JP4330136B2 - Wireless access warning device using GPS - Google Patents

Description

  The present invention relates to a GPS-based wireless proximity alarm device that issues an alarm when approaching a high-voltage electric wire (electromagnetic field generator), and more specifically, a heavy machine or the like that has the possibility of approaching a power transmission line (contact avoidance target) The present invention relates to a GPS-based wireless proximity warning device that is suitable for use.

  When an electric power supplier (electric power company) supplies electric power to an electric power consumer such as a factory, a household, etc., an electric power consumer uses relatively high-voltage electric power from a power plant operated by the electric power supplier via a transmission line. The power is transmitted to substations, transformers, etc. in the vicinity of the power source, and the power is stepped down to a predetermined voltage at these substations and supplied to power consumers. Therefore, in order to transmit power over a long distance from a power station to a substation, etc., a transmission line is generally stretched around a steel tower. For example, high-voltage currents such as 22 kV, 66 kV, 110 kV, and 220 kV called various high-voltage classes flow through the transmission line.

  Due to the long distance from the power station to the substation, various civil engineering works, construction / repair / removal of buildings, and transport of relatively large objects have occurred near the transmission lines. To do. Of these operations, the operation that may approach the transmission line is typically performed using a crane.

  In order to avoid this when there is a possibility that the crane boom will approach the power transmission line (electromagnetic field generator) when heavy machinery such as a crane (contact avoidance target) is performed near the power transmission line. You must pay close attention.

  Conventionally, when there is a possibility that the boom of a crane may approach the transmission line, visual safety measures have been taken and safety management is performed under the presence of a witness dispatched by a power supplier. Specifically, waiting for the application from the working company, dispatching witnesses from the power supplier, laying a reference rope between the steel towers, and watching the witness visually, the reference rope and crane boom When approaching, a method of calling attention to a crane operator (crane operator) and a field worker by hand microphone or wireless communication has been taken. In order to reliably prevent the occurrence of power line contact accidents, experienced people were selected as witnesses.

In addition, this inventor is aware of the following patent document as an open technical document relevant to the wireless proximity alarm device according to the present invention.
Japanese Patent Laid-Open No. 2000-113349 (published on April 21, 2000), title of the invention “high-pressure live sensor”, applicant Tanizawa Seisakusho Co., Ltd. Japanese Patent Laid-Open No. 2002-260120 (published on September 13, 2002) Name of Invention “Live Line Alarm”, Applicant Tanizawa Manufacturing Co., Ltd., Chudenko Co., Ltd.

  However, in such visual safety measures by humans, it is difficult to reduce the probability of occurrence of a contact accident between the crane boom and the power transmission line due to carelessness, misidentification, misjudgment, and the like.

  On the other hand, in recent years, for example, GPS (Global Positioning System) is used as a positioning system represented by walking navigation, car navigation, and the like. As will be described later, in recent GPS, a positioning method that achieves a high accuracy of only a few centimeters appears, and it is expected that it can be sufficiently used for a system that avoids contact between a transmission line and a heavy machine.

  In view of such circumstances, the present inventors have started to develop a GPS-based wireless approach alarm system that can reduce the probability of occurrence of a crane boom and power line contact accident as much as possible.

  Accordingly, an object of the present invention is to provide a novel GPS-based wireless approach alarm device that automatically issues an approach alarm when a heavy work machine such as a crane approaches a certain distance from a power transmission line.

  Furthermore, the present invention automatically provides an approach warning when a heavy work machine such as a crane approaches a certain distance from a transmission line in a state where mutual communication is possible with a crane operator, a field worker, and a witness. An object of the present invention is to provide a new GPS-based wireless approach warning device that emits a sound.

  A GPS-based wireless approach alarm device according to the present invention includes a GPS positioning device that generates an alarm signal and transmits wirelessly when an electromagnetic field generator and a contact avoidance target approach within a predetermined distance, and a main body thereof, and the main body Receiving alarm means for receiving an alarm signal from the unit and issuing an alarm based on the alarm signal.

  Further, a GPS-based wireless approach warning device according to the present invention is the above-described GPS-based wireless approach warning device, wherein the electromagnetic field generator is a power transmission line, the contact avoidance target is a heavy machine, and the GPS positioning is performed. The apparatus is disposed at the tip of the heavy machine.

  Further, the GPS-based wireless approach warning device according to the present invention is the above-described GPS-based wireless approach warning device, wherein the reception warning means receives a warning signal from the main body and warns a heavy equipment operator. And a wireless device that transmits the alarm signal to at least one portable child device.

  Furthermore, a GPS-based wireless approach warning device according to the present invention is the above-described GPS-based wireless approach warning device, and the GPS positioning device uses high-precision GPS.

  Further, a GPS-based wireless approach warning device according to the present invention is the above-described GPS-based wireless approach warning device, wherein the GPS positioning device determines a position coordinate of the power transmission line and performs positioning using GPS. The distance between both is calculated from the position coordinates of the heavy machinery and the position coordinates of the power transmission line.

  Further, a GPS-based wireless approach warning device according to the present invention is the above-described GPS-based wireless approach warning device, wherein the GPS positioning device includes means for measuring the position of the heavy equipment and calculating its position coordinates; Memory means for storing the position coordinates of a nearby transmission line end or transmission line tower, a wire determination circuit for determining the position coordinate of the transmission line closest to the heavy machine from the position coordinates of the transmission line tower, and the position coordinates of the heavy machine And a distance calculation circuit for calculating a distance between the two from the position coordinates of the power transmission line.

  Further, a GPS-based wireless approach warning device according to the present invention is the above-described GPS-based wireless approach warning device, wherein a caution warning is issued as the distance between the heavy equipment and the power transmission line approaches, and the heavy equipment and the transmission When the distance to the wire reaches the approach limit distance, a warning alarm is issued.

  Furthermore, the GPS-based wireless approach warning device according to the present invention is the above-described GPS-based wireless approach warning device, wherein the GPS positioning device sets an interference region that prohibits entry of the heavy machinery from the position of the power transmission line. Then, it is determined whether or not the position of the heavy equipment measured using GPS has entered the interference area.

  Further, a GPS-based wireless approach warning device according to the present invention is the above-described GPS-based wireless approach warning device, wherein the GPS positioning device includes means for measuring the position of the heavy equipment and calculating its position coordinates; Memory means for storing position coordinates of a nearby transmission line end or transmission line tower, an interference area setting circuit for setting an interference area for prohibiting entry of the heavy equipment from the position coordinates of the transmission line tower, and position coordinates of the heavy equipment And a comparison circuit for comparing the interference area and detecting the entry of the heavy machinery.

  Further, the GPS-based wireless approach warning device according to the present invention is the above-described GPS-based wireless approach warning device, wherein the interference region is set to first and second interference regions, and the heavy machinery is the first device. A warning alarm is issued when the user enters the interference area, and a warning alarm is issued when the heavy machine enters the second interference area.

  ADVANTAGE OF THE INVENTION According to this invention, when work heavy machines, such as a crane, approach to a fixed distance with respect to a power transmission line, the novel GPS utilization approach alarm apparatus which issues an approach alarm automatically can be provided.

  Furthermore, according to the present invention, in a situation where mutual communication is possible between a crane operator, a field worker, and a witness, when a heavy work machine such as a crane approaches a certain distance from a transmission line, it is automatically It is possible to provide a new GPS-based approach alarm device that issues an approach alarm.

Hereinafter, the details of an embodiment of a wireless proximity alarm device according to the present invention will be described with reference to the accompanying drawings. In the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.
[First Embodiment]
(System overview of the wireless access warning device using GPS)
FIG. 1 is a diagram for explaining an overall outline of the system configuration of a GPS-based wireless approach warning device 1 according to the present embodiment. In the situation shown in FIG. 1, a transmission line (electromagnetic field generator) 2 is hung between steel towers 3. In the vicinity of the power transmission line 2, work using a heavy machine (contact avoidance target) 4 such as a crane is performed.

  The conventional method relying on visual observation is that the witness 12 visually recognizes that a reference rope (not shown) suspended from the power transmission line 2 and the tip 5 of the boom 15 of the crane 4 have approached, and the mobile phone A method of calling attention from the machine 10 to the crane operator 8 who owns the parent machine 9 in the crane by two-way wireless communication is employed.

  In addition to the functions of the conventional wireless communication system, the GPS-based wireless approach warning device 1 shown in FIG. 1 is arranged at the tip 5 of the crane 15 and emits an approach warning signal when the tip 5 approaches the power transmission line 2. The positioning device 6 and the main body 7 thereof, and a master unit 9 that receives this approach warning signal and emits a warning sound to the operator 8 and transmits the warning signal to the portable handset 10 of the witness 12 in real time are provided. Yes.

  The operation of the GPS-based wireless approach alarm device 1 shown in FIG. 1 is as follows. The GPS positioning device 6 installed at the tip 5 of the heavy machine 4 senses the approach of the power transmission line 2 with respect to the power transmission line 2, and the main body 7 Generates an approach warning signal and wirelessly transmits it to the parent machine 9 owned by the crane operator 8. In response to the approach signal, the master unit issues an alarm sound to the operator 8 and transmits an approach alert signal to the portable handset 10 owned by the witness 12 in real time. The portable handset 10 emits an alarm sound to the witness 12.

  According to the GPS-based wireless approach warning device 1 shown in FIG. 1, when the crane operator 8 approaches the power transmission line, the base unit 9 automatically issues a warning sound, so that the heavy machine 4 and the power transmission line 2 Can be recognized and appropriate avoidance operations can be taken. The witness 12 who owns the portable handset 10 can simultaneously recognize the approach of the heavy equipment 4 and the power transmission line 2 because the handheld handset 10 issues an alarm sound at the same time. Even when the mobile phone 10 is not used, the handset 10 can alert the base unit 9 by wireless communication.

(GPS system)
Hereinafter, details of each component of the GPS-based wireless approach warning device will be described. First, the GPS adopted in this system will be briefly described and the positioning accuracy will be mentioned.

  GPS is a system that uses an artificial satellite and a GPS receiver to measure all positions in the world. Four artificial satellites are arranged in six orbits at an altitude of about 20,000 km and an inclination of about 55 degrees, covering a total of 24 satellites. The positioning principle of GPS is very simple. First, from the arrival time of a radio wave received by a GPS receiver from a well-positioned GPS satellite A, the receiver may be on a spherical surface having a radius of radio wave speed × arrival time = distance from the GPS satellite A. I understand. Similarly, if the distance from the second satellite B is known, it can be seen that the receiving device is on the circumference that is the intersection line of the two spherical surfaces. Similarly, if the distance from the third satellite C is known, it can be seen that it is on two intersections of three spherical surfaces, that is, the intersections of the circumference and the spherical surface. Actually, one of the points is located on the surface of the earth and the other point is located at the end of the universe, so that the location of the receiving device is determined in three dimensions. Actually, the fourth satellite corrects the time used for distance measurement.

  Since GPS is a military system developed by the United States, a use restriction called SA (Selective Availability) has been provided, and it was released after intentionally degrading the positioning accuracy. This positioning accuracy sometimes exceeded 100 m. SA was canceled in May 2000, and the positioning error has been improved to about 10m.

  As a positioning method using GPS, there are a single positioning method in which positioning is performed by receiving with one antenna, and a relative positioning method in which positioning is performed by using two or more receivers. In the former single positioning method, the positioning error is about 10 m. The latter relative positioning method is classified into differential positioning (DGPS) and interference positioning (RTK).

  DGPS (Differential GPS) places a GPS receiver in a location where the position is accurately known in advance and calculates the positioning error at the reference station. The reference station transmits the error amount to other GPS receiving stations in the vicinity. Each GPS receiver increases the positioning accuracy by correcting the positioning data according to the error amount. As the correction data transmission method, a method using a medium wave beacon or a method using FM radio waves has been put into practical use. In the former, a WAAS (Wide Area) that broadcasts a satellite position error, a satellite time error, and an ionospheric propagation error via a geostationary satellite is used. Augmentation System) has been put into practical use in the United States, but Japan's practical use is scheduled to launch MTSAT Multi-purpose Transportation Satellites in the winter of 2003. In the meantime, private DGPS has also been proposed in which an original temporary reference is set near the positioning point. As a result, the error due to SA can be as close to zero as possible. If the distance from the reference station is close, positioning with an error of less than 1 m is possible, but the error due to radio waves reflected by the topography and buildings (multipath), and the error due to the performance of the GPS receiver are several meters, but still remain. Yes.

  On the other hand, the interference positioning is a method of using two or more GPS receivers (one or more at a known point and one or more at an unknown point) and simultaneously observing four or more of the same GPS satellites. Since the difference between the measured values of two or more GPS receivers that simultaneously observed the same GPS satellite is used, various error factors are eliminated, and two points with better accuracy (parts of 1 cm or less at a distance of 10 km) The relative positional relationship between them can be measured.

  As the main positioning methods of interference positioning, static positioning, high-speed static positioning, kinematic positioning, real-time kinematic positioning, and the like have been put into practical use.

  Furthermore, in real time kinematic positioning (Real Time Kinematic-GPS), in order to maintain high accuracy, the distance between the GPS receiver and the reference station is set to a maximum of 10 km. In order to solve this, a virtual reference point method called VRS (Virtual Reference Station) in which a reference station is virtually installed near a GPS receiver has been developed. The Geographical Survey Institute started providing observation data of 200 electronic reference stations mainly in large cities in May 2002, and plans to provide observation data of 1,200 electronic reference stations in 2003. . This makes it possible to use GPS with a positioning accuracy of several centimeters anywhere in the country.

  The present inventors have determined that if the positioning error of high-accuracy GPS is several centimeters, it can be sufficiently used for an approach warning device between a transmission line and a crane.

(GPS positioning device)
When actually adopting GPS in a wireless approach warning device and putting it to practical use, it is necessary to consider from the viewpoint of positioning accuracy and economic efficiency suitable for practical use in order to decide which method to use.

  The distance between the crane tip and the transmission line is determined by the high voltage transmitted. The transmission line has a nominal voltage of 3 m when the nominal voltage of the transmission line is 22 kV, 4 m at the nominal voltage of 66 kV, and 5 m at the nominal voltage of 110 kV. It is 6 m at a voltage of 220 kV. If the design specification of the distance measurement error in the wireless approach warning device is 10% or less with respect to the separation distance, it becomes 30 cm or less at the nominal voltage 22 kv and 60 cm or less even at the nominal voltage 220 kV.

  FIG. 2 shows a table of the results of the inventors' investigation of the nominal accuracy, availability of real-time positioning, and approximate cost in each measurement method.

  An interference positioning method is desirable if it is determined solely based on measurement accuracy, but this method cannot be employed at this time if industriality is determined in consideration of economy. After all, if the accuracy is limited to 15% or less (45 cm or less even at a nominal voltage of 22 kv), private GPS is optimal.

  Even in this case, it is desirable to take measures against multipath, which is the main cause of error. FIG. 3 is a diagram for explaining a specific example of the multipath countermeasure studied by the present inventors. The GPS antenna 13 is surrounded by a conical shielding plate 14 in the lateral and downward directions. In the experiment, the elevation angle was about 10 degrees. Experiments have confirmed that the error amount is reduced by about 30% in the vertical component. As a result, it has been found that the GPS antenna 13 receives only radio waves directly incident from the GPS satellite 11 and prevents reception of reflected waves incident upon being reflected by the ground, buildings, or the like.

(Separation procedure)
With reference to FIGS. 4 and 5, the procedure for calculating the distance between the transmission line and the tip of the crane employed in the GPS-based wireless approach alarm device developed by the present inventors will be described.

  As shown in FIG. 4, two locations on both sides of the crane installation position (not shown) are determined. It is desirable that the power transmission line ends A and B are located where the crane boom is extended to the maximum.

  In step S1 shown in FIG. 5, the position information of the power transmission line end A is acquired. That is, position information (latitude, longitude, height) of the GPS receiver itself is acquired by the GPS receiver 6 installed directly below the power transmission line end A.

  In step S2, the relative height of the power transmission line end A with respect to the GPS receiver is measured. That is, the height from the GPS receiver 6 to the power transmission line end A is obtained by, for example, a laser distance meter. By adding this relative height to the position information of the PS receiver 6 measured in step S1, the three-dimensional position information of the transmission line end A can be determined. The three-dimensional position information of the power transmission line end A is recorded in the memory 100 of FIG.

  In step S3, the position information of the power transmission line end B is acquired. That is, the position information (latitude, longitude, height) of the GPS receiver itself is acquired by the GPS receiver 6 installed immediately below the power transmission line end B as in step S1.

  In step S4, the relative height of the transmission line end B with respect to the GPS receiver is measured. That is, similarly to step S2, the relative height of the transmission line end B is measured, and the three-dimensional position information of the transmission line end B is determined. The three-dimensional position information of the power transmission line end B is recorded in the memory 100 of FIG.

  In step 5, the distance from the position of the GPS installed at the tip of the crane to the power transmission line is calculated in real time during the work. When the distance from the tip A to the tip B is relatively long, approximate position information of the transmission line calculated by taking into account the deflection of the transmission line by a nonlinear differential equation may be used.

  As an alternative example of determining the transmission line position, the method shown in FIG. 5 can be adopted. FIG. 5 is a diagram for explaining how the map data of the area where the crane is used is obtained from the memory 100 of the GPS positioning device 6 of FIG. This map data can be taken in the memory 100 in advance through a CD-ROM, a DVD-ROM, or the Internet. As the map data, for example, as shown in FIG. 6, it is preferable that the coordinates of the steel towers h1 to h3 are made clear.

  FIG. 7 is a block diagram illustrating details of the GPS positioning device 6 of FIG. The GPS positioning device 6 includes a GPS data receiving circuit 102 incorporating the above-described high-precision GPS, a memory (GPS data) 104 connected to the GPS data receiving circuit, and a coordinate calculation circuit 106 connected to the memory (GPS data). A memory (transmission line ends A and B, map data) 100 in which map data is stored, a wire determination circuit 110 connected to the coordinate calculation circuit, a distance calculation circuit 116 connected to the wire determination circuit, and a distance calculation A D / A converter 70 connected to the circuit and a DC amplifier 37 connected to the D / A converter are included.

  The GPS data receiving circuit 102 receives GPS data from the satellite and stores it in the memory (GPS data) 104.

  The coordinate calculation circuit 106 calculates the coordinates (world coordinates) of the tip 5 of the crane based on the GPS data stored in the memory 104. In this case, when the tip 5 of the crane is regarded as an object on CG (computer graphic), object data in which a plurality of vertex coordinates constituting the object are arranged is created. Hereinafter, the object data will be described simply as the coordinates of the tip 5 of the crane.

  When the position information of the transmission line ends A and B is recorded in the memory 100, the electric wire determination circuit 110 obtains the coordinate data (position information) of the transmission line between them. When map data is recorded in the memory 100, among the plurality of towers h1 to h3 registered in the recorded map data, the tower h1 (first tower h1) closest to the coordinates of the tip 5 of the crane. And the two steel towers (second and third steel towers) that are related to the first steel tower h1 (meaning that a power transmission line has been connected) with the first steel tower h1 as the center. The coordinate data of h2 and h3) is extracted. Next, the coordinates of the first power transmission line 112 between the first steel tower h1 and the second steel tower h2, and the second power transmission line between the first steel tower h1 and the third steel tower h3. The coordinates of 114 are obtained.

  The distance calculation circuit 116 obtains the shortest distance (first shortest distance d1) from the tip 5 of the crane to the first power transmission line 112 based on the coordinates of the crane 108 and the coordinates of the first power transmission line 112, and the crane. Based on the coordinates of 108 and the coordinates of the second power transmission line 114, the shortest distance (second shortest distance d2) from the tip 5 of the crane to the second power transmission line 114 is obtained. The shorter one of the first shortest distance d1 and the second shortest distance d2 is output as the current distance data.

  The D / A converter 70 converts this distance data into an analog signal (voltage signal). The voltage signal from the D / A converter 70 is input to the DC amplifier 37, and becomes an analog voltage having a predetermined magnitude for displaying distance data between the crane tip and the nearest transmission line.

(System configuration details)
FIG. 8 is a block diagram showing details of the GPS-based wireless approach warning device 1 whose outline has been described with reference to FIG. The GPS-based wireless approach warning device 1 includes a GPS positioning device 6, a main body 7 thereof, and a parent device (crane-installed wireless device) 9 possessed by a crane operator 8, and more preferably an witness 12 and a work A portable handset (wireless device) 10 possessed by a person is provided. As shown in the figure, there may be a plurality of portable handset devices (wireless devices) 10 so that not only the witness 12 but also field workers can be possessed. Communication between the parent device and the child device and between the child devices is possible through wireless communication.

  An analog voltage of a predetermined magnitude for displaying distance data is sent from the GPS positioning device 6 to the main body unit 7.

  The main unit 7 has first and second comparators 38 and 39 to which one of its input terminals is connected so as to receive an analog voltage signal of a predetermined magnitude for displaying distance data from the GPS positioning device 6, First and second alarm sound generating devices 40 and 41 connected to output terminals of the first and second comparators, respectively, and a radio 42 connected to the output terminals of the first and second alarm sound generating devices. And have. Further, the main body 7 includes a DC power supply 43 with the (−) terminal grounded, a constant voltage circuit 44 connected to the (+) terminal of the DC power supply, and first and second alarms fed from the constant voltage circuit. The output terminals of the first and second alarm setting devices are connected to the other input terminals of the first and second comparators 38 and 39, respectively. The constant voltage circuit 44 supplies power to each amplifier circuit, wireless device, and the like.

  For example, the main body 7 is preferably further connected to an output terminal of the GPS positioning device 6 and the first and second alarm sound generating devices 40 and 41 so as to be convenient for various verification tests. Audio amplifier 48 connected to the output terminal, and a built-in speaker 49 connected to the audio amplifier. In the case of a liquid crystal display, the voltmeter 47 may be difficult to read due to external weather (influence of incident light or the like). Therefore, for example, it is preferable to adopt a 7-segment LED display or the like.

  The main body 7 preferably further includes a buffer amplifier 50 connected to the output terminal of the DC amplifier 37 and a VF converter 51 connected to the output terminal of the buffer amplifier. Is connected to the radio device 42 in a state that can be selectively switched with the outputs of the first and second alarm sound generation devices 40 and 41.

  The main body 7 preferably further includes a preset setting device 52 connected to the output terminals of the radio device 42 and the DC amplifier 37. The two outputs 53 and 54 of the preset setting device are selectively switchable with the outputs of the first and second alarm setting devices 45 and 46, and the other input of the first and second comparators 38 and 39. Each is connected to a terminal.

Note that the boundary between the GPS positioning device 6 and the main unit 7 is convenient, and the components of the GPS positioning device 6 include, for example, a D / A converter 70, a DC amplifier 37, and the like. The master unit (crane installation radio unit) 9 that may be an element is connected to the first radio unit 16 that receives an alarm signal from the radio unit 42 of the main body unit 7 and the first radio unit. The witness 12 has a second radio device 17 that transmits an alarm signal to the third radio device 10 possessed by each person. The second wireless device 17 has a built-in speaker 55 for voice notification of an alarm signal to the crane operator 8.

  Each child device 10 is a wireless device that can receive an alarm signal from the second wireless device 17 of the parent device 9 and can always communicate with each other and between the child devices.

(Receive alarm means (base unit))
An analog voltage signal having a predetermined magnitude for displaying the distance data from the GPS positioning device 6 is displayed on the voltmeter 47 and one input terminal of the first alarm comparator 38 and the second alarm connected in parallel. Is input to one input terminal of the comparator 39. The other input terminals of the first and second alarm comparators 38 and 39 are connected to the reference voltage set at the first and second alarm level by the first and second alarm setting devices 45 and 46. Has been. As a result, each comparator compares the set reference voltage with the amplified DC signal, and outputs an alarm signal when the amplified DC signal is equal to or higher than the set alarm alert level.

  That is, when the amplified DC signal is lower than the first alarm level, it is not output from any comparator, and when it is higher than the first alarm level and lower than the second alarm level, only the first alarm comparator 38 is output. When it is equal to or higher than the second alarm level, it is output from the second alarm comparator 39. In this case, the output of the second alarm comparator 39 sends a non-operation signal (Disable) to the first alarm sound generator 40 and stops the generation of the alarm sound from the first alarm sound generator 40.

  Preferably, when the alarm signal output from the first alarm comparator 38 is input to the first alarm sound generator 40, the first alarm sound generator generates an alarm signal that is an intermittent sound. Preferably, when the alarm signal output from the second alarm comparator 39 is input to the second alarm sound generating device 41, the alarm signal from the first alarm sound generating device 40 is stopped, and then the second alarm is output. The sound generator 41 generates an alarm signal that is a continuous sound.

  The necessity and advantage of this alarm sound two-stage method will be described. When the warning sound is in one stage, if a time lag occurs until the crane operation is stopped due to an artificial reason after the warning sound is issued, there is a risk of approaching within the approach limit distance. Therefore, for example, by combining the alarm sound with the first alarm (caution alarm) at the caution position (approach limit distance +2 m) and the second alarm (warning alarm) at the approach limit position (approach limit distance), the crane operation It is possible to deal with the time lag until the stop.

  These alarm signals are amplified by the audio amplifier 48, and are output to the crane operator 8 as an intermittent or continuous alarm from the built-in speaker 49.

  Preferably, the wireless approach alarm device 1 according to the present embodiment is configured to transmit an alarm signal to the child machine 10 in real time in addition to an alarm sound output to the crane operator 8. Therefore, the alarm signal from the first or second alarm sound generation device 40, 41 is input to the radio device 42 built in the main body 7, and the alarm signal is put on the transmitted radio wave to the operator room 11 of the crane 4. It transmits toward the installed first wireless device 16. For example, a simultaneous call type specific low power radio can be used as the radio 42 built in the main body 7. In this case, the alarm signals from the first or second alarm sound generators 40 and 41 are simultaneously transmitted. It is possible to input to the microphone terminal of the call type specified low power radio.

  The first radio 16 installed in the operator room converts this alarm signal into an audio signal and then inputs it to the second radio 17. In the second radio, the alarm signal is sent from the built-in speaker 55 to the crane operator. 8 is output (reported) as an intermittent sound or a continuous sound. At the same time, the second radio unit 17 transmits an alarm signal to the third radio unit 10 possessed by the worker and the witness 12 respectively, and in the third radio unit, the alarm sound works from the headset speaker. A voice is output (reported) as an intermittent sound or a continuous sound toward the person and the witness 12.

Note that both the volume level of the alarm sound and the volume level of the wireless call can be adjusted. Therefore, it is possible to make a wireless call reliably even when an alarm sound is generated.
[Second Embodiment]
A wireless approach warning device using GPS can be configured by introducing the concept of an interference region used in robotics or the like.

  Similar to the first embodiment, the location information of the transmission line ends A and B or the map data of the district where the crane is used is recorded in the memory 100 of FIG. This position information has been explained in relation to FIG. 4, and the map data can be taken into the memory 100 through CD-ROM, DVD-ROM, or the Internet, as explained in relation to FIG. . As map data, it is preferable that the coordinates of the steel towers h1 to h3 are made clear.

  The GPS positioning device 16 shown in FIG. 9 is connected to the GPS data receiving circuit 102 incorporating the high-precision GPS described above, the memory (GPS data) 104 connected to the GPS data receiving circuit, and the memory (GPS data). The coordinate calculation circuit 106, the memory 100 in which the position information or map data of the power transmission line ends A and B is stored, the wire determination circuit 110 connected to the coordinate calculation circuit, and the first and second connected to the wire determination circuit The first comparison circuit 134 that compares the interference area setting circuits 130 and 132 with the outputs of the memory (GPS data) 104 and the first interference area setting circuit 130 and outputs the drive signals Sd1 and Sd1, and the memory (GPS data) 104 And a first comparison circuit 136 that compares the outputs of the second interference region setting circuit 132 and outputs drive signals Sd1 and Sd2.

  The GPS data receiving circuit 102 receives GPS data and stores it in the memory 104.

  The coordinate calculation circuit 106 calculates the coordinates (world coordinates) of the tip 5 of the crane based on the GPS data stored in the memory (GPS data) 104. Specifically, with reference to FIG. 10, when the power transmission line ends A and B are recorded in the memory 100, the wire determination circuit 110 obtains the coordinates of the power transmission line between them. When the map data is recorded in the memory, the coordinates of the first tower h1 that is closest to the coordinates of the crane 108 are extracted from the plurality of towers h1 to h3 registered in the recorded map data. Then, the coordinate data of the second and third steel towers h2 and h3 related to the first steel tower h1 are extracted around the first steel tower h1. The coordinates of the first power transmission line 112 between the first steel tower h1 and the second steel tower h2, and the coordinates of the second power transmission line 114 between the first steel tower h1 and the third steel tower h3. Ask for. As described above, the coordinates may be obtained in consideration of the slack of the transmission line.

  The first interference area setting circuit 130 specifies the coordinates of the cylindrical first interference area 118 centered on the first power transmission line 112 and having the first radius r1 (the first interference area 118 is specified). A plurality of coordinate groups), and the coordinates (second interference) of the cylindrical second interference region 120 centered on the first power transmission line 112 and having the second radius r2 (r2 <r1). A plurality of coordinate groups specifying the region 120 are shown.).

  The second interference area setting circuit 132 specifies the coordinates (third interference area 124) of the cylindrical third interference area 124 centered on the second power transmission line 114 and having the first radius r1. A plurality of coordinate groups), and coordinates (fourth interference) of a cylindrical fourth interference region 126 centered on the second power transmission line 114 and having a second radius r2 (r2 <r1). A plurality of coordinate groups specifying the region 126 are shown.). At this time, it is preferable to limit the power transmission line portion to a range where the crane 108 may come into contact, and further set each interference region in consideration of slack of the power transmission line portion, displacement due to wind, and the like.

  The first comparison circuit 134 compares the coordinates of the crane tip 5 and the coordinates of the first interference region 118 to determine whether or not the crane tip 5 has entered the first interference region 118. . If it has entered, the drive signal Sd1 is output to the first alarm sound generator 40 of FIG.

  The coordinates of the crane tip 5 and the coordinates of the second interference area 120 are compared to determine whether or not the crane has entered the second interference area 120. If the vehicle has entered, the drive signal Sd2 is output to the second alarm sound generator 41 of FIG.

  The second comparison circuit 136 compares the coordinates of the tip 5 of the crane with the coordinates of the third interference area 124 to determine whether or not the crane has entered the third interference area 124. If it has entered, the drive signal Sd1 is output to the first alarm sound generator 40 of FIG.

  The coordinates of the tip 5 of the crane and the coordinates of the fourth interference area 126 are compared to determine whether or not the crane has entered the fourth interference area 126. If the vehicle has entered, the drive signal Sd2 is output to the second alarm sound generator 41 of FIG.

In this way, the second embodiment can be configured by using most of the circuit blocks of the GPS-based wireless proximity alarm device of FIG.
[Additional functions of system configuration]
The wireless proximity alarm device 1 according to the present embodiment has the following two additional functions in addition to the functions described above. In the system configuration described above, the first is a function of measuring an analog voltage signal having a predetermined size for displaying distance data from the GPS positioning device 6 (see FIG. 11 ), and the second is a function before use of the system. This is an alarm location setting function (hereinafter also referred to as “alarm sound alert preset method”) (see FIG. 12 ). It should be noted that in the system configuration shown in FIGS. 11 and 12 , elements related to these functions are partially omitted for the sake of simplicity.

  A function of measuring an analog voltage signal having a predetermined magnitude for displaying distance data from the GPS positioning device 6 as a first additional function will be described. The analog voltage signal from the GPS positioning device 6 is displayed on the voltmeter 47. However, in the field test, the transmission line exists at a height of several tens of meters above ground, and when the boom 15 of the crane 4 is raised to the height, the display of the voltmeter 47 cannot be read directly.

  Therefore, as shown in FIG. 11, the function of measuring the amplified DC signal includes the buffer amplifier 50 connected to the rear stage of the GPS positioning device 6, the VF converter 51 connected to the buffer amplifier, and the V A switch 57 that selectively connects the output of the F converter and the outputs of the first and second alarm sound generators 40 and 41 to the radio device. Further, a radio 58 that receives a frequency conversion signal from the radio 42 built in the main body is separately prepared, and a frequency counter 59 is connected to the radio.

  The analog voltage signal from the GPS positioning device 6 is processed so as not to affect before and after the buffer amplifier 50, and then converted into a corresponding frequency by the V-F conversion device 51, and the radio unit 42 with a built-in main unit is used. Input to the microphone terminal. In this case, when the alarm signal from the first or second alarm sound generation device 40, 41 and the frequency conversion signal from the VF converter 51 are simultaneously input to the radio 42, the signals interfere with each other. Thus, since it becomes impossible to properly obtain a regular signal, the system according to the present embodiment has a switch 57 that selectively inputs one of an alarm signal and a frequency conversion signal to the wireless device.

  Thereafter, the frequency conversion signal transmitted from the radio unit 42 built in the main body is received by the radio unit 58, and the frequency is counted by the frequency counter 59 connected thereto, so that the display of the voltmeter 47 is not seen. The analog voltage signal from the GPS positioning device 6 can be measured.

  A setting function before use of the system shown in FIG. 12, which is a second additional function, will be described. Since the conventional electric field detector is not intended to detect the approach to the power transmission line, there is no mechanism for generating an alarm sound or changing the alarm sound generation point at the time of product manufacture. It was.

  However, in general, in order to confirm the reliability of measurement results, various measuring instruments are set up before use. With this as a hint, the wireless approach warning device 1 according to the present embodiment also incorporates a function capable of performing setting work before use. Specifically, by operating the crane boom 15 at a certain arbitrary distance from the power transmission line and stopping it, and incorporating a function that can set the alarm sound reporting point from the operator room or the like, an alarm sound is always generated at that distance. I am trying to report. The setting operation is sequentially performed for the first alarm sound level and the second alarm sound level by changing the distance from the power transmission line.

  As shown in FIG. 12, the alarm point preset function before use of this system receives a radio 60 prepared separately, a preset setting device 61 connected thereto, and a preset signal from the radio 60. The outputs of the radio 42 built in the main body, the preset setting device 52, the first and second alarm setting devices 45 and 46, and the preset setting device 52 are selectively connected to the first and second comparators 38 and 39. And a change-over switch 62 to be configured.

  First, the changeover switch 62 switches the output of the preset setting device 52 so that it is connected to the other input terminal of the first and second comparators 38 and 39. In this state, the crane boom 15 is approached to the position where the alarm sound is to be generated and stopped with respect to the power transmission line, and then the preset signal is transmitted from the radio 60 by pressing each alarm setting button of the preset setting device 61. Is transmitted to the wireless device 42 built in the main body. Receiving the preset signal, each alarm setting signal is sent to the preset setting device 52 from the radio device 42 built in the main body, and the preset setting device 52 that has received each alarm setting signal receives the detection signal (from the DC amplifier) at that time. Output signal). This setting operation is sequentially performed for the first alarm sound and the second alarm sound by changing the distance between the power transmission line and the crane boom.

  By performing such setting work, the voltages set at the first and second alarm levels are input as the reference voltages for the first and second comparators.

  The analog voltage signal from the GPS positioning device 6 is compared with the reference voltage, and when the analog voltage signal is equal to or higher than the reference voltage (that is, preset with the crane boom 15 approached in advance as the first and second alarm levels). When each position is reached), an alarm signal is sent from each comparator 38, 39 to the first or second alarm sound generator 40, 41, and each alarm sound is issued.

That is, the preset setting device 52 operates in place of the first and second alarm setting devices, and the voltages set at the first and second alarm levels are obtained from the preset setting device 61 connected to the radio 60. Holds until a preset signal is sent.
[Advantages and Alternatives of this Embodiment]
(advantage)
The GPS-based wireless approach warning device according to the present embodiment has the following advantages.

    (i) Compared to the conventional visual confirmation and verbal wireless transmission system by witnesses, this embodiment adopts a system that automatically detects the approach and issues an alarm sound to the crane operator. By doing so, the reliability can be improved.

    (ii) A system that employs GPS for detecting the approach between transmission lines and heavy machinery is judged to be a technology that did not exist in the prior art.

    (iii) The alarm signal detected and generated by the GPS positioning device is automatically and in real time transmitted to the crane operator and the witness (and to the field worker if necessary). Thus, the time lag from the approach confirmation to the operation stop could be greatly reduced.

    (iv) By adopting the two-step alarm sound system, it is possible to cope with the time lag until the crane operation is stopped due to artificial reasons.

    (v) The second additional function (preset method for alarm sound alert) can set the distance at which the alarm is triggered for each work, so that it is possible to realize an optimal alert environment according to each work site. I can do it.

    (vi) In the present embodiment, an alarm sound is forcibly interrupted with respect to a call state between a parent device and a child device, which is a conventional system, so that the alarm sound is not heard even during a conversation or work. Absent.

(Alternative means)
Embodiment mentioned above is an example of the GPS utilization radio | wireless proximity alarm device which concerns on this invention, and is not limited to this. Various changes, modifications, and improvements that can be made by those skilled in the art are all included in the wireless proximity alarm device according to the present invention. These changes, modifications and improvements include the following.

    (a) In the GPS-based wireless approach warning device according to the present embodiment, a warning signal is transmitted from the GPS positioning device 6 and its main body 7 to the parent device 9, and then from the parent device 9 to the child device 10. This alarm signal is transmitted. However, it is not limited to this. In the present invention, alternatively, the GPS positioning device 6 and its main body 7 can be easily changed so as to simultaneously transmit an alarm signal to the parent device 9 and the child device 10.

    (b) The GPS-based wireless approach warning device according to this embodiment employs a two-stage warning method. However, it is not limited to this. It is also possible to easily change this to one or three or more alarm systems. In the circuit block shown in FIG. 4, essentially, a desired multi-stage is obtained by providing a desired number of combinations of the first alarm setting device, the first comparator and the first alarm sound generating device in parallel. An alarm system can be used.

    (c) The wireless approach alarm device according to the present embodiment employs a voice output system as the alarm output system. However, it is not limited to this. As the output method, for example, light, vibration or the like can be adopted.

    (d) The wireless approach warning device according to the present embodiment employs a voice output type warning. In the future, it is conceivable to provide a boom automatic stop mechanism by blocking the operation signal of the boom of a heavy machine (crane) based on an alarm signal issued from the approach detection and alarm generation device. Furthermore, it is conceivable to provide a boom safe operation guarantee mechanism by selectively blocking only a signal for operating the movement of the boom in the direction of the power transmission line.

  Thus, it should be understood that the technical scope of the present invention is not limited to the description of the embodiments. The technical scope of the present invention is defined based on the description of the appended claims.

FIG. 1 is a diagram for explaining an overall outline of the system configuration of a GPS-based wireless approach warning device 1 according to the present embodiment. FIG. 2 is a diagram for explaining the results of investigation of nominal accuracy, real-time positioning availability, and approximate cost in each GPS measurement method. FIG. 3 is a diagram for explaining a specific example of multipath countermeasures. FIG. 4 is a diagram for explaining a method for determining the position information of the power transmission line end. FIG. 5 is a diagram for explaining the procedure for calculating the separation distance between the crane tip and the power transmission line. FIG. 6 is a diagram for explaining how map data of a district where a crane is used is obtained from the memory (map data) of the GPS positioning device of FIG. FIG. 7 is a block diagram illustrating details of the GPS positioning device of FIG. FIG. 8 is a block diagram showing details of the GPS-based wireless approach warning device whose outline has been described with reference to FIG. FIG. 9 is a block diagram illustrating details of another GPS positioning device. FIG. 10 is a diagram for explaining the setting of the interference area in relation to the other GPS positioning device of FIG. FIG. 11 is a diagram for explaining a first additional function of the GPS-based wireless approach warning device of FIG. FIG. 12 is a diagram for explaining a second additional function of the GPS-based wireless approach alarm device of FIG.

Explanation of symbols

1: GPS-based wireless approach warning device, 2: Electromagnetic field generator (power transmission line), 3: Steel tower, 4: Contact avoidance target (heavy machinery, crane), 5: Tip of heavy machinery, 6: GPS positioning device (GPS reception) Machine), 7: main body, 8: crane operator, 9: radio (crane installation radio, master), 10: radio (portable slave), 11: GPS satellite, 12: witness, 13: GPS Antenna: 14: Shield plate, 15: Boom, 16: Radio, 17: Radio, 37 DC amplifier, 38: First comparator, 39: Second comparator, 40: First alarm sound generator, 41: Second Alarm sound generator 42: Radio unit 43: Constant voltage power supply 44: Constant voltage circuit 45: First alarm setting circuit 46: Second alarm setting circuit 47: Voltmeter 48: Audio amplifier 49: Built-in speaker 50: Buffer amplifier, 51: V-F converter, 52: Preset setting device, 55: Built-in speaker, 57: Changeover switch, 58: Radio device, 59: Frequency counter, 60: Radio device, 61: Preset setting device 62: changeover switch, 70: D / A converter, 100: memory (map data), 102: GPS data receiving circuit, 104: memory (GPS data), 106: coordinate calculation circuit, 108: crane, 110: electric wire Confirmation circuit, 116 distance calculation circuit, 112: first transmission line, 114: second transmission line, 118: first interference area, 120: second interference area, 124: third interference area, 126: Fourth interference region, 130: first interference region setting circuit, 132: second interference region setting circuit, 134: first comparison circuit, 134: 1st comparison circuit, 136: 2nd comparison circuit, h1, h2, h3: Steel tower,

Claims (10)

A GPS positioning device that is disposed at the tip of the heavy machine and outputs an analog voltage signal according to the distance between the power line that is the electromagnetic field generator and the heavy machine that is a contact avoidance target ;
A main unit that is arranged at the tip of a heavy machine together with the GPS positioning device, and that generates an alarm signal and wirelessly transmits when the power transmission line and the heavy machine approach within a predetermined distance;
A reception alarm means for receiving an alarm signal from the main body and issuing an alarm based on the alarm signal;
The main body includes a configuration for converting an analog voltage signal from the GPS positioning device into a frequency conversion signal indicating a frequency corresponding to the signal, and wirelessly transmitting the frequency conversion signal by switching to the alarm signal.
Further, a GPS-based wireless approach warning device provided with a wireless device that receives a frequency conversion signal transmitted from the main body . In the GPS-based wireless approach warning device according to claim 1,
  Furthermore, the main body includes a preset setting device that sets a reference voltage for generating the alarm signal,
  The preset setting device holds an analog voltage signal from the GPS positioning device at a time when a preset signal is transmitted via a separately prepared radio as a reference voltage for generating the alarm signal,
  The main body compares the reference voltage held in the preset setting device with the analog voltage signal output from the GPS positioning device, and when the analog voltage signal becomes equal to or higher than the reference voltage, the alarm A GPS-based wireless approach warning device that is configured to generate a signal. In the GPS-based wireless approach warning device according to claim 1 or 2,
The reception alarm means has a radio that receives an alarm signal from the main body and issues an alarm to a heavy equipment operator and transmits the alarm signal to at least one portable cordless handset. GPS-based wireless approach warning device. In the GPS-based wireless approach warning device according to claim 1 or 2,
The GPS positioning device is a GPS-based wireless approach warning device that uses high-precision GPS. In the GPS-based wireless approach warning device according to claim 1 or 2,
The GPS positioning device determines a position coordinate of the power transmission line, and calculates a distance between the position of the heavy equipment measured using GPS and the position coordinate of the power transmission line. apparatus. In the GPS-based wireless approach warning device according to claim 1 or 2,
The GPS positioning device is
Means for measuring the position of the heavy machinery and calculating its position coordinates;
Memory means for preliminarily storing position coordinates relating to a nearby transmission line end or transmission line tower;
An electric wire determination circuit for determining a position coordinate of a transmission line closest to the heavy machinery from a position coordinate of the transmission line end or transmission line tower;
A GPS-based wireless approach warning device having a distance calculation circuit for calculating a distance between the position coordinates of the heavy machinery and the position coordinates of the power transmission line. The GPS-based wireless approach warning device according to claim 6,
As the distance between the heavy machinery and the power transmission line approaches, a caution warning is issued,
A GPS-based wireless proximity warning device that issues a warning warning when the distance between the heavy machinery and the power transmission line reaches an approach limit distance. In the GPS-based wireless approach warning device according to claim 1 or 2,
The GPS positioning device sets an interference area that prohibits intrusion of the heavy equipment from the position of the power transmission line, and determines whether the position of the heavy equipment measured using GPS has entered the interference area. GPS-based wireless approach warning device. In the GPS-based wireless approach warning device according to claim 1 or 2,
The GPS positioning device is
Means for measuring the position of the heavy machinery and calculating its position coordinates;
Memory means for preliminarily storing position coordinates relating to a nearby transmission line end or transmission line tower;
An interference area setting circuit for setting an interference area forbidding entry of the heavy machinery from the position coordinates of the transmission line tower;
A GPS-based wireless approach warning device comprising a comparison circuit that compares the position coordinates of the heavy machine and the interference area to detect the intrusion of the heavy machine. The GPS-based wireless approach warning device according to claim 9,
As the interference area, first and second interference areas are set,
When the heavy machinery enters the first interference area, a caution alarm is issued,
A GPS-based wireless approach warning device that issues a warning warning when the heavy machinery enters the second interference area.

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