KR960022235A - Unmanned automated method of crane and its device - Google Patents

Unmanned automated method of crane and its device Download PDF

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Publication number
KR960022235A
KR960022235A KR1019940040280A KR19940040280A KR960022235A KR 960022235 A KR960022235 A KR 960022235A KR 1019940040280 A KR1019940040280 A KR 1019940040280A KR 19940040280 A KR19940040280 A KR 19940040280A KR 960022235 A KR960022235 A KR 960022235A
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KR
South Korea
Prior art keywords
container
crane
spreader
sensor
trolley
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Application number
KR1019940040280A
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Korean (ko)
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KR100335327B1 (en
Inventor
이형록
김재훈
Original Assignee
이해규
삼성중공업 주식회사
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.)
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Application filed by 이해규, 삼성중공업 주식회사 filed Critical 이해규
Priority to KR1019940040280A priority Critical patent/KR100335327B1/en
Priority to FI951461A priority patent/FI111243B/en
Priority to EP95302162A priority patent/EP0677478B1/en
Priority to DE69518566T priority patent/DE69518566T2/en
Priority to JP7097950A priority patent/JPH08198584A/en
Priority to US08/413,512 priority patent/US5729453A/en
Publication of KR960022235A publication Critical patent/KR960022235A/en
Application granted granted Critical
Publication of KR100335327B1 publication Critical patent/KR100335327B1/en

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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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/101—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means for containers
    • 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
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B66C13/44—Electrical transmitters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/01—General aspects of mobile cranes, overhead travelling cranes, gantry cranes, loading bridges, cranes for building ships on slipways, cranes for foundries or cranes for public works

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

본 발명은 크레인을 무인운행하기 위한 자동화방법 및 장치에 관한 것으로, 특히 목표컨테이너의 위치 및 자세를 검출하여 보정함으로써 정확한 위치로 목표컨테이터를 착탈시키거나 주행할 수 있도록 한 크레인의 무인자동화방법 및 그 장치에 관한 것이다. 본 발명에 따른 크레인의 무인자동화방법 및 그 장치는 감지센서를 사용하여 컨테이너의 위치 및 자세를 인식하여 올바른 위치 및 자세로 보정할 수 있다. 특히, 감지센서로 레이저센서를 사용하므로 기상상태등의 외란적요소에 영향을 받지 않고 정확한 검출이 가능하다. 따라서, 컨테이너를 안정된 상태로 이송할 수 있을 뿐만아니라 정확한 위치에 적재할 수 있는 효과를 갖는다. 아울러, 크레인을 운행하는 운전자가 필요없으므로 인력절감의 효과도 갖는다.The present invention relates to an automated method and apparatus for unmanned operation of a crane, and more particularly, to an unmanned automated method of a crane capable of detaching or traveling a target container to an accurate position by detecting and correcting a position and attitude of a target container. To the device. The unmanned automated method and apparatus of the crane according to the present invention can recognize the position and attitude of the container using a sensor to correct the correct position and attitude. In particular, since a laser sensor is used as a detection sensor, accurate detection is possible without being affected by disturbance factors such as weather conditions. Therefore, not only can the container be transported in a stable state but also it can be loaded at the correct position. In addition, since there is no need for a driver to operate the crane, it also has the effect of reducing manpower.

Description

크레인의 무인자동화방법 및 그 장치Unmanned automated method of crane and its device

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음As this is a public information case, the full text was not included.

Claims (11)

크레인을 운행하여 스프레더가 자동으로 컨테이너를 목표지점으로 이송하고, 이송한 후 정확한 목표위치에 적재하기 위한 방법에 있어서, 감지센서로 상기 스프레더 및 컨테이너를 주사하는 단계; 상기 주사된 주사점들을 거리에 따라 영역별로 분류하는 단계; 상기 분류된 영역들을 일정기정치를 근거로 하여 상기 스프레더와 컨테이너의 영역을 적출하는 단계; 및 상기 적출된 스프레더와 컨테이너의 영역을 갖고 상기 스프레더와 컨테이너의 에지를 검출하는 단계를 포함하는 크레인의 무인자동화방법.A method for automatically moving a container to a target point by driving a crane and loading the container at a correct target position after the crane is carried out, the method comprising: scanning the spreader and the container with a sensor; Classifying the scanned scan points by area according to a distance; Extracting the areas of the spreader and the container based on the classified areas based on a predetermined predetermined value; And detecting an edge of the spreader and the container having an area of the extracted spreader and the container. 제1항에 있어서, 상기 일정기정치는 상기 크레인에 적재된 호이스트엔코더에서 측정된 상기 스프레더의 거리값인 것을 특징으로 하는 크레인의 무인자동화방법.The method of claim 1, wherein the predetermined predetermined value is a distance value of the spreader measured by a hoist encoder loaded on the crane. 제1항에 있어서, 상기 에지검출단계는 상기 검출된 스프레더 및 컨테이너의 영역 중 거리가 급격히 변하는 주사점의 경계인 것을 특징으로 하는 크레인의 무인자동화방법.The method of claim 1, wherein the edge detection step is an unmanned automated method of a crane, characterized in that the boundary between the detected point of the distance between the detected spreader and the container changes rapidly. 제1항에 있어서, 상기 영역별로 분류하는 단계는 주사점들의 전영역 중 임계의 수 이상의 주사점들이 존재하는 영역을 조사하여 분류하는 것을 특징으로 하는 크레인의 무인자동화방법.2. The method of claim 1, wherein the classifying of each area comprises classifying by scanning an area in which all or more scan points exist in the entire area of the scan points. 제1항에 있어서, 무진동시 검출된 스프레더의 에지좌표값을 진동시에 검술한 에지값과 비교함으로서 스웨이각을 산출하여 흔들림을 제어하는 것을 특징으로 하는 크레인의 무인자동화방법.The method of claim 1, wherein the swing is calculated by comparing the edge coordinate values of the spreader detected during vibration with the edge values inspected during vibration to control the shaking. 제1항에 있어서, 크레인의 초기상태 (스큐가 없는 상태)에서 목표물(스프레더 혹은 컨테이너등)의 에지를 찾아 기억하고, 트롤리가 목표물상에 도달한 후 주행시 목표물의 에지를 검출하여 초기값과 비교함으로써 스큐각을 산출하여 비틀림을 보상하는 것을 특징으로 하는 크레인의 무인자동화방법.The method according to claim 1, wherein the edge of the target (spreader or container, etc.) is found and stored in the initial state of the crane (without skew), the edge of the target is detected when the trolley reaches the target, and compared with the initial value. Unattended automation method of a crane characterized in that to compensate for the torsion by calculating the skew angle. 제1항에서, 적재장에 적재된 컨테이너들의 열을 따라 주사함으로서 트롤리 위치에 따른 컨테이너열의 에지를 검출하여 컨테이너 적재상황을 인식하는 것을 특징으로 하는 크레인의 무인자동화방법.2. The method of claim 1, wherein the container loading situation is recognized by detecting edges of the container row according to the trolley position by scanning along the rows of the containers loaded on the loading dock. 크레인을 자동으로 운행하여 트롤리 하부에 권상된 스프레더가 컨테이너를 목표지점으로 이송하고, 이송한 후 정착한 목표위치에 적재하기 위한 장치에 있어서, 상기 트롤리의 소정부위에 취부되며. 상기 스프레더 및 컨테이너의 위치를 감지하는 검출수단; 상기 검출수단으로부터 감지된 신호를 입력받아 상기 스프레더 및 컨테이너의 위치를 인식하고, 상기 검출수단의 작동을 제어하는 검출수단제어부; 및 상기 검출수단제어부로부터 입력된 정보를 기설정된 기정치와 비교연산함으로써 운행에 필요한 정보를 얻어 이상상태를 보상하는 크레인제어부를 포함하는 크레인의 무인자동화장치.A device for automatically driving a crane and a spreader hoisted under a trolley for transporting a container to a target point, and loading and transporting the container to a target position where it is settled. Detecting means for detecting positions of the spreader and the container; A detection means control unit which receives the detected signal from the detection means, recognizes the positions of the spreader and the container, and controls the operation of the detection means; And a crane control unit for compensating for an abnormal state by obtaining information necessary for operation by comparing and calculating the information input from the detection means control unit with a predetermined preset value. 제8항에 있어서, 상기 검출수단은 상기 트롤리의 전후양단부상에 취부된 한쌍의 센서부착기구와, 상기 각각의 센서부착기구의 저면부상에 이동가능케 취부되며, 상기 스프레더 및 컨테이너의 위치를 감지하는 감지 센서로 이루어진 것을 특징으로 하는 크레인의 무인자동화장치.9. The apparatus of claim 8, wherein the detecting means is mounted on a pair of sensor mounting mechanisms mounted on front and rear ends of the trolley, and is movable on a bottom surface of each of the sensor mounting mechanisms to detect positions of the spreader and the container. Unmanned automatic device of a crane, characterized in that consisting of a sensor. 제9항에 있어서, 상기 센서부착기구는 상기 트롤리의 전후양단부상에 취부된 부착대와, 상기 부착대의 상부에 안착되어 상기 감지센서를 구동하는 구동모터와. 상기 감지센서의 구동시 그 위치를 검출하는 엔코더 및, 상기 구동모터을 구동제어하는 구동패널로 이루어진 것을 특징으로 하는 크레인의 무인자동화장치.10. The apparatus of claim 9, wherein the sensor attachment mechanism is mounted on both front and rear ends of the trolley, and a drive motor mounted on an upper portion of the mount to drive the detection sensor. And an encoder for detecting a position thereof when the sensor is driven, and a driving panel for driving control of the driving motor. 제10항에 있어서, 상기 부착대는 상기 트롤리의 전후양단부상에 대각선으로 부착되어 있는 것을 특징으로 하는 크레인의 무인자동화장치.11. The crane unmanned automated vehicle according to claim 10, wherein the mount is attached diagonally on both front and rear ends of the trolley. ※ 참고사항:최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019940040280A 1994-03-30 1994-12-31 Method and apparatus for unmanned automation of crane KR100335327B1 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
KR1019940040280A KR100335327B1 (en) 1994-12-31 1994-12-31 Method and apparatus for unmanned automation of crane
FI951461A FI111243B (en) 1994-03-30 1995-03-28 A method of operating a crane
EP95302162A EP0677478B1 (en) 1994-03-30 1995-03-30 Unmanned operating method for a crane and the apparatus thereof
DE69518566T DE69518566T2 (en) 1994-03-30 1995-03-30 Method for operating a crane without a driver and apparatus therefor
JP7097950A JPH08198584A (en) 1994-03-30 1995-03-30 Method of unattended operation of crane and its device
US08/413,512 US5729453A (en) 1994-03-30 1995-03-30 Unmanned operating method for a crane and the apparatus thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019940040280A KR100335327B1 (en) 1994-12-31 1994-12-31 Method and apparatus for unmanned automation of crane

Publications (2)

Publication Number Publication Date
KR960022235A true KR960022235A (en) 1996-07-18
KR100335327B1 KR100335327B1 (en) 2002-11-23

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KR1019940040280A KR100335327B1 (en) 1994-03-30 1994-12-31 Method and apparatus for unmanned automation of crane

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100395927B1 (en) * 2000-06-23 2003-08-27 현대중공업 주식회사 Method of container stacking profile auto scanning system using laser sensor and its apparatus
KR100443278B1 (en) * 2002-01-05 2004-08-04 김봉수 Pizza Hot Cake and Preparation Thereof
CN109748185A (en) * 2019-03-12 2019-05-14 润邦卡哥特科工业有限公司 A kind of crane fine motion control device and adjusting method

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100648449B1 (en) 2005-11-19 2006-11-24 (주)새텍 The slab sensing method and device looking for the center of gravity
KR101012897B1 (en) 2009-03-18 2011-02-08 에스티엑스조선해양 주식회사 Auto Steel Piling ? Marking System
KR101093343B1 (en) * 2009-11-26 2011-12-14 주식회사 피에스이 Method of hookturning dynamic position using laser scanners of crane

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05262492A (en) * 1992-03-18 1993-10-12 Mitsubishi Heavy Ind Ltd Detecting device for dislocation of steppedly loaded container

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100395927B1 (en) * 2000-06-23 2003-08-27 현대중공업 주식회사 Method of container stacking profile auto scanning system using laser sensor and its apparatus
KR100443278B1 (en) * 2002-01-05 2004-08-04 김봉수 Pizza Hot Cake and Preparation Thereof
CN109748185A (en) * 2019-03-12 2019-05-14 润邦卡哥特科工业有限公司 A kind of crane fine motion control device and adjusting method

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