KR102371088B1 - Method of preventing collision between heavy equipments at industrial site and control system thereof - Google Patents

Abstract

The present invention relates to a method for preventing a collision between pieces of heavy equipment, which can prevent a collision between pieces of heavy equipment and entry thereof to a dangerous area at an industrial site, and a control system therefor. The method comprises: a measurement step in which a first terminal of at least two tower cranes transmits a base absolute coordinate value, which is the position of the center of rotation of a jib; a first calculation step in which a server calculates a center coordinate value, which is the position of the center of the base absolute coordinate value received from the first terminal of the at least two tower cranes and designates a first pixel value, which is a first reference position corresponding to the center coordinate value in the map image on a screen; a second calculation step of identifying a longitude value and a latitude value per pixel of the screen based on the map image, calculating a base pixel value corresponding to the base absolute coordinate value, and displaying a base point on the map image; a tower crane display step of calculating an end jib pixel value based on the specifications of the tower cranes and the base pixel value, and displaying a jib image connected to the base pixel value on the map image; and a third calculation step of calculating the angular difference between the jib image of the tower crane crossing an adjacent tower crane and the current jib image of the tower crane. Therefore, drivers can intuitively grasp the operating position and status of pieces of heavy equipment and actively operate the pieces of heavy equipment to prevent a collision therebetween the pieces of heavy equipment.

Description

A method for preventing collision between heavy equipment in an industrial site and a control system therefor

The present invention relates to a collision prevention method between heavy equipment in an industrial site for controlling the operation of the heavy equipment in order to prevent various accidents of the heavy equipment in the industrial site, and a control system therefor.

Various heavy equipment such as tower cranes (hereinafter referred to as 'tower cranes') that lift materials at industrial sites are the upper part of the jib turning operation, the trolley forward and backward movement, the roughing raising and lowering operation, and the hoist raising and lowering operation. and a mast supporting the upper part. Tower cranes are divided into T-type tower cranes and roughing-type tower cranes according to the operation type of the jib. The luffing type tower crane can turn 360 degrees by lifting the jib if there is a building within the turning radius.

Tower cranes are installed alone or in multiple units at construction and industrial sites, and when maneuvering in an area where the working radius of a specific tower crane and the working radius of another tower crane overlap, there is a risk of colliding between tower cranes. That is, it may collide with the hoist wire of a high tower crane and a jib or counter jib of a low tower crane. There is a risk of collision between the jib and the counter jib. In addition, if there are hazardous structures such as railways, buildings, and transformers within the working radius of the tower crane, there is a risk of collision with hazardous structures while lifting construction materials over the hazardous structures. There is a risk that the jib or counter jib collides with the hoist wire or hook between tower cranes with overlapping turning radii (orbital track) of the jib or counter jib.

When a tower crane collides, the tower crane may overturn or a lifting object may fall due to the impact, resulting in large-scale damage such as personal injury. For this reason, a technology for preventing safety accidents by detecting and monitoring the movement of tower cranes during work, detecting the risk of collision between tower cranes, and automatically alerting the tower crane operator has been disclosed.

The conventional tower crane collision avoidance alarm system detects the distance between the tower crane and the adjacent tower crane or adjacent structure, and when the distance between the two reaches the collision risk distance or the collision risk angle, the moving speed of the tower crane is rapidly reduced. or to stop the movement of the tower crane.

However, abnormal motions such as accelerating or not decelerating sufficiently to the safe speed in the collision direction within the collision hazard distance may occur. Therefore, it was not possible to judge the speed displacement after arrival, and even if deceleration was performed, it could not be confirmed whether the deceleration was below the safety speed set for each tower crane.

In addition, since the driver cannot intuitively grasp the operation state of the jib, the driver has no choice but to control the operation of the tower crane by simply looking at the alarm sound of the conventional anti-collision warning device or a gauge indicating the turning angle of the jib. As a result, since it is impossible for the driver to actively control the operation of the tower crane to prevent collision, the driver has no choice but to rely on the conventional anti-collision warning device.

Prior art document 1. Patent Publication No. 10-2015-0051512 (published on May 13, 2015)

Accordingly, the present invention is to solve the above problem, and a method for preventing a collision between heavy equipment in an industrial site and a method for preventing a collision between heavy equipment in an industrial site that allows a driver to intuitively grasp the operation position and state of the heavy equipment to actively drive the heavy equipment to prevent collision The provision of the control system is a task to be solved.

In order to achieve the above object, the present invention

A measuring step of transmitting, by the first terminal of the heavy equipment, a base absolute coordinate value that is the position of the rotational center of the jib;

The server calculates the center coordinate value that is the center position of the base absolute coordinate value received from the first terminal of the heavy equipment, and designates the first pixel value as the first reference position corresponding to the center coordinate value in the map image of the screen a first calculation step;

a second calculation step of calculating a base pixel value corresponding to a base absolute coordinate value by checking a longitude value and a latitude value per pixel of the screen based on the map image, and displaying a base point on the map image;

a heavy equipment display step of calculating an end jib pixel value based on the specifications of the heavy equipment and the base pixel value and displaying the jib image connected to the base pixel value on the map image; and

a third calculation step of calculating the angular difference between the jib image of the heavy equipment intersecting the adjacent heavy equipment or the designated dangerous area and the current jib image of the heavy equipment;

It is a tower crane collision control method comprising a.

According to the present invention, the driver intuitively grasps the operating position and state of heavy equipment through a monitor in the form of a map image, and notifies the driver of the risk of collision in advance so that he can actively drive the heavy equipment while paying attention to the collision. It works.

1 is a block diagram showing an embodiment of a control system according to the present invention,
2 is a plan view schematically showing one configuration of a tower crane installed with a control system according to the present invention;
3 is a flowchart illustrating an embodiment of a control method according to the present invention;
4 is a view showing the absolute coordinates of each point of the tower crane,
5 is a view in which the control system according to the present invention converts the absolute coordinates shown in FIG. 4 into relative coordinates and displays them on a map image;
6 is a view showing the control system according to the present invention on a map image by calculating the position of the tower crane,
7 is a view showing the difference in the turning angle of the control system according to the present invention of the tower crane jib,
8 is a view showing the jib collision range with the adjacent tower crane of the control system according to the present invention.

The terms used in the embodiments are selected as currently widely used general terms as possible while considering the functions in the present invention, but may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, and the like. In addition, in a specific case, there is a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the corresponding invention. Therefore, the term used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, rather than the name of a simple term.

In the entire specification, when a part “includes” a certain element, it means that other elements may be further included, rather than excluding other elements, unless otherwise stated. In addition, the “… wealth", "… The term “module” means a unit that processes at least one function or operation, which may be implemented as hardware or software, or a combination of hardware and software.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art can easily carry out the embodiments of the present invention. However, the present invention may be implemented in several different forms and is not limited to the embodiments described herein.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram illustrating an embodiment of a control system according to the present invention, and FIG. 2 is a plan view schematically illustrating a configuration of a tower crane in which a control system according to the present invention is installed.

1 and 2, the control system according to the present invention warns the driver of heavy equipment in operation whether a collision with other heavy equipment is possible and enters a dangerous area, and outputs a map image as a graphic control device (100, 100', 100"; hereinafter 100) and a server 20 that calculates result information by calculating the data received from the control device 100 according to a setting process and generates it graphically as a map image. Here, the control system operates to prevent collisions between two or more heavy equipment, as well as to prevent accidents in which one heavy equipment enters a hazardous area and collides. There will be no restrictions on the type, and a tower crane will be used as an example in the following embodiment, For reference, the hazardous area is an arbitrary section designated within an industrial site, and the range is defined as an absolute coordinate-based boundary.

The control device 100 includes a first terminal 110 that measures and transmits GPS coordinates (hereinafter, 'base absolute coordinate value'; TB1) of the rotation center of the jib 32, and a trolley moving along the jib 32 The second terminal 120 that measures and transmits the GPS coordinates of (33) (hereinafter, 'rover absolute coordinate value'; TR1), and the third terminal 130 that outputs the result information and map image received from the server 20 ) is composed of When describing each configuration of the control device 100 in more detail, the first terminal 110 has the RTK base 111 for measuring the base absolute coordinate value TB1 is the mast of the tower crane 30 (not shown). ) or mounted on the cab 31 installed on the mast, and constitutes the communication device 112 for wired or wireless transmission of the base absolute coordinate value TB1. The second terminal 120 is equipped with an RTK rover 121 for measuring the rover absolute coordinate value TR1 is mounted on the trolley 33, and a communication device 122 for wired or wireless transmission of the rover absolute coordinate value TR1. make up The third terminal 130 includes a monitor 131 that receives and outputs result information and a map image from the server 20, an alarm device 132 that outputs lights or a warning sound when receiving an alarm signal, and a server 20 ) configures the communication device 133 for receiving the result information and the map image. Communication between the first terminal 110 , the second terminal 120 , and the third terminal 130 may be performed individually with the server 20 , and the first terminal 110 , the second terminal 120 , and the third terminal Any one or more terminals among the terminals 130 may communicate with the server 20 as a gate.

In addition, the RTK base 111 and the RTK rover 121 can mutually correct the measured absolute coordinates, and transmit the mutually corrected absolute coordinates to the server 20 .

The server 20 calculates result information by calculating the absolute base coordinates TB1 and the rover absolute coordinates TR1 received from the control device 100 , and generates a map image. To this end, the server 20 includes a communication module 21 that receives the base absolute coordinates TB1 and the rover absolute coordinates TR1 and transmits result information and map image, and the base absolute coordinates TB1 and the rover absolute coordinates ( Identification module 22 that identifies and classifies the identification code of the tower crane 30 linked to TR1), and calculates the base absolute coordinate (TB1) and the rover absolute coordinate (TR1) according to the setting process to calculate the result information The angle that is the result information calculated through the point calculation module 23, the graphic module 24 for generating a map image according to the result information, and the position of the jib 32 of the tower crane 30 through the result information It is composed of an alarm module 25 that generates and transmits an alarm signal when the difference is within a specified range.

On the other hand, the tower crane 30 is, in addition to the jib section (JL) equipped with the jib (32) in which the trolley 33 moves, the counter jib (34) opposite to the mast to balance the weight with the jib section (JL) and A counter section (CL) with a counterweight (35) constitutes. Since the counter section CL protrudes from the mast like the jib section JL, it may physically affect the driving of the adjacent tower crane. Therefore, in the result information calculated by the control device 100 according to the present invention, the position of the end jib EJ1 that is the shortest point of the jib section JL, and the end counter CJ1 that is the shortest point of the counter section CL location may also be included. The technology for calculating result information based on the base absolute coordinates TB1 and the rover absolute coordinates TR1 will be described in more detail in the description of the tower crane collision control method.

3 is a flowchart illustrating an embodiment of a control method according to the present invention, FIG. 4 is a diagram showing the absolute coordinates for each point of the tower crane, and FIG. 5 is a control system according to the present invention shown in FIG. It is a diagram displayed on a map image by converting the absolute coordinates into relative coordinates, and FIG. 6 is a diagram showing the map image after the control system according to the present invention calculates the position of the tower crane.

1 to 6, in the control method according to the present invention, the base absolute coordinate value TB1 of the first terminal 110 of the heavy equipment 30 (hereinafter, 'tower crane') is the rotation center position of the jib 32 ) measuring step of sending (S11); The server 20 calculates the center coordinate value C, which is the center position of the base absolute coordinate values TB1, TB2, TB3, received from the first terminal 110 of the tower crane 30, and the screen W a first calculation step (S12) of designating a first pixel value FC that is a first reference position corresponding to the center coordinate value C in the map image W1; Calculate the base pixel values (FTB1, FTB2, FTB3) corresponding to the base absolute coordinate values (TB1, TB2, TB3) by checking the longitude and latitude values per pixel on the screen based on the map image (W1), and map a second calculation step (S13) of displaying the base point on the image (W1); Based on the specifications of the tower crane 30 and the base pixel values (FTB1, FTB2, FTB3), the end jib pixel values (FEJ1, FEJ2, FEJ3) are calculated, and the base pixel values (FTB1, FTB2, FTB3) are connected to the jib image ( TC11, TC21, TC31) on the map image (W1) to display the heavy equipment display step (S14); The third calculation step of calculating the angular difference between the jib image TC11 of the tower crane 30 that intersects the adjacent tower crane TC30' or a designated dangerous area and the current jib image TC11 of the corresponding tower crane 30 (S15); includes.

The control method according to the present invention will be described in more detail.

S11; measurement stage

The RTK base 111 mounted at the rotation center position of the jib 32 measures the base absolute coordinate value TB1, which is the GPS absolute coordinate of the position, and transmits it to the server 20 using the communication device 112 . In addition, the RTK rover 121 mounted on the trolley 33 moving along the jib 32 measures the rover absolute coordinate value TR1, which is the GPS absolute coordinate of the location, and utilizes the communication device 122 to provide a server (20) is sent. A hazardous area may exist in the vicinity of the tower train 30 on which the RTK base 111 and the RTK rover 121 are mounted, or adjacent tower cranes 30", 30" may be disposed. In this embodiment, three tower cranes (30, 30', 30") are arranged nearby, and the three tower cranes 30, 30', 30" are the base absolute coordinate values (TB1, TB2, TB3) and The rover absolute coordinate values TR1, TR2, TR3 are transmitted to the server 20. Hereinafter, the relationship with respect to the three tower cranes 30, 30', 30" will be described with reference to the corresponding embodiment.

S12; 1st calculation step

The communication module 21 of the server 20 includes the base absolute coordinate values TB1, TB2, TB3 and the rover absolute coordinates from the first terminal 110 of at least two tower cranes 30, 30', 30". Receive values TR1, TR2, TR3, and receive identification codes for identification of tower cranes 30, 30', 30". The identification module 22 reads the identification code and classifies the base absolute coordinate values (TB1, TB2, TB3) and the rover absolute coordinate values (TR1, TR2, TR3) for each tower crane (30, 30', 30") The point calculation module 23 calculates the base absolute coordinate values (TB1, TB2, TB3) for each tower crane (30, 30', 30") according to the setting process to calculate the center coordinate value (C), which is the center position . The setting process adds the X value and Y value of the base absolute coordinate values (TB1, TB2, TB3), respectively, and divides it by the number of tower cranes (30, 30', 30") to obtain the absolute coordinate center coordinate value (C) For reference, if there is one tower crane 30, the base absolute coordinate value TB1 of the corresponding tower crane 30 is the center coordinate value C, and there is no fixed crane such as the tower crane 30 If only heavy equipment such as a mobile crane exists, the coordinate value of any point in the site is set as the center coordinate value (C).

Subsequently, the graphic module 24 generates a map image W1 of the screen W and transmits it to the control device 100, and the point calculation module 23 generates a center coordinate value C from the map image W1. A first pixel value FC, which is a first reference position corresponding to , is designated. The first pixel value FC at the first reference position is a pixel at a specific position on the screen on which the map image W1 is output, and in this embodiment, the first pixel value FC is the screen ( W) It is the position value of the pixel located at the center. For reference, since the pixel is a module that is configured on the screen W for image output, an arbitrary position value is set for each component pixel during the screen W production process. Since the position of each pixel is a relative coordinate determined by the manufacturer, the pixel position value of the center of the screen W may be designated as (0, 0), or the pixel position value of one corner may be designated as (0, 0). Based on the position value of the screen (W) pixel designated in this way, in this embodiment, the point operation module 23 calculates the position value of the pixel located in the center of the screen W of the map image W1 as the first pixel value FC. designate as

Meanwhile, the point calculation module 23 designates the second pixel values FCP1 and FCP2 which are the second reference positions of the corners of the map image W1 . In this embodiment, the second reference position is designated as the upper left and lower right of the map image W1. Since the position values of pixels on the screen W have already been determined according to the resolution, the pixel position values of the upper left and lower right corners of the screen W are designated as second pixel values FCP1 and FCP2.

S13; 2nd calculation step

The point calculation module 23 checks the longitude value and latitude value per pixel of the screen W on the basis of the map image W1, and the base pixel value FTB1 corresponding to the base absolute coordinate values TB1, TB2, TB3. , FTB2, FTB3) are calculated. For the known map image W1, a longitude value and a latitude value (Per Pixel; PP) per pixel are calculated according to the resolution of the screen W based on a parallel multiplier algorithm.

Base pixels corresponding to the base absolute coordinate values (TB1, TB2, TB3) for each tower crane (30, 30', 30") based on the longitude value and latitude value (PP) per pixel of the screen (W) calculated in this way The values FTB1, FTB2, and FTB3 are calculated, and the graphic module 24 displays the base point at the positions of the pixel values FTB1, FTB2, and FTB3 in the map image W1.

In this embodiment, in order to calculate the base pixel values FTB1, FTB2, FTB3 on the screen W having a resolution of 1920×1080, the point calculation module 23 is configured to calculate the second pixel values FCP1, FCP2 of the second reference position. ), the corner coordinate value corresponding to the absolute coordinate value is calculated through the conversion formula of [Equation 1].

ROX: X-axis corner coordinate value of upper left corner, PP: Longitude value and latitude value per pixel

CX: X-axis center coordinate value, ROY: Upper left Y-axis corner coordinate value

CY: Y-axis center coordinate value, LUX: Lower-right X-axis corner coordinate value

LUY: Lower right Y-axis corner coordinate value

Subsequently, the point calculation module 23 calculates the upper left corner coordinate value (input_min), the lower right corner coordinate value (input_max), the upper left second pixel value (FCP1, output_min), and the lower right second pixel value ( FCP2, output_max), the base pixel values (FTB1, FTB2, FTB3) of the base absolute coordinate values (TB1, TB2, TB3) through the conversion formula of [Equation 2] and the rover absolute coordinate values (TR1, TR2, TR3) Calculate the rover pixel values (FTR1, FTR2, FTR3) of

Here, RTK is the base pixel value (FTB1, FTB2, FTB3) or the rover pixel value (FTR1, FTR2, FTR3), and the second pixel value (FCP1, output_min) in the upper left is the starting point of the relative coordinates of the map image (W1). It is designated as (0, 0), and the second pixel value (FCP2, output_max) at the lower right is (L1, L2) by designating the end point of the relative coordinates of the map image W1.

The regular embodiment of [Equation 2] calculates the RTK based on the ratio between the absolute coordinate value and the relative coordinate value, but in another embodiment of [Equation 2], the ratio between the absolute coordinate value and the length of the screen W RTK is calculated based on In the other embodiment, 'output_min' is the origin of the length of the screen W, 'output_max' is the end point of the length of the screen W, and 'L1' is the X-axis length from the origin to the end point, and 'L2' is Y-axis length from the origin to the end point.

Through the above calculation, the point calculation module 23 calculates the base pixel values FTB1, FTB2, FTB3 and the rover pixel values FTR1, FTR2, FTR3, and the graphic module 24 shows the map image W1 in FIG. Mark the base point as

S14; Heavy Equipment Display Stage

The point calculation module 23 calculates the end-jib pixel values (FEJ1, FEJ2, FEJ3) based on the specifications of the tower cranes 30, 30', 30" and the base pixel values FTB1, FTB2, FTB3. More specifically, the point calculation module 23 stores the dimensions of the tower cranes 30, 30', 30", that is, the lengths of the jib 32 and the counter jib 34 measured on site, and the length is used to calculate the length per pixel. After all, the point calculation module 23 corresponds to the length per pixel of the screen W in the tower crane images TC1, TC2, TC3 to the jib images TC11, TC21 corresponding to the length of the jib 32 of the tower crane 30 , TC31) is calculated, and the graphic module 24 displays the lengths of the jib images TC11, TC21, and TC31 on the map image W1. In addition, the point calculation module 23 calculates the coordinate value of the end jib (EJ1), which is the shortest point of the jib (32) according to the length of the jib (32), and corresponds to the coordinate value of the end jib (EJ1, EJ2, EJ3) calculates the end jib pixel values FEJ1, FEJ2, FEJ3, and the graphic module 24 connects the end jib pixel values FEJ1, FEJ2, FEJ3 and the base pixel values FTB1, FTB2, FTB3 to the jib image TC11 , TC21, TC31).

The point calculation module 23 reinforces the rover pixel values FTR1, FTR2, and FTR3 for calculating the end-jib pixel values FEJ1, FEJ2, and FEJ3 so that the display direction of the jib images TC11, TC21, TC31 is taken. . Accordingly, the point calculation module 23 checks the specifications of the tower cranes 30, 30', 30", the rover pixel values (FTR1, FTR2, FTR3) and the base pixel values (FTB1, FTB2, FTB3), and the graphic module 24 ) is the base pixel value (FTB1, FTB2, FTB3) as the starting point, and the jib image (TC11, TC21, TC31) passing through the rover pixel values (FTR1, FTR2, FTR3) is displayed with the corresponding length.

In addition, the point calculation module 23 calculates the end counter pixel values (FCJ1, FCJ2, FCJ3) based on the length of the counter jib 34 and the base pixel values (FTB1, FTB2, FTB3) among the specifications of the tower crane to calculate the base The counter images TC12, TC22, TC32 connected to the pixel values FTB1, FTB2, FTB3 are displayed on the map image W1. Length of counter image (TC12, TC22, TC32) and end counter pixel value (FCJ1, FCJ2, FCJ3) calculation process is based on the length of jib image (TC11, TC21, TC31) and end jib pixel value (FEJ1, FEJ2, FEJ3) Since it is the same as the calculation process of , an additional description will be omitted.

7 is a view showing the difference in the turning angle of the control system according to the present invention of the tower crane jib.

It will be described with reference to FIGS. 1 to 7 .

S15; 3rd Calculation Step

The point calculation module 23 is the angular difference θ between the jib image TC11 of the tower crane 30" intersecting the adjacent tower crane TC30' and the current jib image TC31 of the corresponding tower crane 30". ) is calculated. 7, when the jib 32 of the tower crane 30" rotates at an arbitrary angle, the jib image TC31 displayed on the map image W1 is also calculated by the point calculation module 23 and graphics The angle is rotated through the image processing of the module 24. Accordingly, the current end-jib pixel value FEJ3 of the jib image TC31 is changed to a new end-jib pixel value FEJ3'.

With reference to this change, the point calculation module 23 calculates the X-coordinate of the expected end jib (EJ1) position when the jib 32 rotates at an arbitrary angle θ, and the absolute coordinate of the base of the tower crane 30 " Calculate the difference between the product of the length of the jib 32 and the COS (θ radian) product from the X coordinate of the value TB3, and the Y coordinate of the expected end jib (EJ1) position is the base absolute coordinate value of the tower crane 30" It is calculated as the difference between the length of the jib 32 and the product of SIN(θ radians) at the Y coordinate of (TB3). For reference, the arbitrary angle θ corresponds to an angle difference in effect since the jib 32 is rotated from the current position. For reference, the radian of 'θ' is calculated as B/A.

Using the above-described conversion formula, the point calculation module 23 can calculate the coordinate value of the expected end jib (EJ1) position by inputting an arbitrary angle θ, and input the coordinate value of the end jib (EJ1) position to It is also possible to calculate the angular difference θ of the jib 32 . In addition, the point calculation module 23 can calculate the expected end jib pixel values FEJ1, FEJ2, FEJ3 by inputting an arbitrary angle θ from the map image W1 by using the above conversion formula, and end jib ( The angle difference θ of the jib images TC11, TC21, and TC31 may be calculated by inputting the end jib pixel values FEJ1, FEJ2, FEJ3 instead of the coordinate value of the position EJ1).

S16; Collision check between jibs

The point calculation module 23 calculates the end jib (EJ1) position coordinate value or end jib pixel value (FEJ1, FEJ2) of each of the tower crane 30 and the adjacent tower crane 30' as shown in FIG. 7 to calculate the corresponding jib ( 32), check whether there is a collision. To this end, data between the tower crane 30 and the adjacent tower crane 30' is calculated as shown in Equation 3 below.

point_a1 : Base absolute coordinate value or base pixel value of the corresponding tower crane

point_a2: the coordinate value of the expected end jib position of the tower crane or the end jib pixel value

point_b1 : Base absolute coordinate value or base pixel value of the adjacent tower crane

point_b2 : Coordinate value or end jib pixel value of the expected end jib position of the adjacent tower crane

The point calculation module 23 uses [Equation 3] as a conversion formula, and the base pixel value FTB1 and the end-jib pixel value FEJ1 of the corresponding tower crane 30, and the base pixel value of the adjacent tower crane 30' (FTB2) and the end jib pixel value (FEJ2) are calculated and the result value is compared, or the coordinate value of the base absolute coordinate value (TB1) and the end jib (EJ1) position of the tower crane 30, and the adjacent tower crane 30 ') calculates the base absolute coordinate value (TB2) and the coordinate value of the end jib position and compares the result value to check whether the jib 32 of the tower crane 30 collides. Here, the result value is regarded as a collision when the point operation module 23 calculates [Equation 3] and the product of 'Formula 1' and 'Formula 2' is less than '0', and is equal to '0' or '0' If it is greater than ', it is considered not to be a collision.

As a result of checking the result, if it is confirmed that the corresponding tower crane 30 collides with the adjacent tower crane 30', the point calculation module 23 determines the position of the jib 32 of the corresponding tower crane 30 and the current The angular difference θ between the jib positions 32 is calculated. The angle difference (θ) is made through the above-described conversion equation.

As a result, the point calculation module 23 predicts that the jib 32 of the corresponding tower crane 30 will collide with the adjacent tower crane 30' when the jib 32 of the corresponding tower crane 30 rotates by the angle difference θ through the calculation of the angle difference θ. .

8 is a view showing the jib collision range with the adjacent tower crane of the control system according to the present invention.

1 to 3 and 8, in the collision confirmation step (S16), the point operation module 23 of the server 20 converts the end jib pixel value FEJ1 of the tower crane 30 to the adjacent tower crane 30 ') By calculating with the specifications of the jib 32, it is checked whether the jib 32 of the tower crane 30 is within the collision range Z with the adjacent tower crane 30'.

x, y: end jib coordinates of the tower crane

center_x, center_y : Base absolute coordinates of adjacent tower cranes

radius : jib length of adjacent tower crane

The point calculation module 23 calculates [Equation 4] to calculate 'Formula_1' and 'Formula_2'. As a result of the calculation, when 'Formula_1' is smaller than 'Formula_2', it is confirmed that the jib 32 of the corresponding tower crane 30 is within the jib radius of the adjacent tower crane 30'. That is, the jib 32 of the corresponding tower crane 30 is located within the collision range Z in contact with the adjacent tower crane 30 ′ as shown in FIG. 8 . Therefore, it can be predicted that the jib 32 will enter the collision range Z by further rotating the designated angle from the current position of the jib 32 of the tower crane 30 . For reference, the square of 'D' is 'Formula_1'.

S17; alarm stage

On the other hand, the server 20 of the control system according to the present invention generates an alarm signal when the angle difference, which is the result information calculated by the point calculation module 23 calculating the position of the tower crane 30 and the jib 32, is within a specified range. It further includes an alarm module 25 for sending. The alarm module 25 notifies the driver of the tower cranes 30, 30', 30" of the possibility of a collision with an adjacent tower crane in advance. It is checked whether the angle difference θ is within the specified range. The specified range can be adjusted according to the working environment, etc., and is set to 30 degrees in this embodiment. Therefore, the tower crane 30 is 30 degrees forward of the jib 32 If it is confirmed that the jib of the adjacent tower crane 30' is located in the (25) generates and transmits an alarm signal.In addition, when the alarm signal is generated, the graphic module 24 displays the corresponding map image W1 to intuitively check the collision range Z. In addition, the graphic module 24 ) may display the map image W1 in various ways so that the driver recognizes and pays attention to the risk of collision of the tower crane 30 on which the driver is boarded.

The map image W1 produced in this way is transmitted to the third terminal 130 of the control device 100 , and the monitor 131 of the third terminal 130 displays the map image W1 received from the server 20 . output

A person of ordinary skill in the art related to this embodiment will understand that it may be implemented in a modified form within a range that does not deviate from the essential characteristics of the above description. Therefore, the disclosed methods are to be considered in an illustrative rather than a restrictive sense. The scope of the present invention is indicated in the claims rather than the foregoing description, and all differences within the scope equivalent thereto should be construed as being included in the present invention.

20; server 30; tower crane 31; cab
32; jib 33; trolley 34; counter jib
35; Counterweight 100, 100', 100"; control system
110; first terminal 120; second terminal 130; 3rd terminal
C; center coordinate value CL; counter interval FC; first pixel value
FCJ; end count pixel value FEJ; end jib pixel value
FTB; base pixel value FTR; rover pixel value TC1; tower crane images
TC11; jib image W; screen W1; map image
Z; collision range

Claims (10)

A measuring step of transmitting, by the first terminal of the heavy equipment, a base absolute coordinate value that is the position of the rotational center of the jib, and a second terminal of the heavy equipment, transmitting an absolute coordinate value of the rover, which is the position of the trolley;
The server calculates the center coordinate value that is the center position of the base absolute coordinate value received from the first terminal of the heavy equipment, and designates the first pixel value that is the first reference position corresponding to the center coordinate value in the map image of the screen a first calculation step;
Based on the map image, the longitude value and latitude value per pixel of the screen are checked to calculate the base pixel value corresponding to the base absolute coordinate value, the base point is displayed on the map image, and the screen is based on the map image a second calculation step of calculating the rover pixel value corresponding to the rover absolute coordinate value by checking the longitude value and latitude value per pixel of , and displaying the rover point on the screen of the map image;
The end jib pixel value is calculated based on the specifications of the heavy equipment and the base pixel value, the jib image connected with the base pixel value is displayed on the map image, the rover pixel value is reinforced for calculating the end jib pixel value, and the a heavy equipment display step of calculating the end counter pixel value based on the specification and the base pixel value and displaying the counter image connected to the base pixel value on the map image;
a third calculation step of calculating the angular difference between the jib image of the heavy equipment intersecting the adjacent heavy equipment or the designated dangerous area and the current jib image of the heavy equipment; and
The server calculates the coordinate value or the end jib pixel value of the end jib position of the heavy equipment and the adjacent heavy equipment to check whether the corresponding jib collides, but the coordinate value of the end jib position is determined by the server according to the hardness per pixel of the screen Let it be the absolute coordinate value of the end jib pixel value calculated by calculating the value and latitude value and the base pixel value, and the server calculates the end jib pixel value of the heavy equipment with the jib specification of the adjacent heavy equipment, A collision prevention method between heavy equipment in an industrial site, comprising: a collision check step of checking whether or not it is within the collision range of delete The method of claim 1,
In the first calculation step, the first pixel value is a pixel position of the center of the screen of the map image, and designating a second pixel value that is a second reference position of a corner of the map image; How to prevent inter-collision. 4. The method of claim 3,
In the second calculation step, a corner coordinate value that is an absolute coordinate value of a second reference position is calculated by calculating a first pixel value and a longitude value and latitude value per pixel of the screen, and a corner coordinate value of the corner of the map image And calculating the base pixel value by calculating the second pixel value; Collision prevention method between heavy equipment in the industrial site, characterized in that. delete delete The method of claim 1,
In the collision confirmation step, in order to check whether the heavy equipment and the jib collide with each of the adjacent heavy equipment, the base pixel value and the end jib pixel value of the heavy equipment, and the base pixel value and the end jib pixel value of the adjacent heavy equipment are calculated, and the result By comparing the values or calculating the coordinate values of the base absolute coordinate value and the end jib position of the heavy equipment, and the base absolute coordinate value and the end jib position of the adjacent heavy equipment, and comparing the result value, the jib of the heavy equipment A method for preventing collision between heavy equipment in an industrial site, characterized in that; checking whether there is a collision, and checking an angle difference with the collided jib. delete delete The method of claim 1,
The method of preventing collision between heavy equipment in an industrial site, characterized in that the method further comprises: an alarm step in which the server sends an alarm signal if the angle difference at which the jib collision of the heavy equipment and the adjacent heavy equipment is confirmed in the collision confirmation step is within a specified range.

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