KR102339320B1 - Automated machine guidance system for crane and method for controlling the same - Google Patents

Abstract

Disclosed are an automated machine guidance system for a crane and a method for controlling the same. According to one embodiment of the present invention, the automated machine guidance system for a crane can comprise: a sensor unit acquiring sensing information including a rotation angle of a jib of the crane, a work distance which is the moving distance of a trolley moving along the jib, and a work height which is the height of a hook placed on a lower side of the trolley; a work space analysis unit considering an obstruction placed in a work space with the crane, and setting an interference prohibition space associated with the crane in the work space; a towed article analysis unit acquiring towed article specification information of a towed article of the hook; and a determination unit calculating the risk of collision between the towed article and the obstruction based on the sensing information, the towed article specification information, and the interference prohibition space. The present invention aims to provide an automated machine guidance system for a crane and a method for controlling the same, which are capable of preventing accidents.

Description

Crane automatic machine guidance system and its control method

The present application relates to a crane automatic machine guidance system and a control method thereof.

Recently, in order to improve work efficiency and maximize work stability for construction equipment used in construction sites, technology development such as monitoring technology for construction equipment and construction equipment visualization system is being actively developed.

Meanwhile, as the overall domestic environment develops, such as the development of domestic construction technology and the urbanization and density of society, as large-scale development projects such as cable bridge construction are planned, the scale of construction sites is gradually increasing, and the construction of offshore cable bridges is increasing. With the advancement of overall construction technology, cranes are almost indispensable at construction sites.

These cranes are a means of lifting and moving heavy materials, and are often deployed in working environments close to structures such as large-scale buildings or cable bridges. It is an essential construction equipment used in various construction sites such as pylon construction, large-scale bridge construction, etc.

In addition, the tower crane operator rotates the tower crane's jib (boom) and mainly performs repetitive tasks of moving the hook up and down, but there are various structures and obstacles inside the site when operating the tower crane. Since it is installed, there is a risk that an accident may occur in which a tower crane collides with a structure under construction, or a rollover accident may occur due to overload work of the crane.

In order to prevent such safety accidents in advance, the need for guidance technology for construction equipment is emerging, which intuitively conveys the current state of the tower crane and the surrounding environment to drivers and workers to support them to perform crane work more safely.

The technology that is the background of the present application is disclosed in Korean Patent Publication No. 10-1863115.

The present application is intended to solve the problems of the prior art described above, and sensing information such as rotation angle, working distance, working height, load, wind speed, etc. collected from a crane located in the working space, and various obstacles existing in the lifting object and the working space An object of the present invention is to provide a crane automatic machine guidance system for monitoring the operation risk of a crane in consideration of water and a control method thereof.

The present application is intended to solve the problems of the prior art described above, and to provide a crane automatic machine guidance system and a control method thereof so that the operator can easily check the movement of the crane and the terrain and structures arranged in the work space do.

However, the technical problems to be achieved by the embodiments of the present application are not limited to the technical problems described above, and other technical problems may exist.

As a technical means for achieving the above technical problem, the crane automatic machine guidance system according to an embodiment of the present application, the rotation angle of the jib of the crane, the working distance that is the movement distance of the trolley moving along the jib, and the trolley A sensor unit for acquiring sensing information including a working height, which is the height of a hook disposed on the lower side, and an interference-free space associated with the crane in consideration of an obstacle disposed in the working space in which the crane is located is set in the working space Based on the workspace analysis unit, the lifting object analysis unit for obtaining the lifting object specification information of the hook, and the sensing information, the lifting object specification information, and the interference prohibition space, the risk of collision of the lifting object and the obstacle is It may include a determination unit that calculates.

Also, in the workspace analysis unit, the interference-free space may be set based on a contour space formed by input of three or more points according to movement of at least one of the trolley and the hook.

In addition, the crane automatic machine guidance system according to an embodiment of the present application superimposes the shape of the crane corresponding to the sensing information, the shape of the obstacle, and the shape of the lifting object on the modeling image of the workspace to visually It may include a display unit for outputting.

In addition, the determination unit calculates the collision risk by comparing the minimum distance between the contour area of the lifted object and the interference-free space based on the lift object specification information obtained from the lift object analysis unit and a preset threshold distance with each other. can

In addition, the crane automatic machine guidance system according to an embodiment of the present application, if the minimum distance is within the threshold distance, it may include a control unit for outputting a warning signal or outputting a blocking control signal for the operation of the crane.

In addition, the threshold distance may include a first threshold distance for outputting the warning signal and a second threshold distance set to a value smaller than the first threshold distance for outputting the blocking control signal.

In addition, the crane automatic machine guidance system according to an embodiment of the present application, a first camera installed with respect to the trolley of the crane to take a first image in a first state viewed in the downward direction of the lifting object lifted by the hook It may include a second camera unit installed with respect to the jib of the crane so as to take a second image in a second state when looking at the lifting object to be lifted by the unit and the hook in an oblique oblique direction.

In addition, the lifting object analyzer may three-dimensionally acquire the lifting object specification information based on the first image and a second image obtained in a different direction from the first image.

On the other hand, in the control method of the crane automatic machine guidance system according to an embodiment of the present application, (a) setting an interference prohibition space associated with the crane in the work space in consideration of the obstacles disposed in the work space where the crane is located (b) obtaining sensing information including a rotation angle of the jib of the crane, a working distance that is a moving distance of a trolley moving along the jib, and a working height that is the height of a hook disposed below the trolley , (c) obtaining the lifting object specification information of the hook of the hook, and (d) calculating the risk of collision of the lifting object and the obstacle based on the sensing information, the lifting object specification information, and the interference prohibition space may include steps.

The above-described problem solving means are merely exemplary, and should not be construed as limiting the present application. In addition to the exemplary embodiments described above, additional embodiments may exist in the drawings and detailed description.

According to the problem solving means of the present application described above, in consideration of the sensing information such as rotation angle, working distance, working height, load, wind speed, etc. collected from the crane located in the working space, and various obstacles existing in the lifting object and the working space, It is possible to provide a crane automatic machine guidance system for monitoring the operation risk of a crane and a control method thereof.

According to the above-described problem solving means of the present application, it is possible to provide a crane automatic machine guidance system and a control method thereof so that the operator can easily check the movement of the crane and the terrain and structures arranged in the work space.

According to the above-described problem solving means of the present application, when the jib (boom) of the crane is turned, when the trolley moves forward and backward, when the hook is moved up and down, it warns of the risk of collision in consideration of interference with obstacles in various crane driving situations, and If necessary, the operation of the crane can be blocked and controlled.

According to the problem solving means of the present application described above, by real-time confirmation of the on-site situation of the lifting object and the work space through a camera disposed with respect to the crane, it is possible to improve the crane operability of the crane operator (operator) and improve work efficiency .

According to the above-described problem solving means of the present application, it is possible to minimize the influence of weather during work by utilizing various kinds of sensing information, and it is possible to effectively prevent a crane-related safety accident due to a collision warning in advance.

However, the effects obtainable herein are not limited to the above-described effects, and other effects may exist.

1 is a schematic configuration diagram of a crane monitoring system including a crane automatic machine guidance system according to an embodiment of the present application.
2 is a conceptual diagram for explaining a detailed structure of a crane.
3 is a conceptual diagram for explaining various sensor modules associated with the sensor unit of the crane automatic machine guidance system according to an embodiment of the present application.
4 is a diagram illustrating a modeling image in which the shape of a crane, an obstacle, a lifting object, etc. are overlapped and displayed and a work space is formed.
5 is a view illustrating a screen for outputting a modeling image and an actual measurement image acquired by a camera unit installed with respect to the crane together by way of example.
6 is a schematic configuration diagram of a crane automatic machine guidance system according to an embodiment of the present application.
7 is an operation flowchart for a control method of a crane automatic machine guidance system according to an embodiment of the present application.

Hereinafter, embodiments of the present application will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art can easily implement them. However, the present application may be implemented in several different forms and is not limited to the embodiments described herein. And in order to clearly explain the present application in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout this specification, when a part is "connected" with another part, it is not only "directly connected" but also "electrically connected" or "indirectly connected" with another element interposed therebetween. "Including cases where

Throughout this specification, when a member is positioned “on”, “on”, “on”, “on”, “under”, “under”, or “under” another member, this means that a member is positioned on the other member. It includes not only the case where they are in contact, but also the case where another member exists between two members.

Throughout this specification, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

For reference, the terms (front, rear, rear end, upper, upward, downward, etc.) related to the direction or position in the description of the embodiment of the present application are described based on the arrangement state of each component shown in the drawings. For example, as viewed in FIG. 2 , the front-rear direction may be from 3 o'clock to 9 o'clock, and the up-down direction may be from 12 o'clock to 6 o'clock. However, this direction setting may vary depending on the arrangement state of the crane in the present application.

The present application relates to a crane automatic machine guidance system and a control method thereof.

1 is a schematic configuration diagram of a crane monitoring system including a crane automatic machine guidance system according to an embodiment of the present application.

Referring to Figure 1, the crane monitoring system 10 according to an embodiment of the present application is a crane automatic machine guidance (Automated Machine Guidance, AMG) system 100 according to an embodiment of the present application provided with respect to the crane (1) (hereinafter referred to as a 'guidance system 100') and a user terminal 200 may be included.

The guidance system 100 and the user terminal 200 may communicate with each other through the network 20 . The network 20 refers to a connection structure in which information exchange is possible between each node, such as terminals and servers, and an example of such a network 20 includes a 3rd Generation Partnership Project (3GPP) network, a long-term LTE (LTE) network. Term Evolution) network, 5G network, WIMAX (World Interoperability for Microwave Access) network, Internet, LAN (Local Area Network), Wireless LAN (Wireless Local Area Network), WAN (Wide Area Network), PAN (Personal Area) Network), a wifi network, a Bluetooth network, a satellite broadcasting network, an analog broadcasting network, a Digital Multimedia Broadcasting (DMB) network, etc. are included, but are not limited thereto. In addition, various sensor modules mounted on the crane 1 to be described later with reference to FIG. 3 may communicate with the guidance system 100 through the network 20 .

The user terminal 200 is, for example, a smartphone (Smartphone), a smart pad (SmartPad), a tablet PC and the like and PCS (Personal Communication System), GSM (Global System for Mobile communication), PDC (Personal Digital Cellular), PHS ( Personal Handyphone System), PDA (Personal Digital Assistant), IMT (International Mobile Telecommunication)-2000, CDMA (Code Division Multiple Access)-2000, W-CDMA (W-Code Division Multiple Access), Wibro (Wireless Broadband Internet) terminals The same may be any type of wireless communication device.

In the description of the embodiment of the present application, the guidance system 100 provides sensing information about the state of the crane 1 according to the driving of the crane 1 and the surrounding environment of the crane 1, information about structures located in the work space, etc. , information on the lifting object to be lifted by the hook on the crane 1 is received through a communication module (not shown) provided at a predetermined position in the crane 1 or the work space, and the crane ( 1) may be a device or a server that monitors the operation and provides the monitoring result to the user terminal 200 or the like. As another example, the guidance system 100 is a configuration to be installed with respect to the crane 1 and acquires sensing information according to the driving of the crane 1 and various information on the work space to monitor the work situation of the crane 1 and to perform the operation of the crane It may be configured to operate to directly control the driving of (1).

2 is a conceptual diagram for explaining a detailed structure of a crane.

Referring to FIG. 2 , the crane 1 may be a tower (type) crane including a mast 11, a jib 12, a trolley 13, and a hook 14 extending in a vertical direction (up and down). . However, the present invention is not limited thereto, and the crane 1 includes a double girder crane, a single girder crane, a crab crane, a gantry crane, and a suspension hoist. Cranes (suspension hoist cranes), monorail cranes (Monorail Crane), etc. can include a wide range of different types of crane equipment.

Specifically, the jib 12 of the crane 1 of FIG. 2 classified as a tower (type) crane can pivot in the radial direction with the mast 11 as an axis. In addition, the jib 12 is divided into a main jib to which the trolley 13 and the hook 14 are attached, and a counter jib provided to maintain the center of gravity with the main jib, the trolley 13 is provided to travel in the front-rear direction along the main jib, so that the crane 1 turns the jib 12 at a predetermined angle with respect to the mast 11 by the operator's operation, and the trolley 13 moves the jib 12 Accordingly, it is possible to move the lifting object hanging on the hook 14 by moving a predetermined distance to a desired target position based on the plane direction of the ground. In addition, by elevating the hook 14 in the vertical direction from the trolley 13, it is possible to move the lifting object to a desired height. Matters related to the operation of the crane 1 are obvious to those skilled in the art, and further detailed description will be omitted.

The guidance system 100 is the rotation angle of the jib 12 of the crane 1 with respect to the mast 11 , the working distance which is the travel distance of the trolley 13 moving along the jib 12 , and the lower side of the trolley 13 . It is possible to obtain sensing information including the working height, which is the height of the hook 14 disposed as . Referring to FIG. 2 for better understanding, the working distance among sensing information may mean a straight-line distance from the mast 11 to the trolley 13 as shown in 1 of FIG. 2 . In addition, the working height among the sensing information may be calculated from the linear distance from the trolley 13 to the hook 14, h of FIG. 2 .

3 is a conceptual diagram for explaining various sensor modules associated with the sensor unit of the crane automatic machine guidance system according to an embodiment of the present application.

Referring to FIG. 3 , the guidance system 100 may acquire sensing information from various sensor modules installed with respect to the crane 1 . More specifically, the sensing information is information related to the driving of the crane 1 , as well as the measurement values for the aforementioned rotation angle, working distance, and working height, as well as wind speed, various positions of the crane 1 (eg, the hook 14 ) may include information on environmental factors of the work space in which the crane 1 is located, such as a load applied to the lifting object, etc.).

More specifically, referring to FIG. 3 , the rotation angle among the sensing information is obtained by a rotation sensor (SLEWING ENCODER) installed with respect to the crane 1, and the working distance is a distance sensor installed with respect to the crane 1 (LENGTH DETECTOR). is obtained by, and the working height is derived from information obtained by a height sensor (HEIGHT DETECTOR) installed for the crane (1), and the load information is obtained by a load cell (Load cell) installed for the crane (1) have.

In addition, referring to FIG. 3 , the crane 1 may be provided with a camera (CAMERA) for photographing real objects such as a work space and a lifting object suspended on the hook 14, and utilizes image information through the camera to utilize the crane An embodiment of monitoring (1) more accurately and visually displaying information related to the work environment of the crane 1 will be described later in detail with reference to FIGS. 4 and 5 .

In addition, the guidance system 100 may set an interference prohibition space associated with the crane 1 in the work space in consideration of the obstacles disposed in the work space where the crane 1 is located.

In addition, the 'workspace' in which the crane 1 is located may mean a site space in which construction, construction, etc. are performed using the crane 1 . For example, the working space when the crane 1 is disposed at the construction site of the cable bridge may be defined as a three-dimensional space directly or indirectly influenced by the crane 1 as a space where the construction of the cable bridge is made.

In addition, 'obstacles' in the present application may broadly include structures, pre-existing obstacles, etc. that already exist in the work space or that can be disposed by the progress of construction. In this regard, the guidance system 100 disclosed herein is such that the structure (eg, the jib 12, the hook 14, etc.) constituting the crane 1 collides with an obstacle or the risk of collision is excessively high. In order to prevent situations such as approaching the obstacle, the information on the obstacle placed in the work space is more accurately identified, It is possible to monitor and control the crane 1 so as not to interfere.

In addition, according to an embodiment of the present application, the interference prohibition space set in consideration of the location, standard, state, etc. of the crane 1 and the obstacles disposed in the work space where the crane 1 is located is two-dimensional based on the ground. can be set negatively. However, the present invention is not limited thereto, and if necessary, the interference-free space may be three-dimensionally set as a three-dimensional space. In particular, in order to determine the risk of collision of the hook 14 in consideration of obstacles during the lowering operation of the hook 14 , it may be required to set a three-dimensional interference-free space as a three-dimensional space.

On the other hand, the work prohibited space in the present application includes, in addition to the area where obstacles are arranged in the work space, a safety requirement area in which the lifting object must not move (eg, an area in which workers, work vehicles, etc. move) can be set to

More specifically, the interference-free space set by the guidance system 100 may be set based on the contour space formed by input of three or more points according to the movement of at least one of the trolley 13 and the hook 14. have.

In this regard, according to an embodiment of the present application, the guidance system 100 closes the hook 14 with respect to at least two reference positions of the outer (outer surface) of the obstacle within a preset distance from each reference position. The contour space of the obstacle can be set by using the acquired sensing information as a point input.

For example, if it is assumed that the obstacle is arranged in the work space in the shape of a polyhedron, the guidance system 100 performs the operation of the crane 1 (specifically, the rotation of the jib 12 , the forward and backward movement of the trolley 13 ) And three-dimensional coordinate information corresponding to the contour space of the obstacle can be obtained from the sensing information obtained in a state in which the hook 14 is brought close to within a preset distance from each vertex of the obstacle through the lifting operation of the hook 14).

However, the present invention is not limited thereto, and the guidance system 100 responds by specifying the contour space of the obstacle on the basis of a point input for selecting a specific position corresponding to the obstacle in the virtual modeling image that shapes the working space. It may be to set an interference-free space to prevent interference or to set an interference-free space in response to the contour space of an obstacle by inputting numerical information on the distance, orientation, etc. of the obstacle based on the area where the crane 1 is located. have.

As described above, the guidance system 100 in the present application prevents the entry of the hook 14 of the crane 1 by setting the contour space corresponding to the obstacle in a more accurate and three-dimensional form using three or more point inputs. It is possible to set the area to be (interference-free space) more reliably.

In addition, the guidance system 100 may obtain the lifting object specification information of the lifting object of the hook 14 . For example, the guidance system 100 may determine the standard information of the lifting object based on image information obtained by the camera in a state in which the lifting object is lifted on the hook 14 .

In this regard, the guidance system 100 is a first installed with respect to the trolley 13 of the crane 1 so as to take a first image in the first state as viewed in the downward direction of the lifting object lifted by the hook 14 It may include a second camera installed with respect to the jib 12 of the crane 1 so as to take a second image in the second state when looking at the lifting object lifted by the camera and the hook 14 in an obliquely oblique direction. In this regard, the guidance system 100 specifies the lifting object reflected on the image data from the image data such as the first image and the second image, and the specification of the lifting object appearing in the image (width, width, boundary, etc.) It can have an artificial intelligence-based analysis algorithm to identify

Illustratively, the AI-based analysis algorithm may include a semantic region segmentation algorithm for classifying an appearance object into a preset class from an input image, but is not limited thereto. It goes without saying that a conventionally developed image analysis algorithm that operates to obtain information about an appearance object from the above or various image analysis tools developed in the future may be applied.

On the other hand, to facilitate understanding, the first camera is provided in the dotted line area on the right shown in FIG. 2 and is installed with respect to the trolley 13, and is arranged to look at the lifting object in the downward direction indicated by 'a' in FIG. can In addition, the second camera is illustratively provided in the left dotted line area shown in FIG. 2 and installed with respect to the jib 12, and may be arranged to look at the lifting object in the oblique inclination direction indicated by 'b' in FIG. The present invention is not limited thereto.

According to an embodiment of the present application, the guidance system 100 may two-dimensionally determine the area, width, width, etc. of the lifted object from the first image obtained while looking at the lifted object in the vertical direction. In addition, according to an embodiment of the present application, the guidance system 100 is installed with respect to the first image and the second image (for example, the jib 12) acquired in a different direction from the first image in an oblique inclination direction. Based on the image taken by the second camera arranged to look at the lifted object, etc.), it is possible to acquire the lifted object standard information three-dimensionally.

In this regard, the guidance system 100 three-dimensionally grasps the specifications for various types of lifting objects that may have an atypical shape based on a plurality of images taken in different directions, thereby prohibiting interference with the lifting objects set in advance It is possible to more accurately grasp the entry or proximity to the space, ultimately effectively reducing the risk of a collision associated with the crane 1 .

In addition, the guidance system 100 may calculate the collision risk of the lifted object and the obstacle based on the sensing information, the lifted object standard information, and the interference-free space.

Specifically, the guidance system 100 may calculate the collision risk by comparing the minimum distance between the contour area of the lifting object and the interference-free space based on the lifting object standard information and a preset threshold distance with each other. In addition, when the guidance system 100 determines that the minimum distance between the contour area of the lifting object and the interference-free space is within the threshold distance, the guidance system 100 outputs a warning signal or drives the crane 1 (specifically, the rotation of the jib 12 ) , it is possible to output a blocking control signal for the forward/backward of the trolley 13 and the lifting/lowering of the hook 14).

In this regard, the threshold distance set for the collision risk calculation of the lifting object and the obstacle is set to a value smaller than the first threshold distance for outputting the warning signal and the first threshold distance, and the second threshold distance for outputting the blocking control signal may include

In addition, in this regard, the first threshold distance and the second threshold distance may be set in response to the previously identified lifting object standard information. For example, in the guidance system 100, the larger the lifting object lifted by the hook 14, the greater the shaking (vibration) width of the lifting object due to the influence of the surrounding environment (wind, precipitation, snowfall, etc.) As the acquired lifting object specification information increases, the critical distance may also be increased.

In addition, according to an embodiment of the present application, the first threshold distance and the second threshold distance may be manually set (input) by a user setting, and in this case, the first threshold distance and the second threshold distance based on the lifting object specification information The range of the threshold distance that can be manually set (input) for each distance may be determined, or the ratio of the first threshold distance and the second threshold distance may be optimized at a predetermined ratio based on the lifting object specification information. .

In addition, according to an embodiment of the present application, the guidance system 100 retains information about the lifting object limit load of the crane 1 and compares the load (current load) and the limit load of the lifting object lifted by the crane 1 Thus, it is possible to calculate the fall risk of the crane 1 . In this regard, the lifting object limit load may be set in consideration of the lifting object specification information. In addition, according to the embodiment of the present application, the lift limit load may be set to a value in steps corresponding to the forward/backward distance (working distance) of the trolley 13 .

In addition, when the difference between the lifting object limit load and the current load of the hook 14 is within a preset threshold, the guidance system 100 outputs a warning signal or drives the crane 1 (specifically, the jib 12 ) rotation, forward/backward of the trolley 13, and lifting/lowering of the hook 14) may output a blocking control signal. In addition, according to an embodiment of the present application, the threshold values for the current load and the limit load are the first threshold value for outputting a warning signal and the blocking control signal similarly to the above-described first threshold distance and second threshold distance. It can be set step by step to be divided into a second threshold value for

4 is a diagram illustrating a modeling image in which the shape of a crane, an obstacle, a lifting object, etc. are overlapped and displayed and a work space is formed.

4, the guidance system 100 is _{the shape of the crane 1 corresponding to the sensing information in the modeling image (I 0} ) in the shape of the workspace (FIG. 4A), the shape of the obstacle (FIG. 4B) ), the shape of the lifting object, etc. can be superimposed and outputted visually. Illustratively, the screen on which the modeling image, the shape of the crane, the shape of the obstacle, the shape of the lifting object, etc. that can be understood through FIG. 4 overlap and are displayed is expressed through the user terminal 200 interlocking with the guidance system 100 . it may be

Here, the overlapping of the shape of the crane 1 corresponding to the sensing information means that the jib 12 of the crane 1 is based on the sensing information obtained (eg, measured in real time) according to the driving of the crane 1, It may mean that an image reflecting the actual movement of the structure constituting the crane 1, such as the trolley 13 and the hook 14, is visually expressed.

In addition, according to an embodiment of the present application, the modeling image (I ₀ ) may be a 3D modeling based on a building information model (Building Information Modeling, BIM), but is not limited thereto, and works according to the embodiment of the present application It may be a 3D model generated based on information measured during construction in space. As another example, the modeling image I ₀ may be an actual image of a workspace obtained through aerial photography, unmanned aerial vehicle (drone) photography, and the like. _{In this regard, the guidance system 100 in the present application visualizes the background area of the modeling image (I 0} ) using a drone survey image, an actual measurement image through a camera, etc., even in a situation with poor visibility such as thick fog or night work The operator can intuitively grasp the on-site situation through the modeling image (I _{0 ).}

In addition, referring to FIG. 4 , the guidance system 100 or the guidance system 100 and the guidance system 100 and the user terminal 200 interworking with the screen for displaying information on the screen displaying information are displayed on the modeling image (I ₀ ) and the actual measurement image ( I ₁ , I _2, etc.) may be displayed by switching and displaying a button, a button for enlarging/reducing an image, and the like (FIG. 4 a). Also, referring to FIG. 4 , an icon indicating a warning signal, a blocking control signal, etc. according to a collision risk calculation result may be displayed on the screen ( FIG. 4 b ). In addition, referring to FIG. 4 , sensing information including wind speed, rotation angle (turn angle), working distance (trolley position), working height (hook height), etc. may be displayed in a numerical form on the screen (Fig. 4 c).

5 is a view illustrating a screen for outputting a modeling image and a measured image acquired by a camera unit installed with respect to the crane together by way of example.

Referring to FIG. 5 , the guidance system 100 may output at least one _{of the first image I 1} and the second image I ₂ together with the _{modeling image I 0 .} In this regard, the guidance system 100 disclosed herein displays the lifted object on the hook 14 in real time so that the operator can determine the state of the lifted object from _{the first image (I 1} ) or the second image (I _{2 ) and} It can help to visually check the situation around the lifting object.

6 is a schematic configuration diagram of a crane automatic machine guidance system according to an embodiment of the present application.

Referring to FIG. 6 , the guidance system 100 includes a sensor unit 110 , a workspace analysis unit 120 , a lifting object analysis unit 130 , a determination unit 140 , a display unit 150 , a control unit 160 and It may include a photographing unit 170 .

The sensor unit 110 includes a rotation angle of the jib 12 of the crane 1 , a working distance that is a moving distance of the trolley 13 moving along the jib 12 , and a hook 14 disposed below the trolley 13 . ), it is possible to obtain sensing information including the working height, which is the height of the .

The work space analysis unit 120 may set an interference-free space associated with the crane 1 in the work space in consideration of the obstacles disposed in the work space where the crane 1 is located.

The lifting object analysis unit 130 may obtain information on the lifting object specification of the lifting object of the hook 14 .

The determination unit 140 may calculate a risk of collision between the lifted object and the obstacle based on the sensing information, the lifted object standard information, and the interference-free space. Specifically, the determination unit 140 determines the minimum distance between the contour area of the lift object based on the lift object standard information obtained by the lift object analysis unit 130 and the interference-free space set by the workspace analysis unit 120 and a preset The collision risk can be calculated by comparing the critical distances with each other.

The display unit 150 may visually output the shape of the crane 1 corresponding to the sensing information, the shape of the obstacle, and the shape of the lifted object by superimposing the modeling image in the shape of the workspace.

If the minimum distance between the contour area of the lifting object and the interference-free space is within a preset threshold distance, the controller 160 may output a warning signal or output a blocking control signal for driving the crane 1 . Here, the threshold distance is set to a value smaller than the first threshold distance and the first threshold distance for the control unit 160 to output a warning signal, and may include a second threshold distance for the control unit 160 to output the blocking control signal. have.

The photographing unit 170 is a first installed with respect to the trolley 13 of the crane 1 so as to photograph _{the first image I 1} in the first state when the lifting object lifted by the hook 14 is viewed in the downward direction. A camera unit 171 may be included. More specifically, the first camera unit 171 is exemplarily provided in the dotted line area on the right side shown in FIG. 2 and installed with respect to the trolley 13, so as to view the lifting object in the downward direction indicated by 'a' in FIG. 2 . can be placed.

In addition, the photographing unit 170 is installed with respect to the jib 12 of the crane 1 to photograph _{the second image I 2} in the second state when the lifting object lifted by the hook 14 is viewed in an oblique oblique direction. A second camera unit 172 may be included. More specifically, the second camera unit 172 is exemplarily provided in the left dotted line area shown in FIG. 2 and is installed with respect to the jib 12, looking at the lifting object in the oblique inclination direction indicated by 'b' in FIG. It can be placed for viewing.

In relation to the first image I ₁ and the second image I ₂ obtained by the photographing unit 170, the display unit 150 displays the first image I ₁ and the second _{image along with the modeling image I 0 .} At least one of the images I ₂ may be displayed (output).

In addition, in relation to the first image (I ₁ ) and the second image (I ₂ ), the lifting object analysis unit 130 is obtained in a different direction from _{the first image (I 1} ) and the first image (I _{1 ).} Based on the second image I ₂ , the lifting object specification information may be obtained three-dimensionally (in other words, three-dimensionally).

Hereinafter, an operation flow of the present application will be briefly reviewed based on the details described above.

7 is an operation flowchart for a control method of a crane automatic machine guidance system according to an embodiment of the present application.

The control method of the crane automatic machine guidance system shown in FIG. 7 may be performed by the guidance system 100 described above. Therefore, even if omitted below, the content described with respect to the guidance system 100 may be equally applied to the description of the control method of the crane automatic machine guidance system.

Referring to FIG. 7 , in step S701, the workspace analysis unit 120 (a) selects an interference-free space associated with the crane 1 in consideration of the obstacles disposed in the workspace in which the crane 1 is located. can be set in

According to an embodiment of the present application, the workspace analysis unit 130 in step S701 is a contour space formed by input of three or more points according to the movement of at least one of the trolley 13 and the hook 14 of the crane 1 . An interference prohibition space may be set based on .

Next, in step S702, the sensor unit 110 (b) the rotation angle of the jib 12 of the crane 1, the working distance that is the movement distance of the trolley 13 moving along the jib 12, and the trolley 13 ), it is possible to obtain sensing information including the working height, which is the height of the hook 14 disposed below.

Next, in step S703, the lifting object analysis unit 130 (c) may obtain the lifting object specification information of the hook 14 .

Next, in step S704, the determination unit 140 determines the risk of collision between the lifted object and the obstacle based on the (d) sensing information, the lifted object standard information, and the interference prohibition space set in the step S701 (in other words, (a) step) can be calculated.

According to an embodiment of the present application, in step S704, the determination unit 140 compares the minimum distance between the contour area of the lifted object and the interference-free space based on the lift standard information obtained in step S703 and a preset threshold distance to collide with each other risk can be calculated.

In addition, if the minimum distance calculated by the determination unit 140 in step S704 is within the threshold distance, the control unit 160 may output a warning signal or output a blocking control signal for the operation of the crane (1).

In the above description, steps S701 to S704 may be further divided into additional steps or combined into fewer steps, according to an embodiment of the present application. In addition, some steps may be omitted if necessary, and the order between the steps may be changed.

The control method of the crane automatic machine guidance system according to an embodiment of the present application may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the present invention, or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floppy disks. - includes magneto-optical media, and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

In addition, the control method of the crane automatic machine guidance system described above may be implemented in the form of a computer program or application executed by a computer stored in a recording medium.

The foregoing description of the present application is for illustration, and those of ordinary skill in the art to which the present application pertains will understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present application. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a dispersed form, and likewise components described as distributed may also be implemented in a combined form.

The scope of the present application is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present application.

10: Crane monitoring system
100: crane automatic machine guidance system
110: sensor unit
120: workspace analysis unit
130: salvage object analysis unit
140: judgment unit
150: display
160: control unit
170: shooting department
200: user terminal
20: network
1: Crane

Claims (8)

In the crane automatic machine guidance system,
a sensor unit for acquiring sensing information including a rotation angle of the jib of the crane, a working distance that is a moving distance of a trolley moving along the jib, and a working height that is a height of a hook disposed below the trolley;
a work space analysis unit for setting an interference prohibition space associated with the crane in the work space in consideration of obstacles disposed in the work space in which the crane is located;
a lifting object analysis unit for obtaining information on a lifting object specification of the lifting object of the hook; and
A determination unit for calculating a collision risk of the lifting object and the obstacle based on the sensing information, the lifting object standard information, and the interference prohibition space;
including,
In the workspace analysis unit,
The interference prohibition space is set based on a contour space formed by input of three or more points according to movement of at least one of the trolley and the hook,
The workspace analysis unit,
Three-dimensional coordinate information corresponding to the contour space by using the sensing information obtained in a state in which the hook is brought close within a preset distance with respect to a reference position corresponding to each of the three or more point inputs among the perimeter of the obstacle as the point input The guidance system to acquire. delete According to claim 1,
A display unit that visually outputs the shape of the crane corresponding to the sensing information, the shape of the obstacle, and the shape of the lifting object by superimposing it on the modeling image in the shape of the workspace;
Which will further include, guidance system. 4. The method of claim 3,
The judging unit,
Calculate the collision risk by comparing the minimum distance between the contour area of the lifting object and the interference prohibition space based on the lifting object standard information obtained from the lifting object analysis unit and a preset critical distance with each other,
If the minimum distance is within the threshold distance, a control unit for outputting a warning signal or outputting a blocking control signal for the operation of the crane,
Which will further include, guidance system. 5. The method of claim 4,
The threshold distance is set to a value smaller than the first threshold distance and the first threshold distance for outputting the warning signal to include a second threshold distance for outputting the blocking control signal, the guidance system. 4. The method of claim 3,
a first camera unit installed with respect to the trolley of the crane to take a first image in a first state when the lifting object lifted by the hook is viewed in a downward direction; and
A second camera unit installed with respect to the jib of the crane to take a second image in a second state when the lifting object lifted by the hook is viewed in an oblique direction;
Which will further include, guidance system. 7. The method of claim 6,
The lifting material analysis unit,
Based on the first image and the second image acquired in a different direction from the first image, the guidance system to three-dimensionally acquire the lifting object specification information. A method for controlling a crane automatic machine guidance system, comprising:
(a) setting an interference prohibition space associated with the crane in the work space in consideration of the obstacles disposed in the work space in which the crane is located;
(b) obtaining sensing information including a rotation angle of the jib of the crane, a working distance that is a moving distance of a trolley moving along the jib, and a working height that is a height of a hook disposed below the trolley;
(c) obtaining information on the size of the lifting object of the hook; and
(d) calculating the risk of collision of the lifting object and the obstacle based on the sensing information, the lifting object standard information, and the interference prohibition space;
including,
In step (a),
The interference prohibition space is set based on a contour space formed by input of three or more points according to movement of at least one of the trolley and the hook,
The step (a) is,
Three-dimensional coordinate information corresponding to the contour space by using the sensing information obtained in a state in which the hook is brought close within a preset distance to a reference position corresponding to each of the input of the three or more points in the perimeter of the obstacle as the point input to obtain, a control method.

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