WO2018134987A1 - Système et procédé d'arrêt de grue - Google Patents

Système et procédé d'arrêt de grue Download PDF

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Publication number
WO2018134987A1
WO2018134987A1 PCT/JP2017/002040 JP2017002040W WO2018134987A1 WO 2018134987 A1 WO2018134987 A1 WO 2018134987A1 JP 2017002040 W JP2017002040 W JP 2017002040W WO 2018134987 A1 WO2018134987 A1 WO 2018134987A1
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WO
WIPO (PCT)
Prior art keywords
position information
crane
separation distance
measurement reference
flight
Prior art date
Application number
PCT/JP2017/002040
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English (en)
Japanese (ja)
Inventor
芳宏 横山
Original Assignee
中国電力株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国電力株式会社 filed Critical 中国電力株式会社
Priority to PCT/JP2017/002040 priority Critical patent/WO2018134987A1/fr
Priority to JP2017539697A priority patent/JP6347344B1/ja
Publication of WO2018134987A1 publication Critical patent/WO2018134987A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00

Definitions

  • the present invention relates to a crane stopping system and method for preventing a crane from contacting a structure.
  • the crane jib (boom) may come into contact with the electric lines on the overhead electric line, resulting in accidents such as electric shock and equipment damage.
  • a crane operator or a supervisor placed on the ground visually checks the distance between the electric cable of the overhead power transmission line and the jib of the crane. Accidents have occurred when the focus on ground work has been neglected and attention to the wires above has been neglected.
  • warning cranes are installed by setting up firewood for warning and installing a standard rope for recognizing electric wires between towers. There are still accidents where the workers touch the ground and get an electric shock or damage the overhead power transmission line.
  • a wire contact avoidance device configured to issue a laser scanner at the tip of the crane jib to measure the distance from the electric wire and to alert the crane operator when the measured distance falls within the danger range.
  • the accident prevention monitoring control system that acquires the position information of the crane using GPS, measures the distance from the transmission line, issues an alarm when the measured distance is within the danger range, and stops the crane. Proposed by the applicant (see Patent Document 2)
  • the distance between the tip of the crane jib and the electric wire can be directly measured, and an alarm can be issued with high accuracy.
  • the measurement range is limited by the position and orientation of the laser scanner.
  • An object of the present invention is to provide a crane stopping system and method that have high versatility and accuracy and can ensure a separation between a structure and a crane in a relatively wide range.
  • the present invention is a crane stop system that prevents a crane from coming into contact with surrounding structures, the position information acquisition means for acquiring position information of the crane and the structure, and position information from the position information acquisition means
  • the position information specifying means for specifying the position information of one or more specific locations of the crane and the structure based on the acquired position information, and the position information specified by the position information specifying means
  • a separation distance calculating means for calculating a separation distance between the structure and the crane, a determination means for determining whether or not the separation distance calculated by the separation distance calculation means is less than or equal to a predetermined threshold, and the separation distance When the separation distance calculated by the calculation means is determined to be less than or less than a predetermined threshold by the determination means, in a direction approaching the structure.
  • a stopping means for stopping the operation of the crane and a flying means that holds the position information acquisition means and is capable of flying, and is configured such that the position information acquisition means can acquire position information in a state in which the flying means flies. It is a crane stop system characterized by being.
  • the crane stop system of the present invention further includes a measurement reference in the crane and / or the structure, and the position information specifying means includes position information of the measurement reference among the position information acquired from the position information acquisition means.
  • the position information of one or more specific places of the crane and the structure is specified based on the position information that includes.
  • the crane stop system further includes an autonomous flight unit configured to set a flight path of the flight unit and to cause the flight unit to autonomously fly according to the set flight path.
  • the crane stop system further includes measurement reference detection means capable of detecting the measurement reference and acquiring position information, and the autonomous flight means includes position information of the measurement reference detected by the measurement reference detection means.
  • the flight route of the flying means is set based on the above.
  • the crane stop system further includes a measurement reference determination unit that determines whether or not the position information of the measurement reference is included in the position information acquired by the position information acquisition unit.
  • the flight path of the flight means can be corrected when it is determined by the measurement reference determination means that the position information of the measurement reference is not included in the position information.
  • the position information acquisition means is configured to re-acquire position information when the crane moves.
  • the position information acquisition means is configured to re-acquire position information at predetermined time intervals.
  • the position information specifying means specifies position information of one or more specific parts of the crane based on the position information of the crane acquired from the position information acquiring means and the operation of the crane. It is characterized by doing.
  • the crane stop system according to the present invention further includes alarm means for issuing an alarm when the separation distance calculated by the separation distance calculation means is determined to be less than or less than a predetermined threshold by the determination means. To do.
  • the present invention is a crane stopping method for preventing the crane from coming into contact with surrounding structures, and a step of setting a measurement standard that serves as a reference when acquiring positional information of the crane and / or the structure Obtaining the position information of the crane and / or the structure from above, and position information of one or more specific locations of the crane and the structure based on the position information including the position information of the measurement reference
  • a step of specifying a step of calculating a separation distance between the structure and the crane based on the specified position information, a step of determining whether the calculated separation distance is equal to or less than a predetermined threshold, and a separation Stopping the operation of the crane in a direction approaching the structure when the distance is equal to or less than a predetermined threshold value.
  • Lane is the stop method.
  • the crane stopping method of the present invention further includes a step of detecting the measurement reference before acquiring position information from the sky and acquiring the position information so that the detected position information of the measurement reference is included.
  • the crane stopping method of the present invention further determines whether or not the position information of the measurement reference is included in the acquired position information before specifying the position information of one or more specific locations of the crane and the structure. Determining the position information of the measurement reference when the acquired position information is not included, and re-acquisition of the position information, and from above until the position information includes the position information of the measurement reference It is characterized by repeating the acquisition of the position information.
  • the position information is obtained directly from the crane and the structure, the accuracy of data used for crane stop determination is improved. Thereby, the control range of a crane can be minimized while ensuring the separation between the structure and the crane.
  • the position information can be acquired by the position information acquisition means from above in the state in which the flying means is flying, the versatility is high. Furthermore, it is possible to acquire position information so as to fly and scan around the crane and the structure, and a relatively wide range can be covered.
  • FIG. 1 is a diagram showing a crane stop system 1 according to a first embodiment of the present invention.
  • FIG. 2 is a configuration diagram of the crane stop system 1 according to the first embodiment of the present invention.
  • FIG. 3 is a flowchart showing a crane stopping method by the crane stopping system 1 of FIG.
  • the crane stop system 1 of the first embodiment is a system that prevents the crane 110 from coming into contact with the steel tower 100 and the electric wire 101 that are surrounding structures during work.
  • the crane 110 is a known crane that includes a jib (boom) 111 that performs an up / down operation, an expansion / contraction operation, and a turning operation by an operator (not shown), and that can travel by an operator's operation.
  • jib boom
  • the crane stop system 1 of the present embodiment includes a flying means 10 that can be called unmanned aerial flight, a so-called drone, a remote control 11 that remotely controls the flying means 10, a tower 100, an electric wire 101, and a crane 110 that are attached to the flying means 10.
  • the separation distance between the crane 101 and the crane 110 is calculated, and the operation of the crane 110 is regulated so that the crane 110 does not contact the tower 100 and the electric wire 101 when the separation distance is equal to or less than (or less than) a predetermined threshold.
  • the flying means 10 is not limited to a drone, and may be, for example, a small helicopter or the like, as long as it can fly in the air while holding the position information acquisition means 12. Further, the flying means 10 may be remotely operable by the remote controller 11 as in this embodiment, and is configured to be capable of autonomous flight according to a preset program as in the crane stop system 2 of the second embodiment described later. It may be.
  • the position information acquisition means 12 is a laser surveying means 30 capable of acquiring three-dimensional coordinate data, which is a point cloud indicating the three-dimensional coordinates of the measurement object, as position information, and the control information 14 And transmitting means 32 for transmitting to the terminal.
  • the position information acquisition unit 12 acquires the position information at an arbitrary timing or a predetermined time interval of the operator 120 and transmits it to the control unit 14, for example.
  • the laser surveying means 30 uses, for example, the laser scanner 34 capable of measuring the distance to the measuring object within the visual field and / or the scanning range, which is used in the well-known aerial laser surveying, and positional information (three-dimensional coordinates) of the flying means 10. It can be configured with an GNSS receiver 35 that can be acquired and an IMU (Inertial Measurement Device) 36 that measures the attitude and acceleration of the flying means 10, but is not limited to this configuration, and can acquire position information of the measurement target. It suffices to be configured.
  • the laser scanner 34 capable of measuring the distance to the measuring object within the visual field and / or the scanning range, which is used in the well-known aerial laser surveying, and positional information (three-dimensional coordinates) of the flying means 10. It can be configured with an GNSS receiver 35 that can be acquired and an IMU (Inertial Measurement Device) 36 that measures the attitude and acceleration of the flying means 10, but is not limited to this configuration, and can acquire position information of the measurement target. It suffices to be configured.
  • the control means 14 includes a receiving means 40 that receives position information from the position information acquiring means 12, and a position that specifies position information of the tower 100, the electric wire 101, and the crane 110 used for calculating the separation distance based on the acquired position information.
  • Information identification means 41 separation distance calculation means 42 for calculating the separation distance between the tower 100 and the electric wire 101 and the crane 110 based on the identified position information, and determination means for determining whether the separation distance is equal to or less than a threshold value 43, stopping means 44 for stopping the operation of the crane 110 in a direction approaching the tower 100 and the electric wire 101 when it is determined that the separation distance is equal to or less than the threshold value, and when the separation distance is determined to be equal to or less than the threshold value Alarm means 45 for emitting an alarm of light or sound.
  • the control means 14 is implemented in the form of a program executed by a computer (not shown) in the crane 110, for example.
  • the receiving means 40 receives the position information from the transmitting means 32 of the position information acquiring means 12 by wireless communication.
  • Wireless communication is not limited to a specific one, and for example, WiFi or the like can be used.
  • the position information specifying means 41 includes the position information received from the position information acquisition means 12, the design and / or manufacturing data of the tower 100 and the crane 110, the traveling operation of the crane 110, the up and down operation of the jib 111, the expansion and contraction operation, and the turning operation. Based on the data or the like, the position information of the steel tower 100, the electric wire 101, and the crane 110 used to calculate the separation distance is specified.
  • the position information specifying means 41 selects and uses the position information received from the position information acquisition means 12 that includes the position information of the measurement standards 105 and 115 set in advance on the tower 100 and the crane 110. .
  • the measurement standards 105 and 115 are reference spheres used in, for example, a known laser scanner, and are installed on the steel tower 100 and / or the crane 110 so that they can be easily identified from the sky.
  • the measurement standards 105 and 115 may be, for example, a specific part of the tower 100 and / or the crane 110 that can be identified by the laser scanner 34 or existing components. That is, a reference sphere or the like may be installed on the tower 100 and / or the crane 110, and this may be set as the measurement standards 105, 115 of the tower 100 and / or the crane 110. May be set as the measurement standards 105 and 115 of the tower 100 and / or the crane 110.
  • position information that includes part or all of the position information of the measurement standards 105 and 115, it is easy to identify the tower 100, the electric wire 101, and the crane 110 in the position information, and a plurality of pieces of position information. As a result, the accuracy of the positional information of the tower 100, the electric wire 101, and the crane 110 used for calculating the separation distance is improved.
  • the position information specifying means 41 does not include part or all of the position information of the measurement standards 105 and 115 set in advance on the tower 100 and the crane 110 in the position information received from the position information acquisition means 12. If there is no possible position information, this is notified to the operator 120 and / or the position information acquisition means 12, and the position information is acquired again.
  • Data such as the traveling operation of the crane 110 and the up / down operation, expansion / contraction operation, and turning operation of the jib 111 can be acquired from, for example, an encoder installed in each drive motor (not shown) of the crane 110 or a control signal of each drive motor. It is.
  • the position information specifying means 41 calculates and updates the position information of the crane 110 every time the crane 110 operates.
  • the location information specifying target portion specified by the location information specifying means 41 may be the entire tower 100, the electric wire 101, and the crane 110, and each of the iron tower 100, the electric wire 101, and the crane 110 may be specified. It may be one or more specific locations.
  • the specific target portion of the position information of the crane 110 may be only the tip portion of the jib 111.
  • the specific target location by the position information specifying means 41 is one or more specific locations of the steel tower 100, the electric wire 101, and the crane 110, basically, the steel tower 100, the electric wire 101, and the crane 110 may contact each other.
  • Position information specifying means for preferentially assigning a high place, for example, a place at a relatively high position of the crane 110 or a place relatively close to the work range of the tower 100 and the electric wire 101 as a specific place for calculating the separation It is preferable that 41 is comprised.
  • the separation distance calculation means 42 calculates the separation distance between the tower 100, the electric wire 101 and the crane 110 based on the position information of the steel tower 100, the electric wire 101 and the crane 110 specified by the position information specifying means 41.
  • the separation distance is basically a plurality of separation distance data groups calculated by calculating a linear distance between the three-dimensional coordinate data of the tower 100 and the electric wire 101 and the crane 110.
  • the determination means 43 determines whether or not the separation distance calculated by the separation distance calculation means 42 is equal to or less than a predetermined threshold value.
  • the determination unit 43 may be configured to perform determination on all the separation distance data groups calculated by the separation distance calculation unit 42, and the separation distance is the minimum value among the separation distance data groups. You may be comprised so that determination may be performed only with respect to a thing.
  • the threshold value used for the determination may be appropriately determined in consideration of safety.
  • the threshold value there is a safe separation distance between a crane vehicle and the like that are commonly regulated by electric power companies and a power transmission line, 2.0 m at a voltage of 6.6 kV, 3.0 m at a voltage of 22 and 33 kV, and a voltage of 66 kV 4.0 m at a voltage of 110 kV, 6.0 m at a voltage of 220 kV, and 11.0 m at a voltage of 500 kV.
  • the stopping means 44 is an operation of the crane 110 in a direction approaching the tower 100 and the electric wire 101 when the determining means 43 determines that the separation distance is equal to or less than the predetermined threshold, for example, a traveling operation, an up-and-down operation of the jib 111, and an extension and contraction.
  • a signal for stopping the operation, turning operation and the like is transmitted to the drive system of the crane 110.
  • the operation in the direction away from the tower 100 and the electric wire 101 is not stopped. That is, the operation of the crane 110 is restricted only in the direction away from the steel tower 100 and the electric wire 101.
  • the crane stop method by the crane stop system 1 of this embodiment is demonstrated.
  • the crane 110 is prevented from contacting the two steel towers 100 and the electric wires 101 installed on the steel tower 100.
  • the flying means 10 holding the position information acquisition means 12 is caused to fly in the vicinity of the tower 100, the electric wire 101 and the crane 110 by the operation of the operator 120 having the remote control 11 of the flying means 10 (step S1). ).
  • the flight means 10 is made to fly so as to scan the measurement object by the flying flight and / or the laser scanner 34 of the position information acquisition means 12, and the position information acquisition means 12 is a three-dimensional position information of the tower 100, the electric wire 101 and the crane 110. Coordinate data is acquired (step S2).
  • Position information by the position information acquisition means 12 is performed, for example, by operating the remote controller 11 while the operator 120 looks at a monitor (not shown) that displays the image of the field of view and / or scanning range of the laser scanner 34, and the tower 100 and It may be executed when the measurement standards 105 and 115 of the crane 110 and the electric wire 101 enter the field of view and / or the scanning range of the laser scanner 34, and the measurement standards 105 and 115 of the steel tower 100 and the crane 110 and the electric wire 101 are the laser scanner.
  • the position information acquisition unit 12 may automatically determine that the field of view and / or the scanning range has been entered, and may execute it automatically at predetermined time intervals.
  • the position information acquisition unit 12 transmits the position information to the control unit 14 every time it acquires the position information (step S3).
  • the control means 14 selects the received position information that includes the position information of the measurement standards 105 and 115 installed in advance on the tower 100 and the crane 110 (step S4).
  • the position information received from the position information acquisition means 12 includes no position information that includes the position information of the measurement standards 105 and 115 previously set in the tower 100 and the crane 110 (NO in step S5). This is notified to the operator 120 and / or the position information acquisition means 12, and the position information is reacquired (return to step S2).
  • the position information received from the position information acquisition means 12 includes available position information including the position information of the measurement standards 105 and 115 installed in advance on the tower 100 and the crane 110 (YES in step S5). Specifies the position information of the steel tower 100, the electric wire 101, and the crane 110 used for the calculation of the separation distance based on the selected position information (step S6).
  • the position information of the crane 110 is calculated and updated every time the crane 110 operates (step S7).
  • the position information of the tower 100 and the electric wire 101 is basically valid until the next position information is received and new position information is specified based on the received position information.
  • the control unit 14 calculates (step S8) and determines (step S9) the separation distance between the iron tower 100, the electric wire 101, and the crane 110 while the crane 110 is working. Done continuously.
  • the control unit 14 issues a signal for stopping the operation of the crane 110 in the direction approaching the tower 100 and the electric wire 101.
  • the crane 110 drive system receives the signal and stops (step S10), and issues an alarm to the crane operator (not shown) (step S11).
  • the crane operator moves the crane 110 in the direction away from the tower 100 and the electric wire 101. Thereby, the contact of the crane 110 to the steel tower 100 and the electric wire 101 is reliably prevented.
  • the position information acquisition unit 12 reacquires position information as appropriate.
  • the reacquisition of the position information by the position information acquisition unit 12 is not limited to a specific timing, and may be performed at an arbitrary timing of the operator 120, a predetermined time interval, or the like, for example.
  • the positions of the steel tower 100, the electric wire 101, and the crane 110 can be corrected.
  • the electric wire 101 may move under the influence of wind or the like, and the crane 110 basically moves. Therefore, it is important to appropriately correct these position information.
  • FIG. 4 is a configuration diagram of the crane stop system 2 according to the second embodiment of the present invention.
  • FIG. 5 is a flowchart showing a crane stopping method by the crane stopping system 2 of FIG. The same code
  • symbol is attached
  • the crane stop system 2 of the second embodiment has the same basic configuration as the crane stop system 1 of the first embodiment, but detects the autonomous flight means 50 that causes the flight means 10 to fly autonomously and the measurement standards 105 and 115.
  • Measurement reference detection means 52 and measurement reference determination means 54 for determining presence / absence of position information of the measurement references 105 and 115 in the position information acquired by the position information acquisition means 12, and position information of the measurement references 105 and 115. Only the position information including “” is transmitted to the control means 14.
  • the autonomous flight means 50 is configured to be able to set the flight path of the flight means 10 and causes the flight means 10 to fly along the set flight path.
  • the autonomous flight means 50 may be configured such that the flight path of the flight means 10 can be set manually, and the flight is based on the position information of the measurement reference 105 of the tower 100, the position information acquired by the position information acquisition means 12, and the like.
  • the route may be configured to be automatically settable. Moreover, you may be comprised so that both manual setting and automatic setting can be implemented.
  • the measurement reference detection means 52 is configured to detect the positions of the measurement references 105 and 115 using, for example, GPS and acquire the position information.
  • the measurement references 105 and 115 are included in the field of view and / or the scanning range of the laser scanner 34.
  • the flight path of the flying means 10 can be set manually or automatically by the autonomous flying means 50.
  • the autonomous flight means 50, the measurement reference detection means 52, and the measurement reference determination means 54 may be mounted on a microcomputer (not shown) of the flight means 10 or the position information acquisition means 12 in the form of a program, for example. It may be incorporated in the flying means 10 as a computer or the like.
  • the crane stop system 2 of the present embodiment detects the positions of the measurement references 105 and 115 by the measurement reference detection means 52, and acquires the position information (position information) (step S31). Based on the acquired position information, the flight route is set by the autonomous flight means 50 (step S32), the flight means 10 is made to fly autonomously (step S33), and the position information is acquired by the position information acquisition means 12 during the autonomous flight ( Step S34), the presence / absence of the measurement references 105 and 115 in the acquired position information is determined by the measurement reference determination means 54 (Step S35).
  • the position information is transmitted to the control means 14 by the transmission means 32 (step S36). Since the steps after the transmission of the position information are the same as those in the crane stop system 1 of the first embodiment, the description thereof is omitted.
  • the position information transmitted from the position information acquisition unit 12 to the control unit 14 always includes the measurement standards 105 and 115. Therefore, the position information specifying unit 41 includes the measurement standards 105 and 115. The procedure for selecting the location information is virtually unnecessary.
  • step S35 If the measurement information 105, 115 is not included in the position information (NO in step S35), the flight path of the flight means 10 is corrected by the autonomous flight means 50 (step S37), and the flight means 10 is along the corrected flight path. (Step S33), the position information acquisition means 12 re-acquires position information, and this is repeated until the acquired position information includes the position information of the measurement references 105 and 115.
  • the detection of the positions of the measurement standards 105 and 115 by the measurement standard detection means 52 may be performed during the autonomous flight of the flight means 10.
  • the flight path may be corrected during autonomous flight based on the acquired position information of the measurement standards 105 and 115.
  • the crane stop system and method of this invention were demonstrated using the crane stop systems 1 and 2 of 1st, 2nd embodiment, the crane stop system and method of this invention are limited to the said embodiment. It can be modified within the scope not changing the gist. For example, if the position information of the pylon 100, the electric wire 101, and the crane 110 can be specified from position information that does not include the measurement standards 105 and 115 using various position information analysis techniques, the measurement standards 105 and 115 are not necessarily You do not have to use it.
  • the specification of the position information of the crane 110 by the position information specifying means 41 is not limited to the method of the crane stop system 1 of the first embodiment, and the position information acquiring means 12
  • the position information of the crane 110 may be acquired in real time, and this may be specified as position information used for calculating the separation distance as it is or after being processed.
  • standard determination means 54 is not provided, but the measurement references
  • the flight path of the flight means 10 is corrected by the autonomous flight means 50, and the flight means 10 is corrected along the corrected flight path.
  • the position information acquisition means 12 may reacquire position information, and this may be repeated until the acquired position information includes the position information of the measurement references 105 and 115.
  • both the measurement reference detection means 52 and the measurement reference determination means 54 do not necessarily have to be used together, and either one may be used alone.
  • the structure to be prevented from contact with the crane 110 in the crane stopping system and method of the present invention is not limited to the steel tower 100 and the electric wire 101.
  • a building such as a house, a building, a power pole, an antenna, etc. This includes equipment such as objects, trees and other cranes.
  • the crane 110 includes a crane having various arms such as a folding type, an aerial work vehicle, a shovel with a crane, a fire truck with a ladder, and the like.
  • the acquired position information of the crane and structure may be the entire crane and structure, or may be a part that may be contacted.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

L'invention concerne un système et un procédé d'arrêt de grue avec une polyvalence et une précision améliorées, avec lesquels il est possible d'assurer un dégagement entre des structures et une grue sur une portée relativement large. Le système d'arrêt de grue (1) est conçu pour empêcher une grue (110) d'entrer en contact avec des pylônes en treillis environnants (100) et des fils électriques (101) et comprend : un moyen d'acquisition d'informations de position (12) destiné à acquérir des informations de position relatives à la grue (110), aux pylônes en treillis (100) et aux fils électriques (101) ; un moyen de spécification d'informations de position destiné à spécifier les informations de position d'un ou plusieurs sites spécifiés de la grue (110), des pylônes en treillis (100) et des fils électriques (101) sur la base des informations de position acquises ; un moyen d'arrêt destiné à arrêter le déplacement de la grue (110) en direction des pylônes en treillis (100) et des fils électriques (101) lorsqu'il est déterminé que le dégagement entre la grue (110) et les pylônes en treillis (100) et les fils électriques (101) est inférieur ou égal à une valeur seuil prédéterminée ; et un moyen de vol (10) qui soutient le moyen d'acquisition d'informations de position (12) et qui est apte à un vol d'endurance.
PCT/JP2017/002040 2017-01-23 2017-01-23 Système et procédé d'arrêt de grue WO2018134987A1 (fr)

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PCT/JP2017/002040 WO2018134987A1 (fr) 2017-01-23 2017-01-23 Système et procédé d'arrêt de grue
JP2017539697A JP6347344B1 (ja) 2017-01-23 2017-01-23 クレーン停止システム

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PCT/JP2017/002040 WO2018134987A1 (fr) 2017-01-23 2017-01-23 Système et procédé d'arrêt de grue

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Cited By (1)

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Publication number Priority date Publication date Assignee Title
WO2021123381A1 (fr) * 2019-12-20 2021-06-24 Liebherr-Werk Ehingen Gmbh Procédé et système pour identifier l'état de mise en place d'une grue

Families Citing this family (1)

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Publication number Priority date Publication date Assignee Title
KR101941667B1 (ko) * 2018-09-11 2019-04-12 우창전력(주) 옥외 전력설비 근접경보 시스템 및 그 방법

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