Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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Collision Avoidance Sensor System for Mobile Crane

전지형 크레인의 인양물 충돌방지를 위한 환경탐지 센서 시스템 개발

  • Kim, Ji-Chul (Department of Smart Machine Technology, Korea Institute of Machinery & Material) ;
  • Kim, Young Jea (Department of Smart Machine Technology, Korea Institute of Machinery & Material) ;
  • Kim, Mingeuk (Department of Smart Machine Technology, Korea Institute of Machinery & Material) ;
  • Lee, Hanmin (Department of Smart Machine Technology, Korea Institute of Machinery & Material)
  • Received : 2022.10.20
  • Accepted : 2022.11.21
  • Published : 2022.12.01
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Abstract

Construction machinery is exposed to accidents such as collisions, narrowness, and overturns during operation. In particular, mobile crane is operated only with the driver's vision and limited information of the assistant worker. Thus, there is a high risk of an accident. Recently, some collision avoidance device using sensors such as cameras and LiDAR have been applied. However, they are still insufficient to prevent collisions in the omnidirectional 3D space. In this study, a rotating LiDAR device was developed and applied to a 250-ton crane to obtain a full-space point cloud. An algorithm that could provide distance information and safety status to the driver was developed. Also, deep-learning segmentation algorithm was used to classify human-worker. The developed device could recognize obstacles within 100m of a 360-degree range. In the experiment, a safety distance was calculated with an error of 10.3cm at 30m to give the operator an accurate distance and collision alarm.

Keywords

Acknowledgement

이 연구는 2022년도 산업통상자원부의 "산업기술혁신사업(과제번호: 20000226)"과 국토교통부/국토교통과학기술진흥원이 시행하고 한국도로공사가 총괄하는 "스마트건설기술개발 국가 R&D 사업(과제번호: 20SMIP-A158708-01)"의 일부지원에 의하여 수행되었음을 밝힙니다.

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