JPH07112893A - Method and device for alarming collision of crane boom and for preventing collision thereof - Google Patents

Abstract

PURPOSE:To securely prevent the collision of a boom with an object by generating an alarm when an object enters a signal receiving range, which is set at least one part of the surrounding of a boom, and the transmitted signal is reflected by this object and this reflected signal is received. CONSTITUTION:In the case where the ultrasonic pulse signal is sent from a signal transmitters 10, 11 of devices 8, 9 arranged in the root of a boom in right and left, when an object A does not exist within a signal receiving range B of the receivers 12, 13, the alarm is not generated. On the other hand, when the object A enters the signal receiving range B with the standing and turning of the boom or the movement of a moving crane or the like, reflected wave is received by receivers 12, 13. A comparator 5 detects a time difference (t) between the transmitted signal and the received signal, and a computer 16 computes a direct distance (y) from the receivers 12, 13 to the object A and a distance (x) from the object A to the boom 5 on the basis of the detected time difference (t). In the case where the computed distance is less than an alarm set value X0, which is previously stored, alarm is generated from an alarm device 17.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane boom collision which gives an alarm when a crane boom is about to collide with another crane boom or an obstacle existing around a building or the like during work. TECHNICAL FIELD The present invention relates to an alarm method, a crane boom collision alarm / prevention method for issuing an alarm and preventing the boom from colliding with an obstacle, and devices thereof.

[0002]

2. Description of the Related Art Conventionally, a crane has been used for carrying heavy loads such as construction work and cargo handling work, and one of the cranes is a crane using a boom (called a jib crane). This crane is designed to carry a load by suspending the load by the boom, hoisting and swinging the boom, and horizontally moving.

Such jib cranes include a stationary crane in which the crane body is fixed at a fixed place, and a mobile crane in which the location changes as the crane body moves horizontally.

[0004]

By the way, in a crane using a boom as described above, when the boom moves up and down or turns, and when the crane main body moves horizontally, the boom is a boom of another crane. It may collide with obstacles existing around buildings and buildings. Therefore,
Conventionally, various measures have been taken to prevent a boom collision. For example, in the collision prevention of stationary cranes,
The crane position is preset and stored in the computer in the plane coordinates, and the boom position is approximately replaced with the plane coordinates based on the data of both the swing angle of the boom and the boom hoisting angle detected by the detector. When the boom approaches an obstacle, a collision warning is issued and the movement of the boom is stopped.

On the other hand, in the mobile crane, although a warning is issued by the television camera monitoring device when the boom goes out of the working range, a warning and prevention device for a collision between the boom and an obstacle is provided. Has a problem in that it is difficult to develop and put into practical use due to the nature of a mobile crane in which the work area changes.

The present invention has been made in view of the above problems, and an object thereof is to be able to reliably warn the boom colliding with an obstacle even in a mobile crane. (EN) A crane boom collision warning method, a collision warning / prevention method, and a device therefor capable of preventing the boom from colliding with an obstacle together with an alarm.

[0007]

In order to solve the above-mentioned problems, the invention of claim 1 outputs a transmission signal to the vicinity of the boom of a crane, and is set to at least a part of the vicinity of the boom. The reception signal reflected by the transmission signal hitting an obstacle within the reception range is detected, the time difference between the transmission signal and the reception signal is detected, and the obstacle and the boom are detected based on the detected time difference. It is characterized in that an amount related to the distance between and is calculated, and an alarm is issued when the calculated amount is less than or equal to a preset alarm set value.

Further, the invention of claim 2 is characterized in that the amount related to the distance between the obstacle and the boom is a linear distance between the obstacle and the boom. Further, the invention according to claim 3 is characterized in that the amount related to the distance between the obstacle and the boom is a linear distance between the receiver and the obstacle. Further, the invention of claim 4 is
Further, the movement of the boom is stopped at the same time when the alarm is issued.

Further, in the invention of claim 5, a transmitter is provided at the base of the boom of the crane and outputs a transmission signal to the vicinity of the boom, and a reception range is set to at least a part of the vicinity of the boom. A receiver for receiving a reception signal in which the transmission signal from the transmitter is reflected when the obstacle is in the reception range, and a comparator for detecting a time difference between the transmission signal and the reception signal And an amount related to the distance between the obstacle and the boom and the distance between the obstacle and the receiver is calculated based on the detected time difference, and the calculated amount is preset. It is characterized by comprising an arithmetic unit which outputs an alarm signal when the value is equal to or less than the alarm set value, and an alarm device which is activated by the alarm signal from the arithmetic unit to issue an alarm.

Further, the invention of claim 6 is characterized by further comprising boom movement stopping means which is actuated by the alarm signal from the arithmetic unit to stop movement of the boom with respect to the obstacle.

[0011]

In the present invention thus constructed, when an obstacle comes into the receiving range set in at least a part of the vicinity of the boom, the outgoing signal is reflected by hitting the obstacle, The reflected signal is received as the received signal. Then, an amount related to the distance between the obstacle and the boom is calculated based on the time difference between the transmission signal and the reception signal, and an alarm is issued when the calculated amount is equal to or less than a preset alarm set value. . Therefore, the operator of the crane can reliably know that the boom is approaching a position where the boom may collide with an obstacle due to the movement of the crane or the movement of the boom such as the hoisting / swinging motion of the boom. Further, in the present invention, since the movement of the boom is stopped at the same time as the alarm, it is possible to prevent the boom from colliding with an obstacle in advance.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. Fig. 1 shows the crane boom warning of the present invention.
FIG. 2 is a front view of a mobile crane to which an embodiment of the prevention device is applied, and FIG. 2 is a side view of the mobile crane.

As shown in FIGS. 1 and 2, the mobile crane 1 is the same as a conventional general crane, and a main body 4 having a cab 3 on a crawler 2 is rotatable about a vertical axis. It is provided. Further, a boom 5 is provided on the main body 4 so as to be rotatable about an axis in the left-right direction. Therefore, the boom 5 can be swung in the horizontal plane and can be undulated in the upper and lower planes. At the tip of the boom 5, a suspension hook 6 is suspended by a wire 7 so as to be vertically movable.

Boom root side devices 8 and 9 of the present embodiment are provided on the left and right side parts of the base part of the boom 5, respectively. As shown in FIGS. 3 and 4, these boom root side devices 8 and 9 are both composed of transmitters (OSC) 10 and 11 and receivers (REC) 12 and 13. The transmitters 10 and 11 and the receivers 12 and 13 perform undulation / rotation motions as well as undulation / rotation motions of the boom 5. Further, these transmitters 10 and 11 and receivers 12 and 13 are both waterproof transmitters 10 and 11 and receivers 12 and 13 because they are externally provided.

Further, as shown in FIGS. 1 and 2, the driver's cab side device 14 of this embodiment is provided in the driver's cab 3. As shown in FIG. 3 and FIG. 4, this cab-side device 1
Reference numeral 4 includes a comparator (REF) 15, a computing unit (PLC) 16 and an alarm device 17. As shown in FIG. 4, the alarm device 17 comprises a buzzer 18 and / or a lamp 19. Then, as shown in FIG.
1, the receivers 12 and 13, the comparator 15, the calculator 16, the buzzer 18, and the lamp 19 are connected.

The transmitters 10 and 11 transmit pulsed ultrasonic waves with a predetermined number of pulses per unit time (for example, 2 pulses per second), and the receivers 12 and 13 are transmitters 10 and 11, respectively. The pulsed ultrasonic wave transmitted from 11 receives the reflected wave reflected by the obstacle A.
The angle α of the receivable range of the received wave by the receivers 10 and 11 can be manually adjusted by a reception range angle adjusting mechanism (not shown). Also receivers 10, 11
The angle β formed between the boom 5 side facing edge and the boom 5 in the receivable range according to (3) can also be manually adjusted by the horizontal angle adjusting mechanism. As shown in FIG. 5, the comparator 15 detects the time difference t between the transmitted wave from the transmitters 10 and 11 and the received wave (that is, reflected wave) from the receivers 12 and 13. Further, the calculator 16 calculates the linear distance y from the receivers 12 and 13 to the obstacle A based on the detected time difference t, and also based on the aforementioned angles α and β and the calculated linear distance y. The distance x from the obstacle A to the boom 5 is calculated from the equation x = y sin (α + β). This distance x constitutes a quantity related to the distance between the obstacle and the boom of the present invention. Further, the calculator 16 has an alarm set value x ₀ set in advance and stored in the memory as a reference for determining whether or not the distance x from the obstacle A to the boom 5 is a distance at which an alarm should be issued. When the obstacle A is closer to the boom 5 to be within a range of alarm set value x ₀ or less, or to the obstacle A is an alarm setpoint x ₀ within the following range, the boom 5
When the vehicle approaches the obstacle A, the calculator 16 causes the alarm device 1 to
It outputs a signal to 7. That is, FIG.
As shown in FIG. 5, the range where the obstacle A is the alarm set value x ₀ or less is the alarm range C. When the obstacle A is in the alarm range C, the calculator 16 outputs an alarm signal to the alarm device 17. To do. The alarm set value x ₀ is set according to the angles α and β described above and can be arbitrarily adjusted and set. Further, the buzzer 18 and / or the lamp 19 of the alarm device 17 are activated by an output signal from the computing unit 16 to give an alarm.

In the crane boom collision warning and prevention apparatus of this embodiment having the above-described structure, first, in order to adjust and set the reception range of the receivers 12 and 13, the angle α in FIG. 3 is set to the reception range angle adjusting mechanism. And the angle β is adjusted by the horizontal angle adjusting mechanism to set the receiving range B of the receiver 13 as shown by the dotted line in FIG. Further, an alarm set value x ₀ , which is a reference value for issuing an alarm, is set according to these angles α and β, and stored in a memory.

In this state, ultrasonic pulse signals are transmitted from the transmitters 10 and 11, and the ultrasonic waves hitting the obstacle A are reflected, but when the obstacle A is not within the receiving range B of the receiver 13, , The reflected wave is shown in FIG.
It is not received as shown in (a) and (b). The obstacle A is within the reception range B due to the up / down movement of the boom 5, the movement of the mobile crane 1, or the movement of another crane, or the movement of the obstacle A such as the up / down movement of the boom of the crane. Upon entering, reflected waves are received by the receivers 12 and 13 as shown in FIG.

Both the transmission signals of the transmitters 10 and 11 and the reception signals of the receivers 12 and 13 are input to the comparator 15,
The comparator 15 detects the time difference t between the transmission signal and the reception signal from these signals, and outputs the detected time difference t to the calculator 16. Based on the time difference t from the comparator 15, the calculator 16 calculates the linear distance y from the receivers 12 and 13 to the obstacle A and the distance x from the obstacle A to the boom 5.
Are calculated respectively. Further, the calculator 16 determines whether or not the calculated distance x is equal to or less than the alarm set value x ₀ stored in the memory in advance, and when it is determined that the distance x is equal to or less than the alarm set value x ₀ , the alarm device An alarm signal is output to 17. As a result, the buzzer 18 of the alarm device 17 sounds, and / or
Alternatively, the lamp 19 is turned on and an alarm is given. From this alarm, the operator of the mobile crane 1 knows that the boom 5 he / she is operating is extremely close to the position where the boom A may come into contact with the obstacle A, and the boom 5 is moved up and down and turned. Either the movement of the mobile crane 1 is stopped, or the boom 5 is moved away from the obstacle A. This prevents the boom 5 from colliding with the obstacle A before and surely.

In the above-described embodiment, the distance from the obstacle A to the boom 5 is set as an amount related to the distance between the obstacle A and the boom 5.
The distance x up to is used and the alarm is issued when the distance x is within the preset alarm setting value x ₀ related to the distance x. A linear distance y from the receivers 12, 13 to the obstacle A is used as an amount related to the distance to the alarm, and an alarm is issued when the distance y is within a preset alarm setting value y ₀ related to the distance y. You can also choose to emit. In that case, the length of the crane boom will be changed depending on the work site. That is,
Although the boom is shortened when the site is narrow, it is necessary to reduce the alarm set value y ₀ according to the boom length. However, at this time, the transmission range and the reception range do not have to be changed depending on the boom length. In addition, an alarm can be issued based on the two distances x and y, in which case malfunctions can be prevented.

In the above-mentioned embodiment, the present invention is applied to the mobile crane 1, but the present invention is applicable to fixed cranes including booms regardless of the type of crane. It can be applied to any crane.

Further, a normally open solenoid valve for shutting off the supply of hydraulic oil to the hoisting hydraulic cylinder is provided in the hydraulic circuit of the hoisting hydraulic cylinder (not shown) of the boom 5, and / or for turning the main body 4. A power supply circuit of a motor (not shown) is provided with a circuit breaker for blocking the supply of electric power to the swing motor, and an alarm signal output from the computing unit 16 causes the solenoid valve and / or the cutoff of the electromagnetic valve. It is also possible to stop the hoisting motion and / or the pivoting motion of the boom 5 by operating the device to automatically prevent the boom 5 from contacting the obstacle A. In that case, the brake of the turning motor may be automatically applied when the turning motion is stopped. Further, similarly, the alarm signal from the computing unit 16 can be used to automatically operate the brake of the mobile crane 1 to stop the traveling of the mobile crane 1. The electromagnetic valve, the circuit breaker, the brake for the swing motor, or the brake for the mobile crane 1 constitutes the boom movement stopping means of the present invention.

[0023]

As is apparent from the above description, according to the present invention, even if the crane moves to an arbitrary working position, a warning of a collision is issued when the boom approaches a position where the boom may collide with an obstacle. Will be able to reliably emit. Therefore, the operator of the crane can certainly know that the boom may collide with an obstacle.
Further, according to the present invention, since the movement of the boom is stopped at the same time as the alarm, it is possible to prevent the boom from colliding with an obstacle in advance and surely.

Further, the present invention can be applied to any crane as long as it has a boom regardless of the type of crane, so that the versatility can be improved.

Further, the transmitter and the receiver of the boom root side device may be small and lightweight, and since they are simply attached to the boom root side, the boom side device can be formed lightweight and compact and can be mounted and mounted. Very easy to remove. On the other hand, since the comparator and the arithmetic unit of the driver's cab side device can be formed by, for example, a microcomputer, they can be similarly made lightweight and compact. In that case, by making the functions of the comparator and the arithmetic unit in the crane controller that controls the operation of the crane, it is possible to eliminate the need for a special comparator and arithmetic unit,
The number of parts can be reduced and the structure can be further simplified. Similarly, since the existing alarm device for the crane can be used as the alarm device, the structure can be further simplified.

Further, according to the present invention, not only the collision warning / prevention but also the area where the amount related to the distance between the obstacle and the boom is equal to or less than the alarm set value is set as the off-limits area, so It is also possible to give an alarm when a moving object enters the restricted area to give an alarm for entering the restricted area.

[Brief description of drawings]

FIG. 1 is a front view of a mobile crane to which an embodiment of a crane boom collision warning / prevention device of the present invention is applied.

2 is a side view of the mobile crane shown in FIG. 1. FIG.

FIG. 3 is a diagram illustrating a collision warning method according to the present embodiment.

FIG. 4 is a diagram schematically showing the overall system of the present embodiment.

FIG. 5 is a diagram showing a time difference between a transmitted wave and a received wave in the present embodiment.

[Explanation of symbols]

1 ... Mobile crane, 2 ... Crawler, 3 ... Operator's cab, 4 ...
Main body, 5 ... Boom, 6 ... Suspension hook, 8, 9 ... Boom root side device, 10, 11 ... Oscillator (OSC), 12, 1
3 ... Receiver (REC), 14 ... Operator side device, 15 ... Comparator (REF), 16 ... Arithmetic unit (PLC), 17 ... Alarm device, 18 ... Buzzer, 19 ... Lamp

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toshifumi Mizushima 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Corporation (72) Inventor Katsushi Umezu 1-13-8 Kamiookanishi, Konan-ku, Yokohama-shi, Kanagawa No. CII Corporation

Claims (6)

[Claims] 1. A transmission signal is output to the vicinity of the boom of a crane, and the reception signal reflected by the transmission signal hitting an obstacle within a reception range set in at least part of the vicinity of the boom is received. , A time difference between the transmission signal and the reception signal is detected, and an amount related to the distance between the obstacle and the boom is calculated based on the detected time difference, and the calculated amount is preset. A warning method for a crane boom collision, which is characterized in that an alarm is issued when it is less than or equal to the set alarm value. 2. The crane boom collision warning method according to claim 1, wherein the amount related to the distance between the obstacle and the boom is a linear distance between the obstacle and the boom. 3. The crane boom collision warning method according to claim 1, wherein the amount related to the distance between the obstacle and the boom is a linear distance between the receiver and the obstacle. 4. The crane boom collision warning / prevention method according to any one of claims 1 to 3, further comprising: stopping the movement of the boom at the same time when the warning is issued. Method. 5. A transmitter which is provided at the base of a boom of a crane and outputs a transmission signal to the vicinity of the boom, and a receiving range is set to at least a part of the vicinity of the boom, and an obstacle is received. When within the range, the receiver receives the reception signal reflected by the transmission signal from the transmitter, the comparator for detecting the time difference between the transmission signal and the reception signal, and the detected While calculating an amount related to the distance between the obstacle and the boom and the distance between the obstacle and the receiver based on the time difference,
An arithmetic unit that outputs an alarm signal when the calculated amount is less than or equal to a preset alarm set value; and an alarm device that operates by the alarm signal from the arithmetic unit and issues an alarm. Crane boom collision warning device. 6. The crane boom collision warning device according to claim 5, further comprising boom movement stopping means that is actuated by the warning signal from the computing unit to stop movement of the boom with respect to the obstacle. The collision warning / prevention device for a crane boom according to claim 1, wherein: