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http://dx.doi.org/10.7839/ksfc.2022.19.4.062

Collision Avoidance Sensor System for Mobile Crane  

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)
Publication Information
Journal of Drive and Control / v.19, no.4, 2022 , pp. 62-69 More about this Journal
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
Obstacle Avoidance; Safety Control; Mobile Crane;
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Times Cited By KSCI : 1  (Citation Analysis)
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