JPH074482U - Crane-mounted attitude detection alarm device - Google Patents

Abstract

(57) [Summary] [Purpose] To prevent accidents of contact with overhead lines due to heavy machinery work in close construction such as sales lines. [Structure] A tilt sensor for detecting the boom angle, extension and direction of a mobile crane, a boom extension sensor and a boom direction sensor, a danger zone setting means for setting a danger zone in advance, and an obstacle detection sensor provided at the tip of the boom. And the microcomputer that detects the data detected by each sensor and determines whether the boom approaches or enters the danger zone, or whether it approaches an obstacle, and the boom is controlled by the microcomputer so that the boom is in the danger zone. And an alarm means for issuing an alarm when approaching or approaching the vehicle or approaching an obstacle.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to ensuring safety of heavy machinery work around railway facilities, and more particularly to a crane-mounted posture detection and warning device for preventing short-circuiting / cutting accidents of overhead lines, various signal lines around lines, power lines, and the like.

[0002]

[Prior art]

 Heavy machinery work around railway facilities, especially in the vicinity of business lines, has overhead lines, various signal lines, power lines, etc., so caution is required to prevent short-circuit and disconnection accidents. Therefore, in the past, when performing heavy equipment work, the assistance of heavy equipment guides or visual inspection by the operator has been performed, and the technical skills and experience of the workers are largely responsible.

[0003]

[Problems to be solved by the device]

 However, the heavy machinery work visually inspected by heavy machinery guides and operators largely depends on the technical skills of the workers, and accidents may occur due to incorrect judgments due to lack of experience, etc. Is the reality. The present invention is intended to solve the above problems, and an object of the present invention is to provide a crane-mounted posture detection alarm device for preventing accidents of contact with overhead lines due to heavy machinery work in proximity work such as sales lines.

[0004]

[Means for Solving the Problems]

 The crane-mounted posture detection alarm device of the present invention comprises an inclination sensor for detecting the boom angle, extension and direction of a crane vehicle, a boom extension sensor and a boom direction sensor, a danger zone setting means for setting a danger zone in advance, and a boom. An obstacle detection sensor provided at the tip, and a micro computer that reads the detection data from each sensor and determines whether the boom approaches or enters the dangerous zone or whether it approaches an obstacle. It is provided with an alarm means that is driven and controlled by a microcomputer and that issues an alarm when the boom approaches or enters the danger zone or approaches an obstacle. The boom direction sensor of the present invention is characterized by comprising a magnetic direction sensor and a gyro sensor, and further having a magnetic strength sensor for confirmation.

[0005]

[Action]

 The present invention is intended to perform a safe work by limiting the working range of a crane vehicle.A crane boom is equipped with sensors for detecting the lifting angle, extension and azimuth to detect the amount of movement of the boom. When the boom reaches the preset work range limit position (danger range), the alarm device installed in the driver's seat sounds the buzzer and lights the lamp to notify the operator that the boom is in the dangerous range. A reflection type sensor was attached to the car, and when an obstacle was approached, the buzzer in the cab was sounded wirelessly to call the operator's attention, so it is possible to prevent accidents such as contact with overhead lines during heavy equipment work. It will be possible.

[0006]

【Example】

 FIG. 1 is a diagram for explaining setting of a dangerous area within the working range of the present invention, FIG. 2 is a diagram for explaining a mounting position of a sensor, and FIG. 3 is a block diagram showing a hardware configuration of a crane-mounted detection / alarm device. 4 is a diagram for explaining the configuration of the software of the present invention. In the figure, 10 is a mobile crane, 11 is a boom, 12 is a hydraulic cylinder, 13 is a rope, 14 is a hook, 15 is a driver's seat, DZ1 is an upper danger zone, DZ2 is a front danger zone, and DZ3 is a lateral side. Danger zone, 19 is a detection alarm device body, 20 is a tilt sensor, 21 is an ultrasonic distance sensor, 22 is a magnetic direction sensor, 23 is a magnetic intensity sensor, 24 is a boom tip sensor consisting of a wireless transmitter and a wireless receiver, 25 is a gyro sensor, 26a to 26f are noise filters, 27 is an A / D converter, 28 is an integrator, 29 is an A / D converter, 30 is a DIP switch, 31 is a push switch, 32 is a micro computer, 33 is a RAM, 34 is a ROM, 35 is a battery, 36 is a buzzer, 37 is a patrol light, 39 is an LED, 40 is a speaker, and 41 is a power supply.

The dangerous area within the work range is, for example, as shown in FIG. 1, an upper danger zone when the location of an obstacle such as an overhead wire is surveyed in advance and the position of the mobile crane is specified based on the survey result. Set the danger limit positions of DZ1, front danger zone DZ2, and side danger zone DZ3. Whether or not the boom tip is applied to each danger zone is determined by setting the tilt angle θ of the boom 11, the extension L of the boom, and the swing angle φ of the boom on the tilt sensor 20 installed on the main boom section and the main boom section, respectively. The ultrasonic distance sensor 21, the magnetic azimuth sensor 22, and the gyro sensor 25 are used for detection, and the boom extension coordinate L, the boom pull-up angle θ 1, and the boom swing angle φ are used to recognize the boom tip coordinates by the microcomputer.

The mounting position of each sensor will be described. As shown in FIG. 2, the detection / alarm device main body 19 having a built-in microcomputer and the like is arranged in the driver's seat 15. The tilt sensor 20 is fixed to the main boom 20, for example, by a magnet. Any kind of tilt sensor may be used. For example, as shown in FIG. 5, two variable electrostatic plates are symmetrically etched on the capacitor plate by filling them with a dielectric liquid and an inert gas. Use two that are coated on the surface with an insulating film and electrically insulated from the dielectric liquid and face each other across the dielectric liquid. The reason why two variable electrostatic plates are used is to obtain a double capacitance effect. As shown in FIG. 5 (a), when the sensor is in a horizontal state, the two electrostatic plates have the same area immersed in the liquid. For example, as shown in FIG. 5 (b), when tilted by 45 °, Since the area of one of the electrostatic plates immersed in the liquid becomes larger than that of the other, the electrostatic capacity changes. The tilt can be detected by this capacitance change.

The distance sensor 21 is composed of an ultrasonic wave transmitter / receiver mounted on the main boom and a reflector plate fixed to the extension boom by magnets. The ultrasonic wave transmitted from the ultrasonic wave transmitter is reflected by the reflection plate. The boom extension is measured by obtaining the distance between the ultrasonic transmitter / receiver and the reflector from the time until the ultrasonic receiver receives the signal.

The magnetic azimuth sensor 22 is magnet-fixed to the roof portion of the driver's seat of a mobile crane, for example. The magnetic azimuth sensor 22 is, for example, as shown in FIG. 7A, the oscillation output of the oscillator 50 obtained by dividing the armature winding x coil and y coil wound so as to be orthogonal to each other by the frequency divider 51. When the phase is detected by driving with, the analog output from each of the x-coil and the y-coil is 90 ° out of phase with each other as shown in FIG. 7B. Therefore, the arithmetic processing unit 60 calculates the ratio of the two. Therefore, the magnetic direction can be detected.

The magnetic intensity sensor 23 is attached integrally with the magnetic azimuth sensor, and an arbitrary one can be used. For example, if a magnetoresistive element whose resistance value changes according to the magnetic field strength is used and the magnetoresistive elements are arranged in an orthogonal relationship as shown in FIG. 6, the output voltage Vout is reduced when there is no magnetic field (FIG. 6A). Becomes 1/2 of the input voltage Vin, and when a magnetic field in the direction of arrow A shown in FIG. 6B is applied, the resistance between the terminals changes (for example, increases), and the resistance between the terminals changes significantly. Therefore, Vout becomes larger than 1/2 of the input voltage Vin, and when a magnetic field is applied in the direction of arrow B shown in FIG. 6 (c), the resistance between terminals does not change so much, and Since the resistance between − increases, Vout becomes smaller than 1/2 of the input voltage Vin. Therefore, the magnetic field strength can be measured from the output voltage value, and at the same time, the direction of the magnetic field can be obtained. It is desirable that the actual detection sensor is of a bridge type so that a double output voltage can be obtained.

As for the boom tip sensor 24, a radio transmitter is attached to the tip of the boom, and a radio receiver is attached to the detection alarm device body 19. This sensor is designed to receive reflected radio waves from an obstacle when it approaches the obstacle. Of course, not only a wireless transceiver but also a photoelectric sensor or the like may be used, or these may be used together.

The gyro sensor 25 is installed in the detection alarm device main body 19 and uses an inertial force to detect the azimuth by an integrated value of the change in the azimuth caused by acceleration, and is not affected by the disturbance of the electromagnetic field. Therefore, it is particularly effective for detecting the direction around the line.

The hardware configuration of the present invention will be described with reference to FIG. As shown in FIG. 3, the detection / alarm device of the present invention is roughly divided into the above-mentioned sensors 20 to 25, a microcomputer 32 for taking in each detection output, and an alarm means driven and controlled by the microcomputer 32. ing. The micro computer 32 has a 32 KB RAM 33 backed up by a battery 35, a 32 KB ROM 34 built in, which is backed up by a battery 35, and drives and controls a buzzer 36, a patrol light 37, an LED 39, an audio output device 40, and the like. In addition, data can be exchanged with the outside through the RS-232C. The dangerous zone described above can be initialized by the DIP switch 30 and the push switch 31. The power source is a solar battery, AC100V / DC9V, DC24V / DC9V, DC9V battery. As for the data, the output from each sensor is A / D converted through the noise filters 26a to 26f, and it is necessary to integrate the direction change due to acceleration only in the case of the gyro sensor. I am capturing.

Next, the detection alarm processing of the present invention will be described with reference to FIG. As shown in FIG. 4A, the tilt sensor 20 detects the boom angle, and the magnetic direction sensor 22 and the gyro sensor 25 detect the boom direction. By using the magnetic azimuth sensor 22 and the gyro sensor 25 together, the azimuth can be accurately detected even in a place where there is a lot of disturbance due to an electromagnetic field, such as the periphery of a line. In this case, the magnetic intensity sensor 23 as shown in FIG. 6 is also used to detect the magnetic field intensity to recognize the disturbance of the geomagnetism and prevent erroneous detection. In addition, the ultrasonic sensor detects boom extension and the boom tip sensor detects obstacles. Then, as shown in Fig. 4 (b), the boom is moved to the safety limit, and the detected value of each sensor read at that time by the DIP switch or push switch or the value considering the safety is set as the limit value. In this way, the danger zone is initialized, and after that, the boom is actually pulled up, extended and swung to perform heavy equipment work. For example, the lamp is lit at the limit value + α and the alarm is sounded at the limit value.

[0016]

[Effect of device]

 As described above, according to the present invention, an operator can be automatically alerted and alerted when the boom tip enters the danger zone during heavy equipment work, so that an overhead contact accident can be prevented. Is possible.

[Brief description of drawings]

FIG. 1 is a diagram illustrating setting of a dangerous area within a work range of the present invention.

FIG. 2 is a diagram illustrating a mounting position of a sensor.

FIG. 3 is a block diagram showing a hardware configuration of a crane-mounted detection alarm device.

FIG. 4 is a diagram illustrating the configuration of software of the present invention.

FIG. 5 is a diagram illustrating an angle sensor.

FIG. 6 is a diagram illustrating a magnetic field strength sensor.

FIG. 7 is a diagram illustrating a magnetic azimuth sensor.

[Explanation of symbols]

10 ... mobile crane, 11 ... boom, 12 ... hydraulic cylinder, 13 ... rope, 14 ... hook, 15 ... driver's seat, 19
... Detection / alarm device main body, 20 ... Inclination sensor, 21 ... Ultrasonic distance sensor, 22 ... Magnetic direction sensor, 23 ... Magnetic hall sensor, 24 ... Boom tip sensor consisting of wireless transmission device and wireless receiver, 25 ... Gyro sensor, 30 is a DIP switch, 31 is a push switch, 32 is a microcomputer, DZ1 ... upper danger zone, DZ2 ... front danger zone, DZ3 ... side danger zone.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Tatsuo Kono Inventor Tatsuo Kono 1-6-5 Marunouchi, Chiyoda-ku, Tokyo Tohnichi Railway Co., Ltd.

Claims (3)

[Scope of utility model registration request] 1. A tilt sensor for detecting a boom angle, extension and direction of a mobile crane, a boom extension sensor and a boom direction sensor, a danger zone setting means for setting a danger zone in advance, and an obstacle provided at the tip of the boom. The detection sensor and a microcomputer that takes in the detection data from each sensor and determines whether the boom approaches or enters the danger zone or whether it approaches an obstacle, and the boom is driven and controlled by the microcomputer. A crane-mounted posture detection alarm device comprising an alarm means for issuing an alarm when approaching or approaching a danger zone or approaching an obstacle. 2. The crane-mounted posture detection alarm device according to claim 1, wherein the boom direction sensor comprises a magnetic direction sensor and a gyro sensor. 3. The crane-mounted posture detection alarm device according to claim 2, wherein the boom direction sensor further has a magnetic strength sensor for confirmation.