KR100974946B1 - System and method for preventing collision of cranes - Google Patents

Abstract

PURPOSE: A crane collision preventive system and a method for reducing a working time and extending the service life of crane equipment are provided to prevent the collision between cranes by detecting the interval of two cranes using high frequency and low frequency through a wireless module. CONSTITUTION: A crane collision preventive system comprises a first crane(100), a second crane(200), a short distance detecting unit(300) and a long distance detecting unit(400). The second crane is separated from the first crane to perform processes. The short distance detecting unit and the distance detecting unit are mounted on the cranes and detect the distance between cranes. The short distance detecting unit comprises a low frequency transceiver(301) and an active tag(302). The low frequency transceiver is installed in the first crane. The active tag receives the signal of the low frequency transceiver and is installed in the second crane. The low frequency transceiver includes a first transceiver, a second transceiver, micro control unit, and power switch.

Description

Crane collision prevention system and method {SYSTEM AND METHOD FOR PREVENTING COLLISION OF CRANES}

The present invention relates to a system and method for preventing a crane collision, the crane and the crane or the crane to detect the distance between the obstacles to prevent the collision of the crane, it is possible to quickly move the slab and precise control to reduce the working time and crane equipment life A system and method that can be extended.

A conventional crane and a pick-up crane are provided with a tong crane moving along each rail having a different height for process logistics in a steel mill. At this time, due to the height difference between the two cranes can be freely performed different tasks, the collision due to the intersection between them frequently occurs. At this time, when a collision occurs between the two cranes, all operations are stopped and the operation of restoring the collision is performed. Operational delays are severe, as it usually takes at least an hour to restore. In addition, financial losses resulting from shutdowns result in billions of losses per hour.

The collision avoidance system is applied to prevent such a crane collision. However, most of the prior arts use an anti-collision system that generates ultrasonic waves and receives a reflected wave signal to notify the operator through signal processing. Or recently, a system for preventing collision using a laser sensor has been used.

However, when the ultrasonic sensor is applied, a region over a certain distance cannot be detected. In addition, the response speed from the generation of the ultrasonic wave to the reception of the reflected wave is low, there is a disadvantage that a slight error occurs in the signal response. And, when applied to a system having a plurality of cranes there is a problem that the control is very difficult. In addition, when the laser sensor is applied, it is difficult to implement an accurate collision avoidance system because it is impossible for the crane moving along the rail having different heights of upper and lower sides to maintain a fixed vertical angle. In addition, in the case of a manned crane, the laser can be a problem in securing the operator's view. In addition, there is a problem that the high cost of the entire system implementation due to the high cost of the laser sensor system construction.

Therefore, the present invention was created to solve the above problems, by installing a wireless RF module that can detect the remote and short distance, respectively, to prevent the collision between cranes, it is possible to quickly move the slab through the real control of the crane The present invention provides a crane collision avoidance system and method that can reduce working time and extend crane life.

It includes a first crane according to the present invention, one second crane and the two short-distance detection device and the remote sensing device which is installed on the two cranes and are operated according to the separation distance between the crane to work apart from the first crane. Provided is a crane collision avoidance system.

The short range sensing device may include a low frequency transceiver installed in the first crane and an active tag installed in the second crane.

The low frequency transceiver includes: a first transceiver for continuously transmitting a low frequency transmission signal; A second transceiver for receiving an ID of an active tag provided by a tag high frequency propagation method from the active tag; A microcontroller unit for processing an authorized active tag ID; A TCP / IP port for transmitting the processed active tag ID signal to a server; A port for inputting an internal program for controlling the microcontroller unit; And it characterized in that it comprises a power supply for supplying power to each part.

A 19 KHz RF transmitter is used as the first transceiver, and a 2.4 GHz transceiver is used as the second transceiver.

The active tag includes: a third transceiver for detecting a low frequency transmission signal of the low frequency transceiver; A fourth transceiver for transmitting its ID signal in a high frequency wave method; A tag microcontroller unit activating the active tag by a detection signal of the third transceiver and providing a tag ID value to a fourth transceiver; A tag port for inputting an internal program for controlling the tag microcontroller unit; And it characterized in that it comprises a tag power supply for supplying power to each part.

A 19 KHz wireless transmitter is used as the third transceiver, and a 2.4 GHz transceiver is used as the fourth transceiver.

Each of the low frequency transceiver and the active tag further includes an operation LED unit indicating operation by a high frequency signal and a low frequency signal.

The low frequency transmission signal uses a signal of 19Khz band, the high frequency signal uses a signal of 2.3GHz band, and the propagation region of the low frequency transmission signal is characterized in that 1 to 10M.

The remote sensing device may include a high frequency transceiver installed at the first crane and transmitting a high frequency signal, and a high frequency module installed at the second crane and transmitting a response signal according to the high frequency signal.

The first crane is a barrel crane moving by an operator, the second crane is characterized in that the pickup crane to move automatically.

The present invention also provides a collision avoidance method for a crane collision avoidance system in which a first crane and at least one second crane move with each other, wherein a tag of the second crane detects a low frequency transmission signal transmitted from the first crane. Determining; If the determination result is not detected, operating the tag of the second crane in the dormant mode and executing a remote sensing mode for measuring the distance between the first and second cranes; Activating a tag of the second crane when the determination result is detected; Transmitting an ID signal of a tag of the second crane to the first crane; And notifying a collision risk of the second crane having the tag ID to a worker of the first crane or a server connected to the first crane.

The low frequency transmission signal uses a radio wave in the 19KHz band, the remote sensing mode is characterized in that the radio wave in the 2.4GHz band is used.

The propagation region of the low frequency transmission signal is characterized in that 1 to 10m.

The present invention also provides at least one having a first crane having a low frequency transceiver and a high frequency transceiver, an active tag responsive to a low frequency transmission signal that is an output signal of the low frequency transceiver, and a high frequency module responsive to a high frequency signal of the high frequency transceiver. A crane collision avoidance method comprising a second crane, wherein when the transmission distance of the low frequency transmission signal is shorter than the transmission distance of the high frequency signal and the low frequency transmission signal is received by the active tag, tag ID information is received from the active tag. The present invention provides a crane collision preventing method for notifying a server or an operator of a collision risk for a second crane of a corresponding tag ID value by receiving a high frequency response signal.

As described above, the present invention can prevent the collision between cranes by detecting the distance between the two cranes and the distance between the two cranes through a wireless module using high frequency and low frequency. In addition, it is possible to enable fast slab movement through precise control of the crane. In addition, crane collision avoidance and rapid movement can reduce work time and extend crane life.

Hereinafter, with reference to the accompanying drawings will be described an embodiment of the present invention in more detail. It will be apparent to those skilled in the art that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, It is provided to let you know. Like numbers refer to like elements in the figures.

1 is a conceptual diagram of a crane collision avoidance system according to an embodiment of the present invention. 2 is a block diagram of a system including a near field sensing apparatus according to an embodiment, FIG. 3 is a block diagram of a low frequency transceiver according to an embodiment, and FIG. 4 is a block diagram of an active tag according to an embodiment.

1 to 4, the crane collision avoidance system of the present embodiment includes a first crane 100, at least one second crane 200, and a near field detection device 300 installed in two cranes 100 and 200. And a remote sensing device 400. In addition, the application server 500 may be further provided with a signal from the short range sensing device 300 and the remote sensing device 400.

In this embodiment, a barrel crane directly controlled by the operator is used as the first crane 100. Here, the barrel crane is a manual crane, there is no risk of collision on the path between the barrel cranes in each process. As the second crane 200, a pickup crane without an operator is used. The pick-up crane is an automatic crane and at least one pick-up crane is arranged in each process. At this time, when a plurality of pick-up cranes are arranged, they all move automatically, so there is no risk of collision between them. However, a collision may occur between the first crane 100 and the second crane 200.

Accordingly, the distance between the first crane 100 and the second crane 200 is detected by the near and far sensing devices 300 and 400, and the result is transmitted to the operator of the application server 500 or the first crane 100. To prevent conflicts in advance.

Here, the near field detection apparatus 300 includes a low frequency transceiver 301 attached to the first crane 100 and an active tag 302 attached to the second crane 200.

The remote sensing device 400 includes a high frequency transceiver 401 attached to the first crane 100 and a high frequency module 402 attached to the second crane 200.

Although the near field detection device 300 is unable to detect an area over a predetermined range, the accuracy at a short distance is higher than a long distance. At this time, the near field detection apparatus 300 uses a signal of 100 KHz or less, and can detect in the radio wave area by this signal. Preferably, in this embodiment, a radio wave in the 19 KHz band is used, and the detection area is effectively 10 M or less. The remote sensing device 400 may detect a wide range region (for example, 100M or more), but the distance sensing accuracy is low. At this time, the remote sensing device 400 uses a signal of the GHz band, it is possible to detect in the radio wave detection area by this signal. Preferably, the present embodiment uses radio waves in the 2.4 GHz band. It is effective that the sensing area is 200M or less.

As described above, in the present embodiment, since the short range sensing device 300 and the remote sensing device 400 are placed in the crane collision prevention system, collision prevention between cranes can be effectively performed at low cost. That is, the crane of the far distance can be detected by the remote sensing device 400, the crane of the near distance can be detected by the near field detection device (300).

In addition, the distance and the distance (that is, the sensing distance) between the cranes can be accurately determined through the long range and the near sensing devices 300 and 400, thereby preventing the collision between the cranes in advance. In addition, the use of signals in the 19KHz and 2.4GHz band does not interfere with securing the operator's field of view, and the response of the signal is fast and can be quickly prepared. In addition, collision between multiple cranes can also be prevented.

The near field detection apparatus 300 of the present embodiment does not operate when the first and second cranes 100 and 200 are separated by a predetermined distance (for example, 2 to 20M) or more. However, when the distance between the two cranes is within a certain distance, the near field detection device 300 can be operated to prevent the collision between the two cranes. Here, the predetermined distance corresponds to the propagation region of the first short range sensing signal output from the low frequency transceiver 301.

That is, as shown in FIG. 2, the low frequency transceiver 301 continuously transmits a low frequency transmission signal. As a result, the low frequency transceiver 301 forms a propagation area that is a reach distance of the low frequency transmission signal (a signal of 19 KHz in this embodiment). At this time, when the active tag 302 reaches the boundary of the propagation area as shown in the figure (that is, when a low frequency transmission signal is provided), the active tag 302 is converted into an active state. Of course, if the active tag 302 does not reach the propagation area, the active tag 302 remains in the sleep mode.

The active tag 302 converted to an active state transmits its ID (i.e., a unique number) to the low frequency transceiver 301 by a tag high frequency propagation method (approximately 2.4 GHz radio wave method).

In addition, the low frequency transceiver 301 provides the received ID information to the application server 500 through the network or to the crane 100 operator. The network here uses an Ethernet network. However, the present invention is not limited thereto, and various networks configured by wire or wireless may be used. In addition, the server may provide the ID information to the worker. Through this, the application server 500 and / or the worker may know that some other crane enters the crane within a certain distance range. Through this, the crane operator and the application server 500 as the notification of the entry can control the movement of the crane to prevent the collision between the two cranes. Here, the signal of the low frequency transceiver 301 may be provided to a server or a worker by a switch as shown in FIG.

Here, the low frequency transceiver 301 is a first transceiver 311 for continuously transmitting a low frequency transmission signal as shown in Figure 3, and the ID of the active tag 302 provided by the tag high frequency propagation method from the active tag 302 Receiving a second transceiver 312, a microcontroller unit 313 for processing an active tag 302 ID, and a TCP / IP port for transmitting the processed active tag 302 ID signal to a server ( 314, a serial port 315 for inputting an internal program for controlling the microcontroller unit 313, an I / O port 316, and a power supply unit 317 for supplying power to each unit. In addition, the low frequency transceiver 301 is provided with a power supply and an operation LED unit 318 indicating an operation module (for example, 19 KHz module operation, 2.4 GHz module operation).

A 19 KHz RF transmitter may be used as the first transceiver 311. The first transceiver 311 continuously transmits a low frequency transmission signal (19 KHz) to form a radio wave area of about 2 to 10 m radius. Preferably it is effective to form a 4 to 7 m radius. By forming such a radius, it is possible to inform the server 500 and / or the worker that any one of the first and second cranes 100 and 200 is adjacent. With the above range, the operator can check the working radius of the adjacent crane to prevent the collision. That is, when it is smaller than the said range, it is difficult for the worker to give sufficient time to respond. In addition, when larger than the above range, there is a problem that the mobility of the crane, that is, the rapid movement is limited. The first transceiver 311 is continuously powered from the power supply unit 317 for the continuous signal transmission.

  It is effective to use a 2.4 GHz transceiver as the second transceiver 312. The second transceiver 312 receives the ID signal transmitted in the 2.4 GHz radio wave scheme and provides it to the microcontroller unit.

The active tag 302 corresponding to the low frequency transceiver 301 having the above-described configuration is as follows.

As shown in FIG. 4, the active tag 302 includes a third transceiver 321 for detecting a low frequency transmission signal, a fourth transceiver 322 for transmitting its ID signal through a 2.4 GHz radio wave, and a third transceiver An internal tag controlling the tag microcontroller unit 323 and the tag microcontroller unit 323 which activates the active tag 302 by the detection signal of 321 and provides the tag ID value to the fourth transceiver 322. A tag serial port 324 for inputting a program, a tag I / O port 325, and a tag power supply unit 326 for supplying power to each unit are provided. In addition, the power supply of the active tag 302 and a tag operation LED unit 327 indicating an operation module (for example, 19 KHz module operation, 2.4 GHz module operation) are provided.

Here, a 19 KHz RF transmitter may be used as the third transceiver 321. When the third transceiver 321 receives the low frequency transmission signal (19 KHz), the third transceiver 321 generates a detection signal. Therefore, when the third transceiver 321 mounted on the second crane 200 receives the low frequency transmission signal of the first transceiver 311 mounted on the first crane 200, a detection signal is generated. The sensing signal is provided to the tag micro control unit 323 to activate the active tag 302.

In addition, it is effective to use a 2.4 GHz transceiver as the fourth transceiver 322. The fourth transceiver 322 transmits the tag ID value provided from the tag micro control unit 323 to the low frequency transceiver 301 in a 2.4 GHz radio wave manner.

The following describes a method of operation of the system described above.

5 is a flowchart illustrating a method of operating a crane collision avoidance system according to an embodiment. 6 and 7 are conceptual views illustrating a method of operating a crane collision avoidance system according to an embodiment.

5 to 7, first, in the crane collision prevention system, the short range sensing device 300 and the remote sensing device 400 may operate independently or organically, respectively. Hereinafter, the operation of the short range sensing device 300 will be described. In addition, the remote sensing device 400 includes a high frequency transceiver 401 installed in the first crane 100 and a high frequency module 402 installed in the second crane 200 as shown in FIGS. 6 and 7. . At this time, the high frequency transceiver 401 continuously transmits a high frequency transmission signal. The high frequency module 402 provides its ID to the high frequency transceiver 401 as a high frequency signal according to the high frequency transmission signal. Through this, the far distance between the first crane 100 and the second crane 200 can be confirmed.

The system first determines whether the low frequency transmission signal transmitted from the low frequency transceiver 302 installed in the first crane 100 is applied to the active tag 302 (S110). As a result of determination, when the low frequency transmission signal is not transmitted, the active tag 302 enters the sleep mode or maintains the sleep mode (S120). In this case, as shown in FIG. 6, the remote monitoring mode is executed by the remote monitoring apparatus 400 (S130).

The remote monitoring mode is performed by the remote monitoring apparatus 400. That is, the high frequency transceiver 401 attached to the first crane 100 transmits a high frequency signal. And the high frequency module 402 of the 2nd crane 200 which received this high frequency signal provides the high frequency transceiver 401 with the response signal which responds to this signal, ie, the signal containing its ID information. The high frequency transceiver 401 receiving the response signal transmits the result of the response signal to the application server 500 or the first crane 100 operator through the network. As mentioned above, the remote monitoring apparatus 400 may perform such communication even at a long distance of about 80M or more. Therefore, the remote monitoring mode is continuously performed until the low frequency transmission signal is detected by the second crane 200. Here, in the case of a remote measurement module, a module conforming to the IEEE 802.15.4a standard is applied. In the remote measurement mode, the 2.4GHz module and the transceiver transmit the location information and the ID value of each other to the 2.4GHz band signal through a CSS-based distance measurement method.

When operating in such a remote monitoring mode, it is effective that the speeds of the first and second cranes 100 and 200 are faster than the speeds of the first and second cranes 100 and 200 after detecting the low frequency transmission signal. . In addition, it is possible to move the crane at a speed of about 10 to 30% faster than the moving speed of the conventional first and second crane (100, 200).

As a result of the determination, when the low frequency transmission signal is transmitted, the active tag 302 of the second crane 200 exits the sleep mode and is converted to the active mode. That is, when the first or second cranes 100 and 200 move and the distance between the two cranes approaches, as shown in FIG. 7, the low-frequency transmission signal transmitted from the first crane 100 is transmitted to the second crane 200. ) Is detected, and the active tag 302 of the second crane 200 is activated (S140). In this case, when the active tag 302 is activated, it means that the distance between the first crane 100 and the second crane 200 is close to each other.

The activated active tag 302 transmits its tag ID signal to the low frequency transceiver 301 (S150). At this time, the low frequency transceiver 301 transmits the received tag ID signal to the application server 500 or a worker. That is, the second crane 200 corresponding to the tag ID received by the first crane 100 notifies the first crane 100 operator or the crane manager that the second crane 200 is adjacent to the first crane 100 (S160). Through this, it is possible to prevent the collision between the first and second cranes 100 and 200 by controlling the movement of the first crane 100 moving by the worker.

Of course, even when the active tag 302 is activated, the remote monitoring mode may be continuously performed. At this time, as mentioned above, the remote monitoring device 400, but the location information between the two cranes, but the error range is large. However, due to the activation of the near field monitoring device 300, it is possible to reduce the error range when the two cranes are close.

In addition, in the above description, one first crane and one second crane have been described, but the present invention is not limited thereto and may be applied to a case where a plurality of second cranes is provided. At this time, even when a plurality of second cranes are provided, the second cranes and the first cranes identify positions with each other by a high frequency signal until a low frequency transmission signal is received. However, when some of the plurality of cranes receive the low frequency transmission signal, the near field detection device is activated to accurately check the position between the two cranes in the near field. This can prevent collision between cranes.

In this embodiment, the local system is given priority to notify the worker of a collision risk. That is, for example, when the propagation area in the short-range system is 3m, an alarm is displayed to the operator when the second crane enters the first crane within 3m. And, the distance measurement between the two cranes can be performed by the remote sensing device. Therefore, summarizing the above, the alarm starts to sound from 3m between the two cranes. Of course, even when the distance between the two cranes is 2m, the system will continue to alarm.

1 is a conceptual diagram of a crane collision avoidance system according to an embodiment of the present invention.

2 is a block diagram of a system including a near field sensing apparatus according to an exemplary embodiment.

3 is a block diagram of a low frequency transceiver according to one embodiment.

4 is a block diagram of an active tag according to an embodiment.

5 is a flowchart illustrating a method of operating a crane collision avoidance system according to an embodiment.

6 and 7 are conceptual views for explaining an operating method of the crane collision avoidance system according to an embodiment.

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

100, 200: crane 300: short-range detection device

301: low frequency transceiver 302: active tag

400: remote sensing device 401: high frequency transceiver

402: high frequency module

Claims (14)

delete delete First crane; One second crane working apart from the first crane; And It is installed in the two cranes include a near field detection device and a remote sensing device for detecting the separation distance between the crane, The near field detection device includes a low frequency transceiver installed in the first crane and an active tag installed in the second crane that is activated by receiving a signal of the low frequency transceiver, The low frequency transceiver includes: a first transceiver for continuously transmitting a low frequency transmission signal; A second transceiver for receiving an ID of an active tag provided by a tag high frequency propagation method from the active tag; A microcontroller unit for processing an authorized active tag ID; A TCP / IP port for transmitting the processed active tag ID signal to a server; A port for inputting an internal program for controlling the microcontroller unit; And Crane collision prevention system comprising a power supply for supplying power to each part. The method of claim 3, wherein A 19KHz RF transmitter is used as the first transceiver, and a 2.4GHz transceiver is used as the second transceiver. The method of claim 3, wherein the active tag, A third transceiver for detecting a low frequency transmission signal of the low frequency transceiver; A fourth transceiver for transmitting its ID signal in a high frequency wave method; A tag microcontroller unit activating the active tag by a detection signal of the third transceiver and providing a tag ID value to a fourth transceiver; A tag port for inputting an internal program for controlling the tag microcontroller unit; And Crane collision prevention system comprising a tag power supply for supplying power to each part. The method of claim 5, And a 19 kHz wireless transmitter as the third transceiver and a 2.4 GHz transceiver as the fourth transceiver. The method according to claim 3 or 5, Each of the low frequency transceiver and the active tag further comprises an operation LED unit indicating operation by a high frequency signal and a low frequency signal. The method according to claim 3 or 5, The signal of the 19Khz band is used as the low frequency transmission signal, the signal of the 2.4GHz band is used as the high frequency signal, The propagation region of the low frequency transmission signal is 1 to 10M crane collision prevention system, characterized in that. The method of claim 3, wherein the remote sensing device, And a high frequency transceiver installed at the first crane and transmitting a high frequency signal, and a high frequency module installed at the second crane and transmitting a response signal according to the high frequency signal. The method of claim 3, wherein And the first crane is a barrel crane moving by an operator, and the second crane is a pickup crane moving automatically. In the collision avoidance method of the crane collision avoidance system in which a 1st crane and at least one 2nd crane move mutually, Determining whether a low frequency transmission signal transmitted from the first crane is detected by a tag of the second crane; If the determination result is not detected, operating the tag of the second crane in a dormant mode and executing a remote sensing mode for measuring a distance between the first and second cranes; Activating a tag of the second crane when the determination result is detected; Transmitting an ID signal of a tag of the second crane to the first crane; And And notifying a collision risk of the second crane having the tag ID to an operator of the first crane or a server connected thereto. The method of claim 11, The low frequency transmission signal using a radio wave of the 19KHz band, the remote sensing mode, the collision prevention method of the crane characterized in that the radio wave in the 2.4GHz band is used. The method of claim 11, The propagation region of the low frequency transmission signal is a crane collision prevention method, characterized in that 1 to 10m. delete

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