RU2326046C1 - Method and system of control and anticollision protection of multiple jointly operating tower cranes - Google Patents

Abstract

FIELD: construction.

SUBSTANCE: series of inventions refers to the sphere of tower crane operation security engineering. The method in question presupposes exchange of information on the cranes locations, movements and equipment loads between the control and protection devices of all the "n" jointly operating tower cranes. Additional features: identification of the position of each crane and/or its equipment against the construction site plan, conventional graphical visualisation of the position within the construction site territory of a specified crane and/or its equipment (as well as that of the "neighbouring" cranes and equipment related to them) on the crane display. When the crane operator initiates relocation of equipment related to crane K_i the following is carried out: the intended equipment motion path tracing, display graphical visualisation of the intended motion path(s) of the equipment related both to crane K_i and the "neighbouring" crane(s) whose equipment is currently in motion (by means of exchange of information between the control and protection devices), estimation of the minimum distance between the above paths, graphical visualisation of the point of intersection on the crane K_i display and generation of a signal disabling operation of this crane equipment and light and sound alarm signals in case the paths as having been traced happen to intersect. In order to enable further motion of the crane K_i equipment there is an additional line to be plotted by the crane operator which is intended to restrict motion of the crane equipment (the line becomes graphically visualised on the crane K_i, screen); in case the limiting line has been plotted erroneously operation of the crane K_i equipment and mechanisms is automatically disabled when at the paths intersection point.

EFFECT: improving the hoisting cranes operation standard of safety.

4 cl, 3 dwg

Description

The invention relates to techniques for ensuring the safety of tower cranes.

Known methods of control and protection against collisions working in a group of tower cranes, including the exchange of information between control and protection devices installed on each of the "n" working in a group of tower cranes, about the position, movements and load of its equipment, implemented, for example, in anti-collision SMIE-AC30 systems (France). The SMIE-AC30 system contains a crane control and protection device installed on each crane, which includes the first group of sensors for monitoring the parameters of the crane equipment and a digital computer - a central processor, to the first input of which these sensors are connected, a display and the first output the second output is an executive unit. The processors are connected by cable or radio communication, forming a joint communication network for the exchange of information about the position, movements and load of crane equipment (see Dana Rafchikova. Anti-collision systems "SMIE-AC30" for crane protection. Magazine "Lifting constructions. Special equipment". 2001. No. 4). In the SMIE-AC30 system, the position of the crane and its equipment are known, since the crane is “tied” to certain points on the construction site. By controlling the speed of movement of the crane and its equipment and the load of the crane (weight of the load), the computer calculates what final position the equipment (boom or trolley with cargo hook) will occupy if braking is started at the optimum time. A device on another crane performs similar calculations for its crane and both devices exchange the calculation results. When the calculations of the systems indicate a dangerous approach of the crane equipment, the automatic stop of the cranes by each device begins. At the same time, the displays of control and protection devices for cranes (hereinafter - the displays of cranes) indicate the directions of dangerous movements and ways to safely remove cranes from overlapping areas. Thus, this system does not block the access of cranes to overlapping zones, allows the simultaneous operation of cranes by successively (as necessary) reducing their speeds, avoiding their collisions. However, the drawback of this system is that the cranes stop only when the equipment of the tower cranes is dangerously close, which in some cases necessitates bypass or return movements, i.e. decreased performance and energy losses.

The task to which the claimed invention is directed is to develop a method for controlling and protecting against collisions of tower cranes working in a group, which would provide increased safety and efficiency of tower cranes by creating information signals that precede the beginning of movement or restrict the movement of crane equipment in case of possible intersection of their trajectories.

The stated technical problem is achieved by the fact that in the known method of control and protection against collisions working in a group of tower cranes, which includes exchanging information between control and protection devices installed on each of the "n" working in a group of tower cranes about its position, movements and load of the equipment according to the invention additionally determine the position of each crane and its equipment on the site plan, form a conditional graphic image on the display of the crane control and protection device the position of the crane and its equipment in terms of sites and conventional graphic image position "adjacent" or "adjacent" valves and its or their equipment when initiating crane moving crane equipment K _i determined estimated trajectory of crane equipment movement and is formed at its display graphics the proposed trajectories of the equipment of the crane K _i and the "adjacent" or "adjacent" cranes with the equipment currently moving by exchanging information between their devices your control and protection, determine the minimum distance between these trajectories, when crossing the trajectories, display the intersection point on the crane K _i display and generate a blocking signal for the mechanisms of this crane, as well as signals for alarming light and sound alarms, to continue the movement of the crane equipment K _i along the crane operator’s teams additionally form a line restricting the movement of the equipment of the crane, and display it on the crane display K _i , and if there is an error when forming the boundary line a automatically block the operation of the mechanisms of the crane K _i at the intersection of these trajectories.

In addition, the inertia of the equipment being moved is taken into account when forming the boundary line.

With regard to a system that implements the claimed method of control and protection against collisions working in a group of tower cranes, the technical task is achieved by the fact that in a known system comprising a crane control and protection device installed on each crane, including the first group of sensors for monitoring parameters of the crane equipment and a digital computer, to the first input of which the indicated sensors are connected, a display is connected to the first output, and an executive unit is connected to the second output, while digital computers interconnected by a serial interface line for exchanging information on the position, movements and load of the crane equipment, according to the invention, each crane control and protection device is equipped with a second group of sensors mounted on the movement controls of the mechanisms and connected to the second input of the digital computer, and a keyboard for setting the mode the operation of the crane connected to the third input of the digital computer, and each digital computer is configured to determine the position of each crane its equipment on the construction site plan, forming on the crane display a conditional graphic image of the position of the crane itself and its equipment on the construction site plan and the conditional graphic image of the position of "adjacent" or "adjacent" cranes and its or their equipment on the construction site, determining when initiating the movement of the crane equipment To _{i the} estimated trajectory of the equipment of the crane and the formation on its display of a graphic image of the proposed trajectory of the equipment and K _i and "adjacent" or "adjacent" cranes with the equipment currently moving, determining the minimum distance between these trajectories, displaying on the crane K _{i the} point of intersection of the trajectories and the formation of a signal for blocking the operation of the mechanisms of this crane and signals for alarming light and the chime, forming lines bounding motion of crane equipment K _i if necessary continue its movement and display equipment of this line on the display of the crane, and automatically blocks Application of crane K _i at the point of intersection of said paths when an error occurs during the formation of the bounding line.

The digital computer of each crane control and protection device may include a unit for determining the load and position of the crane equipment, a unit for determining the speed of the crane equipment, a unit for determining the trajectory of the crane equipment, a unit for determining the minimum distance between the points of the trajectories of the crane equipment, a coincidence unit, a formation unit indications, a block for specifying boundary lines, a delay line and a block of amplifiers, while the output of the block for determining the load and the position of the equipment the crane is connected through a series-connected unit for determining the speed of movement of the crane equipment and the unit for determining the trajectory of movement to the first inputs of the display unit, the unit for determining the minimum distance between the points of the trajectories of the equipment of the cranes and the coincidence unit, the output of the block for specifying restriction lines is connected to the second inputs of the unit for determining the path of movement crane equipment and coincidence unit, the third input of which is connected to the output of the minimum distance determination unit between the points of the trajectories of the movement of the equipment of the cranes, and the output through the delay line to the input of the amplifier unit, the first input of the digital computer is the input of the unit for determining the load and position of the crane equipment, the second input is the combined third input of the display unit and the fourth input of the coincidence unit, and the third input - the input of the block specifying the boundary lines, the input / output of the digital computer is the combined second inputs of the block determining the minimum distance between the points of the trajectories of motion ore of the cranes and the display forming unit, and the first and second outputs of the digital computer are respectively the outputs of the display forming unit and the amplifier unit.

The technical result from the use of the invention is to increase the safety of work on a single construction site of a group of tower cranes and increase the efficiency of their work by eliminating bypass or return movements when crossing the trajectories of equipment moving "adjacent" cranes.

Figure 1 shows fragments of images on the display of one of the two "adjacent" tower cranes for various movements of the equipment of the cranes; figure 2 is a structural diagram of a system that implements the proposed method of control and protection against collisions working in a group of tower cranes; figure 3 is a functional diagram of a control device and crane protection.

Figure 2 and 3 shows the following notation:

1 - control device and protection of the first crane;

2 - control device and protection of the second crane;

3 - line serial interface;

4 - the first group of sensors for monitoring the parameters of the equipment of the first crane;

5 - digital computer;

6 - display;

7 - the second group of sensors for monitoring the position of the controls of the first crane;

8 - keyboard for setting the operating mode of the first crane;

9 - executive unit;

10 - the first group of sensors for monitoring the parameters of the equipment of the second crane;

11 - digital computer;

12 - display;

13 - the second group of sensors for monitoring the position of the controls of the second crane;

14 - keyboard for setting the operating mode of the second crane;

15 - executive unit;

16 - the first input of a digital computer;

17 - the second input of a digital computer;

18 - unit for determining the load and position of the crane equipment;

19 is a block for determining the speed of the crane equipment;

20 - unit for determining the trajectory of movement of crane equipment;

21 - block forming an indication;

22 - the first output of a digital computer;

23 - block determining the minimum distance between the points of the trajectories of the equipment of the cranes;

24 - input / output of a digital computer;

25 - block matches;

26 - the third input of a digital computer;

27 - block assignment restrictive lines;

28 - delay line;

30 - the second output of the digital computer.

Fragments of images, in particular, on the display of the crane K ₂ shown in Fig. 1, are made under the assumption that the crane K ₁ with the center _of rotation O ₁ of its arrow below the crane K ₂ with the center O _{2 of} rotation of its arrow, i.e. it is possible that the cable running from the truck T of the crane K ₂ may come into contact with any point of the boom O ₁ A of the crane K ₁ .

The proposed method provides the ability to control and protect cranes K ₁ and K ₂ operating in the following modes:

a) the initiation and start of movement of the crane equipment K ₂ along the trajectory TR with the stationary equipment of the crane K ₁ ;

b) to initiate and start the movement of the crane equipment to the ₂ on the path TR when moving equipment crane K _1;

c) the initiation and start of movement of the crane equipment K ₁ along the AB trajectory with the stationary equipment of the crane K ₂ ;

d) the initiation and beginning of the movement of the crane equipment K ₁ along the AB trajectory with the moving equipment of the crane K ₂ .

The shaded areas show on the display the possible positions of the crane equipment, i.e. areas into which the "adjacent" crane should not fall when moving its equipment. The dotted line near the projection of the crane jib indicates the tolerance for the error in stopping the crane jib, calculated by the parameters of movement (inertia) of the equipment. Figure 1 shows examples of simple movements (rotation of the crane boom), although when combining movements (for example, rotation of the crane boom and moving the crane along the path, rotation of the crane boom and moving the trolley), the display shows the trajectory of the general more complex movement.

The proposed method is as follows.

The signals of the sensors installed on the equipment of two "adjacent" cranes K ₁ and K ₂ determine the position of the cranes, their equipment on the construction site plan and the load of the equipment. Form on the display of the crane K _{1 a} conditional graphic image of the position of the crane K ₁ on the construction plan in the form of a point O ₁ and the position of its arrow in the form of a line O ₁ A, as well as a conditional graphic image of the position of the "adjacent" crane K ₂ in the form of a point O ₂ and its equipment - booms with a T truck in the form of an O ₂ T line by exchanging information between control and protection devices installed on cranes K ₁ and K ₂ about the position, movements and load of their equipment. Similar images are formed on the display of the crane K ₂ .

When the crane operator initiates the movement of the crane equipment K ₂ (turning his boom with the stationary carriage T) by moving the corresponding control body, the estimated trajectory of the crane K _{2 to} move his trolley with the arrow and a graphic image of the proposed trajectory of the crane equipment K _{2 is} formed on its display (dashed line TP ) and the position of the boom of the "adjacent" crane K ₁ by the exchange of information between their control and protection devices.

If the arrow of the crane K _{1 is} stationary and the trajectory of the equipment of the crane K ₂ does not intersect the projection of the arrow of the crane K ₁ (line O ₁ A in Fig. 1.a), then, after a set time delay, a signal is applied to turn on the mechanism for turning the arrow of the crane K ₂ to the required position (point P). If the crane K ₁ works and the boom rotates, then additionally form on the display of the crane K _{2 a} conditional graphic image of the trajectory of the hook of the boom of the crane crane K ₁ on the site plan and determine the minimum distance between these trajectories. At the intersection of the trajectories, the intersection point is displayed on the crane K ₂ display (point "C" in Fig. 1b) and a signal for blocking the operation of the crane mechanisms K _{2 is} generated, as well as signals for alarming light and sound alarms.

To continue the rotation of the crane boom K ₂ at the commands of the crane operator, an MH line is additionally formed, restricting the movement of the equipment of the crane taking into account the inertia of the equipment being moved, and it is displayed on the crane K ₂ display, and if there is an error in the formation of the boundary line, for example, the KL line, automatically block the operation of the mechanisms of the crane K ₂ at the point "C" of the intersection of these trajectories. This option to minimize time and energy costs is possible due to the fact that the display of the crane K ₂ shows the zone of possible movement of the boom of the crane K ₁ (Fig.1.b), but the arrow of the crane can stop, for example, on the line O ₁ D, not interfering with the movement of the boom crane K ₂ .

Similarly, the beginning of the movement of the crane K ₁ .

When initiating a crane moving equipment K ₁ crane (rotation of its arrow) by moving the respective control body define the intended path of the crane hook, and K ₁ is formed on its display a graphic image crane hook intended path of motion K ₁ (dotted line AB in fig.1.v ) and the position of the boom with the trolley of the "adjacent" crane K ₂ by the exchange of information between their control and protection devices.

If the arrow of the crane K _{2 is} stationary and the trajectory of the equipment of the crane K ₁ does not intersect the projection of the arrow of the crane K ₂ (line O ₂ T in Fig. 1.c), then, after a set time delay, a signal is applied to turn on the mechanism for turning the crane arrow K ₁ to the required position (point B). If the crane K _{2 is} working (the arrow rotates), then additionally form on the display of the crane K _{1 a} conditional graphic image of the trajectory of the crane hook K ₂ on the construction site plan and determine the minimum distance between these trajectories. At the intersection of the trajectories, the intersection point is displayed on the crane K ₁ display (point "C" in Fig. 1.d) and a signal for blocking the operation of the crane mechanisms K _{1 is} generated, as well as signals for alarming light and sound alarms.

To continue the rotation of the crane boom K ₁ at the commands of the crane operator, an MH line is additionally formed restricting the movement of the equipment of the crane, taking into account the inertia of the equipment being moved, and it is displayed on the crane display K ₁ , and if there is an error in the formation of the boundary line, for example, the KL line, automatically block the operation of the mechanisms of the crane K ₁ at the point "C" of the intersection of these trajectories. This option to minimize time and energy costs is possible due to the fact that the display of the crane K ₁ shows the zone of possible movement of the boom of the crane K ₂ (Fig. 1.d), but the arrow of the crane can stop, for example, on the line O ₂ D, not interfering with the movement of the crane boom K ₁ .

The collision control and protection system of the tower cranes operating in the group comprises a control and protection device 1 of the first crane K ₁ and a control and protection device 2 of the second crane K ₂ . Devices 1 and 2 are interconnected by line 3 of the serial interface. Technically, communication between devices can be via cable or radio channel.

The device 1 for controlling and protecting the first crane contains the first group of 4 sensors for monitoring the parameters of the equipment of the first crane connected to the first input 16 of the digital computer 5. A display 6 is connected to the first output 22 of the digital computer 5, and an executive unit 9 is connected to the second output 30. the input 17 of the digital computer 5 is connected to the second group of 7 sensors for controlling the position of the controls of the first crane (levers, buttons, joysticks, etc.), and to the third input 26 is a keyboard 8 for setting the operating mode of the first crane. The digital computer 7 has an input / output 24 for connecting a line 3 of the serial interface for exchanging information with the second control device and protect the "adjacent" crane K ₂ or with other control and protection devices of the "adjacent" cranes.

Accordingly, the control and protection device 2 of the second crane K ₂ contains a first group of 10 sensors for monitoring the parameters of the equipment of the second crane, a digital calculator 11, a display 12, a second group of 13 sensors for monitoring the position of the controls of the second crane, a keyboard 14 for setting the operating mode of the second crane, and an executive block 15. Digital computer 11 has an input / output for connecting line 3 of the serial interface for exchanging information with the first device or other control and protection devices of "adjacent" cranes.

Sensors for monitoring the parameters of the crane equipment and digital computers ensure the functioning of the safety devices of each crane, protecting them from overload and unacceptable movements of the equipment.

Sensors for controlling the position of controls and software functional blocks formed in digital computers ensure the functioning of the safety devices of each crane, protecting the latter from inadmissible mutual movements of the cranes and their equipment.

The digital computer 5 of the crane control and protection device includes a unit 18 for determining the load and position of the crane equipment, a unit 19 for determining the speed of the crane equipment, a unit 20 for determining the path of the crane equipment, an indication unit 21, and a unit for determining the minimum distance between the points of the motion paths 23 crane equipment, block 25 matches, block 27 specify boundary lines, line 28 delay and block 29 amplifiers.

The output of the unit 18 for determining the load and position of the crane equipment is connected through a series-connected unit 19 for determining the speed of the crane equipment and the unit 20 for determining the trajectory of the crane equipment to the first inputs of the display unit 21, the unit for determining the minimum distance between the points of the trajectories of the crane equipment and the block 25 matches.

The output of the block 27 for setting the boundary lines is connected to the second inputs of the block 20 for determining the trajectory of the crane equipment and the block 25 matches, the third input of which is connected to the output of the block 23 for determining the minimum distance between the points of the trajectories of the equipment of the cranes, and the output through the delay line 28 to the input of the block 29 amplifiers.

The first input 16 of the digital computer 5 is the input of the unit 18 for determining the load and position of the crane equipment, the second input 17 is the combined third input of the display forming unit 21 and the fourth input of the coincidence unit 25, and the third input 26 is the input of the boundary line setting unit 27.

The input / output 24 of the calculator 5 are the combined second inputs of the block 23 for determining the minimum distance between the points of the trajectories of the equipment of the cranes and the block 21 for the formation of indications.

The first output 22 of the calculator 5 is the output of the block 21 forming the display 22, the second output 30 is the output of the block 29 of the amplifiers.

The digital computer 11 is made similar to the digital computer 5. The inputs / outputs 24 of the computers 5 and 11 are connected by a line 3 of the serial interface.

In the proposed system, the blocks are made as follows.

The first group of 4 (10) sensors for monitoring the parameters of the crane equipment contains primary converters of the physical parameter (force, pressure, angular and linear displacements, etc.) into an electrical signal (analog, digital, digital). The number of sensors depends on the composition of the crane equipment.

The second group 7 (13) of sensors contains primary converters for monitoring the position of the crane controls. Their number and type depend on the composition of the governing bodies and control requirements:

- to control the initiation of movement, they can be discrete;

- to control the set speed - with a proportional output signal.

Digital computers 5 and 11 are PIC processors with a standard set of elements, including the ADC, multiplexer, RAM, EPROM, parallel and serial ports, etc. It is equipped with amplifiers for connecting actuators.

Displays 6 and 12 are a standard set of blocks for alphanumeric and graphic display of information.

Keyboards 8 and 14 are a set of keys or switches that allows you to select and set the operating mode of a control and crane protection device.

Blocks 18-21, 23, 25-28 are software functional devices formed in digital computer 5 (or, respectively, in digital computer 11) with mathematical software.

The system operates as follows.

During the initial installation of the system, it is set up on the crane (first of all, sensors and their installation units) in order to “bind” it to the construction site.

Further, during operation, each of the crane control and protection devices 1 and 2 operate similarly to each other. In the device 1, the signals of the sensors for monitoring the parameters of the equipment of the first crane K ₁ are fed to the first input 16 of the digital computer 5, where the position of the equipment of the first crane and the load on it in order to determine the inertia of movement are determined by block 18. The change in the position of the equipment, fixed by block 18, is converted by the unit 19 for determining the speed of the equipment in the magnitude and direction of the path of movement, which then block 20 is converted into a trajectory.

Block 21 generates signals to indicate the nature of the movement of the crane K ₁ , on which the device 1 is installed. It also generates signals to indicate the nature of the movement of the second "adjacent" crane K using the signals generated in the device 2 and transmitted along line 3 through the input / output 24 ₂ , on which the device 2 is installed. The signals of block 21 are transmitted to the display 6 through the first output 22 of the digital computer 5.

In this case, information on devices 1 and 2 is indicated in the form of projections of an arrow (Fig. 1.a and Fig. 1.c), if the cranes are stationary. When the "adjacent" crane K ₂ moves, the area of possible positions of its equipment is depicted, for example, in the device 1 in the form of a zone (Fig.1.b), and the alleged movement of the "own" crane K ₁ , on which the specific display 6 is mounted, is depicted in type of direction. The image of the direction arises from the signal from the sensors 7, arriving at the second input 17 to the block 21.

The crane operator, using the keyboard 8 through the third input 26 of the digital computer 5, performs block 27 setting the limit lines of permissible movements of the equipment, fixing them in blocks 20, 21 and on the display 6. Prior to setting the limit lines, block 27 acts on the coincidence block 25 and prevents the passage of sensor signals 7 initiating the movement of equipment along the circuit: delay line 28 (serves to ensure the time of information generation on the display), amplifier unit 29, second output 30 of calculator 5, and executive unit 9.

This mode corresponds to the state of preliminary indication and the decision by the crane operator about the trajectory of the crane equipment. After the restriction lines are installed, block 27 removes the ban from the coincidence block 25 on the passage of the signals of the sensors 7, which act on the actuator block 9 through the amplifier block 29. resulting in block 25 will create a signal to stop movement.

During the movement of the crane equipment, block 23 receives information on the movement of the equipment of each crane ("own" from block 20 and "adjacent" at the input / output 24). Block 23 will calculate the minimum distance between the points of the trajectories of the equipment of the cranes and if the equipment is inappropriately close, for example, if the boundary lines are incorrectly set, it will generate a signal to block 25 to turn off the mechanisms of the “own” crane K ₁ . The same effect will take place in the device 2 to disable the mechanisms of the "adjacent" crane K ₂ .

The proposed system of control and protection against collisions working in a group of tower cranes can be manufactured industrially at the instrument-making enterprise using modern electronic components and technologies.

Claims (4)

1. A method of controlling and protecting against collisions of tower cranes operating in a group, including exchanging information between control and protection devices installed on each of the "n" tower cranes operating in a group about the position, movements and load of its equipment, characterized in that it additionally determine the position of each crane and its equipment on the construction site plan; form on the crane display a conditional graphic image of the position of the crane and its equipment on the construction site plan and the conditional graphic image the position of the "adjacent", or "adjacent" cranes, and its or their equipment, when the crane operator initiates the movement of the crane equipment K _i determine the estimated path of the equipment of the crane and form on its display graphic images of the expected paths of the crane equipment K _i and the "adjacent "or" adjacent "cranes with currently moving equipment by exchanging information between their control and protection devices, determine the minimum distance between these trajectories when the cross-section of the trajectories displays the intersection point on the display of the crane K _i and generates a signal to block the operation of the mechanisms of this crane, as well as signals for alarming light and sound alarms, to continue the movement of the crane equipment K _i at the command of the crane operator additionally form a line restricting the movement of the equipment of this crane, and display it on the display of the crane K _i , and if there is an error in the formation of the boundary line, they automatically block the operation of the mechanisms of the crane K _i at the intersection point of these trajectories. 2. The method according to claim 1, characterized in that when forming the boundary line, the inertia of the moved equipment is taken into account. 3. A collision control and protection system for tower cranes operating in a group, comprising a crane control and protection device installed on each crane, including a first group of crane equipment parameter monitoring sensors and a digital computer, to the first input of which these sensors are connected, to the first output - the display, and to the second output - the executive unit, while digital computers are interconnected by a serial interface line to exchange information about the position, movements and load of the equipment cranes, characterized in that each device for controlling and protecting the crane is equipped with a second group of sensors installed on the controls for the movement of mechanisms and connected to the second input of the digital computer, and a keyboard for setting the operating mode of the crane connected to the third input of the digital computer, and each digital the calculator is configured to determine the position of each crane and its equipment on the construction site plan, to form a conditional graphic image of the position of the most crane and its equipment on the construction site plan and a conventional graphic representation of the position of the "adjacent" or "adjacent" cranes, and its or their equipment on the construction site plan, determine, when initiating the movement of the crane equipment K _{i, the} estimated trajectory of the equipment of this crane and form on its display a graphical representation of the intended trajectories of the equipment of the crane K _i and the "adjacent" or "adjacent" cranes with the equipment currently moving, determining the minimum distance I between these trajectories, displaying the point of intersection of the trajectories on the display of the crane K _i and generating a signal blocking the operation of the mechanisms of this crane and signals for alarming light and sound signaling, forming a line restricting the movement of the crane equipment K _i if it is necessary to continue the movement of its equipment and display this line on the display of the crane, and automatically blocking the operation of the crane K _i at the intersection of the indicated trajectories in the presence of an error in the formation of the boundary line. 4. The system according to claim 3, characterized in that the digital computer of each crane control and protection device includes a unit for determining the load and position of the crane equipment, a unit for determining the speed of the crane equipment, a unit for determining the trajectory of the crane equipment, a unit for determining the minimum distance between points of the trajectories of the movement of the equipment of the cranes, a coincidence block, an indication forming unit, a boundary line setting unit, a delay line and an amplifier unit, while the output of the determination unit to loads and positions of the crane equipment is connected through a series-connected unit for determining the speed of movement of the equipment of the crane and the unit for determining the trajectory of movement to the first inputs of the display unit, the unit for determining the minimum distance between the points of the trajectories of the equipment of the cranes and the coincidence unit, the output of the block specifying the boundary lines is connected to the second inputs the unit for determining the trajectory of the crane equipment and the coincidence unit, the third input of which is connected to the output of the unit The minimum distance between the points of the trajectories of the equipment of the cranes, and the output through the delay line to the input of the amplifier unit, the first input of the digital computer is the input of the unit for determining the load and position of the crane equipment, the second input is the combined third input of the display unit and the fourth input of the coincidence unit and the third input is the input of the block specifying the boundary lines, the input / output of the digital computer is the combined second inputs of the block for determining the minimum distance between glasses trajectories equipment cranes and display forming unit, and first and second outputs are respectively digital computer outputs forming unit and the indicating unit amplifiers.

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