JP2520284B2 - Crane collision prevention method - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane such as a tower crane that hoists and swings by suspending a suspended load at a construction site, etc. It relates to a method of preventing collision with.

2. Description of the Related Art Conventionally, as a collision prevention method for this type of crane, the boom turning angle, boom hoisting angle, and wire hoisting amount of the operating crane are measured, and these data and obstacles such as other cranes and structures are measured. By calculating the distance between the crane and the obstacle from the position data and issuing a warning when the distance is smaller than the preset warning distance, and when the braking distance is reached, the crane operation is automatically stopped. , Avoiding collisions between cranes and obstacles.

Problems to be Solved by the Invention However, in this method, since the speed of the crane's turning and undulation is not the target of control, it does not collide with obstacles even when the crane is operating at maximum speed. The braking distance must be set at a position where you can safely stop. Moreover, even when operating at a low speed, the braking is automatically applied at the same distance, so that the vehicle will stop at a position far away from the obstacle, and even if an attempt is made to approach the obstacle, it is impossible to approach it further. It will be possible.

Therefore, when operating two cranes in close proximity to each other, or when working in the immediate vicinity of a structure, etc., it is necessary to release the collision prevention mechanism and manually control all the cranes. It was extremely difficult and dangerous to control only by hand in a place where cranes are intermingling and performing complicated operations.

The present invention has been made in view of the above circumstances, and changes the warning distance and the braking distance according to the approaching speed of the crane and the obstacle, gives an early warning when approaching at high speed, and has a sufficient margin. The purpose is to delay the warning and braking timing by manually decelerating the approaching speed and to finally approach the position extremely close to the obstacle. .

Means for Solving the Problems The present invention thus measures the boom turning angle, the boom hoisting angle, and the wire hoisting amount of the operating crane, and determines the crane and obstacle from the data and the obstacle position data. The distance and the approach speed are calculated, and a warning is issued when the distance between the crane and the obstacle is smaller than a preset warning distance in proportion to the approach speed, and the distance is smaller than the warning distance. It is characterized in that the operation of the crane is automatically stopped when a preset braking position is reached in proportion to the approaching speed.

EXAMPLE FIG. 1 is a block diagram of an apparatus for carrying out the method of the present invention. In this device, a turning angle detection device 1, a undulation angle detection device 2, and a winding detection device 3 are connected to a sub computer 5 via an input port 4, and the sub computer 5 is operated from a keyboard 6. The sub computer 5 is connected to a display 7 for displaying the control status of the crane, a sound generator 8 for issuing an acoustic alarm at a warning distance, and a crane controller 9 for operating the crane according to an instruction from the sub computer 5. ing. The sub computer 5 is also connected to the main computer 10,
A control system 11 for another crane is connected to the main computer 10, and the main computer 10 exchanges data of a plurality of crane systems 11 to control mutual relationships.

Then, the swing angle detection device 1, the hoisting angle detection device 2 and the hoisting detection device 3 regularly measure the boom turning angle, the boom hoisting angle and the wire hoisting amount of the crane,
The data is supplied to the sub computer 5.

On the other hand, position data of obstacles such as fixed structures are stored in advance in the sub computer 5, and data such as boom turning angle, boom hoisting angle and wire hoisting amount in other crane systems 11 are stored in the main computer 10. The shortest distance between the crane in the crane system and an obstacle such as a fixed structure or a crane in the other crane system is calculated from these data. Further, the change in the shortest distance is obtained by periodically calculating the shortest distance, the approach speed between the crane and the obstacle is calculated, and the warning distance and the braking distance according to the close speed are obtained.

Here, the warning distance and the braking distance will be described with reference to FIG. FIG. 2 is a graph showing the operating state of the crane according to the present invention, in which the horizontal axis represents the shortest distance to the obstacle and the vertical axis represents the approaching speed between the crane and the obstacle. The collision position at the right end of the horizontal axis is a position where it collides with an obstacle, and the crane should not come to this position, but it is preferable that the collision position can be brought as close as possible. Therefore, the absolute stop position is set as close as possible to the collision position, and with a safety distance that allows for a margin that will not come into contact with obstacles even if the operation error and sway of the crane are taken into consideration. There is. This safety distance is
10 to 20 depending on the shape and performance of the crane
It can also be set as close as cm.

Thus, the warning distance and the braking distance are preset in proportion to the approach speed between the crane and the obstacle. The warning distance and the braking distance are set to be large when the approach speed is high, and the warning distance and the braking distance are set to be small when the crane and the obstacle are gradually approaching each other. The braking distance is set to such a distance that, when the crane operation is suddenly stopped at the approach speed, it can be stopped sufficiently safely even if the idle distance according to the approach speed is taken into consideration. Even when is extremely small, the obstacle is not approached from the absolute stop position. In addition, the warning distance is a distance that allows a considerable amount of time to reach the braking distance, and has a sufficient time margin to manually reduce the operating speed of the crane before automatically stopping at the braking distance. Set to. The warning position line A and the braking position line B in FIG. 2 are lines formed by positions corresponding to the warning distance and the braking distance according to the approach speed.

When the shortest distance between the crane and the obstacle becomes smaller than the warning distance, the warning from the sub computer 5 is displayed on the display 7, and the sound generator 8 is activated to give a sound warning.

Furthermore, the crane approaches the obstacle at the same speed,
When the braking distance according to the approaching speed is reached, braking is automatically applied to the operation of the crane according to a command from the sub computer 5, and the operations of the crane such as turning, undulating, and hoisting are automatically stopped. At this time, among the operations of the crane, only the operations related to the collision with the obstacle may be stopped.

Next, the operation of the crane according to the method of the present invention will be described with reference to FIG.

A solid line C in FIG. 2 shows the operation of the crane. Therefore, in the portion of line a, the crane is rapidly approaching the obstacle at the fourth speed (highest speed) by the notch operation in the operating device. When the warning distance (intersection X1 between the warning position line A and the line a) corresponding to the approach speed is exceeded, a warning is issued. However, if the warning is ignored and the vehicle is approaching at a constant speed, the vehicle is automatically braked at the braking distance (intersection Y1 between the braking position line B and the broken line a ') as indicated by the broken line a', and the broken line a ' Follow the route shown in ″ and stop at the position of Z1.

If the operator decelerates to the third speed by operating the notch after the warning is issued at X1, the approach speed decreases as shown by the line b, and the warning distance becomes shorter accordingly, so the line b goes out of the warning position line A. The warning is released.

When the obstacle is further approached along the line c at the speed corresponding to the third speed, the warning distance (intersection X2 between the warning position line A and the line c) corresponding to the speed is reached again, and the warning is issued again. The warning distance in the third speed is smaller than the warning distance in the preceding fourth speed. If the warning is further ignored and the vehicle continues to approach, braking is automatically applied at the braking distance (intersection Y2 of the braking position line B and the broken line c ') as indicated by the broken line c', and the broken line c "is displayed. Follow the route shown and stop at the position of Z1.The braking distance at this time is also smaller than that at the 4th speed,
The stop position Z1 is also closer to the obstacle.

Therefore, if the notch is operated and the speed is further reduced to the second speed after the warning is issued at X2, the speed is decelerated as shown by the line d just like the above, and the line d goes out of the warning position line A and the warning is released. Then, if the vehicle is further approached at the second speed along the line e, the warning distance is reached at the point X3 and a warning is issued. If the approaching speed is further continued, as shown by the broken line e ′,
Braking is performed at the braking distance of Y3, and stops at the stop position Z3 along the broken line e ″. Also, if the notch operation decelerates to the first speed by the warning at the point X3, the warning is released along the line f and the warning is released. Then, the vehicle continues to approach along the line g, a warning is issued at the point X4, the brake is applied at the point Y4 along the broken line g ', and the vehicle stops at the stop position Z4.

Further, if the vehicle is manually braked before reaching the braking distance Y4, it is possible to approach the vehicle at a fine speed as shown by lines h and i, and it is possible to approach the absolute stop position.
Then, at point Y5, the vehicle is finally automatically braked and stopped, and it is possible to approach an absolute stop position extremely close to the obstacle without colliding with the obstacle.

EFFECTS OF THE INVENTION According to the present invention, when the crane is rapidly approaching an obstacle, a warning is issued while the distance is long, and even if the warning is ignored, braking is performed early. It is possible to surely prevent the crane and the obstacle from colliding with each other by automatically applying a force to stop. Further, when the approach speed between the crane and the obstacle is low, the warning and the automatic braking can be delayed so that the obstacle can be brought closer to the obstacle, and the obstacle can be brought closer to the obstacle by further decreasing the approach speed.

In addition, in the conventional method, when approaching from the set stop position, automatic control had to be canceled and approach was made manually, which is dangerous and slower than necessary to avoid a collision. I had to move it carefully. However, according to the present invention, the warning is released by decelerating after approaching the warning distance at a high speed, so that the warning can be further approached at a medium speed, and deceleration is performed step by step at each warning distance. By doing so, the warning can be canceled each time, and the obstacle can be approached at a safe speed commensurate with the distance. Therefore, since it is automatically controlled until it comes very close to the obstacle, it is safe, and it is not necessary to be careful more than necessary and to operate at a low speed, resulting in extremely high work efficiency.

Furthermore, according to the conventional method, in order to make the working range of the crane as wide as possible, the braking distance had to be as small as possible, and therefore it was necessary to sufficiently increase the braking and braking of the crane. On the other hand, however, if the braking performance is improved, the suspended load will be greatly shaken due to inertia, and the crane itself will be overloaded and dangerous. If two more cranes approach each other at high speed from the front,
In many cases, deceleration by automatic braking was not enough to avoid a collision.

On the other hand, according to the present invention, it is possible to make the crane approach the obstacle to a large extent by decelerating the approach speed. Therefore, the braking distance is a distance with a sufficient margin corresponding to the approach speed. It is possible to set to, and it is not necessary to enhance the braking performance of the crane more than necessary, and there is less swaying of the suspended load due to sudden braking. It can be stopped safely, and it can be moved at low speed again after automatic stop. Further, as described above, when the two cranes approach each other from the front, the approaching speed becomes extremely large, so that the warning and the braking distance also increase, and the collision can be avoided with a sufficient margin. .

In the present invention, it is preferable to set the absolute stop position at a position extremely close to the obstacle as described above to prevent the crane from approaching the obstacle from the absolute stop position, but this absolute stop position is It is not necessary to set it. That is, as long as the crane is approaching the obstacle, the approaching speed is generated even if it is small, and the braking distance is set according to the approaching speed, so that the crane does not collide with the obstacle. Moreover, even if a collision occurs, the speed is extremely low and the contact is very soft.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of an apparatus for carrying out the method of the present invention, and FIG. 2 is a graph showing an operating state of a crane according to the method of the present invention.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor, Yamamoto Transport, Konohana-ku, Osaka City, Osaka Prefecture 4-chome, 3-chome, Kohowa Dormitory (72) Inventor, Koichi Motooka 4-chome, Kigawa Higashi 4-chome, Yodogawa-ku, Osaka, Osaka (72) Inventor Hikaru Yamada 3-9-24-2 Seno, Aki-ku, Hiroshima City, Hiroshima Prefecture (56) References JP-A-63-41394 (JP, A) JP-A-63-267695 (JP, A) JP-A-61-27896 (JP, A) Actually opened 63-62485 (JP, U) Actually opened 63-48789 (JP, U)

Claims (1)

(57) [Claims] 1. A boom turning angle, a boom hoisting angle, and a wire hoisting amount of an operating crane are measured, and a distance between a crane and an obstacle and an approaching speed are calculated from these data and obstacle position data. , A warning is issued when the distance between the crane and the obstacle is approximately proportional to the approach speed and smaller than a preset warning distance, and the distance is smaller than the warning distance and substantially proportional to the approach speed. Crane collision prevention method characterized by automatically stopping the operation of the crane when a braking position set in advance is reached