, it is possible to predict and prevent various kinds of collisions that may occur during crane work.

On the other hand, if the GPS receiver 110 does not change the acquired GPS coordinates for a certain time, it is preferable not to transmit the GPS coordinates to the main management unit 200. In this case, the power consumption is reduced and the frequency of signal transmission is reduced. It can also reduce the congestion of the signal in the wireless environment and thus the problem of interference of the signal. Of course, the rotation sensor 120, the tilt sensor 130, the collision detection sensor 150 also, if there is no change in the detection result value within a predetermined time it is preferable not to transmit the detection result value to the main management unit 200 side.

Information transmission from the GPS receiver 110, the rotation sensor 120, the tilt sensor 130, and the collision detection sensor 150 is performed through a wired / wireless network including a sensor network. The sensor network (communication network) is a form in which a plurality of communication means forms a mesh network, and may be a hybrid network in which wired communication and wireless communication are combined. In addition, these communication means may be a relay node which is an independent communication means, but the GPS receiver 110, the rotation sensor 120, the tilt sensor 130 and the collision detection sensor 150 and the relay node is a communication module of the type combined It may be. In particular, the communication means attached to the position where the collision is expected is preferably in the form of a communication module coupled with the collision detection sensor 150. As described above, when the collision detection sensor 150 detects the possibility of collision, the collision detection sensor 150 coupled with the communication means transmits the detected contents to the sink node 160 through a plurality of other communication means. In the process of transmitting the sensed data to the sink node 160, not only a communication module coupled to the sensor but also a communication node having a data transfer function may be provided. That is, many intermediate communication nodes serving as routers in the middle of information transmission serve as relays, and thus, from the GPS receiver 110, the rotation sensor 120, the tilt sensor 130, and the collision detection sensor 150, which are transmission nodes, are used as relays. Information is transmitted through multi-hop communication in which a virtual link is connected to the sink node 160 which is a receiving node.

As described above, the communication method of the mixed collision detection system according to the present invention includes not only the wireless sensor network (USN) method described above but also a wireless communication method not listed, such as a wireless LAN (WLAN) and an RF method. As a matter of course, the change of the communication network method is a factor that can be changed at any time to meet the optimum conditions for the safety, installation and maintenance cost of the system, accuracy of the system, time delay, and the like.

As described above, although the present invention has been described by way of limited embodiments and drawings, the present invention is not limited thereto and is intended by those skilled in the art to which the present invention pertains. Of course, various modifications and variations are possible within the scope of equivalents of the claims to be described.

1 is a conceptual diagram schematically showing the configuration of the mixed collision detection system of the present invention.

2A and 2B are schematic perspective views and partial perspective views showing a state in which a crane shape of the present invention is modeled as a predicted line segment, respectively.

3A to 3C are conceptual views illustrating the principle of calculating the minimum adjacent distance between predicted line segments modeled in the present invention, respectively.

<Explanation of symbols for the main parts of the drawings>

1 critical point 2 predicted line segment

10 Goliath crane 11 Horizontal support block 12 Rail

20 Jib Crane 21 Jib Crane Boom 22 Rail

30 Tower Crane 31 Tower Crane Boom

40 Moveables 50 Fixed Obstacles

110 GPS Receiver 120 Rotation Sensor 130 Tilt Sensor

140 Relay node 150 Collision detection sensor 160 Sync node

200 Main Administration Department

Claims (8)

Acquiring GPS coordinates of the crane by using one or more GPS receivers 110 installed in the crane, and transmits the acquired GPS coordinate information to the main management unit 200, The collision signal information detected by the collision detection sensor 150 installed in the moving object 40, the moving object 40 is transported by the crane, the fixed obstacle 50 fixedly disposed on the work site to the main management unit, The main management unit 200 predicts a collision at the work site based on the GPS coordinate information and the collision signal information received from the GPS receiver 110 and the collision detection sensor 150 through a communication network including a communication means. Mixed collision detection system. The method of claim 1, The main management unit (200) is a mixed collision detection system, characterized in that by modeling the shape and movement of each of the crane by substituting the GPS coordinates for each crane in the 3D model shape of the corresponding crane, respectively. The method of claim 2, The main manager 200 calculates coordinate information about a plurality of threshold points 1 serving as a collision prediction criterion in the 3D model shape, and includes a plurality of prediction line segments 2 connecting the coordinates of the plurality of threshold points 1. Deriving, calculates the minimum contact distance with the predicted line segment (2) of the other crane, and determines whether the minimum adjacent distance is within the collision possible distance, characterized in that the mixed collision detection system. The method of claim 1, Two or more GPS receivers 110 are installed for each crane, and the GPS coordinates acquired by each GPS receiver 110 are transmitted to the main management unit 200 through the communication network. The main management unit 200 corresponds to the 3D model shape of the crane previously input by using any one of the GPS coordinates and the coordinates of the actual crane installed with the corresponding GPS receiver 110, the other one or more GPS receivers 110 Mixed collision detection system, characterized in that for calculating the movement, rotation, tilt of the crane using the acquired GPS coordinates. The method of claim 1, The jib crane boom 21, which is a crane boom of the jib crane 20, detects the rotation angle and the inclination of the jib crane boom 21, respectively, and transmits a detection result value to the main manager 200 through the communication network. The rotation sensor 120 and the tilt sensor 130 is further provided, The tower crane boom 31, which is a crane boom of the tower crane 30, detects a rotation angle of the tower crane boom 31 and transmits a detection result to the main manager 200 through the communication network. 120), The main management unit 200 is the GPS coordinates of each crane received from the GPS receiver 110, the rotation angle of the jib crane boom 21 received from the rotation sensor 120, the tilt sensor 130, inclination information And receiving rotation angle information of the tower crane boom 31, respectively. The predicting unit of the main management unit 200 corresponds to the 3D model shape of the crane input by using any one of the GPS coordinates as a reference point and the coordinates of the actual crane in which the corresponding GPS receiver 110 is installed. Mixed collision detection system, characterized in that for calculating the movement, rotation, tilt of the crane. The method of claim 1, The main management unit (200) is a mixed collision detection system, characterized in that warns of the danger of collision when any object approaches the detection area of the collision detection sensor (150). The method of claim 1, The main management unit 200 is a collision risk when the detection area of any one collision detection sensor 150 and the detection area of the other collision detection sensor 150 overlaps at the work site where a plurality of collision detection sensors 150 is installed Mixed collision detection system, characterized in that for warning. 6. The method according to claim 1 or 5, GPS coordinate information acquired by the GPS receiver 110, rotation angle information of the rotation sensor 120, inclination information of the tilt sensor 130, detection information of the collision detection sensor 150 includes a communication means It is delivered to the main management unit 200 through the communication network, The communication network includes a communication means having only an information transmitting and receiving function, and a communication module in which a relay node is coupled to the GPS receiver 110, the rotation sensor 120, the tilt sensor 130, and the collision detection sensor 150. Mixed collision detection system, characterized in that.
KR1020090057956A 2009-06-26 2009-06-26 Crane collision prevention system using compound methods in detecting collision possibility KR20110000462A (en)

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