JPH06144786A - Crane operation range restriction device - Google Patents

Abstract

PURPOSE:To provide a crane operation range restriction device which is enforced to secure safety of operations, third men and the like with safety operating ranges discriminated from operation restricting ranges. CONSTITUTION:The device is equipped with a turning angle detection section 1 which is furnished with an earth magnetism sensor 1, decides a reference line O-L for a turning angle 9 by making use of earth magnetism, and detects the turning angle theta of a boom 8, a boom hoist angle detection section 2 detecting the boom hoist angle theta of the boom 8, and with an output display section 4 indicating a crane operating position based on the turning angle thetaand the boom hoist angle phi by means of images 45 or voice 4a, and the tip end position of the boom 8 is thereby operated based on the detected values from the turning angle detecting section 1 and the boom hoist angle detecting section 2. The tip end position of the boom 8 is then compared with an operation restriction range, so that a specified display or a notice is indicated on the output display section 4 or is informed of by a control section 3 provided for the device. By this constitution, the automatic determination of the reference line O-L by means of the earth magnetism sensor 1 permits preparations to be easily made for detecting the turning angle theta in a simple manner.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention discriminates between a predetermined safe work range and a work regulation range in operation of a tower crane or the like used at a construction site, controls the work range of a crane boom, and The present invention relates to a crane work range control device which is executed to notify the operator of work safety or the safety of a third party.

[0002]

2. Description of the Related Art At a construction work site using a tower crane, etc., if there are roads, railroads, buildings or other facilities within the crane work radius, the safety of such facilities or the passage of third parties and other living activities. To ensure that the crane boom does not project above these facilities. Further, even when several cranes are used in such a manner that their work ranges overlap, it is necessary to prevent the danger of work due to interference between booms. As a crane work range control device for solving these problems, many devices have been developed and put into practical use in the past (for example, a crane work range control device described in Japanese Utility Model Publication No. 3-50151).

In the case of the crane working range control device described in Japanese Utility Model Publication No. 3-50515, a slide rail that detects the rotation of the crane boom and mechanically transmits it rotates with respect to the boom tip detection plate, and the rotated light. The angular position of the sensor directly indicates the boom turning angle. In addition, a change in the boom elevation angle of the boom is displayed by the displacement in the length direction of the boom depression angle detection wire mechanically attached to the boom.

[0004]

[Problems to be Solved by the Invention] The above fairness 3-505
The crane work range control device described in Japanese Patent No. 15 publication mechanically rotates a sensor from the crane turning device to display the boom turning angle on the boom tip detection plate. Therefore, referring to the plan view of the target site, etc., It is necessary to set the angle reference line (zero point) of the turning angle each time. This setting work must be performed at the preparatory stage of the work, and the handling and setup on the site are complicated.

Therefore, it is an object of the present invention to provide a crane working range control device which simplifies preparation for boom turning angle detection by applying geomagnetism.

[0006]

As means for solving the above-mentioned problems, the crane working range restricting device according to the present invention detects the turning angle θ and the depression angle φ of the boom 8 of the crane and detects the boom angle of the boom 8. A crane work range control device that judges whether the tip is within or near the work control range of crane work based on the detected value, and displays or announces this, is equipped with a geomagnetic sensor 1 and uses geomagnetism. A swing angle detection unit 1 that determines the swing angle θ of the boom 8 by defining a reference line OL of the swing angle θ, a depression angle detection unit 2 that detects the depression angle φ of the boom 8, and an image 4b or a voice 4a, or An output display unit 4 which displays a crane working position based on the turning angle θ and the depression angle φ by a combination of these,
The tip position of the boom 8 is calculated based on the detection values from the turning angle detection section 1 and the elevation angle detection section 2, and the tip position of the boom 8 is compared with the work regulation range. It is characterized by being configured with a control unit 3 which causes the output display unit 4 to perform a predetermined display or notification when it enters into the work regulation range or approaches.

In the present invention, the depression / elevation angle detecting section is the moment limiter 2, and the control section 3 calculates the depression / elevation angle φ from the output value of the moment limiter 2 to calculate the tip position of the boom 8. Characterize.

[0008]

Operation: Setting data such as a floor plan of a construction site is input to the control unit 3 in advance to set the work regulation range. Then, simply by placing the geomagnetic sensor 1, the reference line OL of the turning angle θ is automatically determined and the turning angle θ is detected. Whether the control unit 3 calculates the position of the boom 8 including the detection value of the depression / elevation angle φ by the moment limiter 2 and compares it with the work restriction ranges P, Q, R, and S to determine whether or not to approach the work restriction range. When entering the range, a warning is displayed or announced by the output display unit 4 by the sound of the alarm speaker 4a or the screen display of the CRT 4b.

[0009]

EXAMPLE An example of the present invention shown in the drawings will be described below. FIG. 1 shows an outline of the construction of the crane work range control device. 2A and 2B show a front view and a plan view of the outer appearance of a crane equipped with this device. The crane work range control device includes a geomagnetic sensor 1 as a turning angle detection unit, a moment limiter 2 as a depression / elevation angle detection unit, alarm speakers 4a and CRT 4b as an output display unit 4, a monitoring TV camera 5, and a hoist. It is composed of a detector 6 and a control unit 3 for controlling these.

The above-mentioned geomagnetic sensor 1 is installed by placing it on the revolving part 7 of the crane, and by itself, the reference line O-L of the revolving angle θ of the boom 8 shown in FIG.
-Based on the S pole, the turning angle θ is detected. The geomagnetic sensor 1 is a toroidal type sensor shown in FIG. 3, and when a magnetic flux in the clockwise direction is generated in the core 1a by the exciting coil 1d and a magnetic field is applied from the N-S pole (south-north) direction, The right side saturates early and the left side saturates late.
At this time, since the detection right coil 1b and the detection left coil 1c have opposite phases, the voltage of the difference is output and the N-S component is extracted. Although illustration is omitted, if another set of coils is similarly provided in a position rotated by 90 ° in the EW pole (east-west) direction, the EW pole component can be extracted. N
If the -S direction or the E-S direction is used as the reference line (zero point) of the turning angle, the signals are detected from the detection coils 1b and 1c based on the rotation of the core 1a caused by the turning of the crane turning unit 7. This detected value is set to 360 by the CPU of the control unit 3 or the like.
It is converted into an azimuth angle of ° and detected as a turning angle θ of the boom 8. The geomagnetic sensor 1 is not limited to the toroidal type sensor described above, but may be a bar type sensor.

The moment limiter 2 secures the safety strength of the boom 8 by detection values from a load detector (not shown) and a depression / elevation angle detector, and the control unit 3 uses the calculated value to secure the safety strength. 8 Depression angle φ is detected (Fig. 2
(See A). The control unit 3 is composed of a central control unit (CPU) and the like, and sets the work regulation range by inputting setting data for setting the work regulation range such as a plan view of the target construction site from the input unit 3a attached thereto. . Further, the detected values from the geomagnetic sensor 1 and the moment limiter 2 are corrected / calculated and compared with the work regulation range to determine whether or not the position of the boom 8 is safe.

When the boom 8 approaches the work control range and further enters the work control range, the alarm speaker 4a emits a voice according to an instruction from the control unit 3 to notify an audible warning.
In addition, the CRT 4b projects a plan view of a construction site such as a work regulation range set in advance on the screen according to an instruction from the control unit 3, displays the position of the boom 8 that moves moment by moment on the screen, and displays a visual warning and notifies. To do.

The surveillance television camera 5 directly displays an obstacle or an interference place on the CRT 4b, and is selectively used when necessary. The hoisting detector 6 is also selectively used when necessary, and the detected value in the height direction is input to the control unit 3 to enable three-dimensional control. Next, the operation of the crane work range control device will be described.

At the construction site where the three cranes 21, 22, and 23 shown in FIG. 4 are installed by operating the input unit 3a, antennas such as microwaves, boundary lines (wall surfaces), utility poles (columnar), etc. The work regulation range is set and displayed on the CRT 4b. The control unit 3 determines that the work radii 21a, 22a, and 23a are shaded areas P, Q, R, and S based on the setting data and the detected value.
It is calculated in advance by wrapping. When the boom 8 of the crane 21 swings and is lifted by the actual crane work, the geomagnetic sensor 1 automatically causes the reference line O-.
L is determined, and the turning angle θ is also detected. At the same time, the angle of depression φ is detected by the moment limiter 2, and each detected value is input to the control unit 3. The control unit 3 calculates the position of the boom 8 from the detected value, compares it with the work restriction range, and projects the position of the boom 8 in the restriction range on the screen of the CRT 4b. At this time, if the shaded portion P is a color-coded image such as yellow, the same S is red, and the same Q is green, it is possible to distinguish and warn which of the cranes 22 and 23 the boom 8 is to be operated for. . When the boom 8 is close to the work control range, the alarm speaker 4a issues a warning report by voice. Further, when the danger level increases due to the approach of the boom 8, the crane operation is automatically stopped in accordance with the program previously input to the control unit 3, and the crane work restriction measure is effective. The surveillance TV camera 5
It is possible to directly confirm the situation of the boom 8 on the spot, and use the hoisting detector 6 to give an alarm in the height direction. The other cranes 22 and 23 are handled in the same manner.

Although the moment limiter 2 is used for detecting the depression / elevation angle in the above-described embodiment, the present invention is not limited to this, and another depression / elevation angle detector may be used.

[0016]

The crane working range restricting device according to the present invention is provided with the geomagnetic sensor 1 in the turning angle detecting portion of the boom 8 to automatically determine the reference line O-L to detect the turning angle θ, and Since the control unit 3 simultaneously processes the depression and elevation angle φ, the preparation for the detection of the turning angle can be made extremely simple.

Further, since the control unit 3 intensively processes,
It can easily support more complicated systems such as three-dimensional control and crane collision prevention system.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an outline of the configuration of a crane work range control device according to the present invention.

FIG. 2A is a front view showing an overview of a crane equipped with the same device, and B is a plan view.

FIG. 3 is an explanatory diagram of the principle of the geomagnetic sensor.

FIG. 4 is a plan view showing a construction site of a crane using this embodiment.

[Explanation of symbols]

 1 Geomagnetic sensor 2 Moment limiter 3 Control unit 4 Output display unit 4a Alarm speaker 4b CRT

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inquirer, Kyoko Shibata, 4-2-20 Tenjin, Chuo-ku, Fukuoka City Stock company Takenaka Corporation Kyushu Branch (72) Inventor Satoru Iwata 4-chome, Tenjin, Chuo-ku, Fukuoka No. 20 Incorporated Takenaka Corporation Kyushu Branch (72) Inventor Hisa Hanada 4-20 Tenjin, Chuo-ku, Fukuoka City Incorporated Takenaka Corporation Kyushu Branch (72) Inventor Koichi Motooka Yodogawa-ku, Osaka Nishimiyahara 2-chome No. 7-50 Toryo System Service Co., Ltd. Osaka Business Headquarters

Claims (2)

[Claims] 1. A swing angle and a depression angle of a boom of a crane are detected, and it is determined whether the tip of the boom is within or near a work regulation range of the crane work based on the detected value, and this is displayed or In the crane work range control device to be announced, a geomagnetic sensor is provided, and a swivel angle detection unit that detects the boom swivel angle by using the geomagnetic field to determine the swivel angle reference line, and a depression / elevation angle detection unit that detects the boom / depression angle And an output display section for displaying or notifying the crane working position based on the turning angle and the depression / elevation angle by an image or a sound or a combination thereof, and a detection value from the turning angle detection unit and the depression / elevation angle detection unit. The tip position of the boom is calculated based on this, the tip position of the boom is compared with the work regulation range, and when the tip position of the boom is within or near the work regulation range. Characterized in that it is composed of a control unit for a predetermined display or announcement on the output display unit, crane operation range restricting device. 2. The depression / elevation angle detection unit is a moment limiter, and the control unit calculates the depression / elevation angle from the output value of the moment limiter to calculate the tip position of the boom. Crane work range control device.