RU2398728C1 - System to prevent collision of hoisting cranes - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: proposed system relates to construction equipment and can be used to prevent collision of hoisting cranes. Proposed system comprises data exchange hardware mounted on every crane, crane spatial position transducers and digital computer. The latter receives and processes output signals of transducers and data exchange hardware and to generate warning and/or interlocking signal, depending upon data processing results, when the crane approaches the other crane or stationary obstacle that have coordinates or parametres entered into digital computer memory. Digital computers allow data exchange with the help of data exchange hardware and using said data for signal processing and generating warning or interlocking signals. Wireless data exchange hardware can use ultrasound, and/or optical, and/or electromagnetic radiation and can determine the distance between said hardware components from time said radiation passes there between.

EFFECT: expanded operating performances, higher safety.

10 cl, 1 dwg

Description

The invention relates to techniques for ensuring the safety of hoisting cranes, mainly tower cranes.

A known system of protection against collisions of a group of tower cranes "SMIE-AC30" (France), containing devices for wire (cable) or wireless (over the air) information exchange between protection devices installed on each of the "N" working in a group of tower cranes, about the position, movements and load of its equipment, as well as a crane protection device installed on each crane, including a group of sensors for monitoring parameters of the crane equipment and a digital computer containing a central processor (microcontroller), d display and executive unit. Digital computers are connected by cable or radio communication, forming a network for the exchange of information about the position, movements and load of cranes. The position of the crane and its equipment in this system is “tied” to certain points on the construction site. The digital computer, controlling the position, load and speed of movement of the crane and its equipment, identifies dangerous proximity of hoisting cranes. A digital computer on another crane performs similar calculations for its crane, and both devices exchange their results [1].

In this system, when the calculations indicate a dangerous approach of the crane equipment, each digital computer generates corresponding warning signals and signals blocking the movements of its crane. At the same time, their displays display conditional graphical images of the position of the cranes on the construction site plan, images of forbidden (overlapping) safety zones corresponding to collisions and dangerous proximity, directions of dangerous movements and ways of safely leading cranes out of overlapping zones.

A similar safety system is also known, in which, in order to increase the safety and efficiency of cranes, information signals are additionally generated on the display screen that precede the beginning of movement or restrict the movement of the equipment of the cranes in case of possible intersection of their trajectories [2].

A disadvantage of the known systems is the reduced safety and reduced efficiency of the simultaneous operation of the cranes due to the lack of both a direct determination of the distance between them and the prevention of their collisions with fixed obstacles and objects.

The main task to which the claimed invention is directed is to expand the functionality of the protection system by implementing direct control and subsequent accounting of the distance between the cranes, as well as taking into account the location of fixed obstacles and objects at the construction site with a corresponding increase in the safety of the group of cranes.

An additional objective is to increase the efficiency of the group of cranes by generating additional information signals or restricting the movements of the crane equipment in the event of a possible intersection of their trajectories, as well as by reducing the time spent on setting parameters or location coordinates of fixed obstacles and objects at the construction site.

In the first embodiment, an anti-collision system for hoisting cranes comprising a wireless data exchange device installed on each crane, crane spatial position sensors and a single-block or multi-block digital computing device configured to receive and process the output signals of these sensors and a wireless data exchange device, and also with the possibility of forming, depending on the results of this processing, the warning signal and / or signal is blocked I movements of the crane during its approach or the predicted proximity to another crane, the technical tasks are solved due to the fact that the wireless data exchange devices located on different cranes are performed with the ability to determine the distance between them, and at least one digital computing device performed with the possibility of the specified signal processing and the formation of a warning signal and / or signal blocking the movements of the crane, taking into account this distance.

In the second embodiment of this protection system, comprising a data exchange device installed on each crane, sensors of the spatial position of the crane and a single-block or multi-block digital computing device configured to receive and process the output signals of these sensors and a data exchange device, as well as with the possibility of forming, depending on the results of this processing, the warning signal and / or the signal blocking the movements of the crane when it is approaching or predicted approaching with another crane or with a fixed obstacle, the coordinates and / or parameters of which are recorded in the memory unit of a digital computing device, the technical tasks are solved due to the fact that digital computing devices are capable of exchanging data on the coordinates and / or parameters of a fixed obstacle or object using the mentioned data exchange devices, as well as with the possibility of using this data for the specified signal processing and the formation of warning signals and / or signals blocking the movements of the crane.

In addition, in both versions of the anti-collision system to solve the tasks, it can be additionally implemented:

- the implementation of devices for wireless data exchange using ultrasonic, and / or optical, and / or electromagnetic radiation, as well as with the ability to determine the distance between them by the time this radiation passes between the devices;

- the implementation of wireless data exchange devices with the ability to receive and transmit information about the position, movements and load of the equipment of the corresponding crane;

- calculating, by means of a digital computing device, the distance between the wireless data exchange devices installed on the cranes using the signals from the sensors of the spatial position of one's own and another crane, then comparing the calculated value of this distance with the distance determined by the wireless data exchange devices, and when receiving various values, generating an additional warning signal and / or signal blocking the movements of the crane or the choice of the smallest the value of this distance during the formation of the warning signal and / or signal blocking the movements of the crane;

- determination by means of a digital computing device of the boundaries of the security restricted areas around the boom of each crane, corresponding to their approximation to the minimum permissible distance, when implementing the processing of sensor signals and a wireless data exchange device, which consists in detecting intersections of the restricted area with the subsequent formation of an alert signal and / or signal blocking crane movements;

- equipping the digital computing device with a graphic display connected to the processor or to the microcontroller of the computing device, displaying on the display screen a conditional graphic image of the position of the crane on the construction site plan and a conditional graphic image of the position of another or other cranes and / or their restricted safety zones;

- displaying on the display screen the trajectories of the cranes and / or their equipment and displaying the current and / or forecasted points or areas of crossing the boundaries of these prohibited safety zones;

- determination of the boundaries of restricted security zones, taking into account the inertia of the moving crane equipment;

- equipping digital computing devices of at least two cranes with memory blocks in which the coordinates and / or parameters of fixed obstacles or objects at the construction site are recorded, as well as the exchange of data between digital computing devices about these coordinates and / or parameters using devices for wireless data exchange with the subsequent use of this data in the formation of warning signals and / or signals blocking the movements of the crane;

- comparison by means of a digital computing device of data on the coordinates and / or parameters of a fixed obstacle or object read from its own memory unit and received from the memory unit of a digital computing device of another crane, and if there is a conflict between these data, the subsequent selection of the smallest zone of permissible movements of the crane and / or the formation of warning signals and / or signals blocking the movements of the crane;

- transfer of coordinates and / or parameters of fixed obstacles or objects to be recorded in the memory blocks of digital computing devices of one or more cranes from a stationary post to digital computing devices using existing wireless data exchange devices or additional devices of a serial wired or wireless interface;

- equipping digital computing devices with recorders of crane parameters with a real-time clock.

Thanks to the implementation of these distinguishing features, the proposed protection system has expanded functionality due to the implementation of direct control and subsequent accounting of the distance between the cranes, as well as the implementation of protection against collisions of cranes with fixed obstacles and objects at the construction site.

Direct control or direct measurement of the distance between the cranes allows you to control this distance with high accuracy and reliability and regardless of the operability and accuracy of the sensors of the protection system.

The exchange of information about the coordinates and / or parameters of stationary obstacles (objects) between digital computing devices located on different cranes, as well as the transmission of this data from a stationary post simultaneously to several cranes, increases the efficiency of the protection system, i.e. the safety of cranes, and the productivity of their work by reducing the loss of time in writing these parameters to storage devices.

The formation of additional information signals preceding the start of movement or restricting the movement of the equipment of the cranes to their dangerous approach, in some cases eliminates the need for the crane operator to bypass or return the cranes, which also leads to an increase in their efficiency, including reduction of unproductive time and energy losses.

Figure 1 shows a simplified structural diagram of a system for protecting cranes from collisions. Figure 2 - fragments of images of the equipment of two "adjacent" cranes on the display screen.

The system contains installed on each crane wireless data exchange devices 1 (1 ') (Fig. 1, Fig. 2) sensors of operation parameters of the crane 2 (2') and single-block or multi-block digital computing devices 3 (3 '), which carry out reception and processing their output signals (figure 1). Figure 1 conventionally shows the components of the systems 1, 2 and 3 (1 ', 2' and 3 ') for two hoisting cranes. Their number can be any within the established limits.

Each digital computing device 3 (3 ') has a single-block or multi-block design and contains a central processor or microcontroller 4 (4') and a display 5 (5 ') connected to it, a memory unit 6 (6') and an output device 7 (7 ') ), the outputs of which are connected to the actuators or drives of the crane.

Digital computing device 3 (3 ') may contain additional nodes and blocks, conventionally not shown in figure 1 and connected to the microcontroller 4 (4') directly or using any matching devices. These include, in particular, an additional non-volatile memory of the parameter logger with a real-time clock, an interface for wireless or wired reading of data from the parameter logger, an audio or voice alarm device, system controls, discrete LED indicators, etc.

The central processor or microcontroller 4 (4 ') generally comprises a processor core, built-in memory devices for storing data and programs of its operation, a clock generator and peripheral devices.

The sensors of the operating parameters of the crane 2 (2 ') in the general case include sensors of the spatial position of the crane (azimuth angle, angle of inclination and length of the arrow, the position of the crane on the crane path, the movement of the cargo trolley along the guiding belts of the crane arrow, the height of the lifting device, and t .d.), a load sensor (force or pressure in the boom lifting hydraulic cylinder), a proximity sensor to the power line and other sensors, the need for which is determined by the design of a specific crane.

The central unit of the digital computing device 3 (3 ') may be referred to as a controller, a data processing unit, an indication unit, an information control or information and computing unit, etc., which is not critical.

The connection of the data exchange device 1 (1 ') and sensors 2 (2') to the digital computing device 3 (3 ') can be carried out via the multiplex data exchange channel (CAN, LIN, etc.) using separate wires or over the air.

The output device 7 (7 ') may be referred to as an actuator or an output unit, a controller for a rotary or non-rotary part of a crane, etc. Depending on the design of the executive drives of the crane, it is made in the form of power amplifiers (a set of electronic keys, relays, starters, etc.), electro-hydraulic valves, electromechanical positioners, etc. It may contain its own microcontroller and means for connecting to the central microcontroller 4 (4 ') a digital computing device 1 (1') via a multiplex data exchange channel. The output device 7 (7 ') can also be configured to relay part or all of the output signals of the communication device 1 (1') and sensors 2 (2 ') to a digital computing device 3 (3').

Sensor sensors 2 (2 '), which can be called peripheral recording devices, peripheral controllers, measuring devices, etc., are located in various areas of the crane and include analog sensors with analog-to-digital converters and digital sensors.

Data exchange devices 1 (1 '), located on various cranes (Fig. 2), for example, on the heads of their towers, in the first embodiment of the protection system are made wireless using ultrasonic, optical or electromagnetic radiation. The receivers and transmitters of serial digital data exchange signals contained therein are configured to determine the distance between them, in particular, by the time this radiation travels between the devices. For this, NanoLOC technology developed by Nanotron (www.nanotron.com) can be used.

1 (1 ') communication devices (TRX transceivers) nanoLOC installed on various cranes can implement various network topologies with support for direct and random access to the transmission medium. Direct access can be implemented according to the scheme with temporary TDMA or frequency FDMA separation, or according to the master-slave scheme. Random access - by the method of multiple access with carrier detection and collision avoidance (CSMA / CA).

These devices provide both the transfer of data between digital computing devices 3 (3 '), and the distances between the points of their installation on various cranes. If direct determination of the distance between the communication devices 1 (1 ') is not required, they can be implemented using wired communication lines.

The system for protecting cranes from collisions works as follows.

During the initial installation of the system, it is configured on cranes, primarily sensors 2, with the aim of “linking” it to the construction site.

During system operation, all digital computing devices 3 (3 ') operate similarly to each other.

The signals of the sensors 2 for monitoring the parameters of the equipment of the first crane are sent to the microcontroller 4, which determines the position of the equipment of the first crane and the load on it in order to determine the inertia of motion with their simultaneous transmission to the second crane using communication devices 1 and 1 '. Changes in the position of the equipment of the first crane, recorded by sensors 2, are converted by the microcontroller 4 into values, directions and trajectories of its movement, which, simultaneously with the conditional graphic image of the crane equipment, are displayed on display 5 on the construction site plan (Fig. 2).

At the same time, the microcontroller 4, using the signals received from the sensors 2 'of the second crane using the communication devices 1 and 1', forms a conditional graphic image of the equipment of the second crane on the display screen 5. This information on displays 5 and 5 'is displayed, for example, in the form of projections of their equipment (arrows).

At the same time, the microcontroller 4 of the digital computing device 3, working according to the program previously recorded in its memory, using the signals received from the sensors 2 and 2 ', determines and uses the display 5 to display the boundaries of the restricted safety zones around the boom (boom equipment) of each crane, corresponding to their approximation to the minimum permissible distance, taking into account the speed of movement and inertia of this equipment.

When detecting intersections of the safety forbidden zones of equipment of various cranes or when they are predicted to intersect at set intervals, the microcontroller 4 generates warning signals and signals blocking the movements of the first crane to the output device 7. At this point in time, the microcontroller 4 'of the digital computing device 3' of the second crane likewise generates warning signals and signals blocking the movements of the second crane. This ensures the prevention of collisions of cranes.

In addition to the calculation of the distance between the equipment of the cranes according to the signals from the sensors 2 and 2 ', an additional signal is received in the microcontroller 4 from the wireless data exchange device 1 about the distance between the equipment of the cranes obtained as a result of its direct measurement.

The microcontroller 4 implements its functions of protection against collisions of cranes using both the calculated distance and the measured one. To do this, a comparison of their values and the subsequent formation of warning signals and / or signals blocking the movements of the crane either after selecting the smallest value from the two distance values obtained or automatic generation of these signals in the presence of significant differences of these values. This ensures increased safety of cranes, regardless of the error of any sensor of the spatial position of any crane, as well as in the event of a complete failure or absence of this sensor.

If there are any fixed obstacles or objects at the construction site, collisions with which or work in the area of which, in particular above them, must be avoided, their coordinates and / or parameters are recorded by the memory unit 6 of the digital computing device 3. Recording is carried out by transmitting the corresponding data from a stationary post through a data exchange device 1, by typing on the controls (on the keyboard) of a digital computing device 3, by connecting an external storage medium to it etc.

Further, the microcontroller 4 uses this data to form a conditional graphic display of these obstacles or objects on the display screen 5, as well as when generating warning signals and / or signals blocking the movements of the crane.

The coordinates and / or parameters of fixed obstacles or objects recorded in the memory block 6 or 6 'of a digital computing device 3 or 3' of one of the cranes are transferred to another crane using data exchange devices 1 and 1 ', which reduces the time required for recording ( input) of these coordinates or parameters and, accordingly, leads to a decrease in downtime of cranes and to increase the productivity of their work.

The coordinates and / or parameters of fixed obstacles or objects can be recorded in memory blocks 6 or 6 'on both taps from a single source of information from a stationary post using existing wireless data exchange devices or additional devices of a serial wired or wireless interface. This reduces recording time.

If these coordinates and / or parameters are recorded on each crane independently, then they may diverge. In this case, the microcontroller 4, after exchanging data with another crane, compares their values "reduced" to a particular crane. If these values do not match, the microcontroller 4 selects the smallest zone of permissible movements of the crane equipment or generates a warning signal about the incorrect input of coordinates and / or parameters of fixed obstacles or objects with blocking, if necessary, crane movements.

If necessary, the microcontroller 4 transmits to the display 5 signals for displaying on its screen images of the predicted or already occurring during the operation of the cranes intersections of the safety zones of their equipment, as well as permitted or preferred from the point of view of performance or safety of the crane, directions of movement of its equipment. The boundaries of all forbidden safety zones are determined by the microcontroller 4, in particular, using a mathematical model of the crane, previously recorded in his memory, and taking into account the inertia of his moving equipment.

All types and directions of movements of the crane from the microcontroller 4 of the digital computing device 3 can be transmitted to the parameter logger and recorded in it in real time for subsequent monitoring and analysis of the crane.

The invention also allows other implementations of a crane safety system containing the features set forth in its formula.

Information sources

1. Dana Rafchikova. Anti-collision systems "SMIE-AC30" protection of cranes. Magazine “Lifting constructions. Special equipment. ”- 2001, No. 4.

2. RU 2326046 C1, B66C 13/18, B66C 23/88, B66C 15/00, 10.06.2008.

Claims (10)

1. A collision protection system for load-lifting cranes, comprising a data exchange device installed on each crane, spatial position sensors of the crane and a single-block or multi-block digital computing device configured to receive and process the output signals of these sensors and the data exchange device, as well as with the possibility of generating depending on the results of this processing of the warning signal and / or the signal blocking the movements of the crane when it is approaching or predicted living with another crane or with a fixed obstacle, the coordinates and / or parameters of which are recorded in the memory unit of a digital computing device, characterized in that the digital computing devices are capable of exchanging data on the coordinates and / or parameters of a fixed obstacle or object using the said exchange devices data, as well as with the possibility of using this data for the specified signal processing and the formation of a warning signal and / or signal blocking movements of the crane and, moreover, the data exchange devices are made wireless using ultrasonic and / or optical and / or electromagnetic radiation, as well as with the possibility of determining the distance between them by the time this radiation travels between the devices. 2. The system according to claim 1, characterized in that the digital computing device is configured to compare data on the coordinates and / or parameters of a fixed obstacle or object read from its own memory unit and received from the memory unit of a digital computing device of another crane, and upon receipt different values of these coordinates and / or parameters with the possibility of choosing the smallest zone of permissible movements of the crane and / or the formation of an alert signal, and / or the formation of a blocking signal th crane. 3. The system according to claim 1, characterized in that the digital computing device is arranged to calculate the distance between the wireless data exchange devices installed on the cranes using the output signals of the spatial position sensors of its own and the other crane, with the possibility of comparing the calculated value of this distance with a certain one devices for wireless data exchange and upon receipt of various values of this distance with the possibility of forming an additional warning signal and / or signal blocking the movements of the crane or with the possibility of choosing the smallest value of this distance during the formation of the warning signal and / or signal blocking the movements of the crane. 4. The system according to claim 1, characterized in that the data exchange device is configured to receive and transmit information about the position, movements and load of the equipment of the corresponding crane. 5. The system according to claim 1, characterized in that the digital computing device is configured to determine the boundaries of the security restricted areas around the boom of each crane, corresponding to their approximation to the minimum permissible distance, and said signal processing includes detecting the intersection of the security restricted area with the subsequent formation warning signal and / or crane blocking signal. 6. The system according to claim 5, characterized in that the digital computing device is configured to take into account the inertia of the movable crane equipment when determining the boundary of the restricted security zone. 7. The system according to claims 1, 5 or 6, characterized in that at least one block of a digital computing device comprises a graphic display connected to a processor or microcontroller of this digital computing device, the display and the processor or microcontroller displaying on the display screen a conditional graphic image of the position of the crane itself on the construction site plan and a conditional graphic image of the position of another or other cranes and / or their restricted areas. 8. The system according to claim 7, characterized in that the processor or microcontroller and the display of the digital computing device are configured to display the trajectories of the cranes and / or their equipment on the display screen and display current and / or predicted points or areas of intersection of the boundaries of these forbidden zones . 9. The system according to claim 1, characterized in that the coordinates and / or parameters of a fixed obstacle or object to be recorded in the memory blocks of digital computing devices of one or more cranes are transmitted from a stationary post to digital computing devices using these wireless data exchange devices or using additional devices for a serial wired or wireless interface. 10. The system according to any one of claims 1 to 6, 8, 9, characterized in that the digital computing device further comprises a crane parameters recorder with a real-time clock.

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