KR100199106B1 - Crane auto driving system with rubbish high perception sensor - Google Patents

Abstract

The present invention is attached to a crane height operation sensor attached to the lower part of the crane trolley and detects the height of the garbage used in the crane automatic operation data to the crane automatic operation system for mixing the waste in the pit (PIT) in order of height or put into the hopper In the waste incineration treatment facility to mix the waste accumulated in the pit of the waste incinerator into the bucket hanging on the trolley or inject into the hopper, the pair of left and right roughly a-shaped support mounted on the bottom of the trolley A height sensing sensor which is attached to each of the outer ends of the supports and emits outgoing pulses to the garbage located below and receives the reflected waves reflected on the garbage and outputs a receiving pulse; A garbage height measuring controller for calculating a height of garbage by measuring a time difference between the transmitting pulse and the receiving pulse received from the height detecting sensor; And a crane controller for controlling the crane to move the trolley with the data sent from the waste height measuring controller and to lower the bucket and to put the waste in the order of height and to put or mix the hopper, thereby providing an ultrasonic sensor. By measuring the exact height of the garbage by using the system, it is possible not only to automatically operate the crane by securing the reliability of the measurement, but also to efficiently manage the waste in the pit, so that efficient work such as mixing the waste in the proper time or injecting it into the hopper is performed. It works.

Description

Crane automatic operation system using garbage height sensor

The present invention relates to a system for automatically operating a crane by measuring the height of the waste in the pit of the waste incinerator, in particular, by attaching a height detection sensor to the lower part of the crane trolley and detecting the height of the garbage to use as crane automatic operation data It relates to a crane automatic operation system for automatically operating the engine to mix the waste in the pit in order of height or to put in the hopper.

The daily garbage that is pouring out every day has become a big problem, which is a big problem such as environmental pollution and costly disposal. Therefore, the incineration method using waste as an alternative fuel has been found to be an appropriate method for preventing environmental pollution and easy disposal of waste. So, nowadays, garbage incinerators are installed everywhere in the city, and the incinerators are incinerated to supply energy for heating to neighboring houses or commercial buildings. The waste incinerator is loaded with waste into the pit by the garbage collection vehicle, and the imported waste is put into the hopper using a crane installed in the pit and incinerated in the boiler. In detail, the waste stored in the pit is picked up using a bucket hanging from a crane, put into a hopper, and sent to a boiler for incineration. In particular, in order to efficiently manage the waste, it is indispensable to recognize the waste height in the pit, because the waste is mixed in order of height or put into the hopper. An example of this is shown in FIGS. 1 and 2.

1 is a schematic configuration diagram of a crane device for picking up garbage in a pit of a conventional waste incinerator, FIG. 2 is an explanatory diagram for explaining a conventional method for measuring a waste height, (a) is a bucket for picking up and down the bucket Fig. 2B is a front view showing a drum portion in which a loafer to be wound is wound, and (B) is a plan view showing one drum part of Fig. 1A.

An encoder 20 is directly connected to the hoisting drum shaft 10 by the coupling 30, and the hoisting motor (not shown) rotates so that the loafers 12 wound around the drum 11 are released, and the bucket is suspended on the lower end thereof. 13 descends to the pit where the garbage 40 is piled up. When the bucket 13 is lowered on the garbage 40, the load cell located in the grid 51 of the trolley 50 changes its load from 0 to-. In this state, the signal of the encoder 20 is read to measure the current garbage height.

However, when the bucket 13 descends and sits on the garbage 40 pile, the teeth of the bucket 13 enter more or less into the garbage 40 pile according to the driver's driving ability, so the measured data is not accurate. . Therefore, the reliability of the garbage height data is not possible, and the efficient operation of the garbage is not only possible, and the operator can lower the bucket to the pile of garbage to measure the height of the garbage.

Accordingly, an object of the present invention is to devise to solve the above-mentioned conventional drawbacks, by attaching a garbage height detection sensor to the bottom of the crane trolley and detecting the height of the garbage sent to the crane controller to automatically run the crane pit It is to provide a crane automatic operation system for mixing the waste in the order of height or put into the hopper.

The crane automatic operation system using the garbage height sensor according to the present invention for achieving the above object is a waste incineration treatment to mix the waste accumulated in the pit of the waste incineration plant into a bucket hanging on the trolley or put into the hopper In the installation, there is a pair of left and right roughly a-shaped support mounted on the lower end of the trolley, each one is mounted to the outer end of the support to emit outgoing pulse to the garbage located below while receiving the reflected wave reflected on the garbage A height sensor for outputting a reception pulse; A garbage height measuring controller for calculating a height of garbage by measuring a time difference between the transmitting pulse and the receiving pulse received from the height detecting sensor; And a crane controller for controlling the crane to move the trolley with the data sent from the waste height measuring controller and to lower the bucket to pick up the waste in order of height and to put or mix the hopper.

1 is a schematic configuration diagram showing a part of a crane device for picking up garbage in a pit of an existing waste incinerator;

Figure 2 is an explanatory diagram for explaining a conventional waste height measurement method, (a) is a front view showing a drum portion is wound around the loafers to move the bucket to pick up the garbage, (b) is a side drum of (a) diagram. Floor plan,

Figure 3 is a schematic structural diagram of a crane device is installed garbage height detection sensor according to the present invention,

4 is a block diagram of an automatic crane driving system according to the present invention.

* Explanation of Signs of Major Parts of Drawings *

12: loafer 13: bucket

40: garbage 50; trolley

51: grid 60a, 60b: guard

70a, 70b: Support 80a, 80b: Height sensor

90: garbage height measuring controller 100: crane controller

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Figure 3 is a schematic structural diagram of a crane device is installed garbage height detection sensor according to the present invention.

As shown in the figure, roughly a-shaped supporters 70a and 70b are attached to the lower part of the trolley 50 which traverses on the guards 60a and 60b of the crane, and are directed downward. The support bases 70a and 70b are composed of a pair of left and right facings left and right, and each of the outer ends thereof is provided with garbage height detection sensors 80a and 80b. Of course, the height sensor (80a, 80b) is used in addition to the ultrasonic sensor as an example in this figure, such as a laser sensor.

The height sensors 80a and 80b fixed to the supports 70a and 70b are fixed downwards to emit ultrasonic pulses to the rubbish 40 positioned below them, and receive the reflected waves to measure the distance. Detailed description thereof will be described later with reference to FIG. 4. The trolley 50 is moved with the height data of the trash 40 measured by the height sensor 80a, 80b, while the loafers 12 and the loafers 12 wound on the trolley 50 are suspended at the bottom. The bucket 13 is operated to mix the waste into the pit or to put it into the hopper.

4 is a configuration diagram of a crane automatic operation system according to the present invention, the crane automatic operation system as shown, the height detection sensor for firing the ultrasonic pulse and receiving the reflected wave reflected on the trash 40 to detect the height of the trash in the pit (80) and the time difference between the transmission and reception of the ultrasonic pulse transmitted from the height sensor 80 to calculate the distance to the garbage 40, and outputs the garbage height measurement value in proportion to the temperature and various program variables A garbage height measuring controller 90 is provided. In addition, the crane with the garbage height measurement value measured in the waste height measuring controller 90 moves the trolley of the crane and lowers the bucket to inject or mix the garbage 40 in the pit into the hopper in the order of height. A crane controller 100 for controlling is provided.

Hereinafter, the operation of the apparatus will be described in detail with reference to FIGS. 3 and 4.

The height sensor 80a, 80b attached to the lower ends of the supports 70a, 70b of the trolley 50 emits an ultrasonic pulse to the waste 40 in the pit, and receives the reflected wave reflected by the waste 40. Transmission to the measurement controller 90. Then, the garbage height measurement controller 90 calculates the distance by measuring the time difference between the transmission and reception of the ultrasonic pulse. At this time, the waste height measuring controller 90 outputs the waste height measurement value in proportion to the temperature and various program variables and transmits it to the crane controller 100. With this data, the crane controller 100 moves the trolley 50, while lowering the bucket 13 to put the trash 40 in the hopper in ascending order to send it to the boiler or to mix the trash 40 evenly. Let it run automatically

As described above, the crane automatic operation system using the garbage height detection sensor of the present invention by using the ultrasonic sensor to accurately measure the height of the garbage to ensure the reliability of the measurement, it is possible not only the automatic operation of the crane, but also the garbage in the pit Efficient management is effective to achieve efficient work such as mixing waste or hopper at the right time.

Claims (3)

In the waste incineration treatment facility, the waste accumulated in the pit of the waste incineration plant is mixed with a bucket which is suspended by a trolley by a crane and put into a hopper. It has a pair of left and right roughly L-shaped supports mounted at the bottom of the trolley, and each one is mounted to the outer end of the supports to emit outgoing pulses to the garbage located below and to receive the reflected pulses reflected on the garbage. Height sensor; A garbage height measuring controller for calculating a height of garbage by measuring a time difference between the transmitting pulse and the receiving pulse received from the height detecting sensor; And Automatic operation of the crane using a garbage height detection sensor including a crane controller for controlling the crane to move the trolley with the data sent from the garbage height measurement controller and to lower the bucket to pick up the garbage in the order of hopper or to mix system. According to claim 1, wherein the height sensor is a crane automatic operation system using a garbage height detection sensor, characterized in that the ultrasonic sensor for emitting an ultrasonic pulse. 2. The crane automatic driving system using a garbage height detection sensor according to claim 1, wherein the height sensor is a laser sensor which emits a laser as garbage and uses the reflected light.

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