KR20130062120A - Monitoring system for a high place operation car based usd communication - Google Patents

Abstract

PURPOSE: A system for monitoring a high place work vehicle based on ubiquitous sensor network communication is provided to inform the breaking of a multi-stage boom in advance, thereby preventing generation of safety accidents. CONSTITUTION: A plurality of ubiquitous sensor network modules(30-36) is installed in outriggers connected to a vehicle body and senses a load which is supplied to each outrigger. The ubiquitous sensor network modules are installed in the vehicle body or a base of the vehicle body. The ubiquitous sensor network modules sense a horizontal state. A monitoring module(40) receives sensor data and provides state information for a current vehicle by comparing the sensor data with an outrigger threshold value referring to the horizontal state of the base or the vehicle body. [Reference numerals] (30,AA,EE) Sensor; (32,BB,FF) Signal processing unit; (34,CC,GG,46) USN communication module; (36,DD,HH) Power supply unit; (42) Monitor; (44) Microcomputer; (48) Memory

Description

Monitoring system for a high place operation car based USD communication}

The present invention relates to a high-speed vehicle monitoring system, and more specifically, to monitor the vehicle status during operation using a sensor module having a ubiquitous sensor network (USN: Ubiquitous sensor network, "USN") communication function In particular, the present invention relates to a high-traffic vehicle monitoring system based on USD communication, which is improved to warn and predict a vehicle falling or a broken multistage boom.

In general, a high-altitude vehicle refers to a vehicle in which a riding basket is installed to allow people to work at the end of a stretchable multi-stage boom to work in a high-rise building or a high position.

Such aerial work vehicles are used, for example, when the glass of a building is to be cleaned or when a high position work is required at a construction site.

Conventional aerial work vehicle has a configuration to determine the state of the vehicle and proceed with the operation depending on the user's intuition without a special monitoring device.

As a result, accidents including broken multi-stage booms occur, and life-cycle accidents occur every year.

The status of accidents on aerial work vehicles in Korea is shown in <Table 1>. There were 53 disasters from 2005 to February 2011, with 76 injured, 61 killed and 15 injured. It has been.

division system 2005 2006 2007 2008 2009 2010 20112 The number of disaster 53 2 8 8 12 12 10 One Casualty system 76 2 12 10 17 16 18 One Dead 61 2 8 10 12 13 15 One injury 15 0 4 0 5 3 3

As shown in the table above, accidents on aerial work vehicles account for 47% of accidents caused by equipment defects.

In order to solve this problem, it is recently attempted to apply a system for monitoring the vehicle status in high-altitude vehicle.

However, the above-mentioned attempt is to apply a monitoring system using wired communication to a high-rise vehicle, in which such a cable is disconnected between the sensors attached to each part of the vehicle and the monitoring equipment connected to the control device. Doing.

The above disconnection is mostly due to the phenomenon that the cable is stretched and disconnected from the cable endothelium as the increase and decrease of the boarding box occurs frequently.

Therefore, there is a limitation in applying a monitoring system using wired communication, in which the disconnection frequently occurs, to the aerial work vehicle.

An object of the present invention is to provide a system for monitoring the status of high-altitude vehicle using a ubiquitous sensor network.

Another object of the present invention is to provide a high-altitude vehicle monitoring system for providing a state information that can detect the height of the high-altitude vehicle in operation by detecting the horizontal state and the load of the load based on the ubiquitous sensor network. .

In addition, the present invention is based on the ubiquitous sensor network to detect the height and angle of change for each position of the boom and sensing the load of the boarding the aerial work vehicle monitoring system for providing a state information that can notice the breakage of the boom Providing another purpose.

In addition, the present invention based on the ubiquitous sensor network senses the length and angle of change for each position of the boom and senses the load of the passenger board to analyze the stress of the boom to provide a state information that can notice the breakage of the boom It is another object of the present invention to provide a method for monitoring an aerial vehicle monitoring system.

Ubiquitous sensor network communication based aerial work vehicle monitoring system according to the present invention is installed on the out triggers coupled to the vehicle body senses the load applied to each of the out triggers and is installed on the base mounted on the vehicle body or the vehicle body A plurality of ubiquitous sensor network modules for sensing the horizontal state and wirelessly transmitting sensor data; And a monitoring module receiving the sensor data and comparing the sensor data with each threshold for each out trigger referring to the horizontal state of the vehicle body or the base to provide status information on the current vehicle. .

Here, the ubiquitous sensor network module, the sensor for sensing any one of the load and the horizontal; A signal processor converting the signal output from the sensor into a digital signal; A first ubiquitous sensor network communication module for converting an output of the signal processor into a packet and wirelessly transmitting the packet; And a power supply unit supplying power required for the operation of the signal processing unit and the first ubiquitous sensor network communication module.

The signal processor may form the ubiquitous sensor network module and the ubiquitous sensor network through the first ubiquitous sensor network communication module, and then transmit the sensor data to the monitoring module.

And, it is installed for each position in the multi-stage boom mounted on the vehicle body and is installed in the boarding board configured in the joint of the front end of the multi-stage boom, sensing the variation length and the variation angle for each position of the multi-stage boom according to the operation of the multi-stage boom. And a plurality of ubiquitous sensor network modules for sensing the load of the boarding box and transmitting sensor data wirelessly, wherein the monitoring module receives the sensor data and compares the sensor data with a threshold for each position of the multi-stage boom referring to the load of the boarding box. By doing so, the multi-stage boom may further provide status information regarding the breakage.

Here, the ubiquitous sensor network module may be installed at the multi-stage boom to sense the variation length and the variation angle at a position including the joints at both ends and the tip of each stage drawn out.

The boarding box may further include one or more of the ubiquitous sensor network module sensing the opening / closing of the door and the ubiquitous sensor network module sensing the horizontality.

The monitoring module may further include: a second ubiquitous sensor network communication module configured to communicate with the ubiquitous sensor network module; Memory; A monitor for outputting the status information; And a microcomputer for forming the ubiquitous sensor network module and the ubiquitous sensor network through the second ubiquitous sensor network communication module, receiving the sensor data, storing the sensor data in the memory, and generating and providing the state information to the monitor. It may include.

The microcomputer may form a ubiquitous sensor network module and a ubiquitous sensor network through the second ubiquitous sensor network communication module, receive the sensor data, store the sensor data in the memory, and store the state information as the sensor data. It can be generated and provided to the monitor.

The microcomputer may perform periodic redundancy checking (CRC) before receiving and storing the sensor data in the memory to check whether there is an error in the sensor data.

The microcomputer receives the sensor data transmitted from the ubiquitous sensor network modules installed in the multi-stage boom and the passenger compartment, and compares the threshold with the threshold for each type of location. The ubiquitous sensor network module reaches the threshold. If present, the monitor provides the state information regarding the break of the multi-stage boom corresponding thereto, calculates a stress index for each position using the sensor data, analyzes the maximum stress application point, and calculates the stress of the maximum stress application point. When the threshold value is reached in comparison with the statistical analysis data, the monitor may provide status information regarding the breakage of the multi-stage boom corresponding thereto.

Therefore, according to the present invention, the ubiquitous sensor network can be used to stably operate the monitoring system of the aerial work vehicle, can monitor various conditions of the aerial work vehicle, and can predict the fall of the vehicle or the breakage of the multi-stage boom. Accurately monitoring the status of aerial work vehicle can prevent the occurrence of safety accidents.

1 and 2 are a side view and a plan view of the aerial work vehicle to which the USD communication-based aerial work vehicle monitoring system according to the present invention is applied.
3 is a block diagram of a USN-based aerial vehicle monitoring system according to the present invention.
4 is a flow chart illustrating the operation of a USN communication module.
5 is a flowchart illustrating the operation of the monitoring module.
FIG. 6 is a flowchart for explaining detailed operation of state determination for multi-stage boom break notice of FIG. 5; FIG.
FIG. 7 is a flowchart for explaining a detailed operation of the vehicle body fall state determination of FIG. 5; FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the following embodiments are provided to those skilled in the art to fully understand the present invention, and may be modified in various forms, and the scope of the present invention is limited to the embodiments described below. It doesn't happen.

1 to 3, an embodiment according to the present invention includes a plurality of USN modules A, B to K2 and a monitoring module 40 that can be installed in an aerial vehicle or a remote location.

Here, USN modules A, B to H are used for the multi-stage boom break notice, USN modules J1, J2, J3, J4, K1, K2 is used for the notice of the vehicle body fall.

First, in the aerial work vehicle, the base 12 is mounted on the vehicle body 10, and the aerial work platform is configured on the base 12. In the vehicle body 10, out triggers 22 that support the vehicle body 10 so as not to fall down are configured at four corners of the vehicle body 10, respectively.

The aerial platform is jointed with the base 14 and the multi-stage boom 16, the angle adjustment cylinder 18 is installed between the base 14 and the multi-stage boom 16, the boarding joint of the front end of the multi-stage boom 16 The box 20 includes a configuration installed.

Although not specifically illustrated here, the base 12 may have a function of rotating to adjust a working direction, a device for driving the upper base 14 and a device for driving the multistage boom 16, a cylinder ( An apparatus for driving 18 and an apparatus for driving the boarding box 20 may be configured.

In addition, the monitoring module 40 according to the present invention may be configured in the base 12.

When the aerial work is performed by the above-described configuration, the direction of the base end 14 and the multistage boom 16 is adjusted in the desired working direction by the rotation function of the base 12, and the base end 14 and the cylinder are adjusted. The boarding box 20 may be lifted by driving 18, and if necessary, the position of the boarding box 20 may be adjusted by adjusting the distance and height to work by drawing each stage of the multi-stage boom 16. .

USN communication based aerial vehicle monitoring system according to the present invention to the above-mentioned aerial vehicle includes a USN module A, B to K2 and the monitoring module 40, as shown in Figure 1, monitoring with USN modules A, B to H The modules 40 communicate with each other in a ubiquitous sensor network.

USN modules A, B to G can be installed at both ends of the multi-stage boom 16 and the leading end of each stage, and USN modules A, B to G installed on the multi-stage boom 16 have a variable length for each position and It has the function of sensing the fluctuation angle.

The USN module H may be installed in the boarding box 20 and may have a function of sensing a load, sensing whether the door is opened or closed, and sensing horizontality.

In addition, USN modules J1 to J4 for detecting a load are installed in each of the out triggers 22 supporting the vehicle body 10 so as not to fall, and the vehicle body 10 and the base 12 detect a horizontal state. USN modules K1 and K2 are installed separately.

Accordingly, USN modules A, B to G can sense the length and angle of change for each position of the multi-stage boom 16, USN module H and the door opening and closing of the passenger compartment 20 to check the safety of the occupants It can sense the horizontal and can sense the load of the boarding (20). In addition, the USN modules J1 to J4 may sense a load applied by varying the position of each of the out triggers 22 according to the state of the aerial platform installed in the vehicle body, and the USN module K1 senses the horizontal state of the base 12. The USN module K2 may sense a horizontal state of the vehicle body 10.

As described above, the USN modules A, B, and K2 installed at each location of the aerial work vehicle include a sensor 30, a signal processor 32, and a signal processor 32 for converting signals output from the sensor 30 into digital signals. ) May include a USN communication module 34 for converting an output of the packet into a packet and wirelessly transmitting the signal, and a power supply unit 36 for supplying power required for the operation of the USN communication module 34.

Here, the USN module A, B to G sensor 30 preferably has a function of sensing the length and the angle of change, the sensor 30 of the USN module H at least one or more of the load, horizontal and door opening It may be configured to have a function of sensing or having one or more sensors for load, horizontal and door opening. In addition, the sensor 30 of the USN modules J1 to J4 may be configured to have a function of detecting a load, and the sensor 30 of the USN modules K1 and K2 may be configured to have a sensor that detects a horizontal state.

In addition, the power supply unit 36 preferably includes a battery for supplying power.

The USN communication module 34 performs USN-based communication with the monitoring module 40 under the control of the signal processor 32 to convert the output of the signal processor 32 into a packet and wirelessly transmit the packet.

In addition, the signal processor 32 forms a ubiquitous sensor network USN with the monitoring module 40 through the USN communication module 34, and then converts sensor data provided from the sensor 30 into a digital signal, and then uses the USN communication module. Transmission to the monitoring module 40 through the 34. In addition, the signal processor 32 has a function of transmitting a request message to the monitoring module 40 through the USN communication module 34 in response to receiving the hello message transmitted by the monitoring module 40 for USN setting. Can be.

In more detail, the signal processor 32 may perform wireless communication with the monitoring module 40 by the process of FIG. 4.

That is, the signal processor 32 undergoes a series of processes for USN formation after performing initialization S10. The signal processor 32 wirelessly transmits a hello message to form a USN (S12), and receives a request message corresponding to the hello message (S14). If it is determined to establish a path with the counterpart that sent the request message, that is, the monitoring module 40 (S16), the signal processor 32 forms a USN with the monitoring module 40 (S18). Here, the request message is transmitted wirelessly in response to the hello message by the monitoring module 40 and generally includes information for routing.

As described above, when the USN is set, the signal processor 32 collects sensor data from the sensor 30 (S20) and transmits the sensor data to the monitoring module 40 with which the path is set in advance through the USN communication module 34. (S22).

As described above, the USN modules A, B, and G provide sensor data on the variation length and the angle of change according to the movement of the multi-stage boom at its position, and the USN module H carries the load or door opening of the boarding (20). Or provide sensor data for the horizontal level, and USN modules J1 to J4 provide sensor data for loads that vary depending on the condition of the upper aerial platform, and USN modules K1 and K2 provide horizontal data according to the condition of the upper aerial platform. Provide sensor data on status.

Meanwhile, the monitoring module 40 receives the sensor data wirelessly transmitted from the USN modules A and B to K2, and provides status information on the current vehicle by comparing with the threshold for each location. Perform USN based wireless communication.

The monitoring module 40 has a configuration that includes a monitor 42, a microcomputer 44, a USN communication module 46, and a memory 48.

Here, the memory 48 may store sensor data, a threshold for each USN module, a stress threshold for each location, and statistical analysis data to be described later.

In addition, the monitor 42 may be configured as a flat panel display device including a liquid crystal display device or another device having a display or light emitting function.

The USN communication module 46 performs USN based wireless communication with USN communication modules 34 of USN modules A and B to K2, and transmits sensor data transmitted from USN modules A and B to K2 to the microcomputer 44. A request message transmission may be performed in response to the forwarding and sending of the hello message of the microcomputer 44 or the hello message sent in order to set the USN in the USN modules A, B, and K2.

The microcomputer 44 has a function of receiving sensor data through the USN communication module 46, storing the sensor data in the memory 48, and generating state information using the sensor data and providing the sensor data to the monitor 42.

Functions performed in the microcomputer 44 may be described in more detail with reference to FIGS. 5 and 7.

Microcomputer 44 forms USNs with USN modules A, B through H through USN communication module 46.

The microcomputer 44 performs a series of processes for USN formation after performing initialization S30. The microcomputer 44 wirelessly transmits a hello message to each USN modules to form a USN (S32), and receives a request message corresponding to the hello message (S34). If it is determined to establish a path with the counterpart that sent the request message, that is, each USN module (S36), the microcomputer 44 forms a USN with each USN module (S38). Here, the request message is a radio transmission in response to each of the USN modules in response to the hello message, and generally includes information for routing.

After the USN is set as described above, the microcomputer 44 receives sensor data transmitted from each USN module (S40), performs a CRC check on the sensor data, determines whether there is an error, and stores normal sensor data (S44). ). Sensor data determined to be an error may be required to be retransmitted by the microcomputer 44. The CRC check is to perform cyclic redundancy checking and to check whether there is an error in the data transmitted on the communication link.

As described above, the microcomputer 44 stores the received sensor data and then performs the multi-stage boom state determination (S46) and performs the vehicle body fall state determination (S48). Provided (S49).

In this case, the state information may include information on whether the door of the boarding box 20 is open or a horizontal state is maintained, and information that alerts the boom break.

In particular, in order to alert the multi-stage boom break, the microcomputer 44 compares sensor data for each type of USN modules A to H installed for each position with a threshold appropriate for each (S50). In this case, the threshold value may be stored and provided in the memory 48.

When the microcomputer 44 determines that the sensor data of the specific USN module has reached a threshold (S52), the microcomputer 44 determines that the boom may be broken and provides status information thereof to the monitor 42 (S54). In this case, the microcomputer 44 may obtain the state information by comparing the information about the threshold with a value calculated by combining the change length and the change angle with the load acting on the boarding 20.

In addition, when the microcomputer 44 determines that the sensor data of the USN module for each location does not reach the threshold value, the microcomputer 44 calculates a stress index for each location using the sensor data (S56) and analyzes the maximum stress application point (S58). The stress of the maximum stress application point may be calculated to determine whether the threshold is reached in comparison with the statistical analysis data (S60) (S62).

In this case, the position for calculating the stress index may be designated as a position where the USN module is installed and a sampled position with the local multi-stage boom drawn out, and the stress index may be calculated for each of these positions. The stress index may be set to a value calculated by combining the length of variation and the angle of variation with the load acting on the vehicle 20 based on 100 percent of the condition that the boom may be broken.

As an example, assuming that a sampled position is specified between position D and position C with the multistage boom 16 pulled out, the stress index increases from position A to position D in the multistage boom 16 and at position C If the stress index decreases in the direction of the position B, the sampled position between the position D and the position C may be analyzed as the maximum stress application point. The maximum stress index for the maximum stress applied point thus analyzed may be calculated by inference, and it may be determined whether the maximum stress index is close to 100 percent (which may be set as a threshold).

Herein, the microcomputer 44 may have a maximum stress index at the sampled location between the positions D and C based on statistical analysis data, which may be used for repeated experiments and condition setting for the same aerial vehicle. Acquired and generated by this may be used and stored in the memory 48 may be provided.

When the microcomputer 44 determines that the maximum stress index of the maximum stress application point reaches a threshold in comparison with statistical analysis data, the microcomputer 44 may provide the monitor 42 with status information including information for alarming the multi-stage boom break. .

Accordingly, as the status information is provided to the monitor 42 so as to determine in advance the situation in which the multi-stage boom is broken, the operator of the aerial vehicle can immediately take action to resolve the current situation.

On the other hand, the microcomputer 44 detects the sensor data of the USN modules J1 to J4 and the USN module K1 of the vehicle body 10 or the base 12 installed for each out trigger 22 coupled to the vehicle body 10 to alert the vehicle body fall. By referring to the horizontal state of the vehicle body 10 or the base 12 with reference to the sensor data of K2, the load applied to each out trigger 22 is compared with the threshold for each position (S70) and the load is threshold for each position. It is determined whether it has reached (S72).

The microcomputer 44 may provide the monitor 42 with status information, including the vehicle body fall alert, if the specific location of the USN modules J1 to J4 has reached a threshold in step S72.

Accordingly, as the status information is provided to the monitor 42 so as to determine in advance the situation of falling of the vehicle body, the operator of the aerial vehicle can immediately take action to solve the current situation.

As described above, since the monitoring can be performed using the USN module for the aerial work vehicle, the monitoring system can be simply implemented without the configuration of complicated lines, and the monitoring system can maintain a stable state without affecting mechanical operation. Various conditions of the work vehicle can be monitored and the fall of the vehicle body or the breakage of the multi-stage boom can prevent the safety accident of the high-rise work vehicle.

10 body 12: base
14: base 16: multi-stage boom
18: angle adjustment cylinder 20: boarding
22: out trigger 30: sensor
32: signal processor 34: USN communication module
36: power supply unit 40: monitoring module
42: monitor 44: microcomputer
46: USN communication module A, B to H: USN module

Claims (10)

A plurality of ubiquitous sensor networks installed in the out triggers coupled to the vehicle body senses the load applied to each out trigger, and installed in the vehicle body or the base mounted on the vehicle body to sense the horizontal state and wirelessly transmit sensor data. module; And
And a monitoring module which receives the sensor data and compares the sensor data with each threshold for each out trigger referring to the horizontal state of the vehicle body or the base and provides status information on a current vehicle. High-speed vehicle monitoring system based on sensor network communication.
The ubiquitous sensor network module of claim 1,
A sensor for sensing any one of the load and the horizontal;
A signal processor converting the signal output from the sensor into a digital signal;
A first ubiquitous sensor network communication module for converting an output of the signal processor into a packet and wirelessly transmitting the packet; And
Ubiquitous sensor network communication-based high-speed vehicle monitoring system comprising a; power supply for supplying power for the operation of the signal processing unit and the first ubiquitous sensor network communication module.
The method of claim 2,
And the signal processor forms the ubiquitous sensor network module and the ubiquitous sensor network through the first ubiquitous sensor network communication module, and then transmits the sensor data to the monitoring module.
The method according to claim 1,
It is installed for each position in the multi-stage boom mounted on the vehicle body and is installed in a boarding box configured at the joint of the front end of the multi-stage boom. A plurality of ubiquitous sensor network module for sensing the load of the ship and wirelessly transmits the sensor data, the monitoring module receives the sensor data and compared with the threshold for each position of the multi-stage boom referring to the load of the boarding High-level vehicle monitoring system based on ubiquitous sensor network communication that provides more status information on broken booms.
5. The method of claim 4,
Ubiquitous sensor network communication based aerial vehicle monitoring system, the multi-stage boom is installed with the ubiquitous sensor network module for sensing the fluctuation length and the angle of variation at a position including the joints of both ends and the leading end of each end.
5. The method of claim 4,
The boarding box is a ubiquitous sensor network communication based aerial work vehicle monitoring system further comprises one or more of the ubiquitous sensor network module for sensing the opening and closing of the door and the ubiquitous sensor network module for sensing the horizontal.
The method of claim 1 or 4, wherein the monitoring module,
A second ubiquitous sensor network communication module for communicating with the ubiquitous sensor network module;
Memory;
A monitor for outputting the status information; And
A microcomputer configured to form the ubiquitous sensor network module and the ubiquitous sensor network through the second ubiquitous sensor network communication module, receive the sensor data, store the data in the memory, and generate the state information to provide to the monitor. High-level vehicle monitoring system based on ubiquitous sensor network communication.
The method of claim 7, wherein
The microcomputer forms the ubiquitous sensor network module and the ubiquitous sensor network through the second ubiquitous sensor network communication module, receives the sensor data, stores the sensor data in the memory, and generates the state information using the sensor data. High-level vehicle monitoring system based on ubiquitous sensor network communication provided as a monitor.
The method of claim 7, wherein
And the microcomputer performs a cyclic redundancy checking (CRC) before receiving and storing the sensor data in the memory to check whether there is an error in the sensor data.
The method of claim 7, wherein the microcomputer,
Receiving the sensor data transmitted from the ubiquitous sensor network modules installed in the multi-stage boom and the passenger compartment and comparing the threshold with the threshold for each type of location, if there is the ubiquitous sensor network module corresponding to the multi-stage Providing the monitor with the status information regarding breakage of the boom,
When the stress index for each position is calculated using the sensor data, the maximum stress application point is analyzed, and the stress of the maximum stress application point is calculated, and when the threshold value is reached in comparison with statistical analysis data, the multi-stage boom corresponding thereto is broken. Ubiquitous sensor network communication based aerial vehicle monitoring system for providing status information to the monitor.

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