JP2020111433A - Working area management system of mobile crane and working area management method of mobile crane - Google Patents

Abstract

To provide a working area management system for a mobile crane capable of easily avoiding interference between cranes at a work site.SOLUTION: A first GNSS terminal 21 is provided on a front end part of a mobile crane 10 and a second GNSS terminal 22 is provided on a rear end part that is opposite to the front end part with respect to a rotation center part of the mobile crane. A position of the mobile crane 10 and a direction of a jib are obtained based on a position measured by the first GNSS terminal 21 and a position measured by the second GNSS terminal 22. A determination area used for determining whether or not the crane is interfered with some other object is set based on the position of the mobile crane and the direction of the jib.SELECTED DRAWING: Figure 1

Description

The present invention relates to a work area management system for a mobile crane and a work area management method for a mobile crane.

At work sites where multiple cranes are used, interference between cranes becomes a problem. For example, in a construction site where a plurality of mobile cranes are operating, it is necessary to manage so that adjacent cranes do not collide. Also, at construction sites near power lines or railways, or at construction sites near airports where aviation restrictions are set, check the operating status of cranes so that they will not enter the area. I need to leave.

Therefore, conventionally, the following measures have been taken.
(A) A safety officer will be assigned to each crane and visually inspected.
(B) Jib undulation and turning are restricted by the limiter set value mounted on the crane itself.
(C) A laser beam is scanned in a plane to form a barrier, and an obstacle invading the barrier is detected and notified to the operator.
(D) A GNSS (Global Navigation Satellite System) or TS (Total Station) is attached to the tip of the jib of the mobile crane, and position information is calculated and displayed in real time.

In addition, in Patent Document 1, it is possible to obtain three-dimensional information using the satellite positioning system and to receive the three-dimensional information using the satellite positioning system acquired by another crane, so that It is disclosed that three-dimensional information is shared with other cranes so that the other cranes can be easily confirmed and safe work can be realized.

JP, 2008-095376, A

However, there is a high possibility that human error will occur in the visual confirmation by the safety observer. In particular, the higher the position of the jib tip, the more difficult it is to monitor. Even if the crane is equipped with a limiter to limit the jib ups and downs and turning, in the case of a mobile crane, the movable range that you want to restrict differs depending on the location of the crane, so you must change the limiter setting value each time. .. In addition, when detecting an obstacle that has entered the barrier, it is difficult to identify whether the intruder is a crane or not because it reacts to all the objects that have entered the barrier. Even if such a judgment can be made, it is not possible to grasp information such as how close the present situation is. Moreover, since it only shows the positional information of the points, the position, direction, and shape of the entire crane cannot be grasped.

Further, in the one described in Patent Document 1, the current position of the crane is detected by using the GNSS device. In addition, in order to specify the position of the jib, there is a problem that various sensors such as a turning position detection sensor, a telescopic boom length detection sensor, a hoisting angle detection sensor, and a moment detection sensor must be provided. In addition, the crane may be rented, and if these sensors are not provided on the rented crane, it will be difficult to prepare because multiple sensors will have to be installed afterwards. It may not always be installed retrofit.

In view of the above problems, it is an object of the present invention to provide a work area management system for a mobile crane and a work area management method for a mobile crane that can easily avoid interference between cranes at a work site.

In view of the above-mentioned problems, the work area management system for a mobile crane according to an aspect of the present invention includes: a first GNSS terminal provided at a tip of the mobile crane; The position of the mobile crane based on the second GNSS terminal provided at the rear end opposite to the front end, the position measured by the first GNSS terminal, and the position measured by the second GNSS terminal. And a posture calculation unit that determines the direction of the jib, and a determination area setting unit that sets a determination area used to determine whether or not there is interference with another object based on the position of the mobile crane and the direction of the jib. And.

A work area management method for a mobile crane according to an aspect of the present invention provides a first GNSS terminal at a tip portion of the mobile crane, and at a side opposite to the tip portion with respect to a turning center portion of the mobile crane. A second GNSS terminal is provided at a certain rear end portion, the position of the mobile crane and the direction of the jib are obtained based on the position measured by the first GNSS terminal and the position measured by the second GNSS terminal, and the movement is performed. A determination area used to determine whether or not there is interference with another object is set based on the position of the crane and the direction of the jib.

According to the present invention, the position and jib direction of each mobile crane are displayed, and a warning is displayed when the mobile crane approaches the judgment area. As a result, the possibility of false alarms due to human error or sensor detection error is reduced, and it is possible to more accurately grasp and manage information such as an actual operating status such as where and what is always what.

It is explanatory drawing of the outline of the work area management system of the mobile crane which concerns on the 1st Embodiment of this invention. It is explanatory drawing which shows the outline|summary when there are a plurality of mobile cranes in the work area management system of the mobile crane which concerns on the 1st Embodiment of this invention. It is a functional block diagram of an arithmetic unit in a work area management system of a mobile crane concerning a 1st embodiment of the present invention. It is explanatory drawing of the setting of the object of the crane area in the work area management system of the mobile crane which concerns on the 1st Embodiment of this invention. It is explanatory drawing of the setting of the object of the crane area in the work area management system of the mobile crane which concerns on the 1st Embodiment of this invention. It is a flowchart which shows the process at the time of calculating|requiring the turning center point of a mobile crane in the work area management system of the mobile crane which concerns on the 1st Embodiment of this invention. It is explanatory drawing of the process at the time of calculating|requiring the turning center point of a mobile crane in the work area management system of the mobile crane which concerns on the 1st Embodiment of this invention. It is explanatory drawing of the display screen of the display part in the work area management system of the mobile crane which concerns on the 1st Embodiment of this invention. It is explanatory drawing of the display screen of the display part in the work area management system of the mobile crane which concerns on the 1st Embodiment of this invention. It is explanatory drawing of the display screen of the display part in the work area management system of the mobile crane which concerns on the 1st Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is an explanatory diagram of an outline of a work area management system 1 for a mobile crane according to a first embodiment of the present invention.

In FIG. 1, a mobile crane 10 is a movable crane, for example, a crawler crane including a traveling body 11 and a revolving body 12. The traveling body 11 is provided with a crawler 13 and a power mechanism such as an engine and a hydraulic pump.

The revolving structure 12 includes a boom 15 and a jib 16, and is rotatably provided on the upper surface side of the traveling structure 11. The revolving structure 12 including the boom 15 and the jib 16 is capable of revolving and undulating with respect to the traveling structure 11.

The hook 17 is suspended from the tip of the jib 16. A GNSS terminal (first GNSS terminal) 21 is attached to the tip of the jib 16. The GNSS terminal 21 receives a signal from the GNSS satellite and measures the position of the tip of the jib 16. The GNSS terminal 21 has a communication function by a wireless LAN (Local Area Network), can perform data communication with the arithmetic unit 30, and can transmit the measurement result of the current position of the GNSS terminal 21. Further, since the installation position of the GNSS device 21 is the tip of the jib 16, the position of the GNSS device 21 can be the position of the tip of the jib 16.

A counterweight 18 is provided at a rear end of the jib 16, which is opposite to a front end of the movable crane, and a GNSS terminal (second GNSS terminal) is installed at a mounting point of the counterweight 18. ) 22 is attached. The GNSS terminal 22 receives a signal from the GNSS satellite and measures the position of the mounting point of the counterweight 18. The GNSS terminal 22 has a wireless LAN communication function and can perform data communication with the arithmetic unit 30. Further, since the installation position of the GNSS device 22 is near the attachment point of the counterweight 18, the position of the GNSS device 22 can be the position of the counterweight 18.

The arithmetic unit 30 is, for example, a PC (Personal Computer) installed in the operator's room. The computing device 30 can receive information (for example, position information) from the GNSS terminals 21 and 22 by the wireless LAN communication function. When receiving the information from the GNSS terminals 21 and 22, the arithmetic unit 30 calculates the position of the mobile crane 10 and the direction of the jib 16 based on the positions measured by the GNSS terminals 21 and 22. Then, the computing device 30 sets a determination area used for determining whether or not there is interference with another object based on this, and displays an image showing the determination area and the other object in a plan view on the display device. 40 is displayed.

FIG. 2 is an explanatory diagram showing an outline of a case where there are a plurality of mobile cranes in the work area management system for a mobile crane according to the first embodiment of the present invention. In this example, a case where the work area management system 1a for a mobile crane includes two mobile cranes 10a and 10b will be described. It may be the case where there are three or more mobile cranes.

In FIG. 2, the mobile crane 10a includes a traveling body 11a having a crawler 13a, a swinging body 12a including a boom 15a and a jib 16a, a hook 17a, and a counterweight 18a. The GNSS terminal 21a is attached to the tip of the jib 16a. The GNSS terminal 22a is attached to the attachment point of the counterweight 18a. Similarly, the mobile crane 10b includes a traveling body 11b having a crawler 13b, a swinging body 12b including a boom 15b and a jib 16b, a hook 17b, and a counterweight 18b. The GNSS terminal 21b is attached to the tip of the jib 16b. The GNSS terminal 22b is attached to the attachment point of the counterweight 18b.

As described above, in the case of the mobile crane work area management system 1a including the two mobile cranes 10a and 10b, the arithmetic unit 30 includes the GNSS terminals 21a and 22a of the mobile crane 10a and the mobile crane 10b. It communicates with the GNSS terminals 21b and 22b, and calculates the positions of the mobile cranes 10a and 10b and the directions of the jibs 16a and 16b. Then, the computing device 30 sets a determination area used to determine whether or not there is interference between the mobile crane 10a and the mobile crane 10b, and displays an image showing the determination area in a plan view on the display device 40. To do.

FIG. 3 is a functional block diagram of the arithmetic unit 30 in the work area management system for the mobile crane according to the first embodiment of the present invention. As illustrated in FIG. 3, the arithmetic device 30 includes a posture calculation unit 31, a determination area setting unit 32, an image generation unit 33, an image output unit 34, a determination unit 35, and a transmission unit 36.

The attitude calculation unit 31 obtains the turning center point based on the position measured by the GNSS terminals 21 and 22 (GNSS terminals 21a, 21b and 22a, 22b), and determines the position of the mobile crane 10 (mobile cranes 10a, 10b). And the direction of the jib 16 (jibs 16a, 16b) is calculated. The judgment area setting unit 32 sets a judgment area around the crane area. The image generation part 33 produces|generates the image which represented the determination area of the mobile crane 10 (mobile crane 10a, 10b) in the top view. The image output unit 34 outputs the generated image to the display device 40. The determination unit 35 determines whether or not the mobile crane 10 (mobile cranes 10a and 10b) may cause interference, and when it determines that interference may occur, displays a warning. The transmission unit 36 transmits information indicating the determination area to an external device.

FIG. 4A and FIG. 4B are explanatory diagrams of setting objects in a crane area in the work area management system for the mobile crane according to the first embodiment of the present invention. As shown in FIG. 4A, the mobile crane 10 has a structure in which a revolving structure 12 including a boom 15 and a jib 16 is rotatably mounted on a traveling structure 11 having a crawler 13 in the longitudinal direction. The structure is such that the (jib direction) becomes longer. The position of the mobile crane 10 is substantially the center of the mobile crane 10 having such a structure.

In the present embodiment, the jib direction and the turning center point are obtained from the measured values of the GNSS terminals 21 and 22, and the position of the turning center point is set as the current position of the mobile crane 10. That is, as shown in FIG. 4B, the jib direction is a straight line L1 connecting the position P1 of the GNSS terminal 21 and the position P2 of the GNSS terminal 22 with the installation position offset of the GNSS terminal 22 (from the center line in the longitudinal direction of the crane). It is obtained by considering the distance y). The turning center point P0 is obtained by calculating the center point of an arc drawn by the GNSS terminal 22 when the crane is turned. The center line L0 is defined as a line passing through the turning center point P0 and the GNSS terminal 21 (or the GNSS terminal 22). The distance x is the distance from the turning center point P0 on the center line L0 to the GNSS terminal 22. Then, centering on the center line L0, the range defined by the width W of the crane and the center line L
The crane area can be set by defining the range in the 0 direction from the GNSS terminal 21 to the GNSS device 222.

FIG. 5: is a flowchart which shows the process at the time of calculating|requiring the turning center point of a mobile crane in the work area management system of the mobile crane which concerns on the 1st Embodiment of this invention. In addition, FIG. 6 is an explanatory diagram of a process when determining a turning center point of the mobile crane in the work area management system for the mobile crane according to the first embodiment of the present invention.

(Step S101) The operator selects arbitrary three measurement values for each measurement value of the GNSS terminal 22, and advances the processing to step S102.

(Step S102) The arithmetic unit 30 calculates the turning center and the radius using the measured values at the three selected points, and advances the process to step S103. That is, as shown in FIG. 6, three measured values are selected and the turning center point (Xi, Yi) and the radius Ri are obtained. Then, the average value of the measurement values (Xi, Yi) of the three points is calculated, and this average value is set as the fixed turning center point (X0, Y0).

(Step S103) The arithmetic unit 30 displays the theoretical curve and advances the process to step S104.

(Step S104) The arithmetic unit 30 determines whether or not the circle is displaced. If the circle is not displaced (step S104: No), the process ends. If the circle is misaligned (step S104: Yes), the process proceeds to step S105.

(Step S105) The operator reselects one point of the measured value and advances the process to step S106.

(Step S106) The arithmetic unit 30 calculates the turning center and the radius using the newly selected measurement values of the three points, and advances the processing to step S107.

(Step S107) The arithmetic unit 30 displays the theoretical curve and advances the process to step S108.

(Step S108) The arithmetic unit 30 determines whether or not the circle is displaced. If the circle is not displaced (step S108: No), the process ends. If the circle is misaligned (step S108: Yes), the process returns to step S105.

In this way, the processes of steps S105 to S108 are repeated until the theoretical curve obtained by using the measured values at the selected three points becomes circular, and when the theoretical curve becomes circular, the process ends. Then, the fixed turning center point is set as the position of the mobile crane.

As described above, in the present embodiment, the computing device 30 calculates the position and the jib direction of the mobile crane 10, and based on this, the determination area used to determine whether or not there is interference with another object. Is set, and an image showing the determination area and other objects in a plan view is displayed on the display device 40. Further, for example, in the case of two mobile cranes 10a and 10b, a determination area used to determine whether or not there is interference between the mobile crane 10a and the mobile crane 10b is set, and this determination area is a plan view. The image represented by is displayed on the display device 40.

7A, 7B, and 7C are explanatory diagrams of the display screen of the display device 40 in the work area management system for the mobile crane according to the first embodiment of the present invention. In this example, two mobile cranes 10a and 10b are shown.

FIG. 7A shows a screen when the operation status of the crane is being monitored. As shown in FIG. 7A, the display device 40 displays an object 101a of its own crane (mobile crane 10a) and an object 101b of another crane (mobile crane 10b). The display device 40 also displays auxiliary information 103 such as an intrusion prohibited area 102, a crane distance, and various buttons (viewpoint switching button 111, enlargement/reduction buttons 112a and 112b, setting button 113, end button 114). When the setting button 113 is operated, a setting screen as shown in FIG. 7B is displayed.

As shown in FIG. 7B, a selection box 121 for the own crane, a crane width input box 122, and determination area size input boxes 123a and 123b are displayed on the setting screen. The user selects the own crane to be set in the selection box 121 of the own crane, inputs the width of the crane in the crane width input box 122, and interferes with other cranes in the determination area size input boxes 123a and 123b. Enter the size of the judgment area, which is the condition for judging whether or not it exists. In this example, two determination area sizes can be set. Here, when the enter button 124 is operated, the crane setting is confirmed. When the cancel button 125 is operated, the setting is canceled.

When the crane is set, an image of the object 101a of the own crane and the object 101b of the other crane, which show the positional relationship with each crane in a plan view, are displayed under the set conditions, as shown in FIG. 7A. As shown in FIG. 7A, the determination area 131a is displayed around the object 101a of the own crane. The determination area 131a is an area that serves as a condition for determining whether or not there is interference with another crane. Similarly, the determination area 131b is displayed around the object 101b of the other crane. An icon 141a indicating the turning direction of the own crane is displayed on the object 101a of the own crane. An icon 141b indicating the turning direction of the other crane is displayed on the object 101b of the other crane.

When the crane is operated and moved, the positions of the object 101a of the own crane and the object 101b of the other crane on the screen follow the movement. Then, the information on the distance of the crane in the auxiliary information 103 changes according to the position of the own crane and the position of the other crane.

Here, if the own crane and the other crane come too close to each other, a warning screen is displayed as shown in FIG. 7C. In this example, the determination area 131a of the object 101a of the own crane and the determination area 131b of the object 101b of the other crane overlap, and there is a risk that the own crane and the other crane come into contact with each other. In this way, when the own crane and other cranes come close to each other within the determination area, a warning 105 indicating that the cranes are too close is displayed.

As described above, in this embodiment, the position and jib direction of each mobile crane are displayed, and when the mobile crane approaches the determination area, a warning is displayed. As a result, the possibility of false alarms due to human error or sensor detection error is reduced, and it is possible to more accurately grasp and manage information such as an actual operating status such as where and what is always what. Further, for example, in a construction site where a plurality of mobile cranes are operating, adjacent cranes can avoid a collision. Further, in the present embodiment, the approach determination area condition can be arbitrarily set, and it is determined whether or not the approaching area condition is entered, and an alarm is issued. On the screen, the crane, the intrusion prohibition area, etc. are displayed in a two-dimensional or two-dimensional manner and are always presented to the operator as visual auxiliary information. As a result, the possibility of false alarms due to human error or sensor detection error is reduced, and it is possible to more accurately grasp/manage information such as an actual operating status such as where and what is always what.

Further, the system according to the embodiment of the present invention can be dealt with only by attaching the GNSS terminal 21 to the tip of the jib 16 and attaching the GNSS terminal 22 to the position of the counterweight 18. Therefore, it can be easily attached to various mobile cranes, and the operation status of a plurality of cranes can be easily grasped.
If the GNSS terminal 21 and the GNSS terminal 22 described above can realize a function of receiving signals from satellites and measuring positions, for example, GPS (Global Positioning System) and GLONASS (Global Navigation Satellite) are used as GNSS. System), Galileo, BDS (BeiDou Navigation Satellite System), or a quasi-zenith satellite system may be used.

Further, in the system according to the embodiment of the present invention, since the screen can be viewed not only in the operator's room but also in the office, it is possible to collectively manage safety management for a plurality of work areas using the crane and improve efficiency. It is also possible to improve. In addition, until now, when an area was entered, an alarm was sounded to avoid a collision, but since this system always provides the operator with the current status of the crane in a form close to the actual one, it is necessary to check if it is approaching. Regardless of the situation, it is possible to operate the crane with greater safety awareness while grasping the surrounding situation and predicting the danger.

Mobile cranes 11, 11a, 11b... Traveling bodies, 12, 12a, 12b... Revolving bodies, 13, 13a, 13b... Crawlers, 15, 15a, 15b... Booms, 16, 16a, 16b... Jib, 18, 18a, 18b... Counter weight, 21, 21a, 21b... GNSS terminal, 22, 22a, 22b... GNSS terminal, 30... Computing device, 40... Display unit

Claims (6)

A first GNSS terminal provided at the tip of the mobile crane;
A second GNSS terminal provided at a rear end opposite to the front end with respect to a turning center of the mobile crane;
An attitude calculation unit that obtains the position of the mobile crane and the direction of the jib based on the position measured by the first GNSS terminal and the position measured by the second GNSS terminal,
Based on the position of the mobile crane and the direction of the jib, a determination area setting unit that sets a determination area used to determine whether or not there is interference with another object,
Area management system for mobile cranes with The posture calculation unit,
The position measured by the second GNSS terminal is determined as the center of rotation of the circle passing through at least three points,
The work area management system for the mobile crane further comprises:
The work area management system for a mobile crane according to claim 1, further comprising: a determination unit configured to determine whether or not another object interferes with the determination area when the determination area is turned with the turning center point as a reference. .. The mobile crane is a plurality,
An image generation unit that generates an image showing the determination area of the first mobile crane and the determination area of the second mobile crane in a plan view,
An image output unit that outputs the generated image,
The work area management system for a mobile crane according to claim 1 or 2, further comprising: The image generation unit includes a distance between the first mobile crane and the second mobile crane based on a position of a first GNSS terminal of each of the first mobile crane and the second mobile crane. The work area management system for a mobile crane according to claim 3, which generates an image. The work area management system for a mobile crane according to any one of claims 1 to 4, further comprising: a transmission unit that transmits information indicating the determination area to an external device. A first GNSS terminal is provided at the tip of the mobile crane, and a second GNSS terminal is provided at the rear end opposite to the tip with respect to the turning center of the mobile crane.
Determining the position of the mobile crane and the direction of the jib, based on the position measured by the first GNSS terminal and the position measured by the second GNSS terminal,
A work area management method for a mobile crane, wherein a determination area used for determining whether or not there is interference with another object is set based on the position of the mobile crane and the direction of the jib.

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