KR100730899B1 - The method and device which searching the loading point for the non-fixed vehicle - Google Patents

Abstract

The present invention relates to a method and an apparatus for loading a coil in an unstructured vehicle automatically using a crane, wherein the coils can be loaded at an accurate loading position with respect to the atypical vehicle.

To this end, the present invention comprises an operation part consisting of two rotary stages 10 and a rotary stage controller 50 for controlling the rotary stage 10; A laser pointer for measuring the length of the x-axis and the width of the y-axis to be actually mounted on the loading space of the atypical vehicle while rotating and interlocking with the laser pointer to correct the x- and y- And a laser sensor 20 for obtaining a more accurate x and y coordinate distance and thereby measuring a height value of an accurate z axis; Calculating a precise coordinate so that the coil carried by the crane is loaded at an accurate position with respect to the atypical vehicle, and a control unit that controls the operating unit to transmit / receive data measured by the load position checking means, The system can be configured with laser pointer and laser sensor under difficult circumstances and the accurate loading point (position) can be calculated, so that the perfect interface between the crane and the system is maintained so that the coil can be loaded in a more accurate position This is a system in which remote control is not performed. This reduces the work cycle time and shortens the work time. It also prevents the damage caused by loading failure because it can be loaded at an exact position on an irregular vehicle. to be.

Crane, laser pointer, laser sensor, irregular vehicle

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a method for displaying a loading position of an unstructured vehicle,

1 is a block diagram showing a preferred embodiment of the present invention.

2 is a state diagram showing a state of measuring an atypical vehicle according to a preferred embodiment of the present invention.

FIG. 3 is a top plan view showing a state of measuring an atypical vehicle in the upper part according to a preferred embodiment of the present invention.

4 is a diagram showing an operation method in the control section screen

5 is a view showing a work flow chart as a preferred embodiment of the present invention;

6 is a view showing the principle of measurement of the laser sensor

Fig. 7 (a) is a view showing a state in which a laser sensor is attached,

Fig. 7 (b) is a view showing a state in which the laser sensor is not attached,

8 is a view showing the x, y, and z axes

DESCRIPTION OF THE REFERENCE NUMERALS used in the main parts of the drawings

10: Rotary stage 20: Laser sensor

30: laser pointer 40:

50: Rotary stage control device 100: Atypical vehicle

110: Loading compartment

The present invention relates to a method and an apparatus for loading a coil with a crane in a loading compartment of an atypical vehicle in a more accurate position, and more particularly to a method and apparatus for loading a coil in a loading compartment of an amorphous vehicle In the case of an actual unstructured vehicle, the loading compartment on which the coil is loaded is not parallel to the floor, but is inclined to some extent. Therefore, by correcting the inclination, the height of each loading position can be accurately calculated. Therefore, a method of displaying an unstructured vehicle loading position in which the coil can be accurately loaded at a desired position among the inclined loading chambers using the crane, and a device therefor will be.

Therefore, since the system does not need to perform a remote control operation, the work time is shortened due to a reduction in the number of work process cycles. Even though the vehicle is an unstructured vehicle, Depending on the tackle, you will be able to pick up the load where necessary.

Generally, in the case of a stationary vehicle configured to be loaded with a coil using a crane, since a space is secured for loading and fixing the coil, it is possible to load a coil without correction of a certain error, Since a specific position of the vehicle is not fixed and some slope is formed from the actual floor, it is not possible to load the coil when an error occurs, and the vehicle may be damaged due to the failure in loading the coil, There has been a problem that can lead to an accident.

Also, since the non-standard vehicle can check the loading position through manual or general wireless communication between the crane driver and the operator confirming the loading position, and the coil can be loaded through the crane at the visually confirmed position, However, there is also a problem that the increase of the unnecessary number of personnel increases the working cost.

Accordingly, the present invention has been made to solve the above-mentioned problems occurring in the prior art, and it is an object of the present invention to provide an idle vehicle loading position display device and method therefor, it is possible to calculate and correct the coordinate data of the z axis to find an accurate loading position.

It is another object of the present invention to provide a safety device for a safety device for lifesaving and material accidents caused by a failure in loading due to an error in loading a coil at an accurate position without error by using a value measured by using a crane on an atypical vehicle And moreover, it is a more systematic and efficient method of operating the system in a short time so that the system can load and load the coils by using the crane at a smaller cost.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a method and apparatus for loading and unloading an atypical vehicle, which comprises two or more rotary stages (10) for rotating a measurement angle at regular intervals, A rotary stage controller (50) for rotating the rotary stage; A laser pointer for measuring the length of the x-axis and the width of the y-axis, which is a position to be actually loaded in the loading compartment of the atypical vehicle installed in the operating part while rotating the coil, Axis, the length of the x-axis and the width of the y-axis to obtain more accurate x and y coordinate values, thereby measuring the z-axis data of the correct height value. Confirmation means (120); And a control unit for receiving data measured by the loading position checking unit and calculating an accurate loading position using the data and controlling the operating unit.

2 and 3 so as to obtain the information of the loading compartment where the coils are to be loaded when the vehicle enters the vehicle (refer to FIGS. 2 and 3), the loading position checking means composed of the laser pointer 30 and the laser sensor 10 100, the vehicle 100 is installed at a predetermined height or more so as to be able to measure the entire vehicle, and the length to the loading position checking means 120 in the loading compartment of the vehicle, as shown in FIG. 8, The length d of the x-axis and the width e of the y-axis indicating the width of the loading compartment 110 between the loading position checking means 120 are successively measured and the length of the x-axis, the width of the y- (X, y) coordinate values are obtained by accurately calculating and correcting the position of the loading space, and the z value (f), which is an accurate height between the loading position checking means and the loading space, Feature .

Another aspect of the present invention is to measure the x, y, and z axis information of the position where the coil to be loaded on the atypical vehicle is to be mounted using the loading position checking means composed of the laser pointer 30 and the laser sensor 20 A process; Calculating and correcting more accurate x, y, and z axis information using information measured through the loading position checking means; Transmitting the calculated and corrected x, y, z axis information; And a control process of loading the information by the crane using the transmitted information, and a method thereof.

2 is a state diagram showing a state in which an atypical vehicle is measured according to a preferred embodiment of the present invention. FIG. 3 is a block diagram of a preferred embodiment of the present invention FIG. 4 is a view showing an operation method in the control unit screen, FIG. 5 is a view showing a work flow diagram, which is a preferred embodiment of the present invention, and FIG. 7 (a) is a diagram for use in position error calculation in a state where a laser sensor is attached, and FIG. 7 (b) is a diagram for explaining a position error calculation FIG. 8 is a view showing the x, y, and z axes. Referring to FIG. 8,

As shown in FIG. 1, the structure and method of the present invention will be described.

An operation part consisting of two or more rotary stages 10 for rotating measurement angles at regular intervals and a rotary stage controller 50 for controlling the rotary stage 10; A laser pointer 30 for measuring the length of the x-axis and the width of the y-axis with respect to a position to be actually mounted on the atypical vehicle loading compartment while being installed in the operating unit, and a laser pointer 30, a laser sensor 20 that measures the length of the x-axis and the width of the y-axis to obtain more accurate x and y coordinate values and thereby measures z of the correct height value. And a control unit 40 for receiving the data measured by the means and calculating and correcting the correct loading position using the data.

The controller 40 receives the measured data, combines the input data with the measured data, checks the coordinates of the x, y, and z axes of the position to be accurately loaded, corrects the coordinates, and calculates an accurate position And then continuously calculates the received and measured values by means of the loading position checking means provided in the operating portion and transmits data of the x, y and z axes continuously measured / calculated to the ground station so as to control the ground station The crane is operated to load the coil at the correct loading position with respect to the atypical vehicle.

As shown in Figs. 2 and 3, the laser pointer 30 and the laser sensor 20, which are load position confirmation means configured to be rotatable on the operating portion, are installed so as to be measurable at a constant height with respect to the atypical vehicle, 30 are connected to one side of the laser sensor 20.

(X-x)/H)이 되고, Y위치각도(80)θy=tan

((Y-y)/H)이 된다. 따라서 여기서 x, y의 좌표를(0,0)으로 보고 X, Y좌표를 (X',Y')이라고 하고, 수신거리를 L이라하면,6, the control unit calculates the XY angle using the height of the basic irregular vehicle, which is data based on the XY coordinate received from the ground station. If the height received from the ground station is H, the position coordinates of the laser sensor are x and y, and the coordinates received from the ground station are X and Y, then X position angle (70) θx = tan

(Xx) / H), and the Y position angle 80 (? Y = tan

((Yy) / H). Therefore, if the coordinates of x and y are (0,0), the coordinates of X and Y are (X ', Y'), and the distance of reception is L,

이를 다시 위의 식에 대입하면 정확한 높이에 따른 위치를 알 수 있으며, 이위치를 다시 계산하여 이동시키게 된다. 이렇게 레이저 센서(20)로 측정한 값의 오차는 레이저 센서 오차 ±3mm 에 각도계산 및 5회 반복 측정에 의한 평균 오차는 ±1mm로 나타나게 된다. 따라서 전술한 레이저 센서(20)에 의해 측정된 높이의 값은 비정형 차량일 경우라도 그 높이 값의 오차가 1mm이하가 됨으로 일반적으로 상기 높이 편차에 대한 오차는 거의 없음으로 이를 무시해도 아무런 문제점이 없게 된다.Actual height (h) = L x

Substituting this again into the above equation, we can know the position according to the exact height, and we calculate this position again and move it. In this way, the error of the measured value with the laser sensor 20 is represented by the error of ± 3 mm of the laser sensor error and the average error of ± 1 mm by the five repeated measurements. Therefore, even when the height of the laser beam is measured by the laser sensor 20, the error of the height is less than 1 mm, so that there is almost no error with respect to the height deviation. do.

에 의해 구해짐으로 상기 레이저 포인터의 각(θ)=tan

(30,000/11,700)≒68 °가 된다 상기 레이저 포인터의 각(θ)를 68°라고 보고, 로터리 스테이지 운용각도가 0.01° 이므 로 68,01°와의 거리 편차를 확인해보면x1=11,700*tan(68)=28,965가 되고, x2=11,700*tan(68.01)=28,973가 됨으로 이 사이의 최대편차는 14mm가 되며 높이에 따른 오차는 전술한 바와 같이 1mm이하라고 한다면 실제오차는 15mm가 되게 된다. 이때, 레이저 센서에 의해 정확한 실제 높이에 대한 측정이 없다면 도 7(b)에서 도시한 바와 같이 b지점의 높이를 11,600mm이라고 하고, a지점의 높이를 11,700mm이라고 하면, 전술한 식에 의해 높이에 따른Xa=11,600*tan(68) = 28,711mm가 되고, Xb=11,700*tan(68) = 28,959mm가 됨으로 그 오차 c는 248mm가 된다. 따라서, 레이저 센서(20)에 의한 정확한 높이를 측정하지 않게 되면 레이저 포인터(30)에 의해 측정만으로는 상기와 같이 자동으로는 작업을 수행 할 수 없을 만큼 큰 편차가 발생하기 때문에 상기 레이저 센서(20)는 레이저 포인터(30)와의 상호보완적인 관계가 이루어져야 한다.The position error of the laser pointer 30 is basically dependent on the angle of the rotary stage and the operating angle of the rotary stage angle is 0.01 degree The position error of the laser pointer is calculated based on the distance from the center as a reference in order to calculate the error of max with reference to 0.01 ° in calculation. Accordingly, the height of the floor and the laser pointer is 13,000 mm, the height of the vehicle is 1,300 to 1,500 mm, which is 1,300 mm (11,700 mm in height from the actual laser pointer), and when the distance between the two points is approximately 30,000 mm, Referring to FIG. 7 (a), the angle () of the laser pointer 60 is tan

(?) Of the laser pointer = tan

(30,000 / 11,700) ≒ 68 °. When the angle of the laser pointer is 68 ° and the rotary stage operating angle is 0.01 °, the deviation from 68 ° and 0 ° is x1 = 11,700 * tan (68 ) = 28,965, and x2 = 11,700 * tan (68.01) = 28,973, so that the maximum deviation between them becomes 14 mm, and if the error according to the height is 1 mm or less as described above, the actual error becomes 15 mm. 7 (b), if the height of the point b is 11,600 mm, and the height of the point a is 11,700 mm, then the height Xa = 11,600 * tan (68) = 28,711 mm, and Xb = 11,700 * tan (68) = 28,959 mm, so that the error c becomes 248 mm. Therefore, if the accurate height by the laser sensor 20 is not measured, a deviation which is large enough that the operation can not be performed automatically occurs only by the measurement by the laser pointer 30, A complementary relationship with the laser pointer 30 must be established.

Hereinafter, the operation according to the embodiment of the present invention will be described in more detail as follows. The present invention uses a laser sensor 20 and a laser pointer 30 to measure the X-axis length, the y-axis width, and the height of the z-axis, which are positional coordinates for loading a coil by using a crane in an atypical vehicle. In order to measure the X, Y and Z axis values, the laser sensor emits a laser beam to a loading compartment using an anti-reflection laser sensor, and the emitted light reaches the loading compartment and reflects the light at various angles. Some of the reflected light is received by the laser sensor, and the distance is measured using the time difference between the time when the laser is emitted and the time when the laser is received, so that the distance of the X axis, the width of the Y axis, and the height of the Z axis are obtained. Accordingly, in order to obtain a more accurate value by using the measured values continuously measured as described above, a method and apparatus for displaying a loading position of an unstructured vehicle are provided. As shown in FIG. 5, Then, when the information about the vehicle is inputted, each point for loading the coil is measured and corrected by the loading position checking means, and accurate coordinates for loading the coil are sequentially displayed. When the coil information is received, the position of the coil is displayed. At this time, when the preparation of the operator is completed, the ground station receives the position of the vehicle, and the coil is loaded on the loading compartment of the loading vehicle due to the crane, do. In addition, when it is desired to change the order of the cars, if the arrival and direction information of the vehicle is received as shown in FIG. 4, the order of cars is displayed on the screen of the control unit. (1) to change the order of steps 1 to 3 in the order of the order of the order of the order of the data according to the order of the data for each step, Press the 3 button (3) again and press the 'Edit' button (4). Therefore, in order to change the order and perform the work, the modified information is transmitted to the ground station by pressing the 'Done' button (2) again and the work is performed.

Therefore, the present invention provides a device configuration that can easily change the order of the order of the steps displayed on the screen of the control unit 40 by simply pressing a button on the touch screen.

Therefore, the present invention combines the position coordinate information continuously transmitted by the positioning means composed of the laser sensor 20 and the laser pointer 30, and corrects and calculates the position coordinate information to set the accurate loading position. It becomes possible to construct a device that can be loaded.

By implementing the irregular vehicle loading position indicating system of the present invention constructed as described above, it becomes possible to automatically load the coil in the irregular vehicle at the correct position.

In addition, the present invention can accurately measure position coordinates by means of a positioning means comprising a laser pointer and a laser sensor, thereby preventing lifesaving and material accidents due to failure of coil loading, and shortening work time and labor costs The effect of reducing the production cost can be expected.

Claims (7)

delete delete Inputting information about a vehicle; Measuring x, y, and z axis information of a position where a coil to be loaded on an atypical vehicle is to be mounted using a loading position checking unit configured by a laser pointer (30) and a laser sensor (20) on an upper portion of an atypical vehicle; Calculating more accurate x, y, and z-axis information using information measured through the loading position checking unit, and correcting the error; Transmitting the calculated and corrected x, y, z axis information; And a control step of receiving data measured by the loading position checking unit and calculating an accurate loading position by using the data, and controlling the operating unit and loading it by a crane. The method of claim 3, The process of measuring the x, y, and z-axis information, The laser sensor configured to measure the X, Y, and Z axis values emits laser light in a red cell using an anti-reflection laser sensor, and causes the emitted light to reach the red cell and reflect the light at various angles step; A part of the reflected light is measured by measuring the distance using the time difference between the time when the laser light is emitted and the time when the laser is emitted and the time taken for receiving the light, thereby obtaining the distance of the X axis, the width of the Y axis and the height of the Z axis A method of indicating an unstoppable vehicle loading position. 5. The method of claim 4, The process of calculating the x, y, and z-axis information and correcting the error, If the height received from the ground station is H, the position coordinates of the laser sensor are x and y, and the coordinates received from the ground station are X and Y, X position angle (70)? X = tan

((Xx) / H), Y position angle (80)? Y = tan

((Yy) / H)       Here, letting the x and y coordinates be (0,0), the X and Y coordinates be (X ', Y'), and the reception distance be L, Actual height (h) = L x

And the position is determined according to the correct height by substituting it into the above equation, and the error at this time is an average error of 1 mm; The error required for positioning the laser pointer 30 is as follows. The operating angle of the rotary stage angle is 0.01 DEG, and the height of the bottom and the laser pointer is 13,000 (60) = tan (mm), the vehicle height is 1,300 to 1,500 mm, which is 1,300 mm (11,700 mm in height from the actual laser pointer)

The angle deviation of the laser pointer is 68 ° and the distance deviation from 68,01 ° is 11,700 * tan (68) = 30,000 / 11,700. Since the angle of the laser pointer is 68 ° and the rotary stage operating angle is 0.01 °, And the maximum deviation between the two is 14 mm, so that the error is corrected. The method according to claim 1, The method of claim 3, Wherein the control unit receives the measured data and operates the operation unit to calculate an accurate position by measuring x, y, and z axes of a position to be accurately loaded by combining the previously input data with the previously input data, The continuously measured values by the laser pointer 30 and the laser sensor 20 constituted by the position checking means are calculated, and data of the x, y and z axes continuously measured / calculated are transmitted to the ground station, Wherein the crane is operated to allow the coil to be loaded at an accurate loading position with respect to the atypical vehicle. delete

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