JP2007084336A - Crane approach alarm system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a crane approach alarm system capable of surely notifying approach of jibs to each other by accurately determining a position of tip end parts of cranes. <P>SOLUTION: This crane approach alarm system notifies approach of jibs 2 and 12 of the cranes 1 and 10 to each other; and has GPS antennas 3 and 13 installed in a tip end parts of the respective jibs, operation means 4, 6, 14 and 16 for determining a position of the tip end parts of the respective jibs based on received data of the respective GPS antennas, a distribution server 22 for distributing GPS correction information, and radio cards 6 and 16 for transmitting and receiving information via a network 23 between the operation means and between the operation means and the distribution server. The respective operation means notify approach of the jibs to each other by determining whether or not the approach of the jibs by mutually transmitting and receiving this determined position information via the network by determining the position of the tip end parts of the respective jibs based on the received data of the GPS antennas and the GPS correction information distributed from the distribution server. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a crane approach warning system that notifies when jibs of cranes approach each other.

  Conventionally, a crane approach warning system that prevents jibs of cranes from contacting each other is known (see Patent Document 1).

In such a crane approach warning system, a GPS antenna is attached to the tip of the jib of the crane, the tip position of the jib is obtained based on the received signal received by the GPS antenna, and whether the jibs approach each other from the obtained position. Judgment is made to determine whether or not the vehicle is approaching, and a jib collision is prevented in advance.
JP 2003-118981 A

  However, in such a crane approach warning system, since the position of the tip of the crane jib is calculated only from the received signal received by the GPS antenna, its accuracy is low. The error is as large as 10 meters. For this reason, there are problems such as being notified even though the user is not actually approaching, or not being notified when approaching.

  It is an object of the present invention to provide a crane approach warning system that can accurately determine the position of the tip of a jib of a crane and can reliably notify when the jib approaches each other.

In order to achieve the above object, the invention of claim 1 is a crane approach warning system for notifying when jibs of a plurality of cranes approach each other,
A GPS antenna attached to the tip of each jib;
Calculation means provided corresponding to each GPS antenna and determining the position of the tip of each jib based on the received signal of each GPS antenna;
A distribution server for distributing GPS correction information;
Public communication means for transmitting and receiving information between the calculation means provided in the plurality of cranes and the distribution server via a network;
Each computing means obtains the position of the tip of the corresponding jib based on the received data of the corresponding GPS antenna and the GPS correction information delivered from the delivery server, and sends the obtained location information to the delivery server. It transmits / receives via the said network, it is judged whether jib approached, and it alert | reports when approaching.

  The invention according to claim 2 is characterized in that the public communication means is a mobile phone.

  According to a third aspect of the present invention, the GPS correction information is received data of an RTK fixed station, and is obtained by adding position data of the RTK fixed station as calculation information together with the received data.

  The invention according to claim 4 is a mobile station GPS device that detects the crane tip position, a fixed station GPS device that provides correction information to the mobile station GPS device, and correction information of the fixed station GPS device via a network. A distribution server for distributing to the mobile station GPS device; a control device for connecting to the network on the crane side; receiving the correction information from the distribution server; and transmitting position information of a crane tip to the distribution server; The distribution server distributes the tip position information of the counterpart crane to a plurality of cranes that overlap the operating range.

  According to this invention, since the position of the tip of the jib is obtained based on the received signal of the GPS antenna and the GPS correction information distributed from the distribution server, the position of the tip of the jib can be accurately obtained. Furthermore, since the position of the jib is distributed to each crane having overlapping movable ranges via the distribution server, it is possible to reliably notify when the jib approaches.

  Hereinafter, the Example which is embodiment of the crane approach warning system of this invention is described based on drawing.

  FIG. 1 shows two cranes 1, 10 provided at a building site of building B 1, and GPS antennas 3, 13 are attached to the tips of jibs 2, 12 of cranes 1, 10. . A and B show the turning range (movable range) of the jibs 2 and 12.

  FIG. 2 shows the configuration of the crane approach warning system 20. This crane approach warning system 20 includes GPS antennas 3 and 13 that receive radio waves from a plurality of artificial satellites (not shown) as needed, and GPS correction information transmitted from receivers 4 and 14 that receive radio wave signals received by GPS antennas 3 and 13 and calculate positions (longitude, latitude, and height), and RTK fixed station (fixed station GPS device) 21 In the case of RTKGPS, the distribution server 22 that distributes RTK (real-time kinematic) correction information, and the GPS correction information from the distribution server 22 are sent to the receivers 4 and 14 and based on the calculated position data. Control devices 5, 15 such as personal computers (PCs) for displaying the positions of the jibs 2, 12 of the cranes 1, 10 including the self, And a radio card (public communication means) 6, 16 for transmitting and receiving information via the network 23 with the control device 5, 15 and the distribution server 22. Mobile phones 7 and 17 may be used instead of the wireless cards 6 and 16. The receiver 4 and the control device 5 constitute calculation means for obtaining the position of the tip of the jib 2, and the receiver 14 and the control device 15 constitute calculation means for obtaining the position of the tip of the jib 12.

  The RTK fixed station 21 transmits RTK correction information and position information indicating the position of the fixed station 21 to the distribution server 22.

  The GPS antenna 3 and the receiver 4 constitute a mobile station GPS device, and the GPS antenna 13 and the receiver 14 constitute a mobile station GPS device.

  Receivers 4 and 14 and control devices 5 and 15 are provided in cabs 1A and 10A of cranes 1 and 10, respectively.

  The distribution server 22 distributes the information from the fixed station 21 to the cranes 1 and 10 and distributes the position information of the jibs 2 and 12 of the cranes 1 and 10 to the other cranes having overlapping movable ranges.

The GPS correction information and the position information of the fixed station 21 are sent to the receivers 4 and 14 via the personal computers 5 and 15, and the calculated positions of the jibs 2 and 12 are sent again to the personal computers 5 and 15. 15, but if there is GPS analysis software on the personal computer 5, 15 side, the GPS reception data of the own crane 1, 10, the GPS correction information, and the position information of the fixed station 21 are collectively displayed. It can also be processed.
[Operation]
Next, operation | movement of the crane approach warning system 20 comprised as mentioned above is demonstrated.

  First, the reference positions (turning center positions) S1 and S2 of the cranes 1 and 10 are previously input to the control devices 5 and 15 and stored. The reference positions S1, S2 of the cranes 1, 10 are obtained using GPS or triangulation.

  Next, the reference positions S1 and S2 of the cranes 1 and 10 are transmitted to the counterpart crane side via the network 23 by the wireless cards 6 and 16, and the reference positions S2 of the other cranes 10 and 1 are transmitted to the control devices 4 and 14. , S1 is stored.

  When the GPS antennas 3 and 13 receive radio waves from a plurality of artificial satellites (not shown), the position data of the tips of the jibs 2 and 12 of the cranes 1 and 10 is obtained by the receivers 4 and 14. Based on this position data, longitude, latitude, and height data are obtained.

  On the other hand, the control devices 5 and 15 receive the RTK correction information distributed by the distribution server 22 by the wireless cards 6 and 16 via the network 23, and based on the received RTK correction information and the position data of the fixed station 21, The receivers 4 and 14 accurately obtain the positions of the tips of the jibs 2 and 12 of the cranes 1 and 10. In this embodiment, it can be determined within an error range of several millimeters.

  Further, the control device 5 sends the corrected position, which is the position of the tip of the jib 2 of the crane 1, to the control device 15 by the wireless card 6 via the network 23 and the distribution server 22. Transmit to the crane 10.

  Similarly, the control device 15 transmits the corrected position, which is the position of the tip of the jib 12 of the crane 10, to the crane 1 via the network 23 and the distribution server 22 to the control device 5 by the wireless card 16.

  Then, based on the position of the jib 2 accurately obtained and the position of the tip of the jib 12 of the other crane 10, the control device 5 displays its crane on the display 8 of the control device 5 as shown in FIG. An image G1 indicating the position of 1 and an image G2 indicating the position of the other crane 10 are displayed.

  The image G1 is displayed in a triangular shape, for example, the center G1a at the bottom indicates the reference position S1 of the crane 1, the vertex G1b indicates the tip position of the jib 2, and the vertex G1b of the image G1 is always true. Display to be on top.

  The image G2 is displayed in a triangular shape, for example, the center G2a at the bottom thereof indicates the reference position S2 of the crane 10, and the vertex G2b indicates the position of the tip of the jib 12.

  Each control device 5 and 15 obtains the position of the tip of each jib 2 and 12 one by one, and displays images G1 and G2 indicating the position on the displays 8 and 18 one by one.

  Further, at the lower part of the display 8, a display unit 8a indicating the distance between the position of the tip of the jib 2 of the crane 1 and the position of the tip of the jib 12 of the crane 10 and the tip of each other are in the safety region. A display unit 8b or the like indicating whether or not there is provided.

  The display portion 8b displays blue as being in the safety region when the tip portions of the jibs 2 and 12 are separated from each other by 10 m or more, and is an attention region when the tip portions are within the range of 2 m to 10 m from each other. Yellow is displayed, and when the tips are within 2 m of each other, red is displayed as a dangerous area.

  Similarly, based on the corrected position accurately obtained and the corrected position of the tip of the jib 2 of the other crane 1, the control device 15 displays its crane on the display 18 of the control device 15 as shown in FIG. An image G2 indicating the position of 10 and an image G1 indicating the position of the other crane 1 are displayed.

  When the attention area is displayed on the display units 8b and 18b of the control devices 5 and 15, the sound is informed that the attention area has been entered. Notify that.

  As described above, the position data obtained by the receivers 4 and 14 is corrected based on the RTK correction information, and the positions of the tips of the jibs 2 and 12 of the cranes 1 and 10 are accurately obtained. , 12 can be reliably notified when they approach each other.

  Although the above embodiment is configured by RTK surveying, which is one of GPS measurements, the position of the RTK fixed station is stored in advance in the control device of each crane or distributed by a distribution server. .

  RTK surveying is to measure the tip position relationship between the fixed station 21 and the jibs 2 and 12 and obtain the tip position of the jibs 2 and 12 from the known position of the fixed station 21. For this reason, it is preferable to install the fixed station 21 at a known ground point. Further, the control devices 5 and 15 placed on the cranes 1 and 10 have individual identification numbers (ID), and can be distinguished on the distribution server.

  FIG. 5 shows a second embodiment in which a plurality of cranes (1, 10), (100, 110), and (200, 210) are provided at the construction sites of the buildings B1, B2, and B3, respectively. The GPS antennas (103, 113) and (203, 213) are attached to the tips of the jibs (102, 112) and (202, 212) of the cranes (100, 110) and (200, 210). Yes.

  The cabs (100A, 110A) and (200A, 210A) of the cranes (100, 110), (200, 210) are provided with a receiver and a control device (not shown) as in the first embodiment. Yes. Then, the position of the tip of each jib (102, 112), (202, 212) is set to RTK by the control device of each cab (100A, 110A), (200A, 210A) as in the first embodiment. Accurately obtained based on the correction information, the obtained positions are mutually transmitted and received via the network 23, and the crane image, distance and area are displayed on the display of the other crane as in the first embodiment. 3) is displayed.

  In this second embodiment, the buildings B1, B2, and B3 are not adjacent to each other, so the cranes (1, 10), (100, 110), and (200, 210) of the buildings B1 to B3 are other buildings. Does not interfere with other cranes. Therefore, the control devices 5 and 15 of the cranes 1 and 10 and the control devices of the cranes (100 and 110) and (200 and 210) of the other buildings B2 and B3 are mutually jib (2,12) and (102,112). ), (202, 212), it is not necessary to transmit / receive the data of the position of the tip, but the buildings B1 to B3 are adjacent to each other, and the cranes (1, 10), (100, 110) of the buildings B1 to B3 When (200, 210) interferes with a crane in another building, the cranes (1, 10), (100, 110), and (200, 210) control each other through the network. The position data of the tip of (2,12), (102,112), (202,212) is transmitted and received, and the image of each crane is displayed on the display of each control device. If approached And displays on the display in the same manner as in Example, performs attention or warning sound.

  Also in this case, the position data obtained by each receiver is corrected based on the RTK correction information, and the jib (2,12) of each crane (1,10), (100,110), (200,210), Since the positions of the tips of (102, 112) and (202, 212) are accurately obtained, it is possible to reliably notify when the jib approaches.

It is explanatory drawing which showed the crane to which the crane approach warning system which concerns on this invention is applied. It is explanatory drawing which showed the structure of the crane approach warning system shown in FIG. It is explanatory drawing which showed an example of the image displayed on one display. It is explanatory drawing which showed an example of the image displayed on the other display. It is explanatory drawing which showed the crane approach warning system of 2nd Example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Crane 2 Jib 3 GPS antenna 4 Receiver 5 Control apparatus 6 Wireless card 11 Crane 12 Jib 13 GPS antenna 14 Receiver 15 Control apparatus 16 Wireless card 22 Distribution server 23 Network

Claims (4)

A crane approach warning system for notifying when jibs of a plurality of cranes approach each other,
A GPS antenna attached to the tip of each jib;
Calculation means provided corresponding to each GPS antenna and determining the position of the tip of each jib based on the received signal of each GPS antenna;
A distribution server for distributing GPS correction information;
Public communication means for transmitting and receiving information between the computing means provided in the plurality of cranes and the distribution server via a network;
Each computing means obtains the position of the tip of the corresponding jib based on the received data of the corresponding GPS antenna and the GPS correction information delivered from the delivery server, and sends the obtained location information to the delivery server. A crane approach warning system characterized by transmitting / receiving via the network, determining whether or not jibs are approaching each other, and notifying when approaching.   The crane approach warning system according to claim 1, wherein the public communication means is a mobile phone.   2. The crane approach warning system according to claim 1, wherein the GPS correction information is received data of an RTK fixed station, and the position data of the RTK fixed station is added as calculation information together with the received data. . Mobile station GPS device that detects the crane tip position, fixed station GPS device that provides correction information to the mobile station GPS device, and correction information of the fixed station GPS device to the mobile station GPS device side via a network A distribution server for distribution, and a control unit that is connected to the network on the crane side, receives the correction information from the distribution server, and transmits position information of the tip of the crane to the distribution server, A crane approach warning system characterized in that tip position information of a counterpart crane is distributed to a plurality of cranes that overlap the operating range.

Images