[go: up one dir, main page]

WO2011155749A3 - 타워크레인 네비게이션 시스템 - Google Patents

타워크레인 네비게이션 시스템 Download PDF

Info

Publication number
WO2011155749A3
WO2011155749A3 PCT/KR2011/004141 KR2011004141W WO2011155749A3 WO 2011155749 A3 WO2011155749 A3 WO 2011155749A3 KR 2011004141 W KR2011004141 W KR 2011004141W WO 2011155749 A3 WO2011155749 A3 WO 2011155749A3
Authority
WO
WIPO (PCT)
Prior art keywords
tower crane
unit
information measuring
measuring unit
path
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/KR2011/004141
Other languages
English (en)
French (fr)
Other versions
WO2011155749A2 (ko
Inventor
이강
조준범
이태관
함성일
박수열
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Industry Academic Cooperation Foundation of Yonsei University
Original Assignee
Industry Academic Cooperation Foundation of Yonsei University
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
Priority claimed from KR1020100053341A external-priority patent/KR101192509B1/ko
Priority claimed from KR1020110034570A external-priority patent/KR101243455B1/ko
Application filed by Industry Academic Cooperation Foundation of Yonsei University filed Critical Industry Academic Cooperation Foundation of Yonsei University
Priority to US13/995,286 priority Critical patent/US8909467B2/en
Publication of WO2011155749A2 publication Critical patent/WO2011155749A2/ko
Publication of WO2011155749A3 publication Critical patent/WO2011155749A3/ko
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/51—Relative positioning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

본 발명에 따른 타워크레인 네비게이션 시스템은 타워크레인에서 인양되는 자재 위치를 측정하는 자재 위치 정보 측정부(100), 타워크레인의 작동 반경 내부 및 외부의 구조물 위치 정보를 측정하는 구조물 정보 측정부(200), 자재 위치 정보 측정부(100) 및 구조물 정보 측정부(200)의 데이터를 이용하여 인양되는 자재의 출발지로부터 목적지까지의 이동 경로를 탐색하는 경로 탐색부(400), 경로 탐색부(400)에서 탐색된 경로가 타워크레인별로 저장되는 경로 저장부(450), 자재 위치 정보 측정부(100)의 데이터 및 구조물 정보 측정부(200)의 데이터를 수신하여 타워크레인, 타워크레인에 의해 인양되는 자재 및 구조물의 상대적인 위치 정보를 나타내는 2차원 또는 3차원 영상 데이터를 산출하는 데이터 처리부(300) 및 데이터 처리부(300)에서 산출된 영상 데이터를 이용하여 타워크레인, 타워크레인에 의해 인양되는 자재 또는 구조물 정보 중 하나 이상을 표시하고, 경로 탐색부(400)에서 탐색된 이동 경로를 표시하는 디스플레이부(700)를 포함한다.
PCT/KR2011/004141 2010-06-07 2011-06-07 타워크레인 네비게이션 시스템 Ceased WO2011155749A2 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US13/995,286 US8909467B2 (en) 2010-06-07 2011-06-07 Tower crane navigation system

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR1020100053341A KR101192509B1 (ko) 2010-06-07 2010-06-07 타워크레인 네비게이션 장치
KR10-2010-0053341 2010-06-07
KR10-2011-0034570 2011-04-14
KR1020110034570A KR101243455B1 (ko) 2011-04-14 2011-04-14 타워크레인 네비게이션 시스템

Publications (2)

Publication Number Publication Date
WO2011155749A2 WO2011155749A2 (ko) 2011-12-15
WO2011155749A3 true WO2011155749A3 (ko) 2012-03-08

Family

ID=45098518

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2011/004141 Ceased WO2011155749A2 (ko) 2010-06-07 2011-06-07 타워크레인 네비게이션 시스템

Country Status (2)

Country Link
US (1) US8909467B2 (ko)
WO (1) WO2011155749A2 (ko)

Families Citing this family (74)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5876679B2 (ja) * 2011-07-08 2016-03-02 株式会社タダノ 性能線表示装置
AU2013267148B9 (en) * 2012-06-01 2017-04-06 Seatrax, Inc. System and method to determine relative velocity of crane and target load
DE102012014655A1 (de) * 2012-07-24 2014-03-06 Bomag Gmbh Bedieneinheit für eine Baumaschine und Verfahren zum Betreiben der Bedieneinheit
DE202012012116U1 (de) * 2012-12-17 2014-03-19 Liebherr-Components Biberach Gmbh Turmdrehkran
CN103395694B (zh) * 2013-08-13 2015-04-08 哈尔滨东建机械制造有限公司 塔式起重机一体化监控系统
AT14237U1 (de) 2014-01-31 2015-06-15 Palfinger Ag Kransteuerung
CN104003307B (zh) * 2014-04-11 2016-02-03 湖南中联重科智能技术有限公司 塔机视频监控控制设备、方法、系统及塔机
US10503249B2 (en) 2014-07-03 2019-12-10 Topcon Positioning Systems, Inc. Method and apparatus for construction machine visualization
JP6539984B2 (ja) * 2014-10-31 2019-07-10 株式会社タダノ ブーム姿勢検出装置
CN104477801A (zh) * 2014-11-19 2015-04-01 成都嵌智捷科技有限公司 塔机不易发生碰撞的装置
CN104609322A (zh) * 2014-11-19 2015-05-13 成都嵌智捷科技有限公司 改进型塔机防碰撞终端
CN104528557A (zh) * 2014-11-19 2015-04-22 成都嵌智捷科技有限公司 方便测量风速的塔机防碰撞机
JP6306552B2 (ja) 2015-10-13 2018-04-04 株式会社タダノ 遠隔操作装置、及び案内システム
CN105318856A (zh) * 2015-11-18 2016-02-10 北京科技大学 一种基于触摸屏的角度传感器显示装置
DE102015016848A1 (de) 2015-12-23 2017-06-29 Liebherr-Werk Biberach Gmbh System zur zentralen Steuerung von ein oder mehreren Kranen
DE102016000353A1 (de) * 2016-01-14 2017-07-20 Liebherr-Components Biberach Gmbh Kran-, Baumaschinen- oder Flurförderzeug-Simulator
US10544012B2 (en) 2016-01-29 2020-01-28 Manitowoc Crane Companies, Llc Visual outrigger monitoring system
DE102016001684A1 (de) * 2016-02-12 2017-08-17 Liebherr-Werk Biberach Gmbh Verfahren zur Überwachung wenigstens eines Krans
DE102016004382A1 (de) * 2016-04-08 2017-10-12 Liebherr-Werk Biberach Gmbh Verfahren und Vorrichtung zum Planen und/oder Steuern und/oder Simulieren des Betriebs einer Baumaschine
DE102016004266A1 (de) * 2016-04-08 2017-10-12 Liebherr-Werk Biberach Gmbh Baumaschine, insbesondere Kran, und Verfahren zu deren Steuerung
EP3408211B1 (de) 2016-04-08 2022-06-08 Liebherr-Components Biberach GmbH Kran
US9914624B2 (en) * 2016-06-22 2018-03-13 The Boeing Company Systems and methods for object guidance and collision avoidance
JP6729146B2 (ja) * 2016-08-03 2020-07-22 コベルコ建機株式会社 障害物検出装置
CN106365057B (zh) * 2016-11-19 2017-09-15 青岛蓝天创先科技服务有限公司 一种塔式起重机力矩监测报警装置
US11124392B2 (en) 2016-11-22 2021-09-21 Manitowoc Crane Companies, Llc Optical detection and analysis for boom angles on a crane
FI127422B (fi) * 2016-12-20 2018-05-31 Konecranes Global Oy Menetelmä, tietokoneohjelma ja laitteisto nosturin ohjaamiseksi ja menetelmä nosturin päivittämiseksi
JP7092688B2 (ja) * 2017-02-17 2022-06-28 住友重機械工業株式会社 作業機械用周辺監視システム
AU2018227805B2 (en) * 2017-02-28 2021-05-27 J. Ray Mcdermott, S.A. Offshore ship-to-ship lifting with target tracking assistance
CN106946159B (zh) * 2017-03-30 2018-09-21 武汉大学 一种基于北斗/gps精确定位的建筑塔吊自动运行系统及控制方法
SE541180C2 (en) * 2017-04-03 2019-04-23 Cargotec Patenter Ab Driver assistance system for a vehicle provided with a crane using 3D representations
CN107265298A (zh) * 2017-06-16 2017-10-20 荆门创佳机械科技有限公司 一种自动寻找盲区吊位的塔吊设备
CN107352401A (zh) * 2017-07-10 2017-11-17 荆门创佳机械科技有限公司 能自动寻找盲区吊位及监测塔身垂直度的塔吊监控系统
DE102017120613B4 (de) * 2017-09-07 2024-03-14 Liebherr-Werk Ehingen Gmbh Verfahren zum Bewegen einer Last mit einem Kran
JP7035411B2 (ja) * 2017-09-27 2022-03-15 株式会社大林組 クレーン操縦支援装置
EP3461783B1 (de) * 2017-09-29 2019-11-13 B&R Industrial Automation GmbH Hebeeinrichtung und verfahren zum steuern einer hebeeinrichtung
JP7059605B2 (ja) * 2017-12-08 2022-04-26 富士電機株式会社 クレーンの運転制御装置
FR3074761B1 (fr) 2017-12-11 2020-11-13 Manitou Bf Dispositif d'assistance a la manutention de charge pour vehicule et vehicule correspondant
JP6966935B2 (ja) * 2017-12-22 2021-11-17 戸田建設株式会社 タワークレーンの自動運転システム
JP7091729B2 (ja) * 2018-03-09 2022-06-28 株式会社タダノ 遠隔操作端末および遠隔操作端末を備える作業車両
JP7006442B2 (ja) * 2018-03-27 2022-01-24 株式会社タダノ クレーン
EP3594168A1 (de) * 2018-07-13 2020-01-15 EPSILON Kran GmbH. Kransteuerung mit visualisierungsvorrichtung
US12358763B2 (en) 2018-11-07 2025-07-15 Manitowoc Crane Companies, Llc System for determining crane status using optical and/or electromagnetic sensors
CN109095356B (zh) 2018-11-07 2024-03-01 江苏徐工国重实验室科技有限公司 工程机械及其作业空间动态防碰撞方法、装置和系统
DE102018129227A1 (de) * 2018-11-20 2020-05-20 Liebherr-Werk Biberach Gmbh Kran mit einer Antikollisionseinrichtung sowie Verfahren zum Einrichten einer solchen Antikollisionseinrichtung
CN109552997B (zh) * 2018-11-30 2020-01-10 中交第三航务工程局有限公司 水下栅栏板制备、定位安装方法及其安装系统
CN109726514B (zh) * 2019-01-29 2023-03-24 上海电力设计院有限公司 塔式光热圆筒形吸热塔自振周期的计算方法
KR102701722B1 (ko) 2019-02-05 2024-08-30 제이. 레이 맥더모트 에스.에이. 물체의 상대 위치 및 상대 운동을 결정하기 위한 시스템 및 방법
JP7151532B2 (ja) * 2019-02-14 2022-10-12 株式会社タダノ クレーンおよびクレーンの経路生成システム
JP7247634B2 (ja) * 2019-02-14 2023-03-29 株式会社タダノ クレーンおよびクレーンの経路生成システム
JP7223227B2 (ja) * 2019-02-14 2023-02-16 株式会社タダノ クレーン及び経路生成システム
JP7159899B2 (ja) * 2019-02-14 2022-10-25 株式会社タダノ クレーンおよびクレーンの経路生成システム
JP7243260B2 (ja) * 2019-02-14 2023-03-22 株式会社タダノ クレーンおよびクレーンの経路生成システム
JP7167759B2 (ja) * 2019-02-14 2022-11-09 株式会社タダノ クレーンおよびクレーンの経路生成システム
JP7310164B2 (ja) * 2019-02-14 2023-07-19 株式会社タダノ クレーン及び経路生成システム
CN109903326B (zh) 2019-02-28 2022-02-22 北京百度网讯科技有限公司 用于确定工程机械设备的旋转角度的方法和装置
WO2020204007A1 (ja) * 2019-03-30 2020-10-08 住友建機株式会社 ショベル及び施工システム
JP7379866B2 (ja) * 2019-05-21 2023-11-15 コベルコ建機株式会社 作業機械
CN110282552B (zh) * 2019-07-04 2020-09-25 武汉般若易修工业技术服务有限公司 天车预警系统
IT201900016997A1 (it) 2019-09-23 2021-03-23 Fassi Gru S P A Dispositivo di comando a distanza di una gru installata su un autocarro e di movimentazione di detto autocarro, sistema e metodo di comando di una gru installata su un autocarro nonché di movimentazione di detto autocarro
CN111017726B (zh) * 2019-11-19 2020-08-21 中联重科股份有限公司 起重机吊钩定位方法、装置、系统及工程机械
EP3839675B8 (en) * 2019-12-20 2024-09-04 Hiab AB Crane control system, a vehicle, and a method in relation to the system
JP2021147139A (ja) * 2020-03-18 2021-09-27 戸田建設株式会社 タワークレーンの自動経路設定システム
EP4072989A4 (en) * 2020-05-14 2023-03-15 Ultrawis Ltd. SYSTEMS AND METHODS FOR REMOTE CONTROL AND AUTOMATION OF A TOWER CRANE
WO2022006629A1 (en) * 2020-07-07 2022-01-13 Amlab Pty Ltd Mapping of a crane spreader and a crane spreader target
WO2022143193A1 (zh) * 2020-12-31 2022-07-07 广州市建筑科学研究院集团有限公司 一种塔机自动吊运方法
AU2022258326A1 (en) * 2021-04-12 2023-11-23 Structural Services, Inc. Systems and methods for assisting a crane operator
CN113911917B (zh) * 2021-09-13 2023-06-02 杭州大杰智能传动科技有限公司 用于智能塔吊总控室的辅助远程操控方法
CN113759853B (zh) * 2021-09-18 2023-07-18 法兰泰克重工股份有限公司 一种物料自动搬运控制系统
CN113928982B (zh) * 2021-09-18 2022-11-18 法兰泰克重工股份有限公司 一种带雷达反馈的高精度抓斗抓取位置控制方法
DE102021130785A1 (de) 2021-11-24 2023-05-25 Liebherr-Werk Biberach Gmbh Kran
JP7736538B2 (ja) * 2021-11-29 2025-09-09 清水建設株式会社 クレーン揚重モニタリングシステム、クレーン揚重モニタリング方法およびプログラム
CN114706344A (zh) * 2022-02-19 2022-07-05 山东港口渤海湾港集团有限公司 一种基于自动化门机协同作业的安全避让方法
CN114623820B (zh) * 2022-03-25 2024-07-19 中国华能集团有限公司 吊车精确定位及深度测量方法及系统
EP4368558A1 (de) * 2022-11-10 2024-05-15 XCMG European Research Center GmbH Verfahren zur steuerung der position eines lastelementes und/oder einer von einem lastelement gehaltenen last eines krans

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005029338A (ja) * 2003-07-11 2005-02-03 Ohbayashi Corp 建設機械の動作監視システム及び方法
JP2007015842A (ja) * 2005-07-11 2007-01-25 Fukada Salvage & Marine Works Co Ltd 大型構造物の運搬制御システム
KR20070112316A (ko) * 2006-05-20 2007-11-23 동아대학교 산학협력단 트랜스퍼 크레인의 무인화를 위한 자동 랜딩 방법

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2637355B2 (ja) * 1993-07-05 1997-08-06 鹿島建設株式会社 タワークレーンの衝突防止方法
KR100933992B1 (ko) 2007-12-28 2009-12-28 울산대학교 산학협력단 크레인 충돌 예측 방법
US20100070179A1 (en) * 2008-09-17 2010-03-18 Cameron John F Providing an autonomous position of a point of interest to a lifting device to avoid collision
KR20120008369A (ko) 2010-07-16 2012-01-30 주식회사 에스앤에스레볼루션 액체 상태 측정 센서 및 이의 제조 방법

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005029338A (ja) * 2003-07-11 2005-02-03 Ohbayashi Corp 建設機械の動作監視システム及び方法
JP2007015842A (ja) * 2005-07-11 2007-01-25 Fukada Salvage & Marine Works Co Ltd 大型構造物の運搬制御システム
KR20070112316A (ko) * 2006-05-20 2007-11-23 동아대학교 산학협력단 트랜스퍼 크레인의 무인화를 위한 자동 랜딩 방법

Also Published As

Publication number Publication date
US8909467B2 (en) 2014-12-09
WO2011155749A2 (ko) 2011-12-15
US20130345857A1 (en) 2013-12-26

Similar Documents

Publication Publication Date Title
WO2011155749A3 (ko) 타워크레인 네비게이션 시스템
PH12016500351A1 (en) Laser rangefinder with improved display
WO2013135488A3 (en) Methods and apparatus for navigational routing depending on orientation information
PH12013502057A1 (en) Techniques for positioning a vehicle
MY178954A (en) System and method for determining location and skew of crane grappling member
WO2012161597A3 (en) Method and apparatus for providing accurate localization for an industrial vehicle
WO2014197114A4 (en) Navigation application with several navigation modes
GB2511966A (en) Discovery and monitoring of an environment using a plurality of robots
GB2512519A (en) Systems, methods, and apparatus for providing indoor navigation
EP2503288A3 (en) Methods of Attitude and Misalignment Estimation for Constraint Free Portable Navigation
WO2016020763A3 (en) Handheld multi-sensor system for sizing irregular objects
EP2559303A4 (en) DETERMINATION OF THE LOCATION OF A DEVICE
RU2014112202A (ru) Вспомогательная система управления транспортным средством
EP2453412A3 (en) Video surveillance
WO2013144599A3 (en) Touch sensing systems
WO2014033742A3 (en) Gps based water logging detection and notifcation
EP2539353A4 (en) NITRATANIUM CATALYST SYSTEM FOR THE COPOLYMERIZATION OF CARBON DIOXIDE / EPOXID
WO2012135364A3 (en) Mobile state determination of location aware devices
EA201170103A1 (ru) Финансовая операционная карта
JP2012117848A5 (ko)
WO2011081356A3 (ko) 휴대용 정보 표시 장치
EP2487459A3 (en) Navigation system comprising an accelerometer and corresponding method of operation
WO2014108387A3 (de) Navigationsvorrichtung für ein fahrzeug und verfahren zur erzeugung eines anzeigesignals für eine navigationsvorrichtung für ein fahrzeug
EP2706371A3 (en) Display of information related to a detected radar signal
EP2482039A3 (en) Navigation apparatus

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 11792660

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 13995286

Country of ref document: US

122 Ep: pct application non-entry in european phase

Ref document number: 11792660

Country of ref document: EP

Kind code of ref document: A2