KR102499985B1 - Safety system for Accident prevention with Camera - Google Patents

Abstract

The present invention relates to a crane safety management system using a camera. According to the present invention, the crane safety management system using a camera comprises: an image information acquisition unit for acquiring crane image information through a camera; a wire information identification unit for grasping the shaking state of a wire through the image acquired by the image information acquisition unit; and a shake reduction unit which reduces wire shaking by controlling the movement of a crane based on the information identified by the wire information identification unit.

Description

Crane safety management system using camera {Safety system for Accident prevention with Camera}

The present invention relates to a crane safety management system using a camera capable of assisting to increase work efficiency by reducing shaking of a wire and to ensure that field work is performed safely.

In general, a crane plays a role in moving an object to a desired position, and is a machine or mechanical device that transports horizontally using power. It performs operations such as hoisting, hoisting and hoisting and horizontal movement to move, traversing, etc. And these motions are combined with each other to handle the load in the 3D space.

These cranes are widely used in the process of loading or shipping products at industrial sites.

When working with a crane, the wire and the hook coupled to the wire shake due to changes in the acceleration of the crane, vibration of the crane, draft, etc. This problem not only reduces work efficiency but also causes safety accidents. there is

In detail, if the wire and hook are shaken, not only can the object coupled to the hook be separated from the hook, but also the shaking object can collide with a person and cause an accident. There was a problem that increased the risk of safety accidents.

Therefore, there is a need to develop a technology capable of minimizing shaking of the wire and the hook.

Korea Patent No. 10-1937085, Tower Crane Accident Prevention Safety Management Integrated Monitoring System, Publication Date (2019.01.03.) Korean Patent Publication No. 10-2019-0002153, ANTI-SNAG & SWAY control system of crane hook, publication date (2019.01.08.) Korean Patent Publication No. 10-2019-0094549, automatic control system for positioning and shaking of container cranes (2019.08.14.) US 2021/0197970A1, Hoist System and Process for Sway Control, publication date (2021.07.01.)

The present invention has been devised to solve the above problems, and an object of the present invention is to acquire reliable image information using a camera, and after using this image information to determine the shaking state of the wire and hook, the trolley To provide a crane safety management system using a camera capable of minimizing shaking of wires and hooks through movement control of the.

A crane safety management system using a camera according to the present invention to achieve the above object includes an image information acquisition unit 100 for obtaining crane image information through a camera; a wire information grasping unit 200 that grasps a shaking state of the wire through the image acquired by the image information obtaining unit 100; and a shaking reduction unit 300 that reduces shaking of the wire by controlling the motion of the crane based on the information identified by the wire information determination unit 200, wherein the wire information determination unit 200 determines the angle of the wire. It includes an angle information grasping unit 210 for grasping and an acceleration information grasping unit 220 for grasping the shaking acceleration of the wire, and the shake reduction unit 300 controls the moving motor of the trolley to reduce the first shake. The control unit 310, the second shake reduction control unit 320 for adjusting the wire motor of the trolley, and the wire angle and shaking acceleration information of the wire identified by the wire information grasping unit 200 determine a plurality of wire states. Operation of the shake state classification unit 330 classifying into two levels, and the first shake reduction controller 310 and the second shake reduction controller 320 corresponding to the levels classified by the shake state classifier 330 and a shaking reduction method determining unit 340 for determining the wire state level classification in the shaking state classifying unit 330 into normal level, low risk level, medium risk level, and high risk level according to the degree of shaking. The shake reduction method determination unit 340 operates the second shake reduction control unit 320 when classified as a low risk level by the shake state classifying unit 330, and when classified as a medium risk level, the shaking reduction method determining unit 340 operates the shaking reduction method. 1 activating the shake reduction control unit 310, and simultaneously operating the first shake reduction control unit 310 and the second shake reduction control unit 320 when classified as a high risk level.

a wire motion radius determination unit 400 for determining a motion radius of the wire based on the shaking state of the wire identified by the wire information determination unit 200; A danger zone display unit 500 for setting the movement radius of the wire identified by the wire movement radius determination unit 400 as a danger zone and displaying the set danger zone; It is characterized in that it includes.

It characterized in that it includes; danger notification unit 600 for notifying the danger when a person is located inside the danger area indicated by the danger area display unit 500.

It is characterized in that it includes; a danger zone setting optimization unit 700 that corrects the danger zone setting of the danger zone display unit 500 according to the field situation by using the decision information input from the manager terminal.

The danger zone setting optimization unit 700 includes a danger zone setting information providing unit 710 that provides the danger zone setting information of the danger zone display unit 500 to an administrator terminal; a risk zone modification information storage unit 720 storing the manager's risk zone setting modification information input through the manager terminal; It is characterized in that it includes; a danger zone correction unit 730 for correcting the danger zone setting correction information stored in the danger zone correction information storage unit 720 by reflecting it on the danger zone set in the danger zone display unit 500.

It is characterized in that the risk area setting modification information input through the manager terminal includes height information and acceleration information of equipment used in the field.

The crane safety management system using the camera of the present invention acquires the image information of the crane using the camera, so it has the advantage of obtaining more reliable image information.

In addition, since the shaking state of the wire is grasped using the obtained image information and the shaking is minimized through motor control, work efficiency can be increased and the risk of safety accidents can be minimized.

In addition, since the wire shaking is reduced by different methods according to the shaking level, there is an advantage in that the wire shaking can be more effectively reduced.

In addition, since the movement radius of the wire is identified based on the wire shaking state and the risk is notified, there is an advantage in preventing accidents due to wire shaking.

In addition, since the risk area correction information input by the manager is reflected in the risk area setting that is performed later, there is an advantage in that the risk area setting can be made in a form optimized for the work environment.

1 is a block diagram showing a crane safety management system using a camera of the present invention.
Figure 2 is a conceptual diagram for explaining the crane safety management system using the present inventors camera.
3 is a conceptual diagram for explaining shaking of a wire that varies according to a change in trolley acceleration.
Figure 4 is a conceptual diagram for explaining the danger area display using the crane safety management system using the inventors camera.
Figure 5 is a block diagram for explaining the optimization of the risk area setting of the crane safety management system using the present inventors camera.

Advantages and characteristics of the embodiments of the present invention, and methods for achieving them will become clear with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms, only the present embodiments make the disclosure of the present invention complete, and common knowledge in the art to which the present invention belongs. It is provided to completely inform the person who has the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numbers designate like elements throughout the specification.

In describing the embodiments of the present invention, if it is determined that a detailed description of a known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description will be omitted. In addition, terms to be described later are terms defined in consideration of functions in the embodiment of the present invention, which may vary according to the intention or custom of a user or operator. Therefore, the definition should be made based on the contents throughout this specification.

Hereinafter, a crane safety management system 1000 using a camera according to the present invention will be described with reference to the accompanying drawings.

1 is a block diagram showing a crane safety management system using a camera of the present invention, Figure 2 is a conceptual diagram for explaining a crane safety management system using a camera of the present invention, Figure 3 is a shaking of the wire that varies according to the change in trolley acceleration 4 is a conceptual diagram for explaining the risk area display using the crane safety management system using the present inventor's camera, Figure 5 explains the optimization of risk area setting of the crane safety management system using the present inventor's camera This is a block diagram for

1 and 4, the crane safety management system 1000 using a camera according to the present invention includes an image information acquisition unit 100 that acquires crane image information through a camera V, and the image information acquisition unit 100. ) and the wire information grasping unit 200 that grasps the shaking state of the wire through the acquired image, and the shaking that reduces wire shaking by controlling the movement of the crane based on the information identified by the wire information grasping unit 200. A reduction unit 300 may be included.

In detail, since a safety accident may occur when a wire and a hook coupled to the wire are shaken, the wire information identification unit 200 determines the number of wires based on the crane image information obtained through the image information acquisition unit 100. When the shaking state is grasped, the shaking reduction unit 300 can reduce the shaking of the wire by controlling the operation of the trolley C-1 of the crane.

In this case, the camera may include a plurality of cameras installed in the work site, and may further include an infrared camera that photographs only objects transported by the crane in real time.

In addition, through the image information obtained from the camera, the AI module can recognize the location of workers, forklifts, cranes, etc. in real time. If you are nearby, you can prevent safety accidents by notifying the danger with a warning sound.

It is recommended that the safety area be checked visually by the operator through the boundary marking of the danger area, and in the case of the danger area boundary, it can be increased or decreased in proportion to the size or transfer speed of the object being transported by the crane. .

In addition, when it is determined that a worker or a vehicle such as a forklift is adjacent to the safety area, the operation of the crane is stopped along with the transmission of a warning sound, thereby further improving the safety of the work site.

In addition, the above-described method for improving safety through boundary marking of dangerous areas, transmission of warning sounds, and stop of cranes will be described in more detail below.

In addition, the AI module can learn through deep learning to improve the accuracy of classifying and locating workers, forklifts, cranes, etc. Learning algorithms used for such deep learning include RNN (Recursive Neural Network), SVM (support vector machine), a convolutional neural network (CNN) neural network, and a GRU-CNN hybrid neural network algorithm.

Here, RNN is a deep learning technique that simultaneously considers current data and past data, and recurrent neural network (RNN) represents a neural network in which connections between units constituting an artificial neural network constitute a directed cycle. Furthermore, various schemes may be used for a structure capable of configuring a recurrent neural network (RNN), for example, a full recurrent network, a Hopfield network, an Elman network, ESN (Echo state network), long short term memory network (LSTM), bi-directional RNN, continuous-time RNN (CTRNN), hierarchical RNN, and quadratic RNN are representative examples. In addition, as a method for learning a recurrent neural network (RNN), methods such as gradient descent, Hessian Free Optimization, and Global Optimization Method may be used.

In the case of the crane (C), as shown in FIG. 2, the trolley (C-1) to which the moving motor (C-1A) and the wire motor (C-1B) are coupled, and the path along which the trolley (C-1) moves It includes a trolley rail (C-2) to form, a wire (C-3) whose length is controlled by the trolley (C), and a hook (C-4) coupled to the end of the wire (C-3).

In addition, the movement of the object (A) using the crane (C) operates the wire motor (C-1B) to wind the wire (C-3) to lift the object (A) coupled to the hook (C-4) , After operating the moving motor (C-1A) to move the trolley (C-1), it is made in the form of unwinding the wire wound by the wire motor (C-1B) and putting down the object (A).

At this time, when the trolley (C) accelerates or decelerates, the object (A), the hook (C-4) connected to the object, and the wire (C-3) shake due to inertia, and this shaking is caused by the wire (C-3) Since it can be reduced by a method of winding or unwinding and a method of moving the position of the trolley (C) to which the wire (C-3) is connected, in the present invention, the shake reduction unit 300 is the moving motor (C-1A) and the wire This shaking can be reduced by controlling the operation of the motor C-1B.

To explain in detail, when it is confirmed that the wire (C-3) swings to the right, the shake reduction reduces the shake radius by winding the left wire and lengthening the right wire, or by accelerating the trolley (C) to the right to reduce the shake duration. that can be made in the form

That is, the shaking radius can be reduced by unwinding the wire in the shaking direction and winding the wire in the opposite direction to distribute the force, or by moving the trolley in the shaking direction so that shaking due to inertia is not repeated. It can.

For this control, the moving motor (C-1A) should be able to move the trolley (C-1) in both directions in which the trolley rails are extended, and the wire motor (C-1B) is coupled to the left end of the wire. Of course, it should include a right movement motor to which the left movement motor and the right end of the wire are coupled.

The wire information determination unit 200 may include an angle information determination unit 210 to determine the angle of the wire and an acceleration information determination unit 220 to determine the shaking acceleration of the wire, and the shake reduction unit 300 ) is the angle of the first shake reduction control unit 310 for controlling the moving motor of the trolley, the second shake reduction control unit 320 for controlling the wire motor of the trolley, and the wire information grasped by the wire information acquisition unit 200. and a shaking state classification unit 330 that classifies wire states into a plurality of levels based on shaking acceleration information of the wire, and the first shaking reduction control unit 310 corresponding to the levels classified by the shaking state classification unit 330. ) and a shake reduction method determination unit 340 for determining the operation of the second shake reduction control unit 320.

In detail, the shaking reduction method is varied according to the degree of shaking of the wire C-3 so that the shaking of the wire C-3 can be more effectively reduced.

At this time, as shown in FIG. 3, the shaking state classification unit 330 sets the shaking level to a normal level when the shaking of the wire C-3 is within degree A, and to a low risk level when it is made within degree A or more and within degree B. , If it is made within degree B or C, it is classified as medium risk level, if it is greater than C degree, it is classified as high risk level, and the shake reduction method determining unit 340 operates the second shake reduction control unit 320 when it is a low risk level. When classified as a medium risk level, the first shake reduction control unit 310 is operated, and when classified as a high risk level, both the first shake reduction control unit 310 and the second shake reduction control unit 320 are operated.

The angle of each risk level can be arbitrarily designated by the manager, but in one embodiment, the angle of A may be 15 degrees, the angle of B may be 25 degrees, and the angle of C may be 35 degrees. ), but the shaking angle is predicted based on the shaking acceleration of the wire grasped by the acceleration information grasping unit 220, and the shaking reduction unit 300 corresponds to the predicted angle, and the first shaking reduction control unit When the 310 and the second shake reduction control unit 320 are operated, of course, the shake can be more effectively reduced.

In addition, the crane safety management system using the camera of the present invention includes a wire motion radius grasping unit 400 for grasping the motion radius of the wire based on the shaking state of the wire identified by the wire information grasping unit 200, and grasping the wire motion radius It may include a danger zone display unit 500 that sets the movement radius of the wire identified in the unit 400 as a danger zone and displays the set danger zone.

In detail, the wire motion radius identification unit 400 determines (predicts) the wire shaking radius based on the current angle and the wire acceleration, and the danger area display unit 500 displays the identified wire motion radius. Thus, the worker can recognize that he is located in the wire movement radius and can escape from the danger area.

At this time, the danger area display unit 500 is coupled to the trolley (C-1) and includes a liner (L) displaying the danger area boundary, and this liner (L) is identified using a laser as shown in FIG. The boundary (M) of the designated risk area can be displayed, but the boundary can be displayed in various ways other than this, so it is not limited.

In addition, the risk area identified through the above-mentioned wire shaking radius is that when the wire is shaken, the hook (C-4) and object (A) coupled to the end of the wire shake and collide with workers or equipment used for work. As for the radius, it goes without saying that it is not limited to the wire.

In addition, if the worker is concentrating on the work, even if the danger boundary is displayed with the danger area display unit 500, he may not be aware of it, so in the present invention, when the operator is located in the danger zone, the buzzer (B ) sounded so that workers could recognize that they were located in a dangerous area where they could collide with goods or hooks being transported.

In addition, the crane safety management system 1000 using a camera according to the present invention uses the risk area setting correction information input from the manager terminal D to correct the risk area setting of the risk area display unit 500 according to the site situation. A region setting optimization unit 700 may be included.

And, as shown in FIG. 5, the danger zone setting optimization unit 700 includes a danger zone setting information providing unit 710 that provides the danger zone setting information of the danger zone display unit 500 to the manager terminal, and the manager terminal. The risk area correction information storage unit 720 in which the manager's risk area setting correction information entered through is stored, and the risk area setting correction information stored in the risk area correction information storage unit 720 is displayed in the danger area display unit 500. It may include a risk area correction unit 730 that corrects by reflecting the set risk area.

In detail, since the height and acceleration of the equipment used for each work site are different, and the danger zone must be larger or narrower according to the height and acceleration of the equipment, the danger zone setting information providing unit 710 sets the initial danger zone When the information is provided to the manager terminal (D), the manager provides the danger zone setting correction information including the height and acceleration information of the equipment used in the field, and the danger zone correction unit 730 provides the danger zone setting modification information. It is possible to correct the danger zone created in the danger zone display unit 500 by reflecting the.

In other words, when the equipment is elevated, the radius of collision between the object moved by the hook or the crane and the equipment increases, thereby widening the danger radius. In addition, when the moving speed of the equipment is high, the radius of the danger area is widened so that a brake section in which the equipment can stop can be formed.

The present invention is not limited to the above embodiments, and the scope of application is diverse, and anyone with ordinary knowledge in the field to which the present invention belongs without departing from the gist of the present invention claimed in the claims Of course, various modifications are possible.

100: image information acquisition unit
200: wire information grasping unit 210: angle information grasping unit
220: acceleration information acquisition unit
300: shake reduction unit 310: first shake reduction control unit
320: second shaking reduction control unit 330: shaking state classifying unit
340: shaking reduction method determination unit
400: movement radius grasping unit
500: danger area display unit
600: danger notification unit
700: Risk area setting optimization unit 710: Risk area setting information provision unit
720: Danger area correction information storage unit 730: Danger area correction unit

Claims (6)

An image information acquisition unit 100 that acquires crane image information through a camera;
a wire information grasping unit 200 that grasps a shaking state of the wire through the image acquired by the image information obtaining unit 100; and
A shaking reduction unit 300 for reducing wire shaking by controlling the movement of a crane based on the information found by the wire information grasping unit 200; includes,
The wire information determination unit 200 includes an angle information determination unit 210 to determine the angle of the wire and an acceleration information determination unit 220 to determine the shaking acceleration of the wire,
The shake reduction unit 300 includes a first shake reduction control unit 310 for adjusting the movement motor of the trolley, a second shake reduction control unit 320 for adjusting the wire motor of the trolley, and the wire information grasping unit 200. A shaking state classification unit 330 that classifies the wire state into a plurality of levels based on the angle of the wire and the shaking acceleration information of the wire identified in the shaking state classification unit 330; 1 shake reduction method determination unit 340 for determining the operation of the shake reduction control unit 310 and the second shake reduction control unit 320;
Classification of wire state levels in the shaking state classification unit 330 is classified into normal level, low risk level, medium risk level, and high risk level according to the degree of shaking,
The shake reduction method determining unit 340 operates the second shake reduction control unit 320 when classified as a low risk level by the shaking state classifying unit 330, and operates the first shake reduction control unit 320 when classified as a medium risk level. Operating the reduction control unit 310, and simultaneously operating the first shake reduction control unit 310 and the second shake reduction control unit 320 when classified as a high risk level; crane safety management using a camera, characterized in that system.
According to claim 1,
a wire motion radius determination unit 400 for determining a motion radius of the wire based on the shaking state of the wire identified by the wire information determination unit 200;
A danger zone display unit 500 for setting the movement radius of the wire identified by the wire movement radius determination unit 400 as a danger zone and displaying the set danger zone; Including, crane safety management system using a camera.
According to claim 2,
Crane safety management system using a camera, including; danger notification unit 600 that informs the danger when a person is located inside the danger area displayed by the danger area display unit 500.
According to claim 2,
A risk area setting optimization unit 700 that corrects the risk area setting of the danger area display unit 500 according to the field situation using the risk area setting correction information input from the manager terminal; crane safety management using a camera, including a system.
According to claim 4,
The danger zone setting optimization unit 700 includes a danger zone setting information providing unit 710 that provides the danger zone setting information of the danger zone display unit 500 to an administrator terminal;
a risk zone modification information storage unit 720 storing the manager's risk zone setting modification information input through the manager terminal;
A crane using a camera comprising a; danger zone correction unit 730 for correcting by reflecting the danger zone setting correction information stored in the danger zone correction information storage unit 720 to the danger zone set in the danger zone display unit 500 safety management system.
According to claim 5,
The risk area setting correction information input through the manager terminal includes height information and acceleration information of equipment used in the field; characterized in that, the crane safety management system using a camera.

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