KR100938345B1 - System for preventing collision of crane and monitoring of crane work - Google Patents

Abstract

According to the present invention, a plurality of GPS receivers installed for each Golias crane, jib crane or tower crane, which acquire and transmit GPS coordinates for each crane; GPS coordinates of each crane received from the GPS receiver, the rotation angle and tilt information of the jib crane boom received from the tilt sensor and the first rotation sensor installed on the jib crane boom, and the second rotation sensor installed on the tower crane boom. Provided is a crane collision prevention and monitoring system including a main management unit for predicting collisions between cranes using rotation angle information of the tower crane boom, respectively. According to the crane collision prevention and monitoring system according to the present invention, by monitoring in real time not only the position of each crane but also the rotation angle and the inclination of the crane boom more accurately predict the collision between cranes and the risk of various accidents by real time notification of the collision risk And the resulting damages to human and physical property.

Crane, collision, monitoring, prediction

Description

System for preventing collision of crane and monitoring of crane work}

The present invention relates to a crane collision avoidance and monitoring system, and more particularly, to the crane collision prevention and notification to notify the real-time monitoring of the movement between the various types of large cranes working in the shipbuilding dock and notification of the collision risk between cranes and It relates to a monitoring system.

Currently, shipbuilding docks are performing various kinds of large-scale cranes used for shipbuilding, ie, a plurality of goliath cranes, jib cranes, tower cranes, and the like.

Goliath cranes move along the golias rails. In addition, the jib crane moves along the respective jib rails to move the jib crane boom up and down or rotate left and right. And, the tower crane is fixed in position, but the tower crane boom is rotated to the left and right. Tower cranes can be fixed for several days or even tens of days and then moved to another location as needed.

Each of these cranes moves slowly at up to 0.6 m / s and follows the instructions of the ground operator, but there is a risk that the crane or the crane boom may collide due to the carelessness of the operator who works for a long time.

In the event of a collision between cranes, physical damage due to the breakage of the crane, prolonged interruption of the shipbuilding process and delay in delivery may occur, as well as serious injury to crane workers or ground workers.

The present invention has been made to solve the above problems, and provides a crane collision avoidance and monitoring system capable of real-time monitoring the movement of each crane and predict the collision between cranes in real time to notify of the risk of accidents There is a purpose.

Crane collision prevention and monitoring system of the present invention for achieving the above object is a plurality of GPS receivers are provided for each of a plurality of cranes, and acquires and transmits the GPS coordinates for each crane; And a main management unit for predicting the collision between each crane based on the GPS coordinates of each crane received from the GPS receiver.

Here, the main management unit, by substituting the GPS coordinates of each crane in each of the 3D model shape of the crane previously stored can predict the collision between each crane.

On the other hand, the main management unit, if the difference between the GPS coordinates between the specific crane is less than the threshold value and the collision between the specific crane is predicted, the acoustic confirmation of the collision of the crane through the guidance of the alarm alarm or notification message in real time It may further include an alarm to enable.

The main management unit may further include a display unit displaying in real time the shape and position of each crane in 3D using the 3D model shape for each crane in which the GPS coordinates are inserted.

Here, the display unit, if the difference between the GPS coordinates between the specific crane is less than the threshold value and the collision between the specific crane is predicted, flashing the collision target crane in a specific color or the color of the collision target crane is not the collision target Expressed differently from the color of the crane, it is possible to make a visual confirmation about the impact target crane in real time.

On the other hand, the crane, may include one or a plurality of selected from the Golias crane, jib crane or tower crane.

Here, the Golias crane, the GPS receiver may be installed at both ends of the horizontal support block installed in the longitudinal direction of the crane.

In addition, the jib crane boom, which is a crane boom of the jib crane, is provided with a first rotation sensor and an inclination sensor for detecting the rotation angle and the inclination of the jib crane boom, respectively, and transmitting a detection result to the main management unit. The tower crane boom, which is a crane boom of a crane, is provided with a second rotation sensor which detects a rotation angle of the tower crane boom and transmits a detection result value to the main management unit, wherein the main management unit is transmitted from the GPS receiver. Using the GPS coordinates of each crane, the rotation angle and tilt information of the jib crane boom received from the first rotation sensor and the tilt sensor, and the rotation angle information of the tower crane boom received from the second rotation sensor, respectively. The collision between each crane can be predicted.

On the contrary, the jib crane boom, which is a crane boom of the jib crane, is provided with one or a plurality of jib crane booms to receive a GPS value for calculating the rotation angle and the slope of the jib crane boom, and receives the received coordinate values. A first GPS unit for transmitting to the main management unit is provided, the tower crane boom which is a crane boom of the tower crane, one or more installed in the tower crane boom to receive a GPS value for calculating the rotation angle of the tower crane boom, A second GPS unit for transmitting the received coordinate value to the main management unit is provided, wherein the main management unit, the GPS coordinates of each crane received from the GPS receiver, the jib crane boom calculated through the GPS value received from the first GPS unit Rotation angle and tilt information, and the rotation angle information of the tower crane boom calculated by the GPS value received from the second GPS unit, respectively. Use can predict a collision between each crane.

Here, the main management unit, the GPS coordinates for each of the Golias crane, jib crane and tower crane, the rotation angle and inclination information of the jib crane boom, and the rotation angle information of the tower crane boom, respectively, each stored 3D After inserting into the model shape, the minimum adjoining distances between the respective parts are calculated with respect to the horizontal support block portion installed in the longitudinal direction of the goliath crane, the jib crane boom portion of the jib crane and the tower crane boom portion of the tower crane, respectively. It is possible to predict the possibility of collision between the parts of the crane.

The alarm unit of the main management unit, when the minimum adjacent distance is less than the critical distance is predicted collision between specific cranes, to enable the auditory confirmation of the collision of the crane through the alarm alert or notification message guidance to enable Can be.

The alarm unit may divide a distance corresponding to the threshold distance or less into a plurality of distance stages, and express the guidance so that the guidance of the alarm alert or notification message is distinguished from each other according to the corresponding distance stage in which the minimum adjacent distance is entered. can do.

In addition, the display unit of the main management unit, by using the 3D model shape of the corresponding crane by the GPS coordinates of each crane received, the rotation angle and tilt information of the jib crane, the rotation angle information of the tower crane is substituted, The shape and position of each crane can be displayed in 3D in real time.

In addition, when the collision between the respective cranes is predicted, the display unit blinks the collision target crane to a specific color or expresses the color of the collision target crane differently from the color of the non-collision target crane, thereby visualizing the collision target crane. You can make confirmation available in real time.

In addition, the display unit, by dividing the distance corresponding to the threshold distance or less into a plurality of distance stages, the display color of the collision target crane is displayed differently for each corresponding distance step in which the minimum adjacent distance is entered, or the collision target crane Which distance step of the plurality of distance steps below the threshold distance is included may be displayed by displaying in the form of one or a plurality of combinations selected from image, text, graphic or table form.

On the other hand, the GPS receiver does not transmit the GPS coordinates to the main management unit when there is no change in the GPS coordinates within a predetermined time, the first rotation sensor, the second rotation sensor, the inclination sensor within a predetermined time If there is no change in the detection result value, it is preferable not to transmit the detection result value to the main management unit.

In addition, it is preferable that the first GPS unit and the second GPS unit do not transmit the GPS value to the main management unit when there is no change in the GPS value within a predetermined time.

On the other hand, according to the present invention, it is provided between each crane and the main management unit, it may further include one or a plurality of relay means for relaying each crane and the main management unit.

In addition, according to the present invention, the operator terminal owned by the operator of each crane or a manager terminal owned by the safety manager for managing the work site where the crane work is made, wherein the worker terminal and the manager terminal, It may include a display unit for displaying the information on the collision target crane received from the main management unit on a real-time screen, and a notification unit for informing the information about the collision target crane by an alarm or notification message.

According to the crane collision prevention and monitoring system according to the present invention, it is possible to more accurately predict the collision between cranes by real-time monitoring not only the position of each crane but also the rotation angle and the inclination of the crane boom, real-time risk of collision to the manager or operator, etc. Notification can greatly reduce the risk of accidents and the resulting damage to human and physical property.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms or words used in the present specification and claims should not be construed as being limited to the common or dictionary meanings, and the inventors should properly explain the concept of terms in order to best explain their own invention. Based on the principle that it can be defined, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention.

Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiment of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

1 is a configuration diagram of a crane collision prevention and monitoring system according to an embodiment of the present invention, Figure 2 is a configuration diagram of a crane collision prevention and monitoring system embodied in Figure 1, Figure 3 is a system of the present invention in a shipbuilding dock 4 is an exemplary diagram of test bed construction for reliability verification according to the system of the present invention, and FIGS. 5 to 7 are diagrams showing an example of calculation of minimum adjacent distance between cranes.

As shown in Figure 1 or 2, the crane collision prevention and monitoring system 100 according to an embodiment of the present invention, briefly includes a GPS receiver 110 and the main management unit 120.

1 to 3, the GPS receiver 110 is provided for each of a plurality of cranes, and is a part for acquiring and transmitting GPS coordinates for each crane.

Here, the crane may include one or a plurality of selected ones of the goliath crane 10, the jib crane 20, or the tower crane 30 shown in FIG. 2 or 3.

That is, in the ship building dock, for example, only the Golias crane 10 may be arranged in several, the Golias crane 10 and the jib crane 20 may be arranged in a mixed state, and also, Goliath crane 10, jib crane 20, tower crane 30 may all be arranged in a number and there may be various embodiments other than listed. In general, the three cranes (10, 20, 30) are often arranged together on the site in the appropriate number of work.

The main management unit 120 is a part for predicting the collision between the crane (10, 20, 30) on the basis of the GPS coordinates of each crane (10, 20, 30) received from the GPS receiver (110).

More specifically, the predicting unit 123 of the main management unit 120 substitutes the GPS coordinates of the cranes 10, 20, and 30 into 3D model shapes of the corresponding cranes 10, 20, and 30, respectively. It is possible to predict the collision between the crane (10, 20, 30).

For example, the height of a pair of pillars supporting both sides of the horizontal support block 11 of the golias crane 10, and the left and right lengths of the horizontal support block 11 installed on such a pillar are the main prediction parts 123. ) Is stored in advance and the actual position of the Golias crane 10 having the same size, structure, and shape as in the present case if only the GPS coordinates are substituted on a specific reference point of the Golias crane 10 together with the 3D model shape. It can be used as a reference data for crane collision prediction.

That is, the main management unit 120 is pre-stored in the form of size, shape, structure, etc. for each crane in the form of a 3D model, each crane 10, if only the reference GPS coordinates for the corresponding crane in the reference point of the 3D model shape A comparison of the current position of 20, 30 and the distance between cranes 10, 20, 30 may also be possible.

Here, the alarm unit 122 included in the main management unit 120, when the difference between the GPS coordinates between the specific crane is less than the threshold value and the collision between the specific crane is predicted, through the alarm alert or notification message guidance Acoustic confirmation of the collision of the crane can be made possible in real time.

By using the GPS coordinates substituted into the 3D model shape including the size, shape, and structure information of each crane previously stored in the main management unit 120, the alarm unit 122 may reduce the risk of collision between cranes when the GPS coordinate difference is less than or equal to a threshold. Notify enables audible guidance, allowing managers, etc., to quickly recognize auditory situations.

And, the display unit 121 included in the main management unit 120, by using the 3D model shape for each crane that the GPS coordinates as shown in Figure 3, by displaying the current shape and position of each crane in real time in 3D It is possible to visually check the current position of the crane and the shape of the 3D model for each crane existing at such a position with the naked eye.

When the difference in the GPS coordinates between the cranes is below the threshold value and the collision between the specific cranes is predicted, the display unit 121 blinks the collision target crane with a specific color or the color of the collision target crane. It can be expressed differently from the color of the crane, so that visual confirmation of the crane to be collided is possible in real time.

For example, when a collision between the goliath crane 10 and the jib crane 20 is predicted, the 3D model shape colors of the golias crane 10 and the jib crane 20 are among the 3D model shapes of the cranes displayed on the screen. Flashes red at regular intervals, or displays the 3D model shape color of Golias Crane 10 and Jib Crane 20 in a different color than the 3D model shape color of other cranes. It can be easy to confirm.

On the other hand, in the case of Golias crane 10, as shown in Figure 3, the GPS receiver 110 may be installed at both ends of the horizontal support block 11 installed in the longitudinal direction of the crane, in this case, the GPS receiver 110 Using only the longitude, latitude, and altitude information received on the left and right lengths of the horizontal support block 11, the height can be known. In this case, the length of the horizontal support block 11 on the 3D model of the Golias crane 10 The information about the height does not need to be stored in advance.

When the collision prediction is performed using only the GPS coordinate information of the crane as in the case of the embodiment of FIG. 1 as described above, rough collision prediction is possible, but it is somewhat insufficient to determine the collision based only on the GPS coordinates. For example, the difference in GPS coordinates between specific cranes is wider than the threshold, but when a collision between cranes occurs due to the movement of the crane boom, accurate prediction is not possible.

Here, in order to obtain the rotation angle or inclination information according to the movement of each crane boom (21, 31), the present invention is to install the corresponding sensor on each crane boom (21, 31), or GPS unit by installing a GPS unit It can be divided into a manner of receiving.

First, as a method using a sensor, as shown in Figure 2, in addition to the GPS receiver 110 and the main management unit 120, the first rotation is installed on the jib crane boom 21 corresponding to the crane boom of the jib crane 20 The sensor 130, the tilt sensor 140, and the second rotation sensor 150 installed on the tower crane boom 31 corresponding to the crane boom of the tower crane 30 may be further provided.

3, the goliath crane 10 moves along the golias rail 12 but does not have a separate crane boom, so only the GPS coordinate information is needed, and the jib crane 20 is a jib rail 22. As the jib crane boom 21 is moved up and down or left and right while moving along, the first rotation sensor 130 and the tilt sensor 140 are needed as well as the GPS coordinates, and the tower crane 30 is a separate rail. Although the position is fixed without this, because the tower crane boom 31 is rotated to the left and right, not only the GPS coordinate but also the second rotation sensor 150 is required.

That is, the first rotation sensor 130 and the inclination sensor 140 respectively detect the rotation angle and the inclination of the jib crane boom 21 and transmit the respective detection result values to the main manager 120.

In addition, the second rotation sensor 150 detects the rotation angle of the tower crane boom 31 and transmits a detection result value to the main manager 120.

At this time, the prediction unit 123 of the main management unit 120, GPS coordinates of the cranes 10, 20, 30 received from the GPS receiver 110, from the first rotation sensor 130 and the tilt sensor 140 Each crane (10, 20, 30) by using the rotation angle and inclination information of the jib crane boom 21 received, and the rotation angle information of the tower crane boom 31 received from the second rotation sensor 150, respectively Predict collisions

Unlike the sensor method, there is a method of acquiring each rotation angle or inclination information by installing a GPS unit receiving GPS coordinates on each crane boom 21 and 31 instead of the sensor. Installation cost and maintenance cost may be higher than the communication method, but it can be fully utilized in the system as follows.

That is, as a method using GPS, the jib crane boom 21, which is a crane boom of the jib crane 20, is provided in the jib crane boom 21 in one or a plurality, and the rotation angle and tilt of the jib crane boom 21 are provided. A first GPS unit (not shown) for receiving a GPS value for calculation and transmitting the received coordinate value to the main management unit 120 may be provided.

In the tower crane boom 31, which is a crane boom of the tower crane 30, one or more are installed in the tower crane boom 31 to receive a GPS value for calculating the rotation angle of the tower crane boom 31, A second GPS unit (not shown) for transmitting the received coordinate value to the main management unit 120 may be provided.

For example, the 3D model shape information regarding the length, shape, structure, and the like of the jib crane boom 21 installed at a specific height of the vertical pole of the vertical pillar of the jib crane 20 is displayed in the main management unit 120. One GPS installed in either side of the reference coordinate and the tower crane boom 21, which is stored in the base receiver, which is stored on the axis of the tower crane boom 21 that meets the vertical column as shown in FIG. It may also be possible to calculate the tilt and rotation angle through a comparison between the acquired coordinate values of the negative (not shown).

In addition, a pair of GPS units (not shown) may be installed at both ends of each crane boom 21 and 31 or at one end of the crane boom 21 and the shaft portion of the crane boom 21 to incline and rotate angles. Of course, the calculation is possible, the position of the GPS unit (not shown) installed in each crane boom (21, 31), the number of installation is a part that can be changed at any time by those skilled in the art.

At this time, the main management unit 120, the rotation angle of the jib crane boom 21 calculated through the GPS coordinates of each crane received from the GPS receiver 110, the GPS value received from the first GPS unit (not shown). And the tilt information and the rotation angle information of the tower crane boom 31 calculated through the GPS values received from the second GPS unit (not shown), respectively, to predict collision between the cranes.

More specifically, the main management unit 120, GPS coordinates for each of the Golias crane 10, jib crane 20 and tower crane 30, the rotation angle and tilt information of the jib crane boom 21, After substituting the rotation angle information of the tower crane boom 31 into the 3D model shape of the corresponding crane, the horizontal support block 11 installed in the longitudinal direction of the goliath crane 10, the jib crane ( The minimum adjacent distances between the parts of the jib crane boom 21 and the tower crane boom 31 of the tower crane 30 are respectively calculated to calculate the minimum adjacent distances between the parts of the crane 10, 20, 30. Predict the likelihood of a collision.

For example, the 3D model shape information regarding the length, shape, structure, and the like of the jib crane boom 21 installed at a specific height of the vertical column, as well as the length, shape, and structure of the vertical pillar of the jib crane boom 21, for example. Is pre-stored in the main management unit 120.

In this case, the main management unit 120 substitutes not only the GPS coordinates that are obtained from the GPS receiver 110 installed on the pillar of the jib crane, but also the rotation angle and the tilt information of the jib crane boom 21 on the 3D model shape. .

Therefore, the rotation angle and the tilt information are substituted into the position coordinates of the current jib crane boom 21 calculated according to the GPS coordinates as the reference as well as the position of the current jib crane 20, and thus the jibs existing at the corresponding positions. Both ends of the crane boom 21 with respect to the longitudinal direction, the coordinates for all the points connecting the both ends can be known based on the above-described inclination and angle information.

For example, when the minimum adjacent distance between the jib crane boom 21 and the tower crane boom 31 is less than or equal to the threshold, the minimum adjacent distance between the horizontal support block 11 and the tower crane boom 31 of the golias crane 10 is Collision prediction in various other cases, such as the case below a threshold, is possible.

Further, the distance between one end extending in the longitudinal direction of the jib crane boom 21 and any one point in the longitudinal direction of the tower crane boom 31 is the minimum adjacent between the jib crane boom 21 and the tower crane boom 31. Although the distance corresponds to a distance, but the minimum adjacent distance is less than the threshold there is a risk of collision (in the case of Figure 6), the longitudinal support block 11 of the golias crane 10 and any one point in the longitudinal direction of the tower crane boom (31) One point of the corresponds to the minimum adjacent distance between the tower crane boom 31 and the Golias crane 10, but is less than the threshold, so the collision is predicted (in case of Figure 5). In this way, all coordinates on the crane are calculated in real time, and collision prediction of the crane boom part and the like is also possible in real time.

5 to 7 are simplified models of the crane booms 21 and 31 or the horizontal support block 11 as line segments. In more detail, each of the line segments Line 1 or Line 2 in FIG. The block 11 part, the jib crane boom 21 part, and the tower crane boom 31 part may all correspond. For example, the points (a1, b1, c1) and (a2, b2, c2) at both ends of the line segment are both ends of the horizontal support block 11 of the goliath crane 10, both ends of the jib crane boom 21, or It may correspond to both ends of the tower crane boom (31).

In FIG. 5, when Line 1 is a jib crane boom 21 and Line 2 is a tower crane boom 31, any one point of the jib crane boom 21 and any point of the tower crane boom 31 are connected to each other. Length (D; between (a0, b0, c0) coordinates on the jib crane boom 21 and (x0, y0, z0) coordinates on the tower crane boom 31 with respect to the line3 line segment having a dot product of Lines 1 and 2) Distance) corresponds to the minimum adjacent distance between the jib crane boom 21 and the tower crane boom 31.

Referring to FIG. 6, since the inner product formed by Line 3 line 2 and line 2 is all 0, the length D of Line 3 corresponds to the minimum adjacent distance between the jib crane boom 21 and the tower crane boom 31, but Line 3 and the tower The intersection between the crane boom 31 is located at either end (x0, y0, z0) of Lin2, not on Line2, which is the tower crane boom 31 as shown in FIG.

In the case of FIG. 7, the line segments connecting Line 1 and Line 2 do not exist while Line 1 and 2 both form a dot product of 0, and the distance between the two end points of Line 1 and both ends of Line 2 is closest to (a1, The length (D) of the Llne3 segment connecting b1, c1) and (x1, y1, z1) coordinates is the minimum adjacent distance.

On the other hand, if the movement or movement speed of the crane (body, boom) is assumed to be about 0.6m / s, it is preferable that the collision probability determination error of the crane is within the maximum distance 3m, the maximum time of 1 second, but this is only an embodiment It can be changed to other error criteria only.

The alarm unit 122 may enable an audible confirmation of a collision of the crane through an alarm alert or notification message when the minimum adjacent distance enters a critical distance or less and predicts a collision between specific cranes. .

In addition, the alarm unit 122 divides the distance corresponding to the threshold distance or less into a plurality of distance steps, so that the guidance of the alarm alarm or notification message is distinguished from each other by the corresponding distance step in which the minimum adjacent distance is entered. Can be expressed and guided.

For example, the critical distance is 3m, but the distance step is divided into 1.5m (collision emergency zone), 2m (collision attention zone), 3m (collision possible zone), and the calculated minimum adjacent distance is 3m to 1.5m If you enter, the output cycle of the alarm will be faster or different notification messages (3m, it is a collision possibility area. 2m is a collision warning area. 1.5m is an emergency zone, etc.) or divided into alarms. can do.

On the other hand, in the case of acquiring up to the information of the crane booms 21 and 31 as described above, the display unit 121, as shown in Figure 3, the GPS coordinates of each crane, the rotation angle and inclination information of the jib crane 20, the tower crane Using the 3D model shape for each crane in which the rotation angle information of 30 is substituted, the current shape and position of each crane are displayed in real time in 3D.

Also, even in such a case, when the collision between the cranes is predicted as described above, the display unit 121 blinks the collision target crane to a specific color or the color of the collision target crane and the color of the crane that is not the collision target. In other words, visual confirmation of the crane to be collided is made possible in real time.

In addition, the display unit 121 divides the distance corresponding to the threshold distance or less into a plurality of distance stages, and distinguishes and displays the display color of the collision target crane for each corresponding distance stage in which the minimum adjacent distance enters, or the collision target. Which of the distance steps below the threshold distance is included in the crane can be guided by displaying in the form of one or a plurality of combinations of images, text, graphics or table form.

For example, the display color of the 3D model shape of the crane may be differently displayed for each case in which the crane enters the collision probable region, the collision attention region, and the emergency emergency region among the above-described distance steps.

In addition, the location of the collision target crane, the collision warning region, the emergency emergency region, and the like, it can be guided to display in the selected form of the image, graphics, table (table format) for each crane.

On the other hand, the GPS receiver 110, if the acquired GPS coordinate value does not change for a certain period of time, it is preferable not to transmit the GPS coordinate to the main management unit 120 in this case it is to reduce the power consumption and frequency of signal transmission Therefore, the congestion of the signal in the wireless environment and the resulting signal interference can be reduced.

Of course, the first rotation sensor 130, the second rotation sensor 150, the tilt sensor 140 also, if there is no change in the detection result value within a predetermined time does not transmit the detection result value to the main management unit 120 side. Not desirable. In addition, when the first GPS unit (not shown) installed in the jib crane boom 20 and the second GPS unit (not shown) installed in the tower crane 30 also have no change in the GPS value acquired within a predetermined time. It is preferable not to transmit the GPS value to the main management unit 120 side, in order to obtain the same effect as in the case of the GPS receiver 110.

On the other hand, the present invention, as shown in Figure 2 or 3, is installed between each crane (10, 20, 30) and the main management unit 120, between each crane (10, 20, 30) and the main management unit 120 It may further include one or a plurality of relay means 160 to relay the.

Since the relay means 160 is installed at every intermediate point in the configuration of the system 100, it is effective in coping with signal attenuation and signal loss on the transmission path, and thus, also increases the reliability of the crane collision prediction.

On the other hand, as shown in FIG. 2, the present invention may further include a manager terminal 180 owned by a worker of each crane owned by a safety manager who manages a work site where a crane work is performed or a worker terminal 170.

Here, the worker terminal 170 and the manager terminal 180, to display the information on the collision target crane received from the main management unit 120 (name of the crane, location, worker information of the crane, etc.) on a real-time screen Including a display unit (171,181) and the notification unit (172,182) to guide and inform the information about the target crane to the alarm or notification message, if the collision between the specific crane is predicted immediately as a worker of the crane or safety manager of the site It is possible to make prompt measures to prevent collisions accordingly.

4 relates to the construction of a test bed temporarily constructed for testing a system 100 such as FIG. 2 or 3 of the present invention.

Configuring the system and developing the system at the dock site can be difficult due to several problems.

Field work is done according to a tight plan, making it difficult to require downtime to build an unverified system, and require various configuration changes in the sensor network to ensure the reliability of the sensor network. It is difficult to make configuration changes immediately, and it is necessary to reproduce various crane placement and movement scenarios to verify the algorithm's accuracy, and it is practically impossible to make such a request to an operator working in the field.

Therefore, by building a test bed for mini-model simulation in a site-like environment as follows, it is possible to examine the performance, security point, etc. of the system.

The manager console of Figure 4 is a configuration corresponding to the main management unit 120, the part that can monitor the site crane work, predict possible collisions.

Such a manager console randomly generates scenario data (scenario data such as how much a specific crane moves and how much a specific crane boom rotates at a specific time) for simulation of crane prediction. The purpose is to verify how reliable and accurate the monitoring of the crane and the collision prediction of the crane according to the scenario are carried out.

The control box is a part that individually controls the movement of the crane in 0.1 second units according to the scenario data (crane movement coordinates, crane boom rotation coordinates, tilt coordinates, etc.) received from the administrator console. The motion signal is sent to the crane operation simulator.

The crane operation simulator is a part in which the cranes are reduced in shape to correspond to the actual cranes and are actually moved, and the actual cranes can move through the coordinate information transmitted from the control box.

The tilt sensor and the rotation sensor are attached to the jib crane, and only the rotation sensor is attached to the tower crane. In the field, GPS receiver is used to calculate the position coordinates, but the test bed uses a location tracking method using ultrasonic waves because the distance is very close to receiving using GPS. That is, four transmitters (corresponding to four GPS satellites) are installed at each corner of the entire dock where the crane is located, and three receivers are installed for each crane to recognize the position.

On the other hand, such a crane operation simulator is to transmit the movement information of the crane (actual angle of the crane boom, tilt of the crane boom, current position of the crane) on which the actual movement was performed to the administrator console in real time through the wireless sensor network (USN) . For example, whenever a crane changes its position along a rail, the receiver attached to the crane calculates the position using the time difference of the signal, and sends the changed position to the supervisor console using the real-time USN.

The supervisor console also feeds back the actual crane movement data from the control box with a crane control error of 0.1mm based on the scenario data.

At this time, the administrator console is the feedback of the crane movement data received, and the crane coordinates transmitted through the sensors (the coordinates of the error depending on the accuracy of the sensor, the delay due to the transmission interval of the sensor data, network transmission delay, transmission error, etc. By comparing the error of each other with each other, it is possible to verify the accuracy and reliability of the system such as the acquired motion information, and accordingly, how reliable it can be when the system of the present invention is applied to the actual field, Or, it is possible to determine and calculate in advance how much the allowable deviation range will be determined in actual field.

The communication method of the crane collision avoidance and monitoring system 100 of the present invention as described above includes not only the wireless sensor network (USN) method described above but also all wireless communication methods not listed, such as a wireless LAN (WLAN) and an RF method. As the concept is obvious, the change of the communication network method is a factor that can be changed at any time to meet the optimum conditions for the safety, installation and maintenance cost of the system, the accuracy of the system, and the time delay.

As described above, although the present invention has been described by way of limited embodiments and drawings, the present invention is not limited thereto and is intended by those skilled in the art to which the present invention pertains. Of course, various modifications and variations are possible within the scope of equivalents of the claims to be described.

1 is a block diagram of a crane collision prevention and monitoring system according to an embodiment of the present invention,

2 is a block diagram of a crane collision prevention and monitoring system embodied in FIG.

3 is an exemplary diagram in which the system of the present invention is applied to a shipbuilding dock;

4 is an exemplary diagram of a test bed for verifying reliability of the system of the present invention;

5 to 7 are examples of calculation of the minimum adjacent distance between cranes.

<Explanation of symbols for the main parts of the drawings>

10 ... Golias Crane 11 ... Horizontal Support Block

20 ... Jib Crane 21 ... Jib Crane Boom

30.Tower Lane 31 ... Tower Lane Boom

100 ... crane collision prevention and monitoring system

110 GPS receiver 120 Main management unit

121 Display unit 122 Alarm unit

123 Prediction 130 First rotation sensor

140 ... tilt sensor 150 ... second rotation sensor

160.Relay means 170.Worker terminal

171,181 ... Display 172,182 ... Notice

180.Administrator Terminal

Claims (19)

A plurality of GPS receivers installed for each of a plurality of cranes including a selected one or a plurality of kinds of golias cranes, jib cranes, or tower cranes, and obtaining GPS coordinates of each crane and transmitting them to the main management unit; A first GPS unit installed on the jib crane boom which is a crane boom of the jib crane and receiving a GPS value for calculating the rotation angle and inclination of the jib crane boom and transmitting the received coordinate value to the main manager; A second GPS unit installed at one or a plurality of tower crane booms, which are crane booms of the tower cranes, to receive GPS values for calculating a rotation angle of the tower crane booms, and to transmit the received coordinate values to a main management unit; GPS coordinates of each crane received from the GPS receiver, rotation angle and inclination information of the jib crane boom calculated through the GPS values received from the first GPS unit, and a tower calculated by the GPS values received from the second GPS unit. And a main management unit for predicting collision between the cranes by substituting the rotation angle information of the crane boom into 3D model shapes of the corresponding cranes. The method of claim 1, The jib crane boom is further provided with a first rotation sensor and a tilt sensor for detecting the rotation angle and the inclination of the jib crane boom, respectively, and transmits the detection result to the main management unit, The tower crane boom is further provided with a second rotation sensor for detecting the rotation angle of the tower crane boom to transmit the detection result value to the main management unit, The main management unit receives the GPS coordinates of each crane received from the GPS receiver, the rotation angle and inclination information of the jib crane boom calculated from the GPS values received from the first GPS unit, and the GPS values received from the second GPS unit. Rotation angle information of the tower crane boom calculated through the information, the rotation angle and the tilt information of the jib crane boom received from the first rotation sensor and the tilt sensor, and the rotation angle information of the tower crane boom received from the second rotation sensor The crane collision prevention and monitoring system, characterized in that to predict the collision between each crane by substituting the 3D model shape of the crane previously stored. The method according to claim 1 or 2, The main management unit stores the GPS coordinates of the Golias crane, the jib crane and the tower crane, the rotation angle and the inclination information of the jib crane boom, and the rotation angle information of the tower crane boom, respectively. After assignment Predicting the possibility of collision between the parts of the crane by calculating the minimum adjacent distance between each part with respect to the horizontal support block portion, the jib crane boom portion and the tower crane boom portion installed in the longitudinal direction of the Golias crane A crane collision avoidance and monitoring system. The method of claim 3, The main management unit may further include an alarm unit configured to enable an auditory confirmation of the collision of the crane through an alarm alert or a notification message when the minimum adjacent distance enters a critical distance or less and predicts a collision between cranes. A crane collision avoidance and monitoring system. The method of claim 4, wherein The alarm unit divides a distance corresponding to the threshold distance or less into a plurality of distance stages, and guides the expression of the alarm alert or notification message to be distinguished from each other by the corresponding distance stage where the minimum adjacent distance is entered. Crane collision avoidance and monitoring systems. The method of claim 3, The main management unit currently uses the 3D model shape of each crane in which the GPS coordinates of each crane received, the rotation angle and tilt information of the jib crane, and the rotation angle information of the tower crane are substituted, and the shape and position of each crane. Crane collision prevention and monitoring system further comprises a display unit for displaying in real time in 3D. The method of claim 6, When the collision between the cranes is predicted, the display unit blinks the collision target crane in a specific color or expresses the color of the collision target crane differently from the color of the non-collision target crane, so that visual confirmation of the collision target crane is performed in real time. Crane collision avoidance and monitoring system, characterized in that possible. The method of claim 6, The display unit divides a distance corresponding to a threshold distance or less into a plurality of distance stages, and displays a different display color of a collision target crane for each corresponding distance stage in which the minimum adjacent distance enters, or the collision target crane displays the threshold distance. Crane collision prevention and monitoring system, characterized in that the guidance is displayed in the form of one or a plurality of combinations selected from the image, text, graphic or table form of the distance step of the plurality of distance steps. The method according to claim 1 or 2, The GPS receiver does not transmit the GPS coordinates to the main management unit when there is no change in the GPS coordinates within a predetermined time. And the first GPS unit and the second GPS unit do not transmit the GPS value to the main management unit when there is no change in the GPS value within a predetermined time period. The method of claim 2, The GPS receiver does not transmit the GPS coordinates to the main management unit when there is no change in the GPS coordinates within a predetermined time. The first rotation sensor, the second rotation sensor, the inclination sensor crane collision prevention and monitoring system, characterized in that does not transmit the detection result value to the main management unit when there is no change in the detection result value within a predetermined time. . The method according to claim 1 or 2, Installed between the crane and the main management unit, the crane collision prevention and monitoring system further comprises one or a plurality of relay means for relaying each crane and the main management unit. The method according to claim 1 or 2, Further comprising a manager terminal owned by the operator of the worker of each crane or the safety manager for managing the work site where the crane work, The worker terminal and the manager terminal includes a display unit for displaying the information on the collision target crane received from the main management unit on a real-time screen and a notification unit for informing the information about the collision target crane by an alarm or notification message. Crane collision prevention and monitoring system. delete delete delete delete delete delete delete

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