KR20200044542A - A crane collision avoidance system and method of the same in a shipyard - Google Patents

Abstract

Disclosed are a system and a method for preventing collision of a crane of a shipyard. According to one embodiment of the present invention, provided are the system and the method for preventing the collision of the crane of the shipyard, which include: a weather sensor which detects at least one of a wind speed and a wave height; a crane movement sensor which detects at least one of movement amounts for each part of the crane; a crane position sensor sensing a two-dimensional position coordinate of the crane; a crane visual sensor detecting at least one of the separation distance, the moving speed, the moving direction, and the moving acceleration of an object positioned within a collision risk distance of the crane; and a collision monitoring and control unit changing a collision risk distance if at least one of the sensed wind speed and the sensed wave height is out of a preset range.

Description

A CRANE COLLISION AVOIDANCE SYSTEM AND METHOD OF THE SAME IN A SHIPYARD}

The present invention relates to a collision prevention system and method for a crane operating in a shipyard.

In the past, when a crane collides with other cranes or structures and collapses, it leads to a serious accident, and the equipment and personnel working under the crane have also suffered a great disaster.

The crane pilot has a blind spot visually, so the crane pilot is in control by the signal of the signal number. If the signal of the signal number is not well understood, or if the signal number is vacant for a while, the risk of an accident was high.

Although the pilot who has no choice but to control the crane with the signal number and visual blind spot operates the crane while minimizing accidents by complementing each other, the crane is more perfectly used to prevent a crane collision that can lead to serious human injury. There is a need for technology development to prevent collisions.

In the present invention, a crane for automatically detecting and calculating when a crane is in danger of colliding with another crane, or if there is a risk of collision even if objects related to the crane, such as hoisting objects of other cranes, or surrounding buildings or ship blocks, automatically prevents collision It is intended to provide a collision prevention system and method.

The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned will be clearly understood by those skilled in the art from the following description. Will be able to.

In order to solve the problems as described above, an embodiment of the present invention is a weather sensor that detects at least one of wind speed and wave height, a crane movement sensor that detects at least one of the amount of movement of each part of the crane, and a two-dimensional crane. At least one of a crane position sensor that detects position coordinates, a crane visual sensor that detects at least one of a distance, a moving speed, a moving direction, and a moving acceleration of an object located within a collision risk distance of a crane, and at least one of detected wind speed and wave height. It provides a crane collision prevention system for shipyards including a collision monitoring and control unit that changes the collision risk distance when it is outside the preset range.

In addition, the collision monitoring control unit predicts whether the crane will collide, and predicts the collision of the crane, using at least one of the amount of movement of each part of the detected crane, the separation distance of the detected object, the moving speed, the moving direction, and the moving acceleration. Where possible, to provide a crane collision prevention system of a shipyard, characterized in that for transmitting the collision risk warning to the crane.

In addition, the collision monitoring control unit provides a crane collision prevention system of a shipyard, characterized in that, when a collision of a crane is predicted, a movement request amount to be moved for each part of the crane is calculated and transmitted to the crane.

In addition, the collision monitoring control unit calculates the position coordinates of the crane by using at least one of the movement amounts for each part of the detected crane, and calculates the tolerance between the detected two-dimensional position coordinates and the calculated position coordinates of the crane. Provided is a crane collision prevention system for a shipyard characterized by generating a crane position error correction command.

According to the crane collision prevention system and method of a shipyard according to an embodiment of the present invention, the absolute position coordinates of each crane are managed in one system, and the position coordinates of each part of the crane according to the movement of the crane are fully grasped The collision between each other can be completely prevented.

In addition, by installing a visual sensor, even when an object at risk of colliding with a crane is an unexpected object other than another crane, it not only informs the driver or the signal driver of the danger when it enters within the predetermined collision risk distance, but also avoids it or the collision probability If the collision is inevitable or if collision is unavoidable, the movement of the crane to minimize the risk of collision can be automatically performed to avoid collision or minimize damage in the event of a collision.

In addition, by setting the collision risk distance variable according to the height of the waves, the marine crane can efficiently perform work while preventing the collision risk.

In addition, a crane or a marine crane installed on the ground can also efficiently perform the work while preventing the collision risk by variably setting the collision risk distance according to the wind speed.

In addition, by comparing the two-dimensional positional coordinates of the crane using satellites and the positional coordinates of the crane calculated by the amount of movement of the crane, errors can be corrected to prevent the collision of the crane more safely against errors in the sensor.

The effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned can be clearly understood by those skilled in the art from the following description. will be.

1 is a perspective view of a goliath crane according to an embodiment of the present invention.
2 is an elevation and plan view of a house crane according to an embodiment of the present invention.
3 is an elevation and plan view of a tower crane according to an embodiment of the present invention.
4 is an elevation view of a marine crane according to an embodiment of the present invention.
5 is an overall configuration diagram according to an embodiment of the present invention.
6 is an interactive configuration diagram showing the interaction and configuration of a goliath crane and a collision monitoring control unit according to an embodiment of the present invention.
7 is an interactive configuration diagram showing the interaction and configuration of the house crane and the collision monitoring control unit according to an embodiment of the present invention.
8 is an interactive configuration diagram showing the interaction and configuration of a tower crane and a collision monitoring control unit according to an embodiment of the present invention.
9 is an interaction configuration diagram showing the interaction and configuration of a marine crane and a collision monitoring control unit according to an embodiment of the present invention.
10 is a flowchart illustrating a procedure for changing a collision risk distance of a crane after detecting the wind speed and the height of a wave according to another embodiment of the present invention.
11 is a flowchart illustrating a procedure for determining a collision risk of a crane according to another embodiment of the present invention and instructing a crane to minimize a collision probability.
FIG. 12 compares a two-dimensional position coordinate of a crane sensed using a position sensor and a position coordinate calculated using a movement amount of the main body according to another embodiment of the present invention, and corrects a crane error when an error is greater than an allowable error. It is a flow chart showing the procedure of generating and sending a command.

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

DETAILED DESCRIPTION The detailed description set forth below, in conjunction with the accompanying drawings, is intended to describe exemplary embodiments of the invention, and is not intended to represent the only embodiments in which the invention may be practiced.

In order to clearly describe the present invention in the drawings, parts irrelevant to the description may be omitted, and the same reference numerals may be used for the same or similar elements throughout the specification.

5 is an overall configuration diagram according to an embodiment of the present invention.

The collision monitoring and control unit 500 of the crane using at least one of a position sensor and a movement sensor installed on at least one of the goliac crane 100, the house crane 200, the tower crane 300, and the marine crane 400. You can know the exact location coordinate of each part.

At least one position sensor may be installed in each crane.

The position sensor detects the two-dimensional position coordinates of each crane, and a method using a GNSS signal using a satellite may be used.

In addition, the movement sensor for each part of each crane can calculate a position coordinate for each part by calculating the amount of movement when each part moves.

When calculating the position coordinates, the collision monitoring control unit 500 can calculate not only the plane coordinates but also the height from the ground, and calculate the three-dimensional position coordinates.

The movement sensors for each type of crane will be described in more detail through an interaction configuration diagram of each crane.

When comparing the two-dimensional position coordinates detected by the position sensor with the position coordinates calculated by the movement sensor, it is possible to determine the error and correct the error.

In addition, at least one visual sensor may be installed in each crane.

The visual sensor may be a method of recognizing an object using light rays, such as a 3D light detection and ranging (Lidar) sensor.

Even with the position sensor or the movement sensor, collision between the crane and the crane can be prevented, but an object other than the crane cannot be detected.

Therefore, in case a visual sensor is installed for each crane in case it is difficult to predict, it is possible to detect an object approaching the crane and prevent an accident.

One visual sensor may be sufficient for each crane, or a plurality of visual sensors may be required.

In addition, a transmitter and a receiver may be provided for each crane.

The transmitter is required when the signals detected from various sensors installed on the crane are sent to the collision monitoring control unit 500, and the receiver transmits the meteorological signals such as wind speed and wave height detected by the weather sensor 600 to the collision monitoring control unit 500. It may be necessary to receive at least one of information about the collision risk distance changed by the collision monitoring and control unit, information on the movement demand for each part of the crane, and the position error correction command of each crane. .

1 is a perspective view of a goliath crane according to an embodiment of the present invention, and FIG. 6 is an interactive configuration diagram showing an interaction and a configuration of a goliath crane and a collision monitoring control unit according to an embodiment of the present invention.

It will be described below with reference to FIGS. 1 and 6.

The goliath crane 100 is a crane that is installed on a work site to promote the efficiency of work while hoisting and transporting heavy objects. The goliath crane in a shipyard can be mainly installed on a dock.

GC is short for Goliath crane.

The goliac crane may move along the rail, and the GC rail moving means 130 may move the goliac crane on the rail.

The GC rail moving means 130 may include a rail, a wheel moving while rotating on the rail, and a power source transmitting power to the wheel.

Therefore, the GC rail moving means 130 moves in the longitudinal direction of the work place including the dock, but it is a matter of how to move the heavy material to move in the width direction of the work place.

The GC hoisting means for moving in the width direction can be moved in the width direction of the workshop on the goliac crane 100.

The GC hoisting means may include a GC width moving means 140, a GC height moving means 150, and a GC hoisting means 160.

The GC hoisting means 140 moves the GC width moving means 140 on the goliac crane 100 in the width direction, and can be driven by supplying rotational force to the pinion gear using a rack and pinion method.

The GC height moving means 150 connects the hoisting object to the GC hoisting connection means 160, and then when lifting or lowering it to a desired position, the GC hoisting connection means 160 is wound up or released together with the hoisting object. It can be configured to move down and up and down.

GC height moving means 150 may be configured by installing a pulley and a power source, etc. therein.

Various sensors may be provided in the goliac crane 100.

The GC position sensor 111 is a crane position sensor installed on the goliac crane 100, and serves to accurately grasp the two-dimensional position coordinates of the goliac crane 100.

The 2D position coordinates may be coordinates composed of latitude and longitude, or coordinates may be set from the reference point by determining a reference point in the shipyard yard.

Preferably, the GC position sensor 111 may be advantageous when it is installed at a high location of the goliac crane 100 when receiving a signal from a satellite or the like.

The GC rail movement sensor 112 is a sensor that measures the distance to which the goliac crane 100 has moved when it moves on the rail.

The GC position sensor 111 and the GC rail motion sensor 112 may be used to grasp the position coordinates of the goliath crane, which can complement each other, and if the mutual error is severe, engineers can determine the cause and correct it.

That is, the collision monitoring control unit 500 is the two-dimensional position coordinates of the goliac crane 100 received from the GC rail movement sensor 112 and the movement amount along the rail and the goliac crane before movement received from the GC position sensor 111. When the error, which is the difference in the amount of movement calculated by comparing the two-dimensional position coordinates of the goliath crane after the movement, exceeds the allowable error, a crane position error correction command is generated.

The collision monitoring control unit 500 may transmit a crane position error correction command to the computer of the crane management department, or may transmit it to at least one of the number of crane controls and the number of signals.

An error determination unit is separately provided inside the goliath crane 100 instead of the collision monitoring control unit 500 to calculate errors and generate a crane position error correction command.

The GC width movement sensor 113 is a device that measures how far the GC hoisting means moves in the width direction of the workplace.

In general, since the GC width moving means 140 is a rack and pinion gear, the distance can be measured by detecting the number of teeth of the engaged gears.

The GC height movement sensor 114 is a sensor that measures how far the GC hoisting means 160 moves up and down.

The GC visual sensor 115 may be a 3D rider sensor, which is a sensor used for autonomous driving.

At least one of the GC visual sensors 115 is installed on the goliac crane 100 to detect objects approaching the goliac crane in all directions in three dimensions.

The GC visual sensor 115 can detect the separation distance, moving speed, moving direction and moving acceleration of the object.

The separation distance of the object means the distance from the GC visual sensor to the object.

Due to the GC visual sensor 115, there is an advantage of preventing collision between an object and a crane, as well as collision between cranes.

It can detect surrounding objects with reflected light by firing a laser and also knows its size and speed.

In particular, even when the object being hoisted by another crane is an unexpected object, the GC visual sensor can quickly grasp the approach of the object and transmit it to the collision monitoring and control unit 500.

The GC position sensor 111, the GC rail movement sensor 112, the GC width movement sensor 113, the GC height movement sensor 114, and the GC visual sensor 115 detect all signals generated by the GC transmitter 190 Through it may be transmitted to the collision monitoring and control unit 500 using a wireless or wired communication method.

Accordingly, the collision monitoring and control unit 500 can grasp the position coordinates of each part of the goliac crane 100 as well as the size, speed, direction, and acceleration of an object approaching the goliac crane 100.

Accordingly, the collision monitoring and control unit 500 can determine whether there is a risk of collision between the other crane and the goliath crane 100 in combination with a signal from another crane, and minimize the collision probability or minimize the damage in the event of a collision based on this. To do this, after calculating how each part of the goliac crane 100 should be moved, the movement request amount to be moved for each corresponding part can be sent to the goliac crane 100 through the GC receiver 140.

The goliath crane 100 can move each part using at least one of the GC rail moving means 130, the GC width moving means 140, and the GC height moving means 150 as much as the moving demand, and avoid collision. have.

The collision monitoring and control unit 500 initially sets the collision risk distance of the goliac crane 100 using the size and wind speed of the goliac crane 100.

In particular, since the GC visual sensor 115 detects an object within a collision danger distance, it is important to set an appropriate collision danger distance.

If the collision risk distance of the goliac crane 100 is set too large, the GC visual sensor 115 may operate even when the collision risk is small, and work efficiency may decrease, and when the collision risk distance is set too small, the goliac crane 100 ) May be exposed to the risk of collision.

The collision monitoring and control unit 500 changes the collision danger distance of the goliath crane 100 when the wind speed is outside the preset range.

However, unlike the offshore crane, the goliath crane 100 is not affected by the waves.

2 is an elevation and plan view of a house crane according to an embodiment of the present invention, and FIG. 7 is an interactive configuration diagram showing the interaction and configuration of a house crane and a collision monitoring control unit according to an embodiment of the present invention.

Hereinafter, it will be described with reference to FIGS. 2 and 7.

The house crane 200 is a crane that is installed in various places of the shipyard, including the quayside, to hoist and transport heavy objects while promoting the efficiency of the ship or offshore plant construction work.

Hereinafter, JC stands for zip crane.

The zip crane may move along the rail, and the JC rail moving means 220 may move the zip crane on the rail.

The JC rail moving means 220 may include a rail, a wheel moving while rotating on the rail, and a power source transmitting power to the wheel.

The tower crane described below can also move along the rail, but when moving along the rail, the house crane is generally used, so the fixed tower crane will be described below.

When the house crane is installed on the quay wall, it can perform a role of transporting materials for the design of the vessel moored to the quay wall while moving along the quay wall.

The JC post 210 is fixedly coupled to the JC rail moving means 220.

On the JC post 210, the JC horizontal rotation moving means 230 may be rotatably coupled, and the JC horizontal rotation moving means 230 may rotate in the horizontal direction 202 around the JC post 210. .

Above the JC horizontal rotation moving means 230 is a JC vertical rotation moving means 240 for rotating the JC boom 270 in the vertical direction 203.

At the end of the JC boom 270, there is a JC hoisting object connecting means 260 to connect the hoisting object.

The JC height moving means 250 may raise or lower the JC hoisting connection means 260 together with the hoisting in the height direction 204.

Preferably, the JC height moving means 250 may be installed in a configuration including a winch on the JC horizontal rotation moving means 230.

Various sensors may be provided in the house crane 200.

The JC position sensor 211 serves to accurately grasp the two-dimensional position coordinates of the house crane 200.

The 2D position coordinates may be coordinates composed of latitude and longitude, or coordinates may be set from the reference point by determining a reference point in the shipyard yard.

Preferably, the JC position sensor 211 may be advantageous when it is installed at a high location of the house crane 200 when receiving a signal from a satellite or the like.

The JC rail movement sensor 212 is a sensor that measures the distance to which the house crane 200 moves when it moves on the rail.

The JC position sensor 211 and the JC rail movement sensor 212 can be used to grasp the position coordinates of the zip crane complementary to each other. When the mutual error is severe, engineers can determine the cause and correct it.

That is, the collision monitoring and control unit 500 includes the amount of movement the zip crane 200 received from the JC rail movement sensor 212 moves along the rail and the two-dimensional position coordinates of the zip crane before movement received from the JC location sensor 211. When the error, which is the difference in the amount of movement calculated by comparing the two-dimensional position coordinates of the house crane after moving with, exceeds the allowable error, a crane position error correction command is generated.

The collision monitoring control unit 500 may transmit a crane position error correction command to the computer of the crane management department, or may transmit it to at least one of the number of crane controls and the number of signals.

An error determination unit is separately provided inside the zip crane 200 rather than the collision monitoring control unit 500 to calculate errors and generate a crane position error correction command.

The JC horizontal rotation movement sensor 213 is a device for measuring the rotation angle of how much the JC horizontal rotation movement means 230 rotates in the horizontal direction 202 on the JC post 210.

The JC vertical rotation movement sensor 214 is a device that measures the rotation angle of the JC boom 270 in the vertical direction 203.

The JC height movement sensor 215 is a sensor that measures how far the JC hoisting connection means 260 moves up and down.

The JC vision sensor 216 may be a 3D rider sensor, which is a sensor used for autonomous driving.

The JC vision sensor 216 is installed at least one in the house crane 200 to detect objects approaching the goliath crane in all directions in three dimensions.

The JC vision sensor 216 can detect the separation distance of the object, the moving speed, the moving direction, and the moving acceleration.

The separation distance of the object means the distance from the JC vision sensor 216 to the object.

Due to the JC vision sensor 216, there is an advantage of preventing collision between an crane and an object that is not a crane, as well as collision between cranes.

It detects surrounding objects with reflected light by firing a laser, and also knows its size, speed, direction and acceleration.

In particular, even if the object being hoisted by another crane is an unexpected object, the JC vision sensor 216 can quickly recognize the approach of the object and transmit it to the collision monitoring and control unit 500.

JC position sensor 211, JC rail movement sensor 212, JC horizontal rotation movement sensor 213, JC vertical rotation movement sensor 214, JC height movement sensor 215 and JC vision sensor 216 to detect All generated signals may be transmitted to the collision monitoring and control unit 500 using a wireless or wired communication method through the JC transmitter 290.

Accordingly, the collision monitoring and control unit 500 may grasp the position coordinates of each part of the zip crane 200 as well as the size, speed, direction, and acceleration of an object approaching the zip crane 200.

Accordingly, the collision monitoring and control unit 500 may determine whether there is a risk of collision between the other crane and the zip crane 200 in combination with a signal from another crane, and minimize the collision probability or damage in the event of a collision based on this. In order to minimize, after calculating how each part of the zip crane 200 should be moved, the movement request amount to be moved for each part of the zip crane 200 may be sent to the zip crane 200 through the JC receiver 295.

The zip crane 200 uses the at least one of the JC rail moving means 220, JC horizontal rotating moving means 230, JC vertical rotating moving means 240 and JC height moving means 250 as much as the moving demand. The part can be moved and collisions can be avoided.

The collision monitoring and control unit 500 initially sets the collision risk distance of the house crane 200 using the size and wind speed of the house crane 200.

In particular, since the JC vision sensor 216 detects an object within a collision danger distance, it is important to set an appropriate collision danger distance.

If the collision risk distance of the zip crane 200 is set too large, the JC vision sensor 216 may operate even when the collision risk is small, and work efficiency may decrease, and if the collision risk distance is set too small, the zip crane 200 ) May be exposed to the risk of collision.

The collision monitoring and control unit 500 changes the collision risk distance of the house crane 200 when the wind speed is outside the preset range.

However, unlike the marine crane, the house crane 200 is not affected by the waves.

3 is an elevation and plan view of a tower crane according to an embodiment of the present invention, and FIG. 8 is an interactive configuration diagram showing the interaction and configuration of a tower crane and a collision monitoring control unit according to an embodiment of the present invention.

Hereinafter, it will be described with reference to FIGS. 3 and 8.

The tower crane 300 is a crane that is installed in various places of the shipyard including the quay wall to hoist and transport heavy objects while promoting the efficiency of ship or offshore plant construction work.

Hereinafter, TC is an abbreviation of tower crane.

The tower crane 300 may move along a rail, and the description of this is sufficiently explained in the description of the goliath crane and the house crane, and thus, the fixed tower crane will be described below.

The person skilled in the art will be able to fully understand the configuration of the rail-shaped elliptical crane.

The tower crane 300 is fixedly coupled to the TC post 310 on a fixed foundation structure.

TC horizontal rotation moving means 320 may be rotatably coupled on the TC post 310, and the TC horizontal rotation moving means 320 may rotate in the horizontal direction 301 around the TC post 310. .

Above the TC horizontal rotation moving means 320 is a TC length moving means 330 for moving the TC hoisting means 340 along the TC boom 370 in the longitudinal direction 302.

The TC hoisting means 340 has a TC hoisting connection means 360 to connect hoisting objects.

The TC height moving means 350 may raise or lower the TC hoisting connection means 360 together with the hoisting in the height direction 303.

Preferably, the TC height moving means 350 may be installed in a configuration including a pulley between the TC hoisting means 340 and the TC hoisting connection means 360.

The tower crane 300 may be provided with various sensors.

TC position sensor 311 serves to accurately determine the two-dimensional position coordinates of the tower crane (300).

The 2D position coordinates may be coordinates composed of latitude and longitude, or coordinates may be set from the reference point by determining a reference point in the shipyard yard.

Preferably, the TC position sensor 311 may be advantageous when it is installed at a high location of the tower crane 300 when receiving a signal from a satellite or the like.

The TC horizontal rotation movement sensor 312 is a device for measuring the rotation angle of how much the TC horizontal rotation movement means 320 has rotated in the horizontal direction 301 on the TC post 310.

The TC length movement sensor 313 is a device that measures the travel distance of how much the TC hoisting means 340 has moved in the longitudinal direction 302 along the TC boom 370.

The TC height movement sensor 314 is a sensor that measures how far the TC hoisting means 360 moves up and down.

The TC visual sensor 315 may be a 3D rider sensor, which is a sensor used for autonomous driving.

The TC visual sensor 315 may be installed at least one in the tower crane 300 to detect objects approaching the tower crane 300 in all directions in three dimensions.

The TC vision sensor 315 can detect the separation distance, moving speed, moving direction, and moving acceleration of the object.

The separation distance of the object means the distance from the TC vision sensor 315 to the object.

Due to the TC vision sensor 315, there is an advantage of preventing collision between a crane and an object that is not a crane, as well as collision between cranes.

It detects surrounding objects with reflected light by firing a laser, and also knows its size, speed, direction and acceleration.

In particular, even when an object that is being hoisted by another crane is an unexpected object, the TC vision sensor 315 can quickly recognize the approach of the object and transmit it to the collision monitoring and control unit 500.

The TC position sensor 311, the TC horizontal rotation movement sensor 312, the TC length movement sensor 313, the TC height movement sensor 314, and the TC time sensor 315 detect all signals generated by the TC transmitter 390 ) Can be transmitted to the collision monitoring and control unit 500 using a wireless or wired communication method.

Accordingly, the collision monitoring and control unit 500 can grasp the position coordinates of each part of the tower crane 300 as well as the size, speed, direction, and acceleration of an object approaching the tower crane 300.

Therefore, the collision monitoring and control unit 500 may determine whether there is a danger of collision between the other crane and the tower crane 300 in combination with a signal from another crane, and minimize the collision probability or damage in the event of a collision based on this. In order to minimize, it is possible to calculate how each part of the tower crane 300 should move, and then transmit the required movement amount for each part to the tower crane 300 through the TC receiver 395.

The tower crane 300 can move each part using at least one of the TC horizontal rotation moving means 320, the TC length moving means 330, and the TC height moving means 350 as much as the moving demand, and avoid collision. You can.

The collision monitoring and control unit 500 initially sets the collision risk distance of the tower crane 300 using the size and wind speed of the tower crane 300.

In particular, since the TC visual sensor 315 detects an object within the collision danger distance, it is important to set an appropriate collision danger distance.

If the collision risk distance of the tower crane 300 is set too large, the TC vision sensor 315 may operate even when the collision risk is small, and thus the work efficiency may decrease, and if the collision risk distance is set too small, the tower crane 300 ) May be exposed to the risk of collision.

The collision monitoring and control unit 500 changes the collision risk distance of the tower crane 300 when the wind speed is outside the preset range.

However, unlike the marine crane, the tower crane 200 is not affected by the waves.

4 is an elevational view of a marine crane according to an embodiment of the present invention, and FIG. 9 is an interactive configuration diagram showing the interaction and configuration of a marine crane and a collision monitoring control unit according to an embodiment of the present invention.

It will be described below with reference to FIGS. 4 and 9.

The offshore crane 400 is a crane that floats on water, such as rivers or seas around the shipyard, to hoist and transport heavy objects while promoting the efficiency of ship or offshore plant construction.

Hereinafter, FC stands for Marine Crane.

Since the marine crane 400 is floating on the water, it can be moved by a tugboat or provided with its own rail FC moving means 460.

The movement on the water can be freely done, and sometimes it can be equipped with a dynamic positioning system so that it is not affected by the flow of water.

In this case, since the marine crane 400 equipped with the dynamic positioning system detects a two-dimensional position coordinate using a satellite signal, it is possible to utilize the position sensors constituting the dynamic positioning system without the need to install the FC position sensor 411 separately. There is an advantage.

The offshore crane 400 may be provided with an FC body 410 that floats on the water and provides its buoyancy.

The FC boom 450 is operatively installed on the FC body 410.

The FC vertical rotation moving means 420 moves the FC boom 450 in the vertical direction 402.

In some cases, the FC height moving means 430 also serves as the FC vertical rotation moving means 420.

The FC height moving means 430 may be used to lift or lower the hoisting object connected to the FC hoisting connection means 440 in the height direction 403.

Various sensors may be provided in the marine crane 400.

The FC position sensor 411 serves to accurately grasp the two-dimensional position coordinates of the marine crane 400.

The 2D position coordinates may be coordinates composed of latitude and longitude, or coordinates may be set from the reference point by determining a reference point in the shipyard yard.

Preferably, the FC position sensor 411 may be advantageous when it is installed on a high level of the marine crane 400 when receiving a signal from a satellite or the like.

The FC vertical rotation movement sensor 412 is a device that measures the rotation angle of the FC vertical rotation movement means 420 in the vertical direction 402.

The FC height movement sensor 413 is a sensor that measures how far the FC hoisting means 440 moves up and down.

The FC visual sensor 414 may be a 3D rider sensor, which is a sensor used for autonomous driving.

The FC visual sensor 414 is installed at least one on the marine crane 400 to detect objects approaching the marine crane 400 in all directions in three dimensions.

The FC vision sensor 414 can detect the separation distance, moving speed, moving direction, and moving acceleration of the object.

The separation distance of the object means the distance from the FC vision sensor 414 to the object.

Due to the FC vision sensor 414, there is an advantage of preventing collision between a crane and an object that is not a crane, as well as collision between cranes.

It detects surrounding objects with reflected light by firing a laser, and also knows its size, speed, direction and acceleration.

In particular, even when an object that is being hoisted by another crane is an unexpected object, the FC vision sensor 414 can quickly recognize the approach of the object and transmit it to the collision monitoring and control unit 500.

All signals generated by sensing by the FC position sensor 411, the FC vertical rotation movement sensor 412, the FC height movement sensor 413, and the FC vision sensor 414 are wireless or wired communication through the FC transmitter 490. It can be transmitted to the collision monitoring and control unit 500 using a method.

Accordingly, the collision monitoring and control unit 500 can grasp the position coordinates of each part of the marine crane 400 as well as the size, speed, direction, and acceleration of an object approaching the marine crane 400.

Accordingly, the collision monitoring and control unit 500 may determine whether there is a risk of collision between the other crane and the offshore crane 400 in combination with a signal from another crane, based on which minimizes the probability of collision or damages in the event of a collision. In order to minimize, after calculating how each part of the marine crane 400 should be moved, the movement request amount to be moved for each relevant part may be transmitted to the marine crane 400 through the FC receiver 495.

The marine crane 400 may move each part using at least one of the FC vertical rotation moving means 420, the FC height moving means 430, and the FC moving means 460 by the amount of the movement request, and avoid collision. have.

The collision monitoring and control unit 500 initially sets the collision risk distance of the marine crane 400 using at least one of the size of the marine crane 400, the wind speed, and the height of the waves.

In particular, since the FC visual sensor 414 detects an object within a collision danger distance, it is important to set an appropriate collision danger distance.

If the collision risk distance of the marine crane 400 is set too large, the FC visual sensor 414 may operate even when the collision risk is small, and the work efficiency may decrease, and if the collision risk distance is set too small, the marine crane 400 ) May be exposed to the risk of collision.

The collision monitoring and control unit 500 changes the collision risk distance of the marine crane 400 when the wind speed or the height of the waves is outside a preset range.

10 is a flowchart illustrating a procedure for changing a collision risk distance of a crane after detecting the wind speed and the height of a wave according to another embodiment of the present invention.

Cranes are affected by wind speed of any type.

Among cranes, the marine crane 400 is affected not only by wind speed but also by the height of the waves.

In general, the crane collision prevention system of the shipyard is powered on before the start of work. At this time, after detecting the wind speed and the height of the waves through the weather sensor 600, the collision monitoring control unit 500 uses information about the wind speed and the height of the waves. ) Determines the collision risk distance of each crane.

However, wind speed and wave height continue to change during the work.

In particular, in the summer when typhoons occur, the wind speed and the height of the waves may change greatly from time to time.

Therefore, the weather sensor 600 detects various weather conditions such as wind speed and wave height in real time (S110), and if the change is large, it is necessary to change the determined collision risk distance.

When the information about the wind speed and the height of the waves detected by the weather sensor 600 is transmitted to the collision monitoring control unit 500 (S120), the collision monitoring and control unit 500 displays the wind speed range and the wave of the collision risk distance currently set. It is determined whether it is outside the height range (S130).

If at least one of the wind speed or the height of the wave is greater than the wind velocity range or the wave height range of the currently set collision risk distance, the collision risk distance is changed to be greater (S140).

However, when both the wind speed and the wave height are smaller than the wind speed range or the wave height range currently set, the collision risk distance may be changed to be smaller (S140).

Since the possibility of collision of the crane is a safety problem, the collision risk distance is changed as much as possible (S140).

However, the land crane, not the offshore crane 400, for example, the goliath crane 100, the zip crane 200, and the tower crane 300 determine whether the collision risk distance is changed only with information on the wind speed (S130).

Since the procedure shown in FIG. 10 changes in wind speed or wave height in real time, it may be possible to select the procedure to be performed at regular time intervals for efficiency.

However, when the weather changes frequently, it is desirable to change the risk of collision by detecting wind speed and wave height at shorter intervals.

11 is a flow chart showing a procedure for determining a collision risk of a crane according to another embodiment of the present invention and instructing a crane to minimize a collision probability.

In an embodiment of the present invention, a plurality of cranes of various types may be provided.

The collision risk distance may be set for each crane, which may be determined or changed by the collision monitoring and control unit 500.

The collision risk distance is determined by statistically reviewing the size of each crane, wind speed, wave height, and past collision cases, and when an object is detected within the collision risk distance set in the ship's crane collision prevention system, a collision hazard warning signal is sent to the crane. By sending, the number of signals and the number of crane operators can be known.

At this time, the collision risk warning signal may be a method that appears on the screen, or may be a voice signal such as a warning siren.

It is determined whether there is an object within the collision risk distance (S210).

Objects currently being hoisted are also within the collision risk, so if you decide that a collision is predicted due to an error, it may interfere with the work.

Therefore, it is determined whether the object is the object of the hoisting operation (S220).

Since the information about the object of the hoisting operation is transmitted in real time from the design system in the shipyard to the crane collision prevention system of the present invention, it can be determined by the collision monitoring and control unit 500 of the present invention.

If the object is the object of the hoisting operation, the process ends and returns to routine monitoring. If the object is not the object of the hoisting operation, it is determined whether the object is another crane in cooperation (S230).

Since the collision monitoring control unit 500 grasps location information of each part of the other crane in three dimensions, it is possible to determine whether an object within the collision risk distance is part of another crane.

If the object is not another crane, the distance of the object, the moving speed, the moving direction and the moving acceleration are detected (S240).

The separation distance of the object means the distance from the crane visual sensor to the object.

The collision monitoring and control unit 500 determines whether an object within a collision danger distance is predicted to collide with a crane in consideration of the size, separation distance, moving speed, moving direction, and moving acceleration of the object (S250).

If a collision is predicted, a collision risk warning is transmitted to the crane (S260).

The crane may cause the collision risk warning received to appear on the screen of the terminal of the number of pilots of the crane or the number of signals, or may warn with a voice signal such as a siren.

When warning with a voice signal, such as a siren, there is an advantage of being able to warn other workers who are working around the crane.

The collision monitoring and control unit 500 calculates the movement demand that each part of the crane must move to minimize the probability of collision or minimize damage in the event of a collision using the size of the object, the separation distance, the moving speed, the moving direction, and the moving acceleration. After that, it is transmitted to the crane (S270).

The crane can automatically move each part according to the movement demand of the collision monitoring and control unit 500 by using the moving means for each part to avoid collision or minimize damage in the event of a collision.

FIG. 12 compares a two-dimensional position coordinate of a crane detected by using a position sensor and a position coordinate calculated using a movement amount of the main body according to another embodiment of the present invention, and corrects a crane error when an error is greater than an allowable error. It is a flow chart showing the procedure of generating and sending a command.

Each crane is equipped with a movement sensor that detects a movement amount corresponding to a rotation angle or a movement distance for each part.

In addition, each crane is provided with a position sensor, which may be provided for each part, or may be provided for only some parts.

If the movement amount detected by the movement sensor is used, the 3D coordinates of the corresponding part of the crane can be accurately calculated, and the position coordinate of the crane can also be calculated through this (S310).

In addition, the position sensor can detect a two-dimensional position coordinate of the crane (S320).

The position sensor may be a GNSS sensor using a satellite.

The error between the calculated position coordinate of the crane and the detected 2D position coordinate is calculated (S330).

At this time, the calculated position coordinate of the crane and the corresponding part of the detected 2D position coordinate should be the same part.

The collision monitoring and control unit 500 determines whether the calculated error is greater than a preset tolerance (S340).

If the calculated error is smaller than the preset tolerance, the procedure is terminated, and if large, a crane error correction command is generated (S350).

The generated error correction command may be transmitted to at least one of a crane and a computer of the crane management department.

The crane management department receiving the error correction command sends an engineer to correct the error of the crane, and the number of crane controls or signals can stop the work until the error is corrected to prevent the collision of the crane.

The embodiments of the present invention disclosed in the present specification and drawings are merely intended to easily describe the technical contents of the present invention and to provide specific examples to help understanding of the present invention, and are not intended to limit the scope of the present invention.

Therefore, the scope of the present invention should be construed as including all the modified or modified forms derived on the basis of the technical spirit of the present invention in addition to the embodiments disclosed herein.

100: Goliath crane 111: GC position sensor
112: GC rail movement sensor 113: GC width movement sensor
114: GC height movement sensor 115: GC vision sensor
130: GC rail moving means 140: GC width moving means
150: GC height moving means 160: GC hoisting connection means
190: GC transmitter 195: GC receiver
200: house crane 210: JC post
220: JC rail moving means 230: JC horizontal rotation moving means
240: JC vertical rotation moving means 250: JC height moving means
270: JC Boom 300: Tower Crane
320: TC horizontal rotation moving means 330: TC length moving means
340: TC hoisting means 350: TC height moving means
370: TC boom 360: TC hoisting means
400: offshore crane 420: FC vertical rotation moving means
430: FC height moving means 440: FC hoisting means
450: FC boom 460: FC transportation
500: collision monitoring and control unit

Claims (4)

A weather sensor that detects at least one of wind speed and wave height;
A crane movement sensor that detects at least one of the movement amount for each part of the crane;
A crane position sensor that detects a two-dimensional position coordinate of the crane;
A crane visual sensor that detects at least one of a separation distance, a moving speed, a moving direction, and a moving acceleration of an object located within the collision danger distance of the crane; And
And a collision monitoring and control unit for changing the collision risk distance when at least one of the detected wind speed and the height of the waves is outside a preset range.
According to claim 1,
The collision monitoring control unit predicts whether or not the crane will collide by using at least one of the detected movement amount of each part of the crane, the detected separation distance of the object, the moving speed, the moving direction, and the moving acceleration. When a collision is predicted, a collision collision prevention system in a shipyard, characterized in that a collision danger warning is transmitted to the crane.
According to claim 2,
When the collision of the crane is predicted, the collision monitoring and control unit calculates a movement request amount to be moved for each part of the crane, and transmits it to the crane.
According to claim 3,
The collision monitoring control unit calculates the position coordinates of the crane using at least one of the detected movement amounts of each part of the crane, and an error between the detected two-dimensional position coordinates and the calculated position coordinates of the crane is preset. When the tolerance is exceeded, a crane collision prevention system for a shipyard, characterized by generating an error correction command for a crane.

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