KR100855859B1 - Automatic hook area-tracing apparatus with a tilt sensor for use in an image monitoring system of a jib type crane - Google Patents

Abstract

The automatic hook tracking device of the video surveillance system of a jib crane using a tilt sensor according to the present invention, a camera (CSI) in the rotor 60 that can rotate the jib (1) fixed to the end of the jib (1) of the crane ( 10) is a device that helps the driver to work safely while watching the blind area around the hook of the crane directly through the monitor 20 installed in the cab, the operator operates the camera controller 30 to the camera 10 It is possible to control the zoom lens 11 and the rotator 60, the first time the installation of the camera 10, the driver operates the positioning switch on the camera controller 30, the central processing unit in the remote receiver ( When the sensing signal value output from the tilt sensor 12 corresponding to the angular range in which the camera 10 can capture the blind spot by the control of 51 is stored in the volatile memory 55, the camera 10 Rotation When the automatic mode is set, the central processing unit 51 corresponds to the angle range of the camera 10 that the detection signal value of the tilt sensor 12, which is changed in proportion to the angle of the jib 1, is input to the volatile memory 55 in advance. If it is determined that the range of the detection signal value is exceeded and the range is exceeded, the tilt motor 61 built in the rotor 60 is rotated so that the camera 10 always faces the rectangular area around the hook.

Jib Crane, Tilt Sensor, CC Camera, Automatic, Hook, Tracking, Rotation

Description

Automatic hook area-tracing apparatus with a tilt sensor for use in an image monitoring system of a jib type crane}

1 is an overall schematic diagram of an image monitoring system of a jib type crane to which an automatic hook tracking device using a tilt sensor according to the present invention is applied;

FIG. 2 is a schematic diagram illustrating a position where components of the video surveillance system shown in FIG. 1 are installed in a jib crane; FIG.

3 is a block diagram of a tilt sensor and a remote receiver of an automatic hook tracking device using a tilt sensor according to the present invention shown in FIG. 1 installed at the jib end of a crane;

<< Explanation of symbols for main part of drawing >>

1: Jib 10: CC 2 camera

11: Zoom lens 12: Tilt sensor

20: video monitor 30: camera controller

41: video signal cable 42: power and control cable

50: remote receiver 51: central processing unit (Microprocessor: MPU)

52: Anlog / Digital Converter 53: Motor Drive

54 communication unit 55 nonvolatile memory

60: rotating machine 60: tilt motor

62: Pan Motor

The present invention relates to a video surveillance system used in jib (Jib) crane, and more particularly, jib-type tower crane, mobile crane, the angle of the jib is changed so that the driver of the crane can safely drive while watching the blind spot, When attaching a CCTV camera to the end of a jib such as a cargo crane or a goliath crane, a jib-type crane using a tilt sensor that always moves the camera lens toward a rectangular area such as around a hook positioned directly below the jib. Automatic hook tracking device of the video surveillance system of.

In general, jib-type cranes are located far below the tip of the jib because the crane operator adjusts the crane, so heavy lifting materials, construction structures, etc. are recommended for lifting and recommending heavy materials at construction sites or shipbuilding sites. Since the building is blind to the building, it cannot recognize the upper part or the blind spot, and it depends on the hand signal or the radio of the number of signals, which increases the driver's mental stress and reduces work efficiency and has always been exposed to safety accidents.

In order to overcome this problem, Citi's camera is generally installed on a crane so that a driver can safely work in a blind spot such as a hook area while watching a video monitor. However, this method generally employs a structure in which the camera lens is directed directly under the jib by the force of gravity, in order to direct the lens direction of the camera directly under the jib. However, in this case, when the camera shakes due to the severe vibration of the crane, the driver has to wait for the vibration to stop before lifting work.

In addition, in order to overcome this problem, a method of preventing the vibration of the crane by using a shock absorber has been proposed and used, but the hydraulic shock absorber not only has a problem that is vulnerable to vibration, but also has a large volume so that it is difficult to construct during failure. The jib end of the crane was unable to replace or repair the shock absorber had a problem to work to lower the jib end of the crane to the ground.

The present invention was devised to solve the above problems, and an object of the present invention is to enable CSI to automatically capture a blind spot such as around a hook directly below the jib, even if the angle of the jib changes. In addition, the present invention provides an automatic hook tracking device for a video surveillance system of a jib type crane using a tilt sensor that enables a crane operator to safely and quickly lift a work while observing a blind spot.

Automatic hook tracking device of the video surveillance system of jib-type crane using a tilt sensor according to the present invention for achieving the above object can withstand severe vibration of the crane, small and light, but the Citizen camera jib (1 In order to automatically rotate in response to the angle change of) and to follow a rectangular area such as around the hook directly below the jib, a rotor 60 for rotating the camera 10 is installed at the end of the jib 1 of the crane. And a tilt sensor for fixing the camera 10 on the rotor 60 and outputting an analog voltage in response to the angle change of the jib 1 on the surface opposite to the zoom lens 11 of the camera 10. It is characterized by fixing 12. When installing the camera for the first time, when the crane operator operates the positioning switch in the camera controller 30 of the cab, the camera controller 30 transmits a control signal through the power and control cable 42, the remote receiver 50 The central processing unit 51, such as a microprocessor (Microprocessor: MPU) in the control unit receives a control signal through the communication unit 54 in the circuit of the remote receiver 50, and analyzes the control signal, the tilt sensor The CSI received through the analog-to-digital converter 52 that converts the analog voltage output from the digital signal value into a digital signal value corresponds to an angular range in which the camera 10 can capture a rectangular area. The data is stored in the nonvolatile memory 55 which is not erased even in a power failure. When the driver sets the rotation operation of the camera to the automatic mode, even if the angle of the jib 1 changes, the CPU 51 converts the analog voltage output from the tilt sensor 12 into the analog / digital converter 52. ) Is received as a digital signal value, and compared with the digital signal value corresponding to the angular range of the camera 10 stored in the nonvolatile memory 55, and within the angular range, the tilt motor ( 61) Do not rotate. However, out of the range, the CPU 51 determines to rotate the rotor 60 up or down, and sends a control signal to the motor drive 53 to rotate the tilt motor 61. The CSI allows the zoom lens 11 of the camera 10 to always move along the rectangular area around the hook directly below the jib 1, and the CSI uses the image signal cable 41 connected to the camera 10 to control the cab. Video to the driver is provided through the video monitor 20 blind spots. If necessary, the driver of the crane operates the camera controller 30 to control the motor drive 53 by a control command of the central processing unit 51 inside the circuit of the remote receiver 50 so that the CSI camera can be controlled. A wide area can be monitored by rotating the pan motor 62 which rotates the left and right sides of the (10).

Hereinafter, with reference to the accompanying drawings will be described in detail the automatic hook tracking device of the video surveillance system of the jib-type crane using a tilt sensor according to a preferred embodiment of the present invention.

The present invention is for the operator of the crane to work while watching the rectangular area, such as around the hook directly below the jib 1 generated during the lifting operation in the crane through the video monitor 20 using the camera 10. In particular, the angle change of the jib 1 in a video surveillance system applied to a mobile crane, a cargo crane, a goliath crane, such as a tower crane or a vehicle in which the jib 1 is fixed at one end and the other end is moved up and down. Corresponding to the automatic hook tracking device for using the tilt sensor 12, which is an angle sensor corresponding to the CSI, to always follow the rectangular area around the hook directly below the jib 1 in a constant direction of the camera 10. .

1 is a schematic diagram of a video surveillance system of a jib-type crane to which an automatic hook tracking device using a tilt sensor according to an embodiment of the present invention is shown. 10 is fixed. The CSI camera 10 is connected to the video monitor 20 of the cab through the video signal cable 41, the camera controller 30, a power supply that is a communication cable for supplying power to the camera and all the control of the camera and The control cable 42 is connected to the rotary receiver 60 installed at the end of the jib 1 and the remote receiver 50 for controlling the camera 10. The tilt sensor 12 is horizontally attached to the back of the camera 10, the tilt of the jib 1 outputs the changed sensor value to the remote receiver 50 when the angle of the change for the work of the rotary machine In order to rotate up and down, it is connected to the remote receiver 50. The rotor is also connected to the remote receiver 50.

FIG. 2 schematically shows a position where components of the video surveillance system shown in FIG. 1 are installed in a jib-type crane. Substantially, cables 41 and 42 are connected to the jib 1 and the monitor 20 of the cab. And to be connected to the camera controller 30, but the cable is not shown to indicate the position only.

FIG. 3 is a block diagram showing the camera 10, the rotating machine 60, the tilt sensor 12, and the remote receiver 50 of the automatic hook tracking device lacking in the video surveillance system shown in FIG. A central processing unit 51 such as a microprocessor (MPU), an analog / digital converter 52 for converting an analog voltage which is a detection signal of the tilt sensor 12 into digital data, and the rotator 60 RS-485 or CAN communication with the motor drive 53 for rotating the tilt motor 61 for rotation and the fan motor 62 for rotation of left and right in the interior of the control panel and the camera controller 30 of the cab. The communication unit 54, a flash memory for storing the angle data directly below the tilt sensor 12, a nonvolatile memory 55 such as an EP ROM, and a P-ROM are embedded in an internal circuit of the remote receiver 50. do. Here, although the automatic hook tracking device has been described as having a tilt sensor 12 as a sensor for outputting an analog voltage as a sensing signal and having an analog / digital converter 52, it is a sensor for outputting serial digital data according to the design. It may not be provided with an analog-to-digital converter 52.
The automatic hook tracking device of the video surveillance system will be described in detail. During the initial operation, the operator of the crane looks at the video monitor 20 using the camera controller 30 in the cab, and manually controls the camera 10. When rotated so as to face a rectangular area, for example, around the hook directly below the jib 1, an analog voltage is output from the tilt sensor 12 attached to the back of the camera 10. At this time, by the crane driver 'ON' the positioning switch in the camera controller 30, the positioning control signal is transmitted to the communication unit 54 of the remote receiver 50 through the power and control cable 42 When transmitted to the central processing unit 51 through, the analog voltage output from the tilt sensor 12 is converted into digital data via the analog / digital converter 52, and then to the central processing unit 51 And the central processing unit 51 stores the digital data in the nonvolatile memory 55 so that the angle that the CSI has to maintain for the camera 10 to image around the hook directly below the jib 1 is increased. Is set. Here, the angle does not completely capture the rectangular area even if the CSI rotates at a few degrees, for example, 10 degrees or less according to the angle change of the jib 1. It can be automatically set to have a pre-programmed upper and lower tolerance angle value for one angle value, or can be manually set to have a predetermined range between the upper limit value and the lower limit value by the operator operating the positioning switch of the camera controller 30. Of course. The crane driver then automatically uses the camera controller 30 to automatically rotate the camera up and down in order to allow the CSI camera to automatically move around the hook just below the jib 1. When the control signal for selecting the mode is sent, the control signal is transmitted to the central processing unit 51 through the communication unit 54 along the power and control cable 42, and the central processing unit 51 analyzes it. Read and confirm that the operator's command is in automatic mode. In this state, the tilt sensor 12 outputs an analog voltage that changes according to the change in the angle of the jib 1, and the analog / digital converter 52 converts the digital data into digital data, thereby converting the central processing unit 51. When transmitting to, the CPU 51 compares and analyzes the positioning data previously stored in the nonvolatile memory 55 and does not move the rotor 60 to a change within the above-described angle range. If out of the range, a command signal is sent to the motor drive 53 to drive the tilt motor 61 so that the tilt sensor 12 corresponds to an angular range stored in the volatile memory 55. By rotating upwards or downwards until the occurrence of CSI, the camera 10 is always moved along the rectangular area around the hook directly below the jib 1. Thereafter, the automatic mode is maintained until the driver of the crane gives a control signal for selecting the upward and downward rotation operation of the camera 10 as the manual mode through the camera controller 30, and continuously the tilt sensor ( Since the above-described operation of receiving an analog voltage from 12) is repeated, the CSI camera 10 always automatically tracks the rectangular area around the hook directly below the jib 1.

As described above, the automatic hook tracking device of the video surveillance system of the jib crane using a tilt sensor according to an embodiment of the present invention automatically adjusts the angle of the camera according to the angle of the jib 1 directly below the jib 1. By maintaining in the direction of the rectangular area, such as around the hook, the driver of the crane does not need the movement of the Citi manual adjustment of the camera 10 manually. As a result, the driver of the crane can be dedicated to the operation of the crane not only improves the work efficiency, but also has the advantage that the fatigue is reduced by the CSI manual operation of the camera 10 to increase the safety.

As described above, according to the automatic hook tracking device of the video surveillance system of the jib-type crane using the tilt sensor according to the present invention, the position of the driver of the crane during lifting work of the jib-type crane is several tens of meters lower than the lifting material or structure It is possible to eliminate the blind spots generated by the location, and in the existing video system, the center of gravity of the camera is placed in the direction of the hook below. Is also reduced. As a result, the operator of the crane has the advantage that the fatigue of the eyes is reduced, thereby reducing the stress and thereby improving work efficiency and preventing accidents.

Although the invention has been described in detail only with respect to the described embodiments, it will be apparent to those skilled in the art that modifications and variations can be made within the spirit and scope of the invention, and such modifications or changes will fall within the scope of the appended claims.

Claims (2)

In the video monitoring device of the jib crane, which provides a video of the blind area around the hook of the jib crane to the video monitor 20 of the cab through the camera 10 installed on the jib crane, A rotor (60) installed at the end of the jib (1) of the jib-type crane and mounted to rotate the camera (10); A tilt sensor 12 mounted to the camera 10 and outputting a detection signal in response to an angle change of the jib 1; And It is installed in the jib 1 of the jib-type crane to be controlled by the camera controller 30 of the cab, the central processing unit 51 and the central control unit for controlling the operation of the camera 10 and the rotor 60 And a remote receiver 50 having a nonvolatile memory 55 for storing the detection signal value output from the tilt sensor 12 under the control of the camera controller 30 through the processing device 51, The central processing unit 51, the camera 10 can capture the blind spot by the control of the camera controller 30 of the cab by the operation of the driver when the camera 10 is first installed. The control signal value of the tilt sensor 12 corresponding to the angular range is controlled to be stored in the nonvolatile memory 55 and the operation of the jib 1 is set when the automatic mode of the rotation operation of the camera 10 is set. The detection signal value output from the tilt sensor 12 according to the change of the angle of the jib 1 is compared with the detection signal value corresponding to the angle range of the camera 10 stored in the nonvolatile memory 55. The tilt sensor, characterized in that for controlling the rotor 60 to rotate the camera 10 so that the angle of the camera 10 is within the angle range. Automatic hook-tracking device of the video surveillance system of the jib type crane.      The sensing signal output from the tilt sensor 12 is converted into a digital signal through an analog / digital converter 52 and transmitted through serial communication with an analog signal transmitted to the central processing unit 51. Automatic hook tracking device of the video surveillance system of the jib-type crane using a tilt sensor, characterized in that it comprises one of serial digital data transmitted to the central processing unit (51).

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