KR100393516B1 - Automatic traveling lane structure of rubber tired gantry crane and automatic traveling system - Google Patents

Automatic traveling lane structure of rubber tired gantry crane and automatic traveling system Download PDF

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Publication number
KR100393516B1
KR100393516B1 KR1019950041466A KR19950041466A KR100393516B1 KR 100393516 B1 KR100393516 B1 KR 100393516B1 KR 1019950041466 A KR1019950041466 A KR 1019950041466A KR 19950041466 A KR19950041466 A KR 19950041466A KR 100393516 B1 KR100393516 B1 KR 100393516B1
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South Korea
Prior art keywords
driving
lane structure
image signal
traveling
crane
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KR1019950041466A
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Korean (ko)
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KR970026885A (en
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김정식
김민섭
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삼성중공업 주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C7/00—Runways, tracks or trackways for trolleys or cranes
    • B66C7/08—Constructional features of runway rails or rail mountings
    • 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
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • B66C19/002—Container cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
    • B66C9/08—Runners; Runner bearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0321—Travelling cranes
    • B66C2700/0357—Cranes on road or off-road vehicles, on trailers or towed vehicles; Cranes on wheels or crane-trucks

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

PURPOSE: An automatic traveling lane structure of a rubber tired gantry crane and an automatic traveling system are provided to improve reliability of images photographed by a CCD(Charge Coupled Device) camera, to increase the rectilinear traveling performance of the crane by improving the speed of an image signal process, and to accurately steer the crane in traveling by holding high distinction at various lighting conditions in the daytime. CONSTITUTION: An automatic traveling lane structure of a rubber tired gantry crane for automatically traveling vehicle wheels to a determined route by reading a road surface with a CCD camera(21) borders a black line with white lines in the center of the road surface and includes slits checking the degree of vibration along the center-line of the black line. An automatic traveling system for using the automatic traveling lane structure, detecting the deviation angle of a carne at a gyroscope(22), detecting the road surface of the lane structure with the CCD camera, and driving the wheels by controlling driving motors to the detected route is composed of a steering controller(30) for applying an image signal input from the CCD camera to an image signal processing algorithm, detecting a border of the black and white lines, outputting a traveling deviation distance by computing the detected border value, and checking the degree of vibration by detecting the slit from the image signal; a master PLC(Power Line Communication,40) for receiving the traveling deviation distance and the degree of vibration output from the steering controller, generating a driving signal to a steering algorithm, and applying the driving signal to a drive(50); and the drive for controlling the driving motors by receiving the driving signal from the master PLC and steering and driving left and right wheels.

Description

무궤도크레인의 자동주행레인구조 및 그를 이용한 자동주행시스템Automatic driving lane structure of trolley crane and automatic driving system using the same

본 발명은 무궤도 크레인(Rubber Tyred Gantry Crane; 이하 크레인이라 함)의 자동주행시스템에 관한 것으로, 특히 중심선상에 진동의 정도를 파악하기 위한 슬릿을 갖는 휘도차가 큰 색상의 라인들을 배열하여 주행레인을 구성함으로써 CCD카메라와 자이로를 병용한 자동직진주행장치를 갖는 크레인에서 CCD카메라로 인식되는 레인화질을 향상하고, 진동정도를 파악하여 영상신호처리의 속도증진과 더불어 영상신호의 신뢰도를 향상할 수 있는 무궤도크레인의 자동주행레인구조 및 그를 이용한 자동주행시스템에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic driving system of a crawler crane (hereinafter referred to as a crane). In particular, a driving lane is arranged by arranging lines having a large luminance difference having a slit to grasp the degree of vibration on a center line. By constructing a crane with an automatic linear driving device using a CCD camera and a gyro, the lane image quality recognized by the CCD camera can be improved, and the vibration level can be identified to increase the speed of image signal processing and to improve the reliability of the image signal. The present invention relates to an automatic driving lane structure of a trolleybus crane and an automatic driving system using the same.

무궤도 크레인은 컨테이너 적재장을 자유자재로 이동할 수 있도록 타이어등의 차륜을 이용하여 일정한 궤도를 갖지 않고 주행하는 크레인이다. 이러한 무궤도 크레인은 일정한 궤도없이 주행함으로써 적재장에 적재된 컨테이너와 접촉사고를 일으킬 우려가 있다. 이와 같은 접촉사고를 방지하기 위해서 무궤도 크레인에는 직진주행을 유도하는 장치가 필요하다. 현재 직진주행을 유도하는 장치로는 유도선에 의한 방식과 자이로에 의한 방식 및, 씨씨디(CCD) 카메라에 의한 방식등이 사용되고 있다. 유도선 방식은 최초로 개발되었으며, 컨테이너 적재장에 유도선을 매설하여 이 매설된 유도선을 따라 크레인이 주행하는 방식이다. 이러한 유도선 방식은 유도선 매설에 따른 토목공사비와, 공사기간이 많이 소요되는 문제점이 있었다. 또, 주변노면의 침하에 따른 유도선 절단등의 문제점도 있었다. 이러한 문제점을 해결하기 위해서 자이로 방식이 개발되었다. 이 자이로 방식은 설치가 용이한 잇점을 갖는 등 유도선 방식의 단점을 어느 정도 극복했다. 그러나, 크레인의 절대위치를 검출할 수 없고, 크레인의 진동으로 인해 자이로의 출력데이타가 불확실한 단점을 가지고 있다. 따라서, 최근에 상술한 두 방법의 문제점을 극복하기 위해 개발된것이 CCD카메라를 이용한 방식이다. 그러나, 이 방식도 CCD카메라가 일기변화에 민감하므로 일기변화가 심한 야외에서 사용하는 데 많은 제약을 받으며, 처리속도가 느린 단점을 갖고 있다. 따라서, 최근에는 CCD카메라방식과 자이로방식을 혼용하여 크레인의 자동직진주행의 신뢰도를 향상하고 있다.The trolley crane is a crane that travels without a constant track using wheels such as tires so as to move the container loading site freely. Such trolley cranes may run without a constant track, causing contact accidents with containers loaded on a storage site. In order to prevent such a contact accident, the trolley crane needs a device for inducing straight travel. At present, a device using a guide line, a gyro, and a CD camera are used as a device for inducing straight driving. The guideline method was developed for the first time, and the crane is driven along the embedded guideline by embedding the guideline in the container loading site. Such a guideline method has a problem that the civil construction cost and the construction period takes a lot due to the embedding of the guideline. In addition, there were problems such as cutting of guide lines due to settlement of the surrounding road surface. To solve this problem, a gyro method was developed. This gyro method has overcome some of the disadvantages of the guideline method, such as having an easy installation. However, the absolute position of the crane cannot be detected, and the output data of the gyro is uncertain due to the vibration of the crane. Therefore, recently developed to overcome the problems of the two methods described above is a method using a CCD camera. However, this method also has a disadvantage in that the CCD camera is sensitive to weather changes, and thus is restricted to use outdoors in severe weather changes, and has a slow processing speed. Therefore, in recent years, the CCD camera method and the gyro method are mixed to improve the reliability of the automatic straight running of the crane.

따라서, 본 발명의 목적은 전술한 CCD카메라와 자이로 혼용방식에서 CCD카메라로 인식되는 노면의 주행레인을 명확화하여 CCD카메라로 인식되는 화상의 선명도와 화상의 신뢰도를 향상하기 위한 무궤도크레인의 자동주행레인구조를 제공함에 있다.Accordingly, an object of the present invention is to clear the running lane of the road surface recognized by the CCD camera in the above-described mixed CCD camera and gyro system to improve the clarity and reliability of the image recognized by the CCD camera. In providing a structure.

또, 본 발명의 다른 목적은 전술한 자동주행레인구조를 CCD카메라로 읽어 보다 정확하고 신속하게 처리함으로써 주행속도 및 주행성능을 향상한 무궤도크레인의 자동주행시스템을 제공함에 있다.In addition, another object of the present invention is to provide an automatic driving system for a trolley crane which improves traveling speed and driving performance by reading the above-described automatic driving lane structure with a CCD camera and processing more accurately and quickly.

이와 같은 목적을 달성하기 위한 본 발명에 따른 무궤도크레인의 자동주행레인구조는 상기 주행노면상에 중앙부에 검정색선과 그 양측으로 흰색선을 접경시켜 구성되고, 상기 검정색선의 중심선을 따라 진동의 정도를 파악하기 위한 슬릿들을 갖는 것을 특징으로 한다.The automatic driving lane structure of the trolleybus according to the present invention for achieving the above object is configured by bordering the black line and the white line on both sides of the center on the road surface, grasp the degree of vibration along the center line of the black line It is characterized by having a slit for.

또한, 다른 목적을 달성하기 위한 본 발명에 따른 무궤도크레인의 자동주행시스템은 상기 CCD카메라로부터 입력된 화상신호를 영상신호처리알고리즘에 따라 검정색선과 흰색선과의 경계를 검출하고,이 검출된 경계값을 연산하여 주행편차거리를 산출하며, 화상신호로부터 슬릿을 검출하여 진동정도를 파악하는 조향콘트롤러를 구비하고 있다. 상기 조향콘트롤러에서 산출된 주행편차거리와 진동정도를 갖고 조향알고리즘에 따라 구동신호를 생성하여 드라이브에 인가하는 마스터PLC를 구비하고 있다. 상기 마스터PLC로부터 구동신호를 받아 상기 구동모터들을 제어하여 좌우측 차륜들을 조향구동하는 드라이브를 구비하고 있다.In addition, the automatic running system of the trolleybus according to the present invention for achieving another object detects the boundary between the black line and the white line according to the image signal processing algorithm of the image signal input from the CCD camera, and detects the detected boundary value. A steering controller calculates the driving deviation distance and detects the slit from the image signal to determine the degree of vibration. A master PLC having a driving deviation distance and a vibration degree calculated by the steering controller and generating a driving signal according to a steering algorithm is applied to the drive. And a drive for steering the left and right wheels by receiving the drive signal from the master PLC to control the drive motors.

이제, 본 발명에 대한 설명에 앞서 일반적인 무궤도크레인에 대해 개략적으로 설명한다.Now, a general description of the trolleybus crane prior to the description of the present invention.

제 1도는 일반적인 무궤도크레인의 개략적인 전체사시도이다. 여기애 도시된 도면부호 X는 갠트리방향을, Y는 트롤리방향을, 그리고 Z는 호이스트의 이동방향을 나타낸다. 크레인(10)의 갠트리방향(X) 주행시 크레인(10)의 양쪽무게가 동일하지 않거나 노면의 상태등 주위환경으로 인해 직선으로 주행하지 못하고 어느 한 방향으로 기울어져 주행하게 된다. 이로 인하여, 크레인(10)은 적재장에 적재된 컨테이너와 접촉사고가 발생할 우려가 있다. 따라서, 기울어져 주행하는 크레인이 정해진 경로로 주행하도록 조향해야 한다. 이와 같이 크레인을 조향하기 위해서는 크레인이 정해진 경로(주행레인)를 따라 이동하는가를 검출해야 한다. 본 발명은 이 경로를 정확히 검출하여 신속하게 처리제어하기 위한 것으로서, 이하부터 그 기술에 대해 상세히 설명한다.1 is a schematic overall perspective view of a general trolleybus. Here, reference numeral X denotes the gantry direction, Y denotes the trolley direction, and Z denotes the movement direction of the hoist. When the crane 10 travels in the gantry direction X, both weights of the crane 10 are not equal to each other, or the vehicle 10 is inclined in one direction due to the surrounding environment such as the road surface. For this reason, the crane 10 may be in contact with the container loaded on the loading dock. Therefore, it is necessary to steer the inclined crane to travel in a predetermined path. In this way, in order to steer the crane, it is necessary to detect whether the crane moves along a predetermined path (driving lane). The present invention is to accurately detect this path and quickly control the process. The technique will be described in detail below.

이하, 첨부된 도면들을 참조하여 본 발명에 대한 바람직한 실시예를 상세히 설명한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

제 2도는 본 발명에 따른 자동주행시스템을 나타낸 구성도이다. 도시한 바와 같이, 무궤도크레인의 자동주행시스템은 편차각과 주행편차거리를 검출하기 위한 감지수단(20)를 구비하고 있다. 이 감지수단(20)은 주행레인을 촬영하여 크레인의주행편차거리를 검출하는 CCD카메라(21)와, 크레인의 편차각을 연속적으로 검출하는 자이로(22)로 구성되어 있다. 본 장치는 또한 감지수단(20)에서 감지된 신호를 전송받아 조향에 필요한 데이터로 연산하는 조향콘트롤러(30)도 구비하고 있다. 이 연산값은 디지탈처리되어 출력된다. 아울러, 이 조향콘트롤러(30)의 디지탈데이터를 조향알고리즘에 따라 연산하여 모터제어신호를 드라이브(50)에 인가하는 마스터PLC(40)도 구비하고 있다. 이 마스터PLC(40)로부터 전송된 제어신호에 따라 드라이브(50)는 좌우측 구동모터들(60a,60b)을 구동하여 좌우측 차륜들(70a,70b)을 조향하게 된다.2 is a block diagram showing an automatic driving system according to the present invention. As shown, the trolleybus automatic traveling system is provided with a sensing means 20 for detecting the deviation angle and the traveling deviation distance. The detecting means 20 is composed of a CCD camera 21 for photographing a traveling lane to detect a traveling deviation distance of a crane, and a gyro 22 for continuously detecting a deviation angle of the crane. The apparatus also includes a steering controller 30 which receives the signal detected by the sensing means 20 and calculates the data necessary for steering. This operation value is digitally processed and output. In addition, a master PLC 40 for calculating the digital data of the steering controller 30 according to the steering algorithm and applying the motor control signal to the drive 50 is also provided. According to the control signal transmitted from the master PLC 40, the drive 50 drives the left and right driving motors 60a and 60b to steer the left and right wheels 70a and 70b.

제 3도는 본 발명에 따른 주행레인을 감지하는 CCD카메라가 부착된 차륜부분을 나타낸 것으로서, 제 3(가)도는 측면에서 보아 나타낸 것이고, 제 3(나)도는 정면에서 보아 나타낸 것이다.3 is a view showing a wheel portion with a CCD camera detecting a driving lane according to the present invention. FIG. 3 (a) is viewed from the side and FIG. 3 (b) is seen from the front.

도시한 바와 같이, CCD카메라(21)는 차륜(71)과 차륜(72) 사이에 설치되어 차륜(71,72)이 90° 선회할 경우에도 간섭되지 않도록 하고 있다. 물론, 크레인이 주행할 경우 차륜들(71,72)은 노면에 그려진 주행레인(80)을 따라 주행하게 된다. 이 주행레인(80)의 구조에 대해서는 제 4도를 참조하여 상세히 설명한다.As shown, the CCD camera 21 is provided between the wheel 71 and the wheel 72 so as not to interfere even when the wheels 71 and 72 are rotated 90 degrees. Of course, when the crane travels, the wheels 71 and 72 travel along the travel lane 80 drawn on the road surface. The structure of the traveling lane 80 will be described in detail with reference to FIG.

제 4도는 본 발명에 따른 무궤도크레인의 자동주행레인의 구성도이다.4 is a block diagram of the automatic driving lane of the trolleybus according to the present invention.

주행레인(80)은 중앙에 검정색선(81)을, 그 양측으로 흰색선들(82a,82b)을 접경시켜 큰 휘도차를 줌으로써 CCD카메라로 촬상시 더욱더 선명한 화질을 얻어 화상의 인식도를 향상할 수 있도록 구성하고 있다. 특히, 검정색선(81)의 중심선을 따라 슬릿들(83)을 배열하여 진동의 정도를 검출하도록 하고 있다. 즉, 크레인이주행중에 심한 진동이 발생하면 CCD카메라에서는 이 슬릿들(83)을 구분할 수 없게 된다. 콘트롤러는 이 정보를 갖고 진동의 정도를 판단한다.The driving lane 80 borders the black line 81 at the center and the white lines 82a and 82b at both sides thereof to give a large brightness difference, so that a clearer image quality can be obtained when capturing with a CCD camera, thereby improving image recognition. It is configured to be. In particular, the slits 83 are arranged along the center line of the black line 81 to detect the degree of vibration. In other words, if the severe vibration occurs while the crane is running, the CCD camera cannot distinguish these slits 83. The controller uses this information to determine the degree of vibration.

이제, 상술한 도면들을 참조하여 본 고안의 동작을 상세히 설명한다.Now, the operation of the present invention will be described in detail with reference to the above-mentioned drawings.

CCD카메라(21)는 주행레인(80)을 촬영하여 크레인의 주행편차거리를 검출하고, 자이로(22)는 크레인의 편차각을 연속적으로 검출하여 조향콘트롤러(30)로 보낸다. 조향콘트롤러(30)는 이때 입력된 그레이(Gray)화상신호를 비너리(Binary)화상신호로 변환하고, 영상신호처리알고리즘에 적용시켜 화상신호에서 흰색선(82a,82b)과 검정색선(81)의 경계를 검출한다. 그리고, 이 검출된 경계값을 연산하여 직진주행에 필요한 크레인 주행편차거리를 산출한다. 또한, 화상신호에서 슬릿(83)을 검출하여 크레인의 진동정도를 파악한다. 이때, 슬릿(83)이 검출되지 않으면 산출된 주행거리값에 20mm이상의 편차가 있는 것으로 판단한다. 특히, 직진주행시 주행방향에 의한 진동은 주행편차에 그 영향이 미약하나, 트롤리방향의 진동은 편차거리의 산출에 많은 영향을 미치게 된다. 따라서, 이를 극복하기 위해서 본 발명에서는 주행레인(80)에 슬릿(83)을 사용하여 진동의 정도를 파악함으로써 조향성을 향상하고 있다.The CCD camera 21 photographs the traveling lane 80 to detect the traveling deviation distance of the crane, and the gyro 22 continuously detects the deviation angle of the crane and sends it to the steering controller 30. The steering controller 30 converts the input gray image signal into a binary image signal and applies the image signal processing algorithm to the white line 82a, 82b and the black line 81 in the image signal. Detect the boundary of Then, the detected threshold value is calculated to calculate the crane traveling deviation distance required for straight traveling. In addition, the slit 83 is detected from the image signal to determine the vibration degree of the crane. At this time, if the slit 83 is not detected, it is determined that there is a deviation of 20 mm or more in the calculated travel distance value. In particular, the vibration due to the driving direction during the straight driving has a weak influence on the driving deviation, but the vibration in the trolley direction has a large influence on the calculation of the deviation distance. Therefore, in order to overcome this problem, steering is improved by grasping the degree of vibration by using the slit 83 in the traveling lane 80.

이와 같이 조향콘트롤러(30)에서 산출된 값은 디지탈신호로 출력되어 마스터PLC(40)로 입력된다. 입력된 데이터는 마스터PLC(40)의 로직프로그램에 따라 연산되어 차륜들(70a,70b)을 조향하기 위한 제어신호를 발생시킨다. 이 제어신호는 드라이브(50)에 전송되어 좌우측 구동모터들(60a,60b)을 제어하게 된다. 물론, 이 좌우측 구동모터들(60a,60b)은 체인으로 좌우측 차륜들(70a,70b)과 연결되어 있어,좌우측 차륜들(70a,70b)에 구동력을 전달함으로써 크레인을 조향하게 된다.As such, the value calculated by the steering controller 30 is output as a digital signal and input to the master PLC 40. The input data is calculated according to the logic program of the master PLC 40 to generate a control signal for steering the wheels 70a and 70b. The control signal is transmitted to the drive 50 to control the left and right driving motors 60a and 60b. Of course, these left and right drive motors (60a, 60b) are connected to the left and right wheels (70a, 70b) in a chain, thereby steering the crane by transmitting a driving force to the left and right wheels (70a, 70b).

이상 서술한 바와 같이, 본 발명에 따른 무궤도크레인의 자동주행레인구조를 이용하면 CCD카메라로 촬영되는 화상의 신뢰도를 향상할 수 있다. 이에 따라, 화상신호처리의 속도증진을 가져와 크레인의 직진주행성을 향상할 수 있다. 또한, 주간의 다양한 조명조건에도 높은 선명도를 유지할 수 있는 잇점을 가지고 있다. 따라서, 주행시 크레인이 정확한 조향을 기할 수 있는 효과를 갖는다.As described above, the use of the automatic running lane structure of the trolleybus according to the present invention can improve the reliability of the image photographed by the CCD camera. As a result, it is possible to improve the speed of image signal processing and to improve the straight running ability of the crane. In addition, it has the advantage of maintaining high sharpness even under various lighting conditions during the day. Therefore, the crane has the effect of ensuring accurate steering when driving.

제 1도는 일반적인 무궤도 크레인의 개략적인 전체사시도,1 is a schematic overall perspective view of a typical trolley crane,

제 2도는 본 발명에 따른 자동주행시스템을 나타낸 구성도,2 is a block diagram showing an automatic driving system according to the present invention,

제 3도는 본 발명에 따른 주행레인을 감지하는 CCD카메라가 부착된 차륜부분을 나타낸 구조도,3 is a structural diagram showing a wheel part with a CCD camera detecting a driving lane according to the present invention;

제 4도는 본 발명에 따른 무궤도크레인의 자동주행레인의 구성도.4 is a block diagram of an automatic driving lane of the trolleybus according to the present invention.

* 도면의 주요 부분에 대한 부호의 설명 *Explanation of symbols on the main parts of the drawings

20 : 감지수단 21 : CCD카메라20: detection means 21: CCD camera

22 : 자이로 30 : 조향콘트롤러22: Gyro 30: Steering Controller

40 : 마스터PLC 50 : 드라이브40: master PLC 50: drive

60 : 구동모터 70 : 차륜60: drive motor 70: wheel

80 : 주행레인 81 : 검정색선80: driving lane 81: black line

82 : 횐색선 83 : 슬릿82: white line 83: slit

Claims (4)

CCD카메라로 주행노면을 읽어 정해진 경로를 따라 차륜을 자동주행시키는 무궤도크레인의 자동주행레인구조에 있어서,In the automatic driving lane structure of the trolleybus which reads a driving surface with a CCD camera and automatically drives a wheel along a predetermined path, 상기 주행노면상에 중앙부에 검정색선과 그 양측으로 흰색선을 접경시켜 구성되고, 상기 검정색선의 중심선을 따라 진동의 정도를 파악하기 위한 슬릿들을 갖는 것을 특징으로 하는 무궤도크레인의 자동주행레인구조.And a slit for bordering a black line and a white line on both sides of the center on the road surface, and having slits for grasping the degree of vibration along the center line of the black line. 자이로에서 크레인의 편차각을 검출하고, 제 1항에 의거한 레인구조를 갖는 노면을 CCD카메라로 검출하여, 검출된 경로를 따라 구동모터들을 제어해서 차륜들을 구동시키는 자동주행레인구조를 이용한 자동주행시스템에 있어서,The gyro detects the deviation angle of the crane, detects the road surface having the lane structure according to claim 1 with the CCD camera, and controls the driving motors along the detected path to drive the wheels by using the automatic driving lane structure. In the system, 상기 CCD카메로부터 입력된 화상신호를 영상신호처리알고리즘에 따라 검정색선과 흰색선과의 경계를 검출하고, 이 검출된 경계값을 연산하여 주행편차거리를 산출하며, 화상신호로부터 슬릿을 검출하여 진동정도를 파악하는 조향콘트롤러;The boundary between the black line and the white line is detected according to the image signal processing algorithm of the image signal input from the CCD camera, the calculated deviation value is calculated and the traveling deviation distance is calculated. Steering controller to hold; 상기 조향콘트롤러에서 산출된 주행편차거리와 진동정도를 갖고 조향알고리즘에 따라 구동신호를 생성하여 드라이브에 인가하는 마스터PLC; 및A master PLC having a driving deviation distance and a vibration degree calculated by the steering controller and generating a driving signal according to a steering algorithm and applying the same to a drive; And 상기 마스터PLC로부터 구동신호를 받아 상기 구동모터들을 제어하여 좌우측 차륜들을 조향구동하는 드라이브를 포함하는 자동주행레인구조를 이용한 자동주행시스템.Receiving a drive signal from the master PLC to control the drive motors and the automatic driving system using a drive lane structure including a drive for steering the left and right wheels. 제 2항에 있어서, 상기 조향콘트롤러는 상기 슬릿이 검출되지 않으면 산출된 주행편차거리값에 20mm이상의 편차가 발생한 것으로 판단하는 것을 특징으로 하는 자동주행레인구조를 이용한 자동주행시스템.The automatic driving system using the automatic driving lane structure according to claim 2, wherein the steering controller determines that a deviation of 20 mm or more occurs in the calculated driving deviation distance value when the slit is not detected. 제 2항에 있어서, 상기 콘트롤러는 그레이화상신호를 비너리화상신호로 변환하여 상기 주행레인에서 흰색선과 검정색선의 경계를 검출하는 특징으로 하는 자동주행레인구조를 이용한 자동주행시스템.The autonomous driving system using an autonomous driving lane structure according to claim 2, wherein the controller detects a boundary between a white line and a black line in the traveling lane by converting a gray image signal into a binary image signal.
KR1019950041466A 1995-11-15 1995-11-15 Automatic traveling lane structure of rubber tired gantry crane and automatic traveling system KR100393516B1 (en)

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