KR101237038B1 - Apparatus for controlling a crane - Google Patents

Abstract

The present invention relates to a control device of a crane, which is installed on a crane including a drive unit slidably installed on a large structure and a hoist installed on the drive unit to move an object, the vibration of the movement or stop of the object A control device for a crane for damping, which is installed in the crane, the position detecting means for detecting the position information according to the movement or stop of the object and the position information of the object detected by the position detecting means is preset And a control means for performing a vibration attenuation mode for controlling the operation of the drive unit such that the object is within the reference position range when the detected position information of the object is out of the reference position range compared to the reference position range. To lift very long or special shaped objects from the ground There is an effect that can be suppressed to the maximum vibration generated by the unexpected disturbance during the movement and movement of the object raised.

Description

Crane control unit {APPARATUS FOR CONTROLLING A CRANE}

The present invention relates to a control device of a crane, and more particularly, it is possible to suppress vibrations generated by an unexpected disturbance when moving or stopping an object and a vibration generated when lifting an object of a very long or special form from the ground. It relates to a control device of the crane to automatically control the drive of the crane by performing a vibration damping mode (or automatic feedback control mode) for removing the shake of the object mounted to the crane.

In general, robot devices such as cranes are used to move heavy materials and containers in industrial sites and ports.

Referring to FIG. 1, which is a simplified operation state diagram of a crane according to the related art, a crane used as an example of such a robot includes a rail 12 installed on a ceiling of a large structure, and a driving part slidably mounted on the rail 12. 14).

In addition, a motor is mounted to the driving unit 14, and a chain or rope 16 is installed to the motor so that the length can be adjusted. In addition, the lower end of the chain or rope 16 is provided with a hoist capable of fixing the object 10 to a hook or the like.

In addition, a switch (not shown) for operation is connected to the crane, and the switch is installed at the drive unit 14 and is installed at an end of the cable extending long.

When the crane moves the drive unit 14 by operating the switch, the object 10 fixed to the hoist is moved. In this case, when the shape of the object 10 is very long or has a special shape, as the object 10 is lifted, an angle difference between the chain or rope 16 and the center of gravity of the object 10 is generated, thereby causing the object ( 10) If you fall from the ground, very large shaking occurs.

In addition, the periodic shaking is generated when the object 10 is accelerated or decelerated, it is impossible to move to the desired path by such a shake, it is very difficult to stop the object 10 in the correct target position, the object 10 It takes a long time for the shaking of the to stabilize. In addition, due to the shaking of the object 10 threatens the safety of the surrounding workers, it may cause life and property damage due to collision with the surrounding facilities.

In order to solve this problem, conventionally, the worker lifts or moves the object 10 while holding the object 10 by hand or binds a string to the object 10 to prevent shaking of the object 10. to be.

On the other hand, recently, a technique of generating vibrations of the object 10 and reverse phase corresponding to the vibrations to suppress the vibration of the object 10 has been disclosed and used in US Patent Nos. 4,997,095 and 5,638,267.

As described above, in the crane shake elimination method according to the related art, when the vibration of the object 10 due to the initial input of the crane is given an oscillation of the opposite phase of the same magnitude as the vibration caused by the initial input after a certain time delay, the object 10 When the acceleration or deceleration of the shaking of the object 10 is reduced.

In other words, the vibration is canceled by dividing into several stages based on input / output characteristics rather than feeding at the maximum speed at the time of acceleration and deceleration. As such, a method of bringing about a vibration canceling effect by its own input is referred to as inputshaping. When the input shaping method is used, the vibration of the object 10 may be removed during acceleration or deceleration of the object 10, and thus the object may be transported without shaking to the target point.

However, the conventional crane input shaping control device is a method of producing a vibration canceling effect by its own input, and is caused by external disturbances other than its own input and vibration generated when lifting the object 10 of a very long or special form from the ground. There is a problem that can not control the generated vibration.

The present invention has been made to solve the above-described problems, the object of the present invention is the vibration generated by lifting the object from a very long or special form from the ground and the vibration generated by the unexpected disturbance when moving / stopping the object. It is to provide a control device of the crane to automatically control the drive unit of the crane by performing a vibration damping mode (or automatic feedback control mode) for removing the shaking of the object mounted to the crane so as to suppress the maximum.

In order to achieve the above object, an aspect of the present invention is installed on a crane including a drive unit slidably installed on a large structure and a hoist installed on the drive unit to move an object, and to move or stop the object. A control apparatus for a crane for damping vibration according to the above, comprising: position detecting means installed in the crane for detecting position information according to movement or stop of the object; And receiving the position information of the object detected by the position detecting means and comparing the preset reference position range with the driving unit so that the object is within the reference position range when the position information of the detected object is out of the reference position range. It is to provide a control device of a crane comprising a control means for performing a vibration damping mode for controlling the operation of.

Here, the position detecting means, the upper portion of the hoist, the detection member having a specific color; And an image acquisition module installed in the driving unit to acquire a color image of the member to be detected, and for acquiring position information of the member to be detected through color recognition based on the obtained color image of the member to be detected. The control unit may further include: vibration damping controlling the operation of the driving unit so that the detected member is within the reference position range when the position information of the detected member obtained from the image acquisition module is out of the preset reference position range. It is desirable to perform the mode.

Preferably, the reference position range is set as the reference point after setting the pixel data for the center point of the member to be detected in the image obtained by the image acquisition module in the state that the object is initially stopped, It may consist of a pixel range having a constant area.

Preferably, the image acquisition module, the camera box is provided in the drive unit having a camera for acquiring a color image of the detected member; An image converter converting a color (RGB) image obtained from the camera into an HSV image; A color information extracting unit extracting only a color channel in the HSV image color space converted from the image converting unit; And calculating a histogram of the color channel extracted from the color information extractor to obtain a color probability distribution, and find a center point of the detected member in the image obtained from the camera based on the color probability distribution. It may include a position detection unit for detecting the position information and transmitting to the control means.

Preferably, the position detecting means is installed on the upper portion of the hoist, the upper surface of the detected member having a circular pattern in which a plurality of circles at a predetermined interval along a predetermined radius around a reference point; And an image acquisition module which is installed in the driving unit to acquire a circular pattern image of the member to be detected, and acquires position information of the member to be detected through pattern recognition based on the obtained circular pattern image of the member to be detected. Including the control means, the control means for controlling the operation of the drive unit so that the detected member is within the reference position range when the position information of the detected member obtained from the image acquisition module is out of the predetermined reference position range Vibration damping mode can be performed.

Preferably, the image acquisition module, the camera box is installed in the drive unit is provided with a camera for obtaining a circular pattern image of the detected member; And calculating the center point of each circle by detecting the position of each circle in the circular pattern image obtained from the camera, forming one circle using the calculated center points of each circle, and calculating the center point of the formed circle. It may include a position detection unit for detecting the position information of the member to be detected and transmitted to the control means.

Preferably, the position detecting means is installed on the upper portion of the hoist, the detected object having a pattern having a predetermined width and at least one ring represented by a second color different from the first color on the upper surface having a first color; absence; And installed on the driving unit to acquire a pattern image formed on an upper surface of the to-be-detected member, and acquire position information of the to-be-detected member through a labeling image processing based on the obtained pattern image of the to-be-detected member. And an image acquisition module, wherein the control means comprises: the driving unit so that the detected member is within the reference position range when the position information of the detected member obtained from the image acquisition module is out of the preset reference position range. Vibration damping mode to control the operation can be performed.

Preferably, the ring shape of the pattern may be formed of any one ring shape of a circle, oval, triangle, square or polygon.

Preferably, the first and second colors may be white and black, respectively.

Preferably, the pattern has a smaller size toward the center of the first ring and at least one second ring having a shape identical to or different from the shape of the first ring may be displayed at regular intervals.

Preferably, the pattern is the first pattern represented by one ring having the second color, and the second color spaced apart so that a space is formed inside the ring while the position of the center point is the same as the center point position of the ring. It may be made of a second pattern of a specific shape filled.

Preferably, the annular shape of the first pattern is a ring shape of any one of a circle, an oval, a triangle, a square or a polygon, and the specific shape of the second pattern is any one of a circle, an oval, a triangle, a rectangle or a polygon. It may be made in the shape of.

Preferably, at least one having a shape that is the same as or different from the ring of the first pattern while decreasing in size toward the center of the space between the first pattern and the second pattern based on the ring of the first pattern. The ring of may be further displayed to be spaced apart.

Preferably, the image acquisition module, the camera box is installed in the drive unit is provided with a camera for acquiring the pattern image of the detected member; An image converter converting a color image obtained from the camera into a gray image; A binarizer for binarizing the gray image converted from the image converter based on a predetermined threshold value and then rebinarizing the binarized image so as to be inverted; A labeling unit inspecting all pixels of the re-binarized image from the binarization unit to perform the same labeling for pixels having a predetermined binarization value and pixels adjacent thereto; A size filtering unit filtering unwanted labeling pixel areas using preset pattern size information among the pixel areas labeled by the labeling unit; And a position detection unit that receives pattern information of the filtered image from the size filtering unit, finds a center point of the outer size of the pattern, detects position information of the member to be detected, and transmits the position information to the control means.

Preferably, the camera box, the housing is installed on the lower side, the housing is built in the camera to obtain an image of the member to be detected through an opening formed in one side; And a cover module installed in the housing to open and close the opening according to a control signal output from the control means.

Preferably, the opening of the housing is further provided with a transparent plate for protecting the lens of the camera from the outside, the cover module, a cover for protecting the transparent plate from the outside, and the transparent plate by the cover It may be made of a cover driving unit for moving the cover in accordance with the control signal output from the control means to open and close the provided opening.

Preferably, the foreign matter removal member is fixed to the cover to be in close contact with the transparent plate to be movable, the foreign matter removal member for removing the foreign matter attached to the surface of the transparent plate is moved together during the movement of the cover by the cover driver It may be provided.

Preferably, the foreign material removing member may be formed of a flexible synthetic resin material.

Preferably, the transparent plate is made of tempered glass, the cover driving portion may be made of at least one cylinder driven according to the control signal of the control means.

Preferably, the position detection means, the distance detection unit for detecting the distance data between the drive unit and the hoist; An IMU sensor module installed above the hoist and having a plurality of inertial sensors for detecting inertial data according to the movement of the hoist; And a position for acquiring position information on a two-dimensional plane of the object by using data on roll and pitch angles among distance data detected from the distance detector and inertial data detected from the IMU sensor module. And a detecting unit, wherein the control unit controls the operation of the driving unit so that the object is within the reference position range when the position information of the object obtained from the position detecting unit is out of the preset reference position range. Can be performed.

Preferably, the plurality of inertial sensors may include a plurality of acceleration sensors capable of measuring acceleration, and a plurality of gyro sensors capable of measuring angular velocity.

Preferably, when transmitting the inertial data detected from the IMU sensor module by wire, the motor is fixed to the lower side of the drive unit to rotate forward / reverse; A cable reel coupled to rotate integrally with the rotation shaft of the motor; And a sensor cable which transmits the inertial data detected from the IMU sensor module, and which is released or wound according to the rotation of the cable reel, wherein the control means includes a rope or a chain for up / down movement of the hoist. It is possible to control the forward / reverse rotation of the motor so that the length of the sensor cable is changed in the same way as the length is changed.

Preferably, the operation box for operating the operation of the drive unit and the hoist is further provided, the control means receives the operation and stop signal of the hoist or the drive unit from the operation box at the time of operation of the hoist or the drive unit Vibration damping mode can be performed at stop.

Preferably, the driving unit is slidably installed in the X-axis and Y-axis directions when viewed from a plan view of the large structure, and the control means is provided when the position information of the object detected from the position detecting means is out of a preset reference position range. The driving unit may be controlled to be operated in at least one of X and Y axes so that the object is within the reference position range.

According to the control device of the crane of the present invention as described above, the vibration generated when lifting a very long or special type of object from the ground, and the vibration caused by unexpected disturbance when moving / stopping the object can be suppressed to the maximum. By performing the vibration damping mode (or automatic feedback control mode) for removing the shake of the object mounted on the crane to automatically control the drive of the crane, there is an advantage that can effectively remove the vibration of the object.

In addition, according to the present invention, when lifting the object of a very long or special form by automatically adjusting the vertical direction of the rope and the crane, there is an advantage that can lift the object safely without shaking.

In addition, according to the present invention, when an external shock or disturbance occurs, there is an advantage that the object can be moved more stably by removing the shaking in a short time by automatically controlling the driving unit without manipulation of the operation box.

1 is a simplified operating state diagram of a crane according to the prior art.
Figure 2 is a schematic diagram showing a crane having a control device of a crane according to an embodiment of the present invention.
3 is an overall block diagram for schematically illustrating a control device of a crane according to an embodiment of the present invention.
4 is a side view (a) and a rear view (b) partially cut away to explain a camera box applied to an embodiment of the present invention.
5 is a conceptual view for explaining the operation of the vibration damping mode of the control means applied to an embodiment of the present invention.
6 is a block diagram for explaining another example of the position detection means applied to an embodiment of the present invention.
FIG. 7 is a plan view of the member to be detected of FIG. 6.
8 is a block diagram for explaining another example of the position detection means applied to an embodiment of the present invention.
9 is a view illustrating a plane of the member to be detected in FIG. 8.
10 is a schematic diagram showing a crane having a control device of a crane according to another embodiment of the present invention.
Figure 11 is a block diagram for schematically illustrating a control device of a crane according to another embodiment of the present invention.
12 is a conceptual view for explaining a method of obtaining position information on an object by using position detection means applied to another embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, embodiments of the present invention illustrated below may be modified in many different forms, and the scope of the present invention is not limited to the embodiments described below. The embodiments of the present invention are provided to more completely explain the present invention to those skilled in the art.

2 is a block diagram schematically showing a crane having a control device of a crane according to an embodiment of the present invention, Figure 3 is a block diagram for schematically illustrating a control device of a crane according to an embodiment of the present invention. 4 is a side view (a) and a rear view (b) partially cut away to explain a camera box applied to an embodiment of the present invention.

2 to 4, the control device of the crane according to an embodiment of the present invention is largely configured to include a crane 100, the position detection means 200 and the control means 300, and the like, The system is installed in a conveying device such as a crane 100 capable of moving a long or heavy object 10 to effectively attenuate vibrations that may occur when the object 10 is moved or stopped.

Here, the crane 100 is installed in a large structure, such as a factory, the drive unit 110 is slidably mounted to the ceiling of the large structure. At this time, the driving unit 110 is supported by a support member installed in a predetermined section of the ceiling of the large structure, it is preferable to be slidably installed in the X-axis and / or Y-axis direction when viewed in the plane of the large structure ( See Korean Patent Publication No. 2003-75616, Korean Patent Publication No. 2010-4660, and Korean Patent Publication No. 2005-51941).

In addition, the support member may be made of a rail 20 of the I-beam form, or may be made of a belt or the like. At this time, the driving unit 110 is provided with a roller or the like to move along the rail 20 or the belt.

On the other hand, the support member may be formed in the form of a rack or a roller, the drive unit 110 may include a rail 20 of the pinion gear or I beam form for coupling to the rack or roller. In addition, the driving unit 110 may control the operation by an arbitrary input value, including, for example, an induction motor, an inverter motor, or a server motor.

On the other hand, the lower portion of the drive unit 110 is provided with a hoist 120 for fixing the object 10 to move the object 10. To this end, the hoist 120 includes a motor 121 fixedly installed below the driving unit 110.

In addition, the motor 121 is a chain 122 or rope is connected, the length of the chain 122 or the rope is wound or unwinding by the operation of the motor 121 can be adjusted. In addition, the end of the chain 122 or the rope is provided with a fixing portion 123 for hanging or fixing the object 10, the fixing portion 123 is a hook 124 at the end to hang the object (10) ) Can be installed.

In addition, the crane 100 may further include an operation box 130 for manipulating the operation of the driving unit 110 and the hoist 120.

The operation box 130 generates an operation signal to the motor 121 of the driving unit 110 or the hoist 120 according to the user's input. To this end, the operation box 130 may be provided with an operation unit 131 for moving up / down / left / right to transfer a user input.

Therefore, during left / right operation of the operation box 130, the driving unit 110 moves forward or backward (east / west / south / north) along the rail 20 in the X-axis or Y-axis direction so that the hoist 120 is moved. Move position In addition, the motor 121 of the hoist 120 operates during the up / down operation of the operation box 130 to adjust the length of the hoist 120 by winding or unwinding the chain 122 or the rope.

On the other hand, the operation box 130 is connected to the control unit 300 or the motor 121 of the hoist 120 and a wire through a predetermined cable 132, or wireless communication, such as Bluetooth (BLUETOOTH) communication, RF (Radio) It may be connected to one of wireless communication protocols such as frequency (IR) communication, infrared light ray (IR) communication, and wireless network communication.

In this case, the wireless network communication is preferably a signal processing according to a wireless communication protocol such as IEEE802.11a / b / g or a signal processing according to a communication protocol such as ZigBee which is an example of IEEE802.15.4b. In addition, the wireless communication may be signaled by a wireless communication method such as lonworks, modbus, ethernet, RS-232c, RS-485, etc., even in the illustrated exception.

To this end, the wireless network communication is preferably provided with a transmission modem device (not shown) and a reception modem device (not shown) for transmitting a wireless network signal to the control means 300 and the operation box 130, respectively. In this way, the control means 300 and the operation box 130 can be connected by wireless communication between the modem device located in the short distance, and transmits / receives control and control signals from a remote place through a wide area network such as the Internet. It is also possible.

In addition, the position detecting means 200 is installed in the driving unit 110 and / or the hoist 120 of the crane 100 and detects the positional information on the two-dimensional plane according to the movement or stop of the object 10. Perform the function.

The position detecting means 200 is composed of the detection member 210 and the image acquisition module 220, the detection member 210 is the upper portion of the hoist 120 to track the position of the object 10 in real time, that is, It is provided on the upper portion of the fixing part 123, and is configured in a wide plate shape having a specific color (for example, a light color system such as yellow, blue, etc.).

In addition, the image acquisition module 220 is installed on the driving unit 110 to acquire a color image of the member 210 to be detected, and color recognition based on the obtained color image of the member 210 to be detected (or Color-based tracking algorithm) to obtain the position information of the member 210 to be detected.

The image acquisition module 220 includes a camera box 221, an image converter 222, a color information extractor 223, a position detector 224, and the like.

Here, the camera box 221 is provided so that the entire image of the detected member 210 can be obtained, the lower side of the driving unit 110, for example, to vertically look down the object 10 of the motor 121 It is preferable to be installed at the lower part of the wire drum 125 connected to the rotating shaft to wind or loosen the chain 122 or the rope, but the present invention is not limited thereto, and when the structure is difficult to install, it has a constant angle at the end of the motor 121. It can be installed so as to, and can be installed on any portion of the drive unit 110 side from which the entire image of the member to be detected 210 can be obtained.

As shown in FIG. 4, the camera box 221 is fixedly installed at the lower side of the driving unit 110 so that the entire image of the detected member 210 is obtained through the openings 221-2a formed at one side thereof. A housing module 221-2 having a built-in 221-1 and a cover module installed in the housing 221-2 to open and close the opening 221-2a according to a control signal output from the control means 300 ( 221-3).

In addition, a transparent plate 221-2b may be further provided at the opening 221-2a of the housing 221-2 to protect the lens of the camera 221-1 from the outside. 2b) is preferably made of, for example, tempered glass.

The cover module 221-3 is opened by a cover 221-3a for protecting the lens or the transparent plate 221-2b of the camera 221-1 from the outside and a cover 221-3a. A cover driving part 221-3b for moving the cover 221-3a according to a control signal output from the control means 300 so that the 221-2a or the transparent plate 221-2b is opened and closed.

That is, the control means 300 is an open control signal to the cover driving part 221-3b so that the opening 221-2a or the transparent plate 221-2b is opened by the cover 221-3a when the vibration damping mode is performed. Outputs a closed control signal to the cover driver 221-3b so that the opening 221-2a or the transparent plate 221-2b is closed by the cover 221-3a when the vibration damping mode is not performed. do.

On the other hand, the cover driver 221-3b is preferably made of at least one hydraulic or pneumatic cylinder (Cylinder) driven in accordance with the control signal of the control means 300, but is not limited to this, cover (221-3a) May be made using components of conventional motors and gears so that they can be moved in the horizontal direction. For example, although not shown in the drawing, the cover 221-3a is horizontally formed using a rack gear formed on one surface of the cover 221-3a, a pinion gear rotated in engagement with the motor, and a motor having a rotation shaft connected to the pinion gear. By moving, the opening portion 221-2a or the transparent plate 221-2b may be opened and closed.

Furthermore, the cover is fixedly installed on the cover 221-3a so as to be in close contact with the transparent plate 221-2b and to be slidably moved. The foreign material removing member 221-3c may be further provided to remove foreign matters such as fine dust attached to the surface of the 221-2b). The foreign material removing member 221-3c is preferably formed of a flexible synthetic resin material that can be bent by an external force such as rubber or the like.

Meanwhile, the image converter 222 converts a color (RGB) image obtained from the camera 221-1 into an HSV (Hue-color, Saturation-saturation, Value-brightness) image color space.

The color information extractor 223 extracts only the Hue channel from the HSV image color space converted from the image converter 222.

The position detector 224 calculates a histogram of the color channel extracted from the color information extractor 223 to obtain a color probability distribution, and detects the image within the image obtained from the camera 221-1 based on the color probability distribution. Finding the center point of the member 210 performs a function of detecting the position information on the two-dimensional plane of the member 210 to be transmitted to the control means 300 through wired or wireless communication.

That is, since the detected member 210 is installed at a position corresponding to the object 10, the position information on the two-dimensional plane of the detected member 210 may be applied in the same manner as the position of the object 10. Therefore, when the positional information of the object to be detected 210 is detected, the same effect as that of detecting the positional information of the object 10 can be achieved.

The image converting unit 222, the color information extracting unit 223, and the position detecting unit 224 configured as described above are included in the image acquisition module 220 and mounted in the camera box 221, but are not limited thereto. In addition, all functions of the image converter 222, the color information extractor 223, and the position detector 224 may be configured to be performed by the control means 300.

On the other hand, a separate communication module may be provided to transfer the position information on the two-dimensional plane of the detected member 210 detected by the position detection unit 224 to the control means 300 through wired or wireless communication.

In addition, the control means 300 may be implemented as a conventional microprocessor or a microcomputer, and provides position information of the object 10 detected from the position detection means 200. When the position information of the detected target object 10 is out of the reference position range in comparison with a preset reference position range, the vibration of controlling the operation of the driving unit 110 to be within the reference position range. Performs the function of performing attenuation mode (or automatic feedback control mode).

That is, when the position information of the detected member 210 obtained from the image acquisition module 220 is out of the preset reference position range, the control unit 300 enters into the reference position range. In order to control the driving unit 110 to be operated in at least one direction of the X-axis and the Y-axis.

In addition, the control means 300 receives the operation and stop signals of the driving unit 110 or the hoist 120 from the operation box 130 when the hoist 120 is operated (upward movement-when lifting the object) or the driving unit ( When the 110 stops (when there is no input of east / west / south / north movement), the vibration attenuation mode may be performed.

At this time, the predetermined reference position range, the object to be detected in the entire image obtained through the image acquisition module 220 in the first stationary state that is fixed to the hoist 120, that is, there is no vibration After setting the pixel data of the center point 210 as an initial reference point, the pixel data may have a pixel area having a constant area around the reference point. That is, within the predetermined pixel range, the information on the minimum pixel range of the operation is set as the reference position range so that the operation of the vibration damping mode can be ignored.

5 is a conceptual diagram illustrating an operation of the vibration damping mode of the control means applied to an embodiment of the present invention. When the resolution of the camera 221-1 is 640 × 480 pixels (Pixel), the first ① When the reference position (or reference point) in the absence of vibration, the position of ① in the image of the camera 221-1 is as shown in (b) of FIG.

Here, if the center coordinate of ① is (320,240) pixels and the minimum pixel range is set to 15 pixels, the dashed-dotted square box of FIG. 5 (b) becomes the minimum pixel range (or reference position range), and X pixel is About 305 to 335 pixels and Y pixels are about 225 to 255 pixels.

Subsequently, when the center coordinates of the to-be-detected member 210 obtained from the camera 221-1 deviate from the one-dot chain line box that is the minimum pixel range as shown in ③, the reference position of ① according to the pixel value of the position information data. It can be seen that the direction from the right, the control unit 300 is controlled to move the motor of the drive unit 110 so that the drive unit 110 can move to the right direction until the position of ③ is entered into the dashed line square box. And, the first control means 300 is to stop the motor drive of the drive unit 110 when entering the one-dot chain line box at the position of ③.

If only the X pixel range is out of control, only the motor of the driving unit 110 for the X-axis direction needs to be controlled. If both the X and Y pixels are out of the X-parallel, Y for the motor of the driving unit 110, respectively. -Control the motor in each direction of driving. That is, the X pixel value is determined to control the motor in the X direction, and the Y pixel value is determined to control the motor in the Y direction.

On the other hand, the setting of the minimum pixel range (or reference position range) depends on the site situation, the number may vary depending on the length of the chain 122 or rope or the object 10 to be worked on, the field test It is best to find the optimal value for the site.

For example, if the resolution of the camera 221-1 is fixed at 640 x 480 pixels, and generally the length of the chain 122 or the rope on which the work is performed is between about 8 m to 15 m, +20 pixels, -20 When selected into a pixel, the vibration elimination rate can be about 70 to 80%. In addition, the value may be set by interpolating a minimum pixel range value according to the length of the chain 122 or the rope.

6 is a block diagram for explaining another example of the position detecting means applied to an embodiment of the present invention, Figure 7 is a view showing a plane of the detected member of FIG.

6 and 7, in case it is difficult to apply the above-described color recognition (or color-based tracking algorithm), pattern information is used to determine the position information on the two-dimensional plane of the object 10 (see FIG. 2). Can be detected.

That is, the position detecting means 200 ′ applied to an embodiment of the present invention is composed of a member 210 ′ to be detected and an image acquisition module 220 ′.

Here, the detected member 210 'is installed at the upper part of the hoist 120 in the same manner as the detected member 210 shown in FIG. 2, and a plurality of the detected members 210' are formed along a predetermined radius around the reference point (preferably). At least three or more) has a circular pattern 211 in which circles 211a are displayed at regular intervals. For example, as illustrated in FIG. 7, five circles 211a are displayed on the upper surface of the member 210 ′ at intervals of about 72 degrees to form a circular pattern 211.

The detection member 210 'is preferably made of a circular plate, but is not limited thereto. For example, the detected member 210' may be formed of a plate having a triangular, square, or polygonal shape.

In addition, the image acquisition module 220 'is installed in the driving unit 110 (refer to FIG. 2) to obtain a circular pattern image of the member 210' to be detected in the same manner as the image acquisition module 220 shown in FIG. Based on the obtained circular pattern image of the detected member 210 ', a function of acquiring position information of the detected member 210' is performed through pattern recognition.

The image acquisition module 220 'is installed in the driving unit 110 in the same manner as the camera box 221 shown in FIG. 4 to acquire a circular pattern image of the member 210' to be detected. The center point of each circle 211a is calculated by detecting the position of each circle 211a in the camera box 221 'equipped with') and the circular pattern image obtained from the camera 221-1 '. One circle is formed by using the center points of each of the circles 211a, the center point of the formed circle is calculated, and the position information on the two-dimensional plane of the detected member 210 'is detected to use the wired or wireless communication. And a position detecting unit 224 ′ which is transmitted to the control unit 300 (see FIG. 3).

Here, the camera box 221 ′ has the same configuration as the camera box 221 of FIG. 4 and will not be described in detail.

Meanwhile, the position detector 224 'finds the position of each circle 211a in the camera image through circular pattern recognition in the image obtained from the camera 221-1', and calculates the center point of each circle 211a. do. It is possible to find a center point of the object 10 by creating a single large circle using the center points of each circle 211a found above and calculating the center point of the circle.

In this case, as shown in FIG. 7, even if pattern recognition of two circles 211a fails among the circular patterns 211 having five circles 211a, the circular patterns 211 of the remaining three circles 211a are shown. By using the information on the pattern recognition failed to calculate the position of the remaining two circles (211a), it is possible to find the center point of the object (10). Using the center point thus found, it is possible to remove the shaking of the crane object 10 through the same process as described above, that is, the vibration damping mode.

And, the control means 300, if the position information of the detected member 210 'obtained from the image acquisition module 220' is out of the predetermined reference position range in the same manner as the vibration attenuation mode described above (detected member ( 210 ') controls the operation of the drive unit 110 to fall within the reference position range.

FIG. 8 is a block diagram for explaining another example of a position detecting means applied to an embodiment of the present invention, and FIG. 9 is a view showing a plane of the detected member of FIG. 8.

Referring to FIG. 8 and FIG. 9, another example of the position detecting means applied to an embodiment of the present invention will be described. Referring to the object 10 and FIG. 2 using labeling image processing, which is one of image processing techniques. Position information on the two-dimensional plane can be easily detected.

That is, the position detecting means 200 ′ applied to an embodiment of the present invention is composed of the detected member 210 ″ and the image acquisition module 220 ″.

Here, the detected member 210 ″ is installed on the top of the hoist 120 in the same manner as the detected member 210 illustrated in FIG. 2, and an upper surface thereof has a first color, and has a predetermined width and the width. A pattern 211 'is formed of at least one ring 211a' indicated by a second color different from the first color.

The detection member 210 "is preferably made of a plate having the same shape as the shape of the ring 211a 'of the pattern 211', but is not limited thereto, and the shape of the ring 211a 'of the pattern 211'. Regardless of, for example, it may be made of a plate of various shapes such as a circle, a triangle, a rectangle, a polygon, and the like.

On the other hand, the first and second colors are preferably made of white and black, respectively, in order to perform the labeling image processing more quickly and accurately, but is not limited thereto, and the first and second colors are made of different colors. Any color may be used on the ground.

As shown in Fig. 9A, the single pattern 211 'is represented by one circular or rectangular ring 211a' on the upper surface of the member 210 "to be detected. The ring shape of 211 ′ may be formed in various shapes such as an oval, a triangle, a rhombus, or a polygon, as well as the circular or quadrangle shown in FIG. 9.

In addition, at least one ring (not shown) having the same shape or different shape as that of the ring 211a 'while decreasing in size toward the center of the one ring 211a' shown in FIG. 9 (a). H) may be further displayed at a predetermined interval.

Meanwhile, as shown in FIG. 9B, in the case of the double pattern 211 ′, the first pattern represented by one ring 211 a ′ having the second color is displayed on the upper surface of the member 210 ″. And a specific shape filled with the second color to be spaced apart so that the space portion O is formed inside the ring 211a 'while the position of the center point is the same as the center point position of the ring 211a'. The second pattern 211 ′-2 may be formed.

In this case, the annular shape of the first pattern 211'-1 may be formed in various annular shapes such as, for example, a circle, an oval, a triangle, a rectangle, a rhombus, or a polygon. The shape may be formed in various shapes such as, for example, circular, oval, triangular, square, rhombus or polygonal. The first and second patterns 211'-1 and 211'-2 may have the same shape or different shapes.

Furthermore, the size is smaller toward the center of the space portion O between the first pattern 211'-1 and the second pattern 211'-2 based on the ring of the first pattern 211'-1. At least one ring (not shown) having the same shape or different shape as the ring of the first pattern 211 ′-1 may be further displayed to be spaced apart.

In addition, the image acquisition module 220 "is installed in the driving unit 110 (refer to FIG. 2) so that the pattern image formed on the upper surface of the member 210" is acquired in the same manner as the image acquisition module 220 shown in FIG. 2. The position information of the detected member 210 "is obtained through a labeling image process based on the obtained pattern image of the detected member 210".

The image acquisition module 220 "is installed in the driving unit 110 in the same manner as the camera box 221 shown in FIG. 4 to acquire a pattern image of the member 210" to be detected. ) Is provided with a camera box 221 ′, an image converter 225 for converting a RGB image obtained from the camera 221-1 ′ into a gray image, and an image converter 225. Binarization unit 226 for binarizing (0,1) the gray image converted from the reference image based on a predetermined threshold for image processing such as labeling, and then rebinarizing (1,0) so that the binarized image is inverted. And a labeling unit 227 for inspecting all pixels of the re-binarized image from the binarization unit 226 to perform the same labeling for pixels having a predetermined binarization value (0 or 1) and adjacent pixels. And a predetermined pattern among the pixel areas labeled by the labeling unit 227. A size filtering unit 228 for filtering unwanted labeling pixel areas (noise) using the size information, and pattern information of the filtered image is provided from the size filtering unit 228 to find a center point for the outer size of the pattern. And a position detecting unit 229 which detects position information on the two-dimensional plane of the member 210 "to be detected and transmits it to the control means 300 (see FIG. 3).

Here, the camera box 221 ′ has the same configuration as the camera box 221 of FIG. 4 and will not be described in detail.

The process of detecting position information on the two-dimensional plane of the detected member 210 ", that is, the object 10 through the position detecting means 200 'configured as described above will be described first. Converts the three-channel color (RGB) image obtained from the camera 221-1 ′ into a single-channel gray image, which is a single channel, and converts the converted gray image through a binarization unit 226 to a predetermined threshold value. After binarization (0, 1) based on the reference, the binarized image is re-binarized (1, 0) so as to be inverted.

At this time, for the binarization of the converted gray image, various known methods such as P-tile method, mode method, average binarization method, iterative binarization method, adaptive binarization method, maximum minimum method, fuzzy binarization method, Otsu binarization method, etc. Can be used.

Then, all the pixels of the re-binarized image are inspected by the labeling unit 227 to perform the same labeling for pixels having a predetermined binarization value (0 or 1) and pixels adjacent thereto. When the single pattern 211 ′ is used as shown in FIG. 9A, one labeling is performed, and a center point for the size of the outer shell of the pattern can be obtained.

Meanwhile, when the double pattern 211 ′ is used as shown in FIG. 9B, two labelings are performed. First, the outer shell information can be obtained as shown in FIG. 9A through the first labeling. When labeling, only the labeling area found with the information on the area is once again labeled to check whether the inside is doubled as shown in FIG. 9 (b). In the case of a pattern, two center centers can be obtained. In this case, two labels can be used to reduce the amount of unwanted information, and any of the two center information can be used.

Thereafter, the size filtering unit 228 filters out unwanted labeling pixel areas using predetermined pattern size information, which is information that we want, among the pixel areas labeled by the labeling unit 227.

Finally, by receiving the pattern information of the filtered image from the size filtering unit 228 through the position detecting unit 229 to find the center point of the outer size of the pattern, the position information on the two-dimensional plane of the detected member 210 ". Detects and delivers to the control means (300).

And, the control means 300, if the position information of the detected member 210 "obtained from the image acquisition module 220" in the same manner as the vibration damping mode described above is out of the predetermined reference position range (detected member ( 210 ") controls the operation of the drive unit 110 to fall within the reference position range.

10 is a block diagram schematically showing a crane having a control device of a crane according to another embodiment of the present invention, Figure 11 is a block configuration for schematically illustrating a control device of a crane according to another embodiment of the present invention. FIG. 12 is a conceptual view for explaining a method of acquiring position information about an object using a position detection unit applied to another embodiment of the present invention.

10 to 12, the control device of the crane according to another embodiment of the present invention is largely configured to include a crane (100 '), position detection means (200 ") and control means (300') and the like The system is installed in a conveying device such as a crane 100 'capable of moving a long or specially shaped object 10 so as to effectively attenuate vibrations that may occur when the object 10 is moved or stopped. to be.

Here, since the crane 100 ′ is the same as the crane 100 of the above-described embodiment of the present invention, a detailed description thereof will be referred to the above-described embodiment of the present invention.

In addition, the position detecting means 200 ″ is installed in the driving unit 110 and / or the hoist 120 of the crane 100 ′, and when the object 10 is moved or stopped, the position information on the two-dimensional plane is acquired. Perform the function of detecting.

The position detecting means 200 ″ includes a distance detecting unit 230, an IMU sensor module 240, a position detecting unit 250, and the like.

Here, the distance detection unit 230 performs a function of detecting the distance data between the drive unit 110 and the hoist 120, proposed in the first registered Korean Utility Model No. 20-0437295 (crane input shaping control device) As described above, the distance between the driving unit 110 and the hoist 120, that is, between the driving unit 110 and the fixing unit 123 of the hoist 120 may be measured using an ultrasonic sensor or the like.

In addition, while the information on the time-per-length change of the hoist 120 according to the up / down operation of the operation box 130 is set in advance, the control means 300 ′ is the up / down operation output from the operation box 130. The distance data between the drive unit 110 and the hoist 120 can be easily detected by obtaining the up / down moving speed of the hoist 120 according to the signal and multiplying the moving speed by the time when the up / down input is input. have.

The IMU sensor module 240 may be implemented by a general Inertial Measurement Unit (IMU) or the like, and is disposed on the hoist 120 in the same manner as the installation positions of the above-described members 210 and 210 '. It is provided with a plurality of inertial sensors for detecting inertial (eg, acceleration, angular velocity, angle, etc.) data for each of the three axes (X-axis, Y-axis and Z-axis) as the hoist 120 moves. .

In this case, the plurality of inertial sensors include a plurality of (preferably, three) acceleration sensors capable of measuring acceleration (moving inertia), and a plurality (preferably, three) of measuring angular velocity (rotation inertia). It is preferably made of gyro sensors.

The position detector 250 uses the data of the roll and pitch angles among the distance data detected from the distance detector 230 and the inertial data detected from the IMU sensor module 240 to determine the object 10. It acquires the position information on the two-dimensional plane of the function of transmitting to the control means (300 ') by using wired or wireless communication.

That is, as shown in FIG. 10, in the IMU sensor module 240, nine inertial data regarding acceleration, angular velocity, and angle are obtained, and among the obtained inertial data, X-roll angle and Y-axis. -Use the inertia data of the pitch angle.

First, the X-axis will be described (the Y-axis is also the same), and when moved from the first ① position to the ② position, the IMU sensor module 240 may acquire data on θ. The angle required here is θ2.

θ + θ1 = 90 °-(Equation 1), θ1 + θ2 = 90 °-(Equation 2)

If Equation 2 is subtracted from Equation 1, θ = θ2 can be obtained. The actual coordinates to be obtained are x, and by using the trigonometric formula, Equation 3 below can be obtained, and x coordinates on a two-dimensional plane of x can be obtained.

- (식 3)

-(Equation 3)

Here, L is the distance between the drive unit 110 and the hoist 120 detected from the distance detector 230, the reference numeral ③ represents the center of gravity of the object.

On the other hand, the control means 300 ′ receives the position information of the object 10 obtained from the position detection unit 250 by wired or wireless communication, and the position information of the obtained object 10 is outside the preset reference position range. In this case, the vibration damping mode for controlling the operation of the driving unit 110 may be performed so that the object 10 falls within the reference position range.

In addition, when the inertial data detected from the IMU sensor module 240 is transmitted to the control means 300 'by wire, the cable box 400 under the crane 100', that is, the drive unit 110, for the IMU sensor cable processing. ) May be further provided.

Inside the cable box 400, the motor 410 is rotated forward and reverse, the drum is coupled to rotate integrally with the rotating shaft of the motor 410, that is, the cable reel 420 and from the IMU sensor module 240 The sensor cable 430 which transmits the detected inertial data to the control means 300 ′ and which is released or wound in accordance with the rotation of the cable reel 420 is provided.

At this time, in the control means 300 'cable reel 420 and the chain so that the length of the sensor cable 430 is changed in the same way as the length of the chain 122 or the rope for the up / down movement of the hoist 120 By controlling the speed of the motor 410 by calculating the ratio of the wire drum 125 provided to wind or unwind the rope 122 or by controlling the forward / reverse rotation of the motor 410, from the IMU sensor module 240 The detected inertial data can be easily transmitted to the control means 300 ′, and the twisting of the sensor cable 430 can be effectively prevented.

Although a preferred embodiment of the above-described crane control apparatus according to the present invention has been described, the present invention is not limited thereto, and various modifications are made within the scope of the claims and the detailed description of the invention and the accompanying drawings. It is possible and this also belongs to the present invention.

100: crane,
200: position detection means,
300 control means,
400: cable box

Claims (24)

delete delete delete As a control device for a crane for attenuating the vibration caused by the movement or stop of the object is installed on a crane including a drive unit slidably installed on a large structure, and a hoist installed on the drive unit to move the object,
Position detecting means installed in the crane, for detecting position information according to the movement or stop of the object; And
The driving unit receives the position information of the object detected by the position detecting means and compares it with a preset reference position range so that the object falls within the reference position range when the position information of the detected object is outside the reference position range. Control means for performing a vibration damping mode for controlling the operation,
The position detecting means is provided on an upper portion of the hoist, and is installed on the driving unit so that a detected member having a specific color and a color image of the detected member are obtained, and the color image of the detected member is obtained. An image acquisition module for acquiring position information of the member to be detected through color recognition based on
The image acquisition module may include a camera box installed in the driving unit and including a camera for acquiring a color image of the member to be detected, an image converter for converting a color (RGB) image obtained from the camera into an HSV image; A color probability extractor for extracting only a color channel from the HSV image color space converted from the image converter, a histogram of the color channel extracted from the color information extractor, and obtaining a color probability distribution; It includes a position detection unit for finding the center point of the member to be detected in the image obtained from the camera based on the probability distribution, detects the position information of the member to be detected and delivers it to the control means,
The control means, the vibration attenuation mode for controlling the operation of the drive unit so that the detected member is within the reference position range when the position information of the detected member obtained from the image acquisition module is out of the predetermined reference position range Control device for a crane, characterized in that to perform.
5. The method of claim 4,
The reference position range is set to the pixel data for the center point of the member to be detected as a reference point in the image acquired by the image acquisition module in the state that the object is initially stopped, and then a constant area around the reference point. Control device for a crane, characterized in that consisting of a pixel range.
As a control device for a crane for attenuating the vibration caused by the movement or stop of the object is installed on a crane including a drive unit slidably installed on a large structure, and a hoist installed on the drive unit to move the object,
Position detecting means installed in the crane, for detecting position information according to the movement or stop of the object; And
The driving unit receives the position information of the object detected by the position detecting means and compares it with a preset reference position range so that the object falls within the reference position range when the position information of the detected object is outside the reference position range. Control means for performing a vibration damping mode for controlling the operation,
The position detecting means is provided on an upper portion of the hoist, the detected member having a circular pattern in which a plurality of circles are shown at regular intervals along a predetermined radius around a reference point, and the circular pattern of the detected member. An image acquisition module installed in the driving unit to acquire an image, and including an image acquisition module for acquiring position information of the detected member through pattern recognition based on the obtained circular pattern image of the detected member;
The image acquisition module may include a camera box installed in the driving unit and provided with a camera for acquiring a circular pattern image of the member to be detected, and detecting the position of each circle in the circular pattern image obtained from the camera. Comprising a center point, and forms a circle using the calculated center points of each circle, calculates the center point of the formed circle to detect the position information of the member to be detected and transmits to the control means; ,
The camera box is installed under the driving unit, and includes a housing in which a camera is built so that an image of the member to be detected is obtained through an opening formed in one side thereof, and a control signal installed in the housing and output from the control means. According to the cover module for opening and closing the opening,
The control means, the vibration attenuation mode for controlling the operation of the drive unit so that the detected member is within the reference position range when the position information of the detected member obtained from the image acquisition module is out of the predetermined reference position range Control device for a crane, characterized in that to perform.
As a control device for a crane for attenuating the vibration caused by the movement or stop of the object is installed on a crane including a drive unit slidably installed on a large structure, and a hoist installed on the drive unit to move the object,
Position detecting means installed in the crane, for detecting position information according to the movement or stop of the object; And
The driving unit receives the position information of the object detected by the position detecting means and compares it with a preset reference position range so that the object falls within the reference position range when the position information of the detected object is outside the reference position range. Control means for performing a vibration damping mode for controlling the operation,
The position detecting means is installed on top of the hoist, the detected member having a pattern of at least one ring on the upper surface having a first color and a second color different from the first color; It is installed in the drive unit to obtain a pattern image formed on the upper surface of the member to be detected, and for obtaining the position information of the member to be detected through labeling image processing based on the obtained pattern image of the member to be detected. It includes an image acquisition module,
The control means, the vibration attenuation mode for controlling the operation of the drive unit so that the detected member is within the reference position range when the position information of the detected member obtained from the image acquisition module is out of the predetermined reference position range Control device for a crane, characterized in that to perform.
The method of claim 7, wherein
The ring shape of the pattern is a control device of the crane, characterized in that made of any one ring shape of a circle, oval, triangle, square or polygon.
The method of claim 7, wherein
The control device of the crane, characterized in that the first and second colors are made of white and black, respectively.
The method of claim 7, wherein
The pattern has a smaller size toward the center of the first ring while at least one second ring having the same or different shape as the shape of the first ring is displayed at regular intervals of the crane Control unit.
The method of claim 7, wherein
The pattern is a first pattern represented by one ring having the second color, and a specific shape filled with the second color so as to be spaced apart so that a space is formed inside the ring while the position of the center point is the same as the center point position of the ring. Control device for a crane, characterized in that consisting of a second pattern.
12. The method of claim 11,
The annular shape of the first pattern is formed of any one of a circle, an ellipse, a triangle, a rectangle, or a polygonal shape, and the specific shape of the second pattern is a shape of any one of a circle, an ellipse, a triangle, a rectangle, or a polygon. Control device of a crane, characterized in that made.
12. The method of claim 11,
At least one ring having a shape that is the same as or different from the ring of the first pattern as the size decreases toward the center of the ring of the first pattern with respect to the space portion between the first pattern and the second pattern. Control device for a crane, characterized in that the display is further spaced apart a certain interval.
The method of claim 7, wherein
The image acquisition module,
A camera box mounted to the driving unit and provided with a camera for acquiring a pattern image of the member to be detected;
An image converter converting a color image obtained from the camera into a gray image;
A binarizer for binarizing the gray image converted from the image converter based on a predetermined threshold value and then rebinarizing the binarized image so as to be inverted;
A labeling unit inspecting all pixels of the re-binarized image from the binarization unit to perform the same labeling for pixels having a predetermined binarization value and pixels adjacent thereto;
A size filtering unit filtering unwanted labeling pixel areas using preset pattern size information among the pixel areas labeled by the labeling unit; And
And a position detecting unit which receives pattern information of the filtered image from the size filtering unit, finds a center point of the outer size of the pattern, detects position information of the member to be detected, and transmits the position information to the control means. Control device.
The method according to claim 4 or 14,
The camera box,
A housing installed under the driving unit and having a camera built therein so as to acquire an image of the member to be detected through an opening formed at one side thereof; And
And a cover module installed in the housing to open and close the opening in accordance with a control signal output from the control means.
The method of claim 15,
The opening of the housing is further provided with a transparent plate for protecting the lens of the camera from the outside,
The cover module includes a cover for protecting the transparent plate from the outside, and a cover driving part for moving the cover according to a control signal output from the control means so that the opening with the transparent plate is opened and closed by the cover. Control device of a crane, characterized in that made.
17. The method of claim 16,
It is fixed to the cover to be in close contact with the transparent plate to be movable sliding, the foreign matter removal member for removing the foreign matter attached to the surface of the transparent plate is moved together when the cover is moved by the cover driving unit Crane control device characterized in that.
The method of claim 17,
The foreign material removing member is a crane control device, characterized in that formed of a flexible synthetic resin material.
17. The method of claim 16,
The transparent plate is made of tempered glass, the cover driving unit crane control device, characterized in that made of at least one cylinder driven in accordance with the control signal of the control means.
As a control device for a crane for attenuating the vibration caused by the movement or stop of the object is installed on a crane including a drive unit slidably installed on a large structure, and a hoist installed on the drive unit to move the object,
Position detecting means installed in the crane, for detecting position information according to the movement or stop of the object; And
The driving unit receives the position information of the object detected by the position detecting means and compares it with a preset reference position range so that the object falls within the reference position range when the position information of the detected object is outside the reference position range. Control means for performing a vibration damping mode for controlling the operation,
The position detecting means includes an IMU having a distance detecting unit detecting distance data between the driving unit and the hoist, and a plurality of inertial sensors mounted on the hoist and detecting inertial data according to the movement of the hoist. The position information on the two-dimensional plane of the object is obtained by using the data of the roll and pitch angle among the sensor module, the distance data detected from the distance detector and the inertial data detected from the IMU sensor module. It includes a position detector to obtain,
The control means may perform a vibration attenuation mode for controlling the operation of the driving unit so that the object is within the reference position range when the position information of the object obtained from the position detector is outside the preset reference position range. Control device of crane.
21. The method of claim 20,
The plurality of inertial sensors are a control device of the crane, characterized in that consisting of a plurality of acceleration sensors capable of measuring the acceleration, and a plurality of gyro (gyro) sensors capable of measuring the angular velocity.
21. The method of claim 20,
In case of transmitting the inertial data detected from the IMU sensor module by wire,
A motor fixedly installed at the lower side of the driving unit to rotate forward / backward;
A cable reel coupled to rotate integrally with the rotation shaft of the motor; And
Transmitting the inertial data detected from the IMU sensor module, and is further provided with a sensor cable that is released or wound in accordance with the rotation of the cable reel,
The control means, the crane control device, characterized in that for controlling the forward / reverse rotation of the motor so that the length of the sensor cable is changed in the same way as the length of the rope or chain for the up / down movement of the hoist.
The method according to any one of claims 4, 6, 7, or 20,
An operation box is further provided for manipulating the operation of the drive unit and the hoist, and the control means receives the operation and stop signals of the hoist or the drive unit from the operation box when the hoist is operated or when the drive unit is stopped. Control device for a crane, characterized in that to perform a vibration damping mode.
The method according to any one of claims 4, 6, 7, or 20,
The driving unit is slidably installed in the X-axis and Y-axis directions when viewed in a plan view of the large structure, and the control unit is configured to move the object when the position information of the object detected from the position detecting unit is out of a preset reference position range. And controlling the driving unit to be operated in at least one of X and Y axes so as to fall within the reference position range.

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