JP6513544B2 - Collision prevention device for cargo handling crane - Google Patents

Description

  The present invention relates to an anti-collision device for a cargo handling crane.

  Generally, a large number of rubber tire type cranes (hereinafter referred to as “load handling cranes”) movable in the front, rear, left, and right to load, transport, or stack containers are disposed in a container terminal of a port. Examples of the cargo handling crane include a gate-type transfer crane and a gantry crane. The flow of work using the cargo handling crane is as follows.

  First, when a vessel carrying containers is docked at the port, the gantry crane lifts the containers from the vessels and loads them on the chassis. Next, the trailer pulls the chassis and loads the container into the container terminal. Next, in the container terminal, the transfer crane lifts the container from the chassis and stacks it in place in the container terminal. Then, when the desired container is carried out of the container terminal, the transfer crane lifts the container and loads it on the chassis.

Patent No. 4421469

  In the container terminal, not only the loading and unloading crane but also a large number of trailers and workers exist, so when moving the loading and unloading crane, the trailer may be an obstacle. Therefore, there is a need for a technology for avoiding collisions between cargo handling cranes and obstacles.

  However, the conventional collision avoidance technology has the following problems.

(1) The operator's cab of the cargo handling crane is attached to the upper part of the crane, and the range viewed by the driver inside the operator's cab is limited. For this reason, there is a possibility that the vehicle may collide without being aware that the trailer has approached during traveling.

(2) There is also known a type of cargo handling crane in which a cab is provided in an office or the like and the cargo handling crane is remotely operated while watching an image of the camera, but depending on the orientation of the camera, it is not aware of the approaching trailer There is a possibility of collision.

(3) The collision prevention device mounted on the conventional cargo handling crane is configured to perform collision avoidance regardless of the speed of the object when the object (obstacle) is within a certain distance. For this reason, even if an object is separated from a certain distance, a collision can not be avoided when approaching at high speed. Conversely, a collision avoidance command is issued only when the object is moving or stopping at a low speed and the collision avoidance action is not immediately required.

  Then, this invention makes it a subject to solve having a cargo handling crane carry out collision avoidance with respect to the various objects in a container terminal earlier than before and implementing it as needed.

The collision preventing apparatus for a cargo handling crane according to one embodiment of the present invention is mounted on the cargo handling crane, and a distance sensor for detecting a distance to an object present around the cargo handling crane, and a time of the distance detected by the distance sensor The relative velocity of the object is calculated based on the change, and the movement velocity of the cargo handling crane is obtained to calculate the movement velocity of the object toward the cargo handling crane, and the relative velocity and the movement velocity of the cargo handling crane based on the difference, and the relative speed calculation unit for determining whether the object is moving or is stopped, or in which direction, when the relative speed is determined to or greater than a predetermined speed, the moving speed of the object According to the above configuration , the control unit further includes: a determination unit that outputs a collision avoidance command for stopping the movement of the load control crane.

  According to the present invention, it is possible to make the cargo handling crane perform collision avoidance with respect to various obstacles in the container terminal earlier and more appropriately than in the past.

BRIEF DESCRIPTION OF THE DRAWINGS It is a perspective view which shows the example of a whole structure of the transfer crane in the 1st Embodiment of this invention. It is a functional block diagram which shows the example of whole structure of the collision prevention apparatus mounted in the transfer crane shown in FIG. It is a schematic plan view which shows an example of the container terminal by which the transfer crane shown in FIG. 1 is arrange | positioned. It is a top view explaining the positional relationship of the sensor detection area | region of a distance sensor, and the trailer used as a detection target. It is a flowchart which shows the operation example of the collision prevention apparatus shown in FIG. It is a functional block diagram which shows the example of a whole structure of the collision prevention apparatus in the 2nd Embodiment of this invention. It is a flowchart which shows the operation example of the collision prevention apparatus shown in FIG.

  Hereinafter, a collision preventing device for a cargo handling crane according to the present embodiment will be described in detail with reference to the drawings.

  FIG. 1 is a perspective view showing an example of the overall configuration of the transfer crane 1. The transfer crane 1 is a kind of cargo handling crane that carries out the cargo handling operation of the container 2 in the container terminal, and travels along the guidelines 3a and 3b laid in parallel on the road surface. For example, a magnet (not shown) mounted in the vicinity of the wheels of the transfer crane 1 detects the magnetism carried by the guidelines 3a and 3b, and the central control device 101 described later determines the traveling position.

  As shown in the figure, the transfer crane 1 has a pair of portal structures 10 and 11 as a main framework, and the pair of portal structures 10 and 11 are vertically erected so as to be parallel to each other. ing. The portal structure 10 is configured by connecting a girder 10a extending in the horizontal direction at an upper portion and a pair of legs 10b and 10c extending vertically downward from both end portions of the girder 10a. Similarly, the portal structure 11 is configured by connecting the girder 11a and the pair of legs 11b and 11c.

  Further, between the pair of gate-shaped structures 10 and 11, a pair of connecting portions 13a and 13b are provided for connecting the lower ends of the leg 10b and the leg 11b and the lower end of the leg 10c and the leg 11c, respectively. There is. The pair of connection portions 13 a and 13 b extend in the direction orthogonal to the pair of gate-shaped structures 10 and 11.

  Under the connection portions 13a and 13b, two traveling stands 14a to 14d are provided at the front and the back, respectively. In addition, on the carriages 14a to 14d, two tires 15a to 15h are provided at the front and the back, respectively. The tires 15a to 15h are independently driven and controlled by a traveling motor (not shown). Further, drive control devices 16a and 16b are provided above the connection portions 13a and 13b to control the drive of a travel motor 200 described later. The traveling speed and the traveling direction of the transfer crane 1 are determined by the control by the drive control devices 16a and 16b.

  Further, a trolley 17 is stretched horizontally between the girders 10a and 11a. The trolley 17 can be freely moved along the longitudinal direction (in the direction of the arrow L in the figure) of the portal structure by a traverse motor (not shown). At the front and back of the trolley 17, one towing device 19 for pulling the wire rope 18 is provided. A spreader 20 is suspended below the trolley 17 via a wire rope 18. The spreader 20 is a hanger which can hold the container 2 detachably. Furthermore, a driver's cab 21 is fixed below the trolley 17. When the trolley 17 travels along the pair of girders 10a and 11a, the cab 21 and the spreader 20 travel along the rails (not shown) on the pair of girders 10a and 11a. By moving the entire transfer crane 1 and the trolley 17, the spreader 20 is moved to the position of the container 2 to perform the cargo handling operation of the container 2.

  Further, distance sensors 12a to 12d are respectively provided at corners near the central portions of the four legs 10b, 10c, 11b, and 11c. It is preferable that the height H of the places where the distance sensors 12a to 12d are installed be set to the same level as the height of a vehicle such as the trailer 4 as a main detection target. As the distance sensors 12a to 12d in the present embodiment, a laser type distance sensor that irradiates a laser beam to an object, receives reflected light from the object, and detects the distance to the object from an electrical signal corresponding to the amount of light received. Use. When the distance sensors 12a to 12d detect the distance to the object at a predetermined cycle, the distance sensors 12a to 12d output the detection result to the central control device 101 as needed. Each of the distance sensors 12a to 12d includes a drive mechanism (not shown) for changing the irradiation direction of the laser beam, and in order to measure each point on the object surface, portions with different measurement distances come out. Therefore, it is possible to detect the contour of the object from the distribution of the distances to the points. This is called "edge detection".

  FIG. 2 is a functional block diagram showing an example of the overall configuration of the collision preventing apparatus 100 mounted on the transfer crane 1 shown in FIG. As shown in the figure, the anti-collision device 100 is configured by combining a plurality of devices such as distance sensors 12a to 12d, a central control device 101, and a warning device 102.

  The central control device 101 has an object pattern storage unit 101a, an object pattern identification unit 101b, a relative velocity calculation unit 101c, and a determination unit 101d, and is a connection destination device such as distance sensors 12a to 12d, a warning device 102, and driving. It is an apparatus which controls control device 16a, 16b etc., respectively. In the present embodiment, the central control device 101 is installed in the cab 21.

  The object pattern storage unit 101a prestores, as an object pattern, shape (contour) data of an object which may exist in the container terminal. The objects that may exist in the container terminal of the port include a container 2 having a shape and size according to the standard, a trailer 4 and other transfer cranes 1 as well as workers. The object pattern identification unit 101b detects an edge of an object based on detection information of the distance sensors 12a to 12d, and identifies an object pattern by comparison with the object pattern stored in the object pattern storage unit 101a.

The relative velocity calculation unit 101c calculates the relative velocity (for example, 30 km / h) of the object based on the time change of the distance detected by the distance sensors 12a to 12d, and transfers from the drive control devices 16a and 16b of the transfer crane 1 By acquiring the moving speed of the crane 1 (for example, 8 km / h), the moving speed of the object heading for the transfer crane 1 is calculated and output to the determination unit 101 d.

  The determination unit 101d forces the drive of the transfer crane 1 to the drive control devices 16a and 16b on condition that the relative speed is equal to or higher than the predetermined speed and the distance to the object has reached the predetermined dangerous distance. Output collision avoidance command to stop or decelerate It is assumed that the dangerous distance in the present embodiment is previously defined for the combination of the object pattern and the relative velocity. If the determination unit 101d determines that the relative speed is equal to or higher than a predetermined speed, the determination unit 101d outputs a warning transmission instruction to the warning device 102.

  The warning device 102 outputs warning information by outputting a warning sound, turning on a warning light, or the like based on a warning transmission instruction from the determination unit 101 d. As an installation place of the warning device 102, the inside of the operator's cab 21 or a part of the transfer crane 1 can be considered. When installing in a place outside the cab 21, for example, it is preferable to mount at a position such as the legs 10b, 10c, 11b, 11c or the like so that the driver of the trailer 4 or a worker while walking is easily visible. is there.

  FIG. 3 is a schematic plan view showing an example of the container terminal in which the transfer crane 1 shown in FIG. 1 is deployed. Here, five transfer cranes 1 are provided for the loading areas of six containers 2, but the configuration of the container terminal, the number of loading areas, the number of transfer cranes 1 and the like are merely examples. As shown in the figure, the ship 5 carries a container 2 and is docked at a port with a container terminal. The gantry crane 6 is arranged along the quay in order to lift the container 2 from the ship 5 and load it on a chassis (not shown) connected to the trailer 4. Further, in the container terminal, the guidelines 3a and 3b are laid in pairs at six locations, and the transfer crane 1 is disposed in the loading area specified by the guidelines 3a and 3b. The trailer 4 transports the container 2 to a predetermined place in the container terminal. The transfer crane 1 stacks the container 2 received from the trailer 4 in a predetermined place, and loads the container 2 onto the trailer 4 when carrying it out of the container terminal. Further, in FIG. 3, the transfer crane 1 in the loading area at the upper central portion is going to move in the direction of arrow A in order to move to the loading region at the lower central portion after finishing the loading operation. At this time, it is shown that the trailer 4 is moving from the left side in the drawing to one in the arrow B direction and from the right side to the one in the arrow C direction. If the trailer 4 moves at a high speed, collision avoidance control by the collision preventing apparatus 100 described later is required.

  FIG. 4 is a plan view for explaining the positional relationship between the sensor detection areas of the distance sensors 12a to 12d and the trailer 4 to be detected, and for explaining the situation shown in FIG. 3 in detail. As shown in FIG. 4, the distance sensors 12 a to 12 d are respectively installed on the four legs 10 b, 10 c, 11 b and 11 c of the transfer crane 1, and fan-shaped broken lines extending from the legs are sensors Shows the detection area of Detection regions of the distance sensors 12a to 12d are continuous between adjacent sensors. Therefore, the detection regions of the distance sensors 12a to 12d cover the entire periphery of the transfer crane 1 as a whole. In the detection area, the distance sensors 12 a to 12 d irradiate laser light, measure the distance to an object (obstacle) existing around the transfer crane 1, and output the measured distance to the central control device 101. In the case of FIG. 4, since the trailers 4 approach from the right and left of the transfer crane 1, respectively, the pattern identification of the trailer 4 and the measurement of the distance between the objects are performed.

  FIG. 5 is a flow chart showing an operation example of the collision prevention apparatus 100 shown in FIG. This process is started, for example, when the driver of the transfer crane 1 moves the entire crane.

  First, the object pattern identification unit 101b determines whether an object is present in the sensor detection range based on the detection signals from the distance sensors 12a to 12d (S101). Here, when it is determined that an object is present in the sensor detection range (S101: YES), the process proceeds to S102. On the other hand, when it is determined that the object is not present in the sensor detection range (S101: NO), the process is repeated.

  In S102, the object pattern identification unit 101b compares the shape data obtained by edge detection of the object with the object pattern stored in the object pattern storage unit 101a to identify the object pattern.

Next, the relative velocity computing unit 101c measures the variation of the distance between the objects in the time series or the variation of the size of the edge of the objects, and computes the relative velocity of the objects. The speed of the vehicle is acquired, and the moving speed of the object heading for the transfer crane 1 is calculated (S103). While the transfer crane 1 is moving, the distance and the size of the edge change even when the object is stopped, but in order to feed back the speed of the own vehicle from the drive control devices 16a and 16b to the central control device 101. Based on the value of the difference, it is also determined whether the object is at rest or in which direction it is moving.

  Next, the determination unit 101d determines whether the relative velocity of the object is equal to or higher than a predetermined velocity (S104). Here, if it is determined that the relative speed is equal to or higher than the predetermined speed (S104: YES), the process proceeds to S105. On the other hand, when it is determined that the relative speed is less than the predetermined speed (S104: NO), the process proceeds to S106.

  In S105, the determination unit 101d extends the dangerous distance in accordance with the object pattern and the relative velocity. Specifically, the higher the relative speed, the longer the danger distance and the earlier the timing of stopping the crane. This is because the danger distance for the own vehicle to stop changes according to the relative speed. In addition, it is preferable to change the danger distance depending on the object pattern. For example, when the object is the trailer 4, the danger distance is extended since it is necessary to stop immediately. The correspondence between the object pattern, the relative velocity, and the danger distance is assumed to be predefined.

  In S106, the determination unit 101d determines whether the object has reached within the dangerous distance. Here, when it is determined that the object has reached within the dangerous distance (S106: YES), the process proceeds to S107. On the other hand, when it is determined that the object has not reached within the dangerous distance (S106: NO), the process proceeds to S111.

  In S107, the determination unit 101d outputs a collision avoidance command to the drive control devices 16a and 16b. When receiving the collision avoidance command, the drive control devices 16a and 16b decelerate and stop the traveling motor 200.

  Next, the determination unit 101d outputs a warning transmission instruction to the warning device 102 installed in the cab 21 or in a part of the transfer crane 1 (for example, the legs 10b, 10c, 11b, 11c, etc.) (S108). When a warning transmission instruction is received, the warning device 102 outputs warning information by a warning sound, lighting of a warning light, display of a warning message, and the like.

  Next, the determination unit 101d determines whether the approaching object is a warning target based on the object pattern identified by the object pattern identification unit 101b (S109). For example, when the object pattern is a person, trailer 4 or the like, it is a warning target, and a stationary object such as the container 2 is not a warning target. Here, when it is determined that the approaching object is a warning target (S109: YES), the process proceeds to S110. On the other hand, when it is determined that the approaching object is not a warning target (S109: NO), the process proceeds to S111.

  In S110, the determination unit 101d outputs a warning transmission instruction to the warning device 102 installed at a part other than the transfer crane 1 and the cab 21.

  In S111, the determination unit 101d determines whether the transfer crane 1 has stopped based on the information from the drive control devices 16a and 16b. Here, when it is determined that the transfer crane 1 has stopped (S111: YES), the process ends. On the other hand, if it is determined that the transfer crane 1 has not stopped (S111: NO), the process returns to S103.

As described above, according to the collision prevention apparatus 100 according to the present embodiment, the following effects can be obtained.
(1) Even if the cab 21 is attached to the upper part of the crane, four distance sensors 12a to 12d arranged in four directions detect that an object such as the trailer 4 has approached while the crane is traveling, and a collision occurs. Can be avoided. The same applies to the case where the present invention is applied to a type of cargo handling crane operated remotely from within the office without providing the operator's cab 21 in the crane.

(2) The collision avoidance command is output in consideration of the object pattern and the relative velocity, not the configuration for unconditionally outputting the collision avoidance command when the object (obstacle) is within the predetermined distance as in the prior art. Because of the configuration, when the object approaches at high speed, the transfer crane 1 can be stopped at an earlier timing than before. Conversely, when the object is moving or stopping at a low speed and the collision avoidance action is not required immediately, the collision avoidance command may not be issued.

Second Embodiment
FIG. 6 is a functional block diagram showing an example of the overall configuration of the collision prevention apparatus 100 according to the second embodiment of the present invention. The same reference numerals as the reference numerals in the drawings of the first embodiment indicate the same objects, and thus the detailed description will be omitted.

  The present embodiment differs from the first embodiment in that a warning device 41 is installed at a location other than the transfer crane 1 separately from the warning device 102. The warning device 41 is a terminal disposed in the driver's cab 40 of the vehicle, such as the trailer 4. Specifically, the warning device 41 receives a warning transmission command from the determination unit 101d via wireless communication, and based on the warning transmission command, the warning information includes warning sound, lighting of a warning light, display of a warning message, and vibration. It is a portable wireless communication terminal in which application software for outputting by any or a combination of these is installed. The administrator may lend the installed terminal to a worker who performs cargo handling work in the container terminal, or may install it in advance to the possessing terminal before the work. Similarly, the warning device 102 disposed in the cab 21 of the transfer crane 1 may be a portable wireless communication terminal in which application software is installed.

  FIG. 7 is a flow chart showing an operation example of the collision prevention apparatus 100 shown in FIG. This process is started, for example, when the driver of the transfer crane 1 moves the entire crane.

  First, the object pattern identification unit 101b determines whether an object is present in the sensor detection range based on the detection signals from the distance sensors 12a to 12d (S201). Here, when it is determined that an object is present in the sensor detection range (S201: YES), the process proceeds to S202. On the other hand, when it is determined that an object does not exist within the sensor detection range (S201: NO), the process is repeated.

  In S202, the object pattern identification unit 101b compares the shape data obtained by edge detection of the object with the object pattern stored in the object pattern storage unit 101a to identify the object pattern.

Next, the relative velocity computing unit 101c measures the variation of the distance between the objects in the time series or the variation of the size of the edge of the objects, and computes the relative velocity of the objects. The speed of the vehicle is acquired, and the moving speed of the object heading to the transfer crane 1 is calculated (S203).

  Next, the determination unit 101d determines whether the relative velocity of the object is equal to or higher than a predetermined velocity (S204). Here, if it is determined that the relative speed is equal to or higher than the predetermined speed (S204: YES), the process proceeds to S205. On the other hand, when it is determined that the relative speed is less than the predetermined speed (S204: NO), the process proceeds to S206.

In S205, the determination unit 101d extends the dangerous distance in accordance with the object pattern and the relative velocity.
In S206, the determination unit 101d determines whether the object has reached within the dangerous distance. Here, if it is determined that the object has reached within the dangerous distance (S206: YES), the process proceeds to S207. On the other hand, when it is determined that the object has not reached within the danger distance (S206: NO), the process proceeds to S211.

  In S207, when the identified object comes within the dangerous distance, the determination unit 101d outputs a collision avoidance command to the drive control devices 16a and 16b. When receiving the collision avoidance command, the drive control devices 16a and 16b decelerate and stop the traveling motor 200.

  Next, the determination unit 101d outputs a warning transmission instruction to the warning device 102 installed inside and outside the cab 21 in the transfer crane 1 (S208). When a warning transmission instruction is received, the warning device 102 outputs warning information by a warning sound, lighting of a warning light, display of a warning message, and the like.

  Next, the determination unit 101d determines whether the approaching object is a vehicle such as the trailer 4 based on the object pattern identified by the object pattern identification unit 101b (S209). Here, when it is determined that the approaching object is a vehicle (S209: YES), the process proceeds to S210. On the other hand, when it is determined that the approaching object is not a vehicle (S209: NO), the process proceeds to S211.

  In S210, the determination unit 101d outputs a warning transmission instruction to the warning device 41 installed in the cab 40 of another vehicle such as the trailer 4. When the warning transmission command is received, the warning device 41 in the driver's cab 40 outputs warning information, so that the driver can be made to take a collision avoidance action.

  In S211, the determination unit 101d determines whether the transfer crane 1 has stopped based on the information from the drive control devices 16a and 16b. Here, when it is determined that the transfer crane 1 has stopped (S211: YES), the process ends. In contrast, when it is determined that the transfer crane 1 has not stopped (S211: NO), the process returns to S203.

  As described above, according to the collision prevention device 100 according to the present embodiment, the driver of another vehicle recognizes the warning information output from the warning device 102 on the transfer crane 1 side due to the influence of rain or snow. Even in situations where it is difficult, the warning device 41 in the cab 40 of another vehicle outputs warning information, so it is possible to more reliably avoid a collision. Further, since the warning device 41 is a portable wireless communication terminal, there is no need to remodel the vehicle or the like, and the warning means can be easily mounted.

<Modification>
Hereinafter, some modifications of the anti-collision device 100 will be described.
In the above embodiment, the dangerous distance is determined based on the object pattern and the relative velocity when the relative velocity is equal to or more than a predetermined velocity, provided that the distance between the transfer crane 1 and the object is within the dangerous distance. Although the collision avoidance command is output, the object pattern may not be considered. That is, when the relative speed is equal to or higher than a predetermined speed, a collision avoidance command may be output on the condition that the distance between the transfer crane 1 and the object is within a certain dangerous distance. If the object pattern is not considered, the processing time can be shortened.

  Further, although the distance sensors 12a to 12d are four in the same number as the number of the legs 10b, 10c, 11b and 11c, they may not be the same. Since it is sufficient if it is possible to monitor the area on the traveling direction side of the transfer crane 1, for example, two can be installed. In this case, the installation cost of the sensor can be reduced.

  Moreover, although the laser distance sensor was used as the distance sensors 12a to 12d, the ultrasonic wave is directed to the object by the transmitter and transmitted, and the reflected wave is received by the receiver to obtain the distance to the object. An ultrasonic distance sensor for detecting may be used. Also, different types of sensors may be combined. It is preferable to select an optimum type according to the use environment and installation cost of the sensor.

  Although the embodiments of the present invention have been described above, the embodiments are presented as examples and are not intended to limit the scope of the invention. This novel embodiment can be implemented in other various forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. The present embodiment and the modifications thereof are included in the scope and the gist of the invention, and are included in the invention described in the claims and the equivalent scope thereof.

DESCRIPTION OF SYMBOLS 1 ... Transfer crane 2 ... Container 3a, 3b ... Guideline 4 ... Trailer 5 ... Ship 6 ... Gantry crane 10, 11 ... Portal structure 10a, 11a ... Girder 10b, 10c, 11b, 11c ... Leg part 12a-12d ... Distance Sensors 13a, 13b: Connecting portions 14a to 14d: Traveling platforms 15a to 15h: Tires 16a, 16b: Drive control device 17: Trolley 18: Wire rope 19: Traction device 20: Spreader 21, 40: Cab 100: Collision prevention device 101 central control unit 101a object pattern storage unit 101b object pattern identification unit 101c relative speed calculation unit 101d determination unit 102, 41 warning device 200 traveling motor

Claims (8)

A distance sensor attached to the cargo handling crane and detecting a distance to an object existing around the cargo handling crane;
As well as calculating the relative speed of the object based on the time variation of the distance which the distance sensor detects, by acquiring a moving speed of the cargo crane, calculates the moving speed of the object towards said handling crane, the based on the difference between the moving speed of the relative velocity between the handling crane, and the relative speed calculation unit for determining whether the object is moving to that or in which direction stop,
A determination unit which outputs a collision avoidance command for stopping the movement of the load control crane according to the moving speed of the object when it is determined that the relative speed is equal to or higher than a predetermined speed;
An anti-collision device for a cargo handling crane characterized by comprising: The image processing apparatus further includes an object pattern identification unit that performs edge detection of the object based on detection information of the distance sensor and identifies an object pattern.
The determination unit is conditioned on the condition that the relative velocity is equal to or greater than a predetermined velocity, and the distance to the object has reached a previously defined dangerous distance with respect to the combination of the object pattern and the relative velocity. The collision preventing apparatus for a cargo handling crane according to claim 1, wherein the collision avoidance command is output.   The collision preventing apparatus for a cargo handling crane according to claim 1 or 2, wherein the distance sensors are respectively attached to a plurality of legs of the cargo handling crane, and a detection area is continuous between adjacent sensors. . It further comprises a warning device attached to a part of the cargo handling crane and outputting warning information by outputting a warning sound or lighting a warning light,
The cargo handling crane according to any one of claims 1 to 3, wherein the determination unit outputs a warning transmission instruction to the warning device when it is determined that the relative speed is equal to or higher than a predetermined speed. Anti-collision device.   The said determination part outputs the said warning transmission instruction | command via radio | wireless with respect to the other warning apparatus arrange | positioned in the driver's cab of the said vehicle, when the said object is a vehicle. Collision prevention equipment for cargo handling cranes.   The warning device and the other warning device receive the warning transmission instruction from the determination unit via wireless communication, and based on the warning transmission instruction, the warning information is displayed as a warning sound, lighting of a warning light, display of a warning message The anti-collision device for a cargo handling crane according to claim 5, characterized in that it is a portable radio communication terminal in which application software for outputting by any one or combination of vibration and vibration is installed.   The distance sensor is a laser distance sensor that irradiates a laser beam to the object, receives a reflected light from the object, and detects a distance to the object from an electrical signal according to the amount of light received. A collision preventing apparatus for a cargo handling crane according to any one of claims 6 to 10.   The distance sensor is an ultrasonic distance sensor that detects the distance to the object by transmitting ultrasonic waves toward the object by a transmitter and receiving a reflected wave by a receiver. A collision preventing device for a cargo handling crane according to any one of claims 6 to 10.

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