JPH06298492A - Device and method for preventing collision of crane - Google Patents

Abstract

PURPOSE:To send stop signals to an alarm device and a crane controller to prevent booms from colliding with each other by computing boom positions based on detection signals from the inclination detecting device and the turning angle detecting device of each crane. CONSTITUTION:A turning angle defecting device 7 is mounted on the end of the boom 1 of each crane via an inclination detecting device 3 and via a turning base 6. Detection signals from the inclination detecting device 3 and the turning angle detecting device 7 are input to an arithmetic unit 9 provided in an operation controller 4. With these inputs, the interval between the booms 1 is controlled using a microcomputer, and when the interval enters a predetermined range either an alarm device 18 is operated or the power supply to a crane controller is interrupted to stop operation. Therefore, in cases where operations are performed using a plurality of cranes, collision of the boom 1 with each other is prevented and the operations can be safely performed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a collision preventing device and a collision preventing method for preventing a danger such as a boom of a crane from colliding when working with a plurality of cranes at a construction site. .

[0002]

2. Description of the Related Art Since crane work is dangerous, the work is regulated so as not to exceed a preset range. Therefore, conventionally, a guide that restricts the tilt angle of the boom and a guide that restricts the swing angle of the boom are provided to mechanically prevent the danger of the crane. In addition, instead of the guide described above, a limit switch may be provided to electrically control the tilt drive unit and the swing drive unit of the boom. In addition, there are some that regulate the crane work by an optical method.In that case, the operator room is equipped with a photoelectric element sensor that moves in response to the movement of the crane, and a figure that projects the working range of the crane is created and The light receiving signal of the photoelectric element is blocked by the figure, and the light is transmitted outside the figure. Then, the light-shielding portion is set as the working range, and the transparent portion outside the range is regulated as the movable limit portion of the crane. Further, the applicant has provided a tilt angle sensor and a turning angle sensor on the jib crane, and measures the work range with a sequencer CPU based on signals from these sensors,
We have proposed a work range control device that stops the operation of the boom when the work range reaches the boundary position.
-92502).

[0003]

When the working range of the crane is regulated by using the guides and the limit switches as in the above-mentioned prior art, the working range of the crane is expanded or contracted every time the working range of the crane is expanded or reduced. You have to change the position. In the optical method, it is necessary to replace the work range figure created by projecting the work range.
During that time, work is interrupted and it is necessary to create figures, which is very troublesome. Further, the work range control device measures the work range of one crane, and is not a work using a plurality of cranes, but a safety device for a work using such a plurality of cranes at the same time. Was not applicable. Therefore, the present invention, in a work site where a plurality of cranes are used at the same time, when the position of each crane boom is detected and approaches a dangerous state, an alarm is issued or a stop signal is issued to the crane operation device. , The purpose is to prevent the boom from colliding.

[0004]

DISCLOSURE OF THE INVENTION The present invention is directed to a crane which prevents mutual crane booms from colliding within the same working range when working with a plurality of stationary cranes. The above object is achieved in the collision prevention device. Therefore, each stationary crane is equipped with a boom tilt angle detection device and a boom turning angle detection device, and the mutual boom position is calculated using the detection signals from the crane tilt angle detection device and the turning angle detection device. , And an operation control device which outputs an alarm or an output signal of crane operation stop when the calculated value is less than a predetermined value. The operation control device includes an input device for inputting a horizontal distance between the installation of each crane and a length of each crane boom, an input data signal from the input device, an inclination angle detection device of each crane boom, and a swing angle detection device. A computing device that computes the mutual boom position based on the detection signal from
It has at least switch means for disconnecting between the swinging and hoisting operation device of each crane and a power source, and a transmitting device for issuing an OFF signal to the switch when the operation value of the operation device is a predetermined value or less. The collision prevention method is to input the horizontal distance between the installations of a plurality of stationary cranes and the length of each boom into the computing device, and the tilt angle detection device installed on each crane at the same time as each crane turns and rises and falls. And the detection signal from the turning angle detection device to the arithmetic device,
An arithmetic unit calculates the boom positions of the cranes from the transmitted signal and the initial input data, and compared the calculated values with the danger reference values to determine that the cranes were in the collision danger range. At this time, a signal was sent to the transmitting device, and the transmitting device cuts off the power supply of the operating device of each crane to stop the operation.

[0005]

According to the crane work using the crane collision prevention device and the collision prevention method of the present invention, detection signals are transmitted from the boom tilt angle detection device and the swing angle detection device provided to each crane to the arithmetic device. Then, the computing device computes the boom position of each boom from the received signal and the initial input data, and when the detected value becomes equal to or less than the danger reference value, the operating device of each crane can be stopped or an alarm can be issued. Therefore, when working with a plurality of cranes, if the booms come close enough to collide, an alarm is issued and the operating device of the crane is stopped, so that the work can be made safe.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a crane collision prevention device of the present invention will be described with reference to FIGS. The plurality of cranes (three in FIG. 2) applied to the embodiment are stationary type, and each boom 1 is hoisted by a hoisting drive device 2 such as a winch. A tilt angle detection device 3 is attached to the base of the boom 1 of each crane, and the detection signal can be transmitted to the operation control device 4 arranged at the site where the crane is operated one after another. Further, each boom 1 is adapted to be swung by a swivel drive device 5 via a swivel base 6, a swivel angle detection device 7 is attached to the swivel base 6, and the detection signals thereof are successively output from the operation control device 4. It will be sent to. The undulating drive device 2 and the turning drive device 5 are
It is adapted to be operated by the operating device 8.

The operation control device 4 includes an arithmetic device 9, an input device 10 having a keyboard, a transmitter 11, and a switch means 1.
2 and. Then, the tilt angle detecting device 3
Detection signals from the turning angle detection device 7 are A / D converted by a modem 13 provided in the operation control device 4 and input to the arithmetic device 9. The input device 10 is
By inputting the horizontal distance between the cranes, the length of each boom, and the reference turning angle, those data are transmitted to the arithmetic unit 9. The computing device 9 is capable of computing the boom position of each crane from the input data and the transmission signals from the tilt angle detecting device 3 and the turning angle detecting device 7. The arithmetic unit 9 can display the boom position as the calculation result, the initial input data, the tilt angle and the turning angle of each boom on the display unit 14. Further, the arithmetic unit 9 compares the output signal corresponding to each boom position with the danger reference value, and when the output signal is smaller, outputs the output signal to the transmitter 11. Further, the arithmetic unit 9 is connected to the power source 20 through the power transformer 15 having the battery 16, and the battery 16 can supply power to the arithmetic unit 9 when there is a trouble on the power transformer side.

The transmitter 11 is connected to the switch means 12, and the transmitter 11 operates the switch means 12 by an output signal when the boom positions of the cranes become smaller than the danger reference value. Then, by operating the switch means 12, the crane operating device 8 and the power source 1
The switch 13 provided between the switch 7 and 7 is cut off. The transmitter 11 is connected to the alarm device 18,
Similar to the switch means 12, an alarm is issued by an output signal from the transmitting device 11.

An example of the regulation and working range of the crane, which is the basis for calculating the boom position by the calculating device and comparing the calculated value with the danger reference value, will be described with reference to FIG. Danger area P between the crane N _1, N ₂ is determined by the operation by the horizontal distance L the length and derricking angle of the boom of the crane cross radius r (working radius of derricking angle 30 ° in total rated load), the N ₂ The crane has a hoisting angle of 30 ° and a working radius r
When the boom is in the 1y position and the N ₁ crane boom is in the 1u relationship, the collision danger range P cannot be entered, an alarm is issued and the crane operator takes evasive measures, and When a collision occurs, both cranes are stopped moving to avoid a collision, and after stopping, they move only in a safe direction to avoid a collision. N ₁
If the crane boom 1t of No. ₂ is out of the range of the crane working radius r of N ₂ at the position where the angle is raised, the work of N ₂ boom 1y can be continued even within P. Normally, even if the undulation angle is 30 ° and the working radius is r, both sides are in the collision risk range P.
N ₁ crane boom 1s and N ₂ boom 1
As long as it is in a positional relationship with x, it is possible to work freely, and when one enters the collision risk range P, the other is regulated. Unavoidably the case of the need to work in a state in which the boom 1y and has approached crane boom 1u and N ₂ of N _1, work after the end again back to normal continue to work while taking care to release the respective regulations.

Next, referring to FIGS. 1 and 2, a collision prevention method in the case of working with a plurality of stationary cranes using the collision prevention device of FIGS. First, the horizontal distance between the installations of a plurality of stationary cranes, each boom length, and the reference turning angle of each crane boom are input from the input device 10 to the computing device 9. Next, when the cranes perform turning and undulating operations, detection signals from the tilt angle detection device 3 and the turning angle detection device 7 provided on each crane are transmitted to the arithmetic device 9, and the transmitted signals and the initial input data described above. From this, the computing device 9 computes the boom positions of the cranes. Further, the arithmetic unit 9 compares the detected value of the boom position with the danger reference value, and when the calculated value is equal to or less than the danger reference value, is transmitted to the transmitting device 11, and the transmitting device 11 issues an alarm and stops the crane operation. . In this embodiment, the switch means 12 and the alarm device 18 are activated by the output signal of the transmitting device 11. When the switch means 12 is activated,
A switch 13 provided between the operating device 8 of each crane and the power supply 17 is cut off.

[0011]

According to the crane collision prevention system of the present invention, when a plurality of cranes are used for the work, the intervals between the booms can be calculated by the microcomputer, and when the predetermined intervals are reached, an alarm device is provided. The operation of the crane or the operation device of the crane is stopped to stop the operation, so even when working with multiple cranes, the boom will not collide and work safely. You can In addition, when detecting the position of the crane boom and determining whether it is in the danger area as in the conventional method, multiple cranes are used simultaneously and if one crane boom enters the danger area, the other crane is used. The inconvenience of stopping one crane occurs even though the boom is out of the way. However, in the present invention, since the distance between a plurality of crane booms is measured, if there is another crane boom in addition to the working range of one crane boom,
No matter which position the one crane moves to, no operation is stopped or no alarm is issued, and the inconvenience as in the past does not occur.

[Brief description of drawings]

FIG. 1 is a schematic diagram of a crane used in the crane collision prevention system of the present invention.

FIG. 2 is a block diagram showing an operation system of a collision prevention system for a crane.

FIG. 3 is a plan view showing mutual restrictions of cranes and working ranges.

[Explanation of symbols]

 3 Tilt Angle Detection Device 4 Operation Control Device 7 Turning Angle Detection Device 9 Computing Device 12 Switch Means 18 Alarm Device

Claims (3)

[Claims] 1. A collision prevention device for a crane, which prevents mutual crane booms from colliding within the same work range when working with a plurality of stationary cranes, Each stationary crane is equipped with a boom tilt angle detection device and a boom turning angle detection device, and the mutual boom position is calculated by detection signals from the tilt angle detection device and turning angle detection device of each crane.
A crane anti-collision device comprising an operation control device configured to output an alarm and an output signal for stopping crane operation when the calculated value is less than or equal to a predetermined value. 2. The operation control device comprises an input device for inputting a horizontal distance between the installation of each crane and a length of each crane boom, an input data signal from the input device and a tilt angle detection device for each crane boom. And a calculation device for calculating the mutual boom position based on a detection signal from the turning angle detection device, a switch means for disconnecting the turning up / down operation device of each crane from a power source, and a calculation value of the calculation device is a predetermined value or less. The collision prevention device for a crane according to claim 1, further comprising a transmission device that issues an operation signal to the switch at the time. 3. A tilt angle detection device provided to each crane at the same time when each crane rotates and rises and falls, by inputting a horizontal distance between the installations of a plurality of stationary cranes and boom lengths to each other in advance. And the detection signal from the turning angle detection device to the arithmetic device, and the arithmetic device calculates the boom position between the cranes from the transmitted signal and the initial input data, and at the same time calculates the calculated value and the danger reference value. Compared to the comparison, when it is determined that the cranes are in the collision danger range, a signal is sent to the transmitter, and the transmitter shuts off the power of the operating device of each crane and stops the operation. Crane collision prevention method.