KR101374243B1 - Apparatus for controlling manless crane and method for controlling managing thereof - Google Patents

Abstract

The present invention is provided with one side of the crane crane operation to operate the crane; A coil feeder provided on the other side of the crane and including a magnetic body, and configured to transfer the current coil to a desired position by the magnetic force of the magnetic body; And a crane controller provided at one side of the coil transfer unit and communicating with the crane operating unit, and supplying a crane operation control signal generated by the pressurization of the current coil to the crane operating unit to stop the operation of the crane operating unit. A control device and a control method thereof are provided.

Description

Apparatus for controlling manless crane and method for controlling managing

The present invention relates to an unmanned crane control apparatus and a control method thereof.

Generally, an unmanned crane was provided to transport the coil to a desired location without unattended operation.

However, the conventional unmanned crane cannot detect the presence of a peripheral object including the lower coil when the current coil is transferred to a desired position, thereby preventing damage to the coil by contact between the current coil and the peripheral object including the lower coil. There was a problem that could not be prevented.

Recently, the unmanned crane control has been improved to prevent safety accidents due to the crane's stop situation and the crane's feedrate adjustment situation, while preventing the coil from being damaged by the contact between the current coil and the surrounding objects including the lower coil. Research on the apparatus and its control method has been continuously conducted.

An object of the present invention is to prevent the damage of the coil due to the current contact between the coil and the surrounding object while increasing the feed speed of the coil, it is possible to prevent the production yield for the production of the coil is reduced, the production of the coil The present invention provides an unmanned crane control apparatus and a control method thereof capable of suppressing an increase in manufacturing cost.

Another object of the present invention is to provide an unmanned crane control apparatus and a control method thereof capable of preventing a safety accident in accordance with a suspended state of a crane in advance.

Still another object of the present invention is to provide an unmanned crane control apparatus and a control method thereof, which can prevent a safety accident in accordance with a feed rate adjustment situation of a crane in advance.

In order to achieve the above object, the present invention provides a crane operation unit provided on one side of a crane to operate a crane; A coil feeder provided on the other side of the crane and including a magnetic body, and configured to transfer the current coil to a desired position by the magnetic force of the magnetic body; And a crane controller provided at one side of the coil transfer unit to communicate with the crane operating unit, and supplying a crane operation control signal generated by pressure of the current coil to the crane operating unit to stop the operation of the crane operating unit.

According to another feature of the invention, the crane control unit is provided on one side of the coil transfer unit, the contact member is provided to be in contact with the current coil; An elastic member provided on the other side of the coil transfer part, the elastic member being connected to the contact member and provided to generate an elastic action by the pressure of the current coil or a restoring action by the unpressurization of the current coil; And a crane operation control signal sending member provided on the other side of the coil transfer unit and connected to the elastic member to supply the crane operation control signal to the crane operating unit to stop the operation of the crane operating unit when an elastic action occurs by the elastic member. do.

According to another feature of the invention, provided on the other side of the coil transfer unit and performs communication with the crane operating unit and detects at least one of the approach speed between the current coil and the surrounding object and the approach distance between the current coil and the surrounding object, When at least one of the approaching speed between the coil and the surrounding object and the current approaching distance between the coil and the surrounding object is at least one of the range of the reference approach speed and the reference approach distance already set, the operation of the crane operating part is controlled by controlling the operation of the crane. It further comprises a crane feed rate adjusting unit for adjusting the feed rate.

According to still another feature of the present invention, the crane feed speed adjusting unit includes: sensing means for sensing at least one of an approach speed between a current coil and a peripheral object and an approach distance between the current coil and a peripheral object; Judgment for judging whether at least one of the approaching speed between the current coil and the surrounding object sensed by the sensing means and the approaching distance between the current coil and the surrounding object is at least one of a range of the preset reference approach speed and the reference approach distance. Way; And at least one of the approaching speed between the current coil and the surrounding object and the approaching distance between the current coil and the surrounding object determined through the determining means and communicating with the crane operating unit are within the range of the reference access speed and the reference approach distance already set. In the case of at least one range, a crane feed speed adjusting means for controlling the feed speed of the crane by controlling the operation of the crane operating unit.

According to another feature of the invention, the sensing means comprises a range of step-by-step feed rates already set for the coil feed; The sensing means detects the feed rate of the coil feeder in the feed rate detection section of the coil feeder during the next cycle, if the feed speed of the coil feeder is shorter than the step-by-step feed rate range of the coil feeder in the feed speed detection section of the coil feeder. Characterized in that.

According to another feature of the present invention, the crane is connected to at least one of the other side of the crane and the crane control unit, further comprising a crane stop situation identification unit for identifying the current crane stop situation when the operation of the crane operation unit is stopped by the crane control unit; do.

In addition, the present invention includes a crane operation step of operating the crane through the crane operation portion provided on one side of the crane; A coil transfer step of transferring a current coil to a desired position using a magnetic force of the magnetic body through a coil transfer unit provided on the other side of the crane and including the magnetic body; And a crane control step of supplying a crane operation control signal generated by pressurization of the current coil to the crane operating unit through a crane control unit communicating with the crane operating unit and provided to one side of the coil transfer unit to stop the operation of the crane operating unit. Include.

According to another feature of the invention, the crane control step includes a contact step of providing a contact with the current coil through the contact member of the crane control unit provided on one side of the coil transfer; Elastic to provide an elastic action from the pressing of the current coil through the elastic member connected to the contact member of the crane control portion provided on the other side of the coil transfer portion, or to provide a restoring action from the unpressurization of the current coil through the elastic member. Restore step; And supplying a crane operation control signal to the crane operating unit to stop the operation of the crane operating unit when generating an elastic action from the elastic member through the crane operation control signal transmitting member connected to the elastic member among the crane control units provided on the other side of the coil transfer unit. Crane motion control signal transmission step.

According to another feature of the present invention, after the crane operation step, the speed of the approach between the current coil and the surrounding objects and the current coil and the surroundings through a crane feed speed adjusting unit provided to the other side of the coil conveying unit and communicating with the crane operating unit Detects at least one of the approach distance between the objects, and at least one of the approach speed between the current coil and the surrounding object and the approach distance between the current coil and the surrounding object through the crane feed speed control unit of the already set range of the reference approach speed and the reference approach distance In the case of at least one of the ranges, the operation of the crane operating unit further controls the crane feed speed adjusting step of adjusting the feed speed of the crane.

According to another feature of the present invention, the crane feed speed adjusting step may include a sensing step of detecting at least one of an approach speed between the current coil and the surrounding object and an approach distance between the current coil and the surrounding object through a sensing means of the crane feed speed adjusting unit; ; At least one of the approaching speed between the current coil and the surrounding object and the approaching distance between the current coil and the surrounding object detected by the sensing means through the determination means of the crane feed speed adjusting unit is at least one of a range of the reference approach speed and the reference approach distance already set. A determination step of determining whether it is one range; And a criterion in which at least one of the approach speed between the current coil and the surrounding object and the approach distance between the current coil and the peripheral object determined by the determining means through the crane feed speed adjusting means communicating with the crane operating unit of the crane feed speed adjusting unit are already set. Comprising the step of adjusting the feed rate of the crane to adjust the feed rate of the crane by controlling the operation of the crane operating unit in the case of at least one range of the range of the approach speed and the reference approach distance.

According to another feature of the invention, the sensing step is provided to the sensing means by setting the range of the step of the reference feed rate of the coil feeder, the feed rate of the coil feeder in the feed rate detection section of the coil feeder through the sensing means When the reference feed rate is faster than the step-by-step range, it characterized in that the step of detecting the feed rate of the coil feeder in the feed speed detection section of the coil feeder for the next period sequentially.

According to another feature of the present invention, after the crane control step, the crane stop situation identification unit connected to at least one of the other side of the crane and the crane control unit identifies the current crane stop state when the operation of the crane operating unit is stopped from the crane control unit. The crane stop situation identification step is further performed.

According to the unmanned crane control apparatus and control method of the present invention made as described above, the following effects can be obtained.

First, it is possible to prevent the damage of the coil due to the contact between the current coil and the surrounding object while increasing the transfer speed of the coil, it is possible to prevent the production yield for the production of the coil is lowered, the production cost for the production of the coil There is an effect that can suppress the increase of.

Second, there is another effect that can prevent the safety accident in accordance with the stop situation of the crane in advance.

Third, there is another effect that can prevent the safety accident according to the feed rate adjustment of the crane in advance.

1 is a schematic diagram showing an unmanned crane control apparatus according to a first embodiment of the present invention.
FIG. 2 is an enlarged cross-sectional view of the coil transfer unit, the crane control unit, and the current coil illustrated in FIG. 1.
3 is a block diagram showing an unmanned crane control apparatus according to the first embodiment of the present invention.
4 is a flowchart illustrating a method of controlling an unmanned crane according to a first embodiment of the present invention.
5 is a flowchart illustrating an unmanned crane control method according to a first embodiment of the present invention as an example.
6 is a schematic diagram showing an unmanned crane control apparatus according to a second embodiment of the present invention.
7 is a block diagram showing an unmanned crane control apparatus according to a second embodiment of the present invention.
FIG. 8 is a block diagram illustrating an example of a crane feed speed adjusting unit illustrated in FIG. 7.
9 is a graph illustrating an example of the sensing unit illustrated in FIG. 8.
10 is a flowchart illustrating an unmanned crane control method according to a second embodiment of the present invention.
11 is a flowchart illustrating an unmanned crane control method according to a second embodiment of the present invention as an example.
12 is a schematic diagram showing an unmanned crane control apparatus according to a third embodiment of the present invention.
13 is a block diagram showing an unmanned crane control apparatus according to a third embodiment of the present invention.
14 is a flowchart illustrating an unmanned crane control method according to a third embodiment of the present invention.
15 is a flowchart illustrating an unmanned crane control method according to a third embodiment of the present invention as an example.
16 is a schematic diagram showing an unmanned crane control apparatus according to the fourth embodiment of the present invention.
17 is a block diagram showing an unmanned crane control apparatus according to a fourth embodiment of the present invention.
18 is a flowchart illustrating an unmanned crane control method according to a fourth embodiment of the present invention.
19 is a flowchart illustrating an unmanned crane control method according to a fourth embodiment of the present invention as an example.

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

≪ Embodiment 1 >

1 is a schematic view showing an unmanned crane control apparatus according to a first embodiment of the present invention, Figure 2 is an enlarged cross-sectional view showing the coil transfer unit, the crane control unit and the current coil shown in FIG.

3 is a block diagram showing an unmanned crane control apparatus according to the first embodiment of the present invention.

1 to 3, the unmanned crane control apparatus 100 according to the first embodiment of the present invention includes a crane operating unit 102, a coil transfer unit 104, and a crane control unit 106.

Crane operating unit 102 is provided on one side of the crane (A) is provided to operate the crane (A).

The coil transfer part 104 is provided on the other side of the crane A and includes a magnetic body 104a, and is provided to transfer the current coil B1 to a desired position by the magnetic force of the magnetic body 104a.

At this time, when the coil transfer unit 104 is in a desired position, the magnetic off signal supplied from the crane operating unit 102 is supplied to the magnetic body 104a to drop the current coil B1 so as to drop it at the desired position. Can be provided.

The crane control unit 106 is provided on one side of the coil transfer unit 104 and communicates with the crane operating unit 102, and the crane operating unit 102 generates a crane operation control signal generated by the pressurization of the current coil B1. It is supplied to supply to stop the operation of the crane operating unit (102).

For example, as shown in FIG. 2, the crane control unit 106 may include a contact member 106a, an elastic member 106c, and a crane motion control signal transmitting member 106e.

The contact member 106a may be provided at one side of the coil transfer unit 104, and may be provided to be in contact with the current coil B1.

Here, the contact member 106a can be fixed by the first fixing member 106b.

In this case, the contact member 106a may be provided including a touch bar, and the first fixing member 106b may be provided including a saddle.

The elastic member 106c is provided on the other side of the coil transfer part 104, and is connected to the contact member 106a so as to generate an elastic action by the pressure of the current coil B1 or to the unpressurized current of the coil B1. Can be provided such that a restoring action takes place.

Here, the elastic member 106c can be fixed by the second fixing member 106d.

In this case, the elastic member 106c may be provided including one of an elastic spring, a hydraulic elastic spring, and a pneumatic elastic spring, and the second fixing member 106d may be provided including a saddle.

The crane operation control signal transmitting member 106e is provided on the other side of the coil transfer unit 104, and is connected to the elastic member 106c to output the crane operation control signal when the elastic action occurs by the elastic member 106c. It may be provided to supply 102 to stop the operation of the crane operating unit (102).

At this time, the crane operation control signal transmission member 106e may be provided including a transmission antenna to supply the crane operation control signal to the crane operation unit 102.

Such an unmanned crane control method for controlling an unmanned crane using the unmanned crane control apparatus 100 according to the first embodiment of the present invention will be described with reference to FIGS. 4 and 5.

4 is a flowchart illustrating an unmanned crane control method according to a first embodiment of the present invention, and FIG. 5 is a flowchart illustrating an unmanned crane control method according to a first embodiment of the present invention as an example.

4 and 5, the unmanned crane control method (400, 500) according to the first embodiment of the present invention is a crane operation step (S402, S502), coil transfer step (S404, S504), crane control step ( S406 and S506).

First, the crane operation step (S402, S502) performs the step of operating the crane (A in FIG. 1) through the crane operating portion (102 in FIGS. 1 and 3) provided on one side of the crane (A in FIG. 1). .

Thereafter, the coil transfer step (S404, S504) is provided on the other side of the crane (A in Figure 1) and through the coil transfer portion (104 in Figures 1-3) comprising a magnetic material (104a in Figures 1 and 2). The current coil (B1 of FIGS. 1 and 2) is transferred to a desired position by using the magnetic force of the magnetic body (104a of FIGS. 1 and 2).

At this time, the coil transfer step (S404, S504) is a magnetic material (Magnetic off signal supplied from the crane operating unit (102 in Figs. 1 and 3) when the desired position through the coil transfer unit (104 in Figs. 1 to 3). It may be a step of supplying to the 104a of Figs. 1 and 2 and dropping the current coil (B1 of Figs. 1 and 2) so as to drop it to a desired position.

Finally, the crane control steps (S406, S506) are provided on one side of the coil transfer unit (104 in Figs. 1 to 3) and the crane control unit (Fig. 2) to communicate with the crane operation unit (102 in Figs. 1 and 3). And a crane operation control signal (102 in FIGS. 1 and 3) by supplying a crane operation control signal generated by the pressurization of the current coil (B1 in FIGS. 1 and 2) through 106 in FIG. 1 and 102 of FIG. 3 is stopped.

For example, as illustrated in FIG. 5, the crane control step S506 may perform a contact step S506a, an elasticity / restoration action step S506b, and a crane operation control signal transmission step S506c.

The contact step (S506a) is the current coil (Fig. 1 and Fig. 1) through the contact member (106a in Fig. 2) of the crane control unit (106 in Figs. 2 and 3) provided on one side of the coil transfer unit (104 in Figs. 1 to 3). Providing contact with B1) of 2 may be performed.

Here, the contacting step S506a may be a step of fixing the contact member 106a of FIG. 2 with the first fixing member 106b of FIG. 2.

In this case, the contacting step S506a may be a step of providing a contact member (106a of FIG. 2) by including a touch bar, and may be a step of providing a first fixing member (106b of FIG. 2) by providing a saddle.

Thereafter, the elasticity / restoration action step S506b is an elasticity connected to the contact member 106a in FIG. 2 of the crane control part 106 in FIGS. 2 and 3 provided on the other side of the coil transfer part 104 in FIGS. Provide to generate an elastic action from the pressing of the current coil (B1 in FIGS. 1 and 2) through the member (106c in FIG. 2) or the current coil (FIGS. 1 and 2) through the elastic member (106c in FIG. 2). Providing to generate the restoring action from the unpressurization of B1).

Here, the elasticity / restoration action step S506b may be a step of fixing the elastic member (106c in FIG. 2) with the second fixing member (106d in FIG. 2).

At this time, the elastic / restoring action step (S506b) may be a step of providing the elastic member (106c of Figure 2) by including any one of the elastic spring, the hydraulic elastic spring and the pneumatic elastic spring, the second fixing member (Fig. It may be a step of providing 106d) of 2 as a saddle.

Finally, the crane operation control signal sending step (S506c) and the elastic member (106c in Fig. 2) of the crane control unit (106 in Figs. 2 and 3) provided on the other side of the coil transfer unit (104 in Figs. 1 to 3). When the elastic action is generated from the elastic member (106c in FIG. 2) through the connected crane motion control signal sending member (106e in FIG. 2), the crane motion control signal is supplied to the crane operating portion (102 in FIG. 1 and FIG. 3). The operation of stopping the operation of the crane operating part (102 in Figs. 1 and 3) can be performed.

At this time, the crane operation control signal transmission step (S506c) is a transmission antenna to supply the crane operation control signal to the crane operation unit (102 in Figs. 1 and 3) through the crane operation control signal transmission member (106e of Fig. 2). It may be included in the step of providing.

As such, the unmanned crane control apparatus 100 and the control method 400, 500 according to the first embodiment of the present invention include a crane operating unit 102, a coil transfer unit 104, and a crane control unit 106. .

Therefore, the unmanned crane control apparatus 100 and the control method 400, 500 according to the first embodiment of the present invention operate the crane operating unit 102 and the magnetic body 104a through the coil transfer unit 104. When the current coil B1 is transferred to a desired position by the force, pressurization of the current coil B1 from the contact between the current coil B1 and the surrounding objects B2, B3, C, D through the crane control unit 106 is performed. By supplying the crane operation control signal generated by the crane operation unit 102 to stop the operation of the crane operation unit (102).

Accordingly, the unmanned crane control apparatus 100 and the control methods 400 and 500 according to the first embodiment of the present invention are based on the contact between the current coil B1 and the peripheral objects B2, B3, C, and D. Since the damage to the coils B1, B2, and B3 can be prevented, the production yield for the production of the coils B1, B2, and B3 can be prevented from being lowered, so that the production of the coils B1, B2, and B3 can be prevented. It is possible to suppress the increase in manufacturing cost.

≪ Embodiment 2 >

6 is a schematic diagram showing an unmanned crane control apparatus according to a second embodiment of the present invention, Figure 7 is a block diagram showing an unmanned crane control apparatus according to a second embodiment of the present invention.

FIG. 8 is a block diagram illustrating an example of the crane feed speed adjusting unit illustrated in FIG. 7, and FIG. 9 is a graph illustrating the sensing unit illustrated in FIG. 8 as an example.

6 to 9, the unmanned crane control apparatus 600 according to the second embodiment of the present invention is the same as the unmanned crane control apparatus 100 according to the first embodiment of the crane operating unit 102 and the coil. The transfer part 104 and the crane control part 106 are included.

Such a function of each component corresponding to the unmanned crane control device 600 according to the second embodiment of the present invention and the organic connection relationship therebetween are according to the unmanned crane control device 100 according to the first embodiment. Since the functions of the respective components corresponding to and the organic connection therebetween are the same, each description thereof will be omitted below.

Here, the unmanned crane control apparatus 600 according to the second embodiment of the present invention further includes a crane feed speed adjusting unit 608.

That is, the crane feed speed adjusting unit 608 is provided on the other side of the coil feed unit 104 and communicates with the crane operating unit 102, and the current coil B1 and the surrounding objects B2, B3, C, D). It is provided to detect at least one of the approaching speed between and the approach distance between the current coil (B1) and the surrounding objects (B2, B3, C, D).

This, the crane feed speed adjusting unit 608 is a speed of approach between the current coil (B1) and the peripheral objects (B2, B3, C, D) and between the current coil (B1) and the peripheral objects (B2, B3, C, D) When at least one of the approach distances is at least one of a range of the reference approach speed and a range of the reference approach distance already set, the operation speed of the crane operating unit 102 is controlled to adjust the feed speed of the crane A. FIG.

At this time, the peripheral objects (B2, B3, C, D) may be other coils (B2, B3) seated on at least one of the bottom surface (C) and the support (D).

For example, as illustrated in FIG. 8, the crane feed speed adjusting unit 608 may include a sensing means 608a, a determining unit 608c, and a crane feed speed adjusting unit 608e.

The sensing means 608a is at least one of an approaching speed between the current coil B1 and the peripheral objects B2, B3, C, D and an approach distance between the current coil B1 and the peripheral objects B2, B3, C, D. It can be provided to detect.

In this case, the sensing means 608a may include at least one of a 2D scanner, a 2D camera, a 3D camera, a 3D stereo camera, an infrared camera, a CMOS camera, a CCD camera, and a photo sensor, and the current coil B1 and the surrounding objects B2 and B3. , C and D may be means for detecting at least one of an approaching speed between the current coil B1 and an approach distance between the peripheral coils B2, B3, C and D.

In addition, as illustrated in FIG. 9, the sensing means 608a has at least two feed rate sensing sections Z1 to Z2, Z1 to Z3, and Z1 to Z4 of the coil feeder 104, and the coil feeder 104. Feed speed displacement (T1 to T2, T1 to T3, T1 to T4) during a certain period of the feed speed of the coil feeder 104 in the feed speed detection section (Z1 to Z2, Z1 to Z3, Z1 to Z4) Of the approaching speed between the current coil B1 and the peripheral objects B2, B3, C, D according to ΔV1, ΔV2, ΔV3 and the approach distance between the current coil B1 and the peripheral objects B2, B3, C, D It may be provided to detect at least one differentially.

In one example, the sensing means 608a may include a range of step-by-step feed rates of the coil feeder 104 that is already set.

That is, the sensing means 608a may be configured such that the feed rate of the coil feeder 104 is the reference feed rate of the coil feeder 104 in the feed speed detection intervals Z1 to Z2, Z1 to Z3, and Z1 to Z4 of the coil feeder 104. If it is faster than the step-by-step range, the coil feeder 104 in the feed speed detection interval (Z1 ~ Z2, Z1 ~ Z3, Z1 ~ Z4) of the coil feeder 104 during the next cycle (T1 ~ T3, T1 ~ T4) sequentially It can be provided to detect the feed rate of.

The sensing means 608a may approach the current coil B1 and the current coil B1 and the approach speed between the current coil B1 and the surrounding objects B2, B3, C, and D through the differential sensing time according to the feed speed of the coil transfer unit 104. At least one of the approach distance between the object and the surrounding objects (B2, B3, C, D) can be detected.

Accordingly, the sensing means 608a can determine the approach speed between the current coil B1 and the peripheral objects B2, B3, C, D and the approach distance between the current coil B1 and the peripheral objects B2, B3, C, D. Efficiently suppress the increase in power consumption required for the detection of at least one of the efficient approach speed between the current coil (B1) and the surrounding objects (B2, B3, C, D) and the current coil (B1) and the surrounding object ( At least one of the approach distances between B2, B3, C, and D) is detected.

The judging means 608c determines the approach speed between the current coil B1 and the peripheral objects B2, B3, C, D detected by the sensing means 608a and the current coil B1 and the peripheral objects B2, B3, C. , D) can be provided to determine whether at least one of the range of the reference approach speed and the range of the reference approach distance already set.

The crane feed speed adjusting means 608e communicates with the crane operating part 102 and determines the approach speed between the current coil B1 and the surrounding objects B2, B3, C, and D determined by the determining means 608c. When at least one of the approach distances between the current coil B1 and the surrounding objects B2, B3, C, and D is in the range of the already set reference approach speed and the reference approach distance, the operation of the crane operating unit 102 is controlled. Can be provided to adjust the feed rate of the crane (A).

At this time, the determination means 608c and the crane feed speed adjusting means 608e are provided to include a PLC (Program Logic Controller) module to determine the situation between the current coil B1 and the surrounding objects B2, B3, C, D. The operation of the crane operating unit 102 can be stopped.

Such an unmanned crane control method for controlling an unmanned crane using the unmanned crane control device 600 according to the second embodiment of the present invention will be described with reference to FIGS. 10 and 11.

10 is a flowchart illustrating an unmanned crane control method according to a second embodiment of the present invention, and FIG. 11 is a flowchart illustrating an unmanned crane control method according to a second embodiment of the present invention as an example.

10 and 11, the unmanned crane control method (1000, 1100) according to the second embodiment of the present invention is a crane operation step (S402, S502), crane feed speed adjustment step (S1003, S1103), coil transfer Steps S404 and S504 and crane control steps S406 and S506 are performed.

First, the crane operation steps (S402, S502) performs the step of operating the crane (A of FIG. 6) through the crane operating portion (102 of FIG. 6 and FIG. 7) provided on one side of the crane (A of FIG. 6). .

After that, the crane feed speed adjusting steps S1003 and S1103 are provided on the other side of the coil feed unit 104 (FIGS. 6 and 7) and the crane feed unit communicates with the crane operating unit 102 (FIGS. 6 and 7 102). Through the speed adjusting unit (608 in Figs. 6 and 7) and the approaching speed between the current coil (B1 in Fig. 6) and the surrounding objects (B2, B3, C, D in Fig. 6) and the current coil (B1 in Fig. 6) Detecting at least one of the approach distances between the surrounding objects (B2, B3, C, D of FIG. 6).

Then, the crane feed speed adjusting step (S1003, S1103) is the current coil (B1 in Fig. 6) and the surrounding objects (B2, B3, C in Fig. 6) through the crane feed speed adjusting unit (608 in Figs. 6 and 7). , At least one of the approaching speed between D) and the approaching distance between the current coil (B1 in FIG. 6) and the surrounding object (B2, B3, C, D in FIG. 6) and the range of the reference approach distance. In the case of at least one of the ranges, the operation of the crane operating part (102 of FIGS. 6 and 7) is controlled to adjust the feed rate of the crane (A of FIG. 6).

At this time, the crane feed speed adjustment step (S1003, S1103) is the other coil (B2, B3) seated on at least one of the bottom surface (C) and the support (D) the surrounding objects (B2, B3, C, D of Figure 6) ) May be provided.

For example, as illustrated in FIG. 11, the crane feed speed adjusting step S1103 may perform a sensing step S1103a, a determination step S1103b, and a crane feed speed adjusting step S1103c.

The sensing step S1103a is performed by the sensing means (608a in FIG. 8) of the crane feed speed adjusting unit (608 in FIGS. 6 and 7) and the current coil (B1 in FIG. 6) and the surrounding objects (B2, B3, At least one of the approach speed between C and D and the approach distance between the current coil B1 of FIG. 6 and the surrounding objects B2, B3, C and D of FIG. 6 may be performed.

In this case, the detecting step S1103a includes the sensing means (608a of FIG. 8) as at least one of a 2D scanner, a 2D camera, a 3D camera, a 3D stereo camera, an infrared camera, a CMOS camera, a CCD camera, and a photo sensor. Of the approaching speed between B1 of FIG. 6 and the surrounding object (B2, B3, C, D of FIG. 6) and the approach distance between the current coil (B1 of FIG. 6) and the surrounding object (B2, B3, C, D of FIG. It may be a step of detecting at least one.

In addition, the sensing step (S1103a) is carried out to the sensing means (608a of FIG. 8) to detect the feed speed detection intervals (Z1 to Z2, Z1 to Z3, and Z1 to Z4 of the coil feeder (104 of FIGS. 6 and 7)). It is set to at least two, and in the feed speed detection section (Z1 to Z2, Z1 to Z3, Z1 to Z4 of Fig. 9) of the coil feeder (104 of Figs. 6 and 7) through the sensing means (608a in Fig. 8) According to the feed speed displacement (ΔV1, ΔV2, ΔV3 of Fig. 9) during the predetermined period (T1 to T2, T1 to T3, T1 to T4 of Fig. 9) of the feed speed of the coil feeder (Fig. 6 and Fig. 104). Approach speed between the current coil (B1 in FIG. 6) and the surrounding object (B2, B3, C, D in FIG. 6) and the current coil (B1 in FIG. 6) and the surrounding object (B2, B3, C, D in FIG. 6) Differentially detecting at least one of an approach distance between the two.

For example, the sensing step S1103a sets and provides a reference feed rate step range of the coil feeder (104 in FIGS. 6 and 7) to the sensing means (608a in FIG. 8), and provides the sensing means (608a in FIG. 8). The feed rate of the coil feeder (104 in FIGS. 6 and 7) in the feed speed detection section (Z1 to Z2, Z1 to Z3, and Z1 to Z4 of the coil feeder (104 in FIGS. 6 and 7) through FIG. When it is faster than the range of the step-by-step feed rate of the feeder (104 in FIGS. 6 and 7), the coil feeder (104 in FIGS. 6 and 7) of the coils sequentially during the next cycle (T1 to T3 and T1 to T4 in FIG. It may be a step of detecting the feed speed of the coil feeder (104 in Figs. 6 and 7) in the feed speed detection section (Z1 to Z2, Z1 to Z3, Z1 to Z4).

This sensing step (S1103a) is the current coil (B1 in FIG. 6) and the surrounding object through the differential sensing time according to the conveying speed of the coil conveying unit (104a in FIG. 8) from the sensing means (608a in FIG. 8). At least one of the approach speed between B2, B3, C, and D of FIG. 6 and the approach distance between the current coil B1 and the surrounding object B2, B3, C and D of FIG.

Accordingly, the sensing step S1103a is performed by the sensing means (608a in FIG. 8) and the approach speed and current coil (FIG. 6) between the current coil B1 in FIG. 6 and the surrounding objects B2, B3, C, and D in FIG. The current coil (B1 of FIG. 6) can be efficiently suppressed while effectively suppressing an increase in power consumption required for sensing at least one of the approach distances between B1) and the surrounding object (B2, B3, C, D of FIG. 6). Detects at least one of the approaching speed between the object and the surrounding object (B2, B3, C, D in FIG. 6) and the approach distance between the current coil (B1 in FIG. 6) and the surrounding object (B2, B3, C, D in FIG. Done.

After that, the determination step (S1103b) is the current coil (FIG. 6) detected from the sensing means (608a in FIG. 8) through the determination means (608c in FIG. 8) of the crane feed speed adjusting unit (608 in FIGS. 6 and 7). At least one of the approaching speed between B1) and the surrounding object (B2, B3, C, D of FIG. 6) and the approach distance between the current coil (B1 of FIG. 6) and the surrounding object (B2, B3, C, D of FIG. 6). The method may include determining whether one is in the range of at least one of a range of the reference approach speed and a range of the reference approach distance already set.

After that, the crane feed speed adjustment completion step (S1103c) is a crane feed speed adjusting means for performing communication with the crane operating part (102 in FIGS. 6 and 7) among the crane feed speed adjusting units (608 of FIGS. 6 and 7). The approaching speed and current coil (FIG. 6B) of the current coil (B1 of FIG. 6) and the surrounding objects (B2, B3, C, D of FIG. 6) determined from the determination means (608c of FIG. 8) through 608e of FIG. When at least one of the approach distances between B1) and the surrounding object (B2, B3, C, D of FIG. 6) is at least one of the range of the reference approach speed and the reference approach distance already set, the crane operating unit It is possible to perform the step of adjusting the feed speed of the crane (A in Fig. 6) by controlling the operation of (102 in Figs. 6 and 7).

At this time, the determination step (S1103b) and the crane feed speed adjustment completion step (S1103c) is provided by including the determination means (608c in Figure 8) and the crane feed speed adjusting means (608e in Figure 8) as a PLC (Program Logic Controller) module It is possible to determine the situation between the current coil (B1 in FIG. 6) and the surrounding objects (B2, B3, C, D in FIG. 6), and stop the operation of the crane operating unit (102 in FIG. 6 and FIG. 7). It can be a step.

Thereafter, the coil transfer step (S404, S504) is provided on the other side of the crane (A in Fig. 6) and the magnetic material (FIG. 6 and 7 104) through the coil transfer part (104 in Fig. 6) including a magnetic material (104a in Fig. 6). Using the magnetic force of 104a of 6 is performed to transfer the current coil (B1 of FIG. 6) to a desired position.

At this time, the coil transfer step (S404, S504) is a magnetic material (Magnetic off signal supplied from the crane operating unit (102 in Figs. 6 and 7) when the desired position through the coil transfer unit (104 in Figs. 6 and 7). 6A may be supplied to 104a of FIG. 6 to drop the current coil B1 of FIG.

Finally, the crane control steps S406 and S506 are provided on one side of the coil transfer part 104 (FIGS. 6 and 7) and the crane control part (FIG. 7) which communicates with the crane operating part 102 (FIGS. 6 and 7). 6), the crane motion control signal generated by the pressurization of the current coil B1 of FIG. 6 is supplied to the crane motion part 102 of FIG. 6 and FIG. ) To stop the operation.

For example, as illustrated in FIG. 11, the crane control step S506 may perform a contact step S506a, an elasticity / restoration action step S506b, and a crane operation control signal transmission step S506c.

The contact step S506a is in contact with the current coil B1 in FIG. 6 through the contact member 106a in the crane control unit 106 in FIG. 7 provided on one side of the coil transfer unit 104 in FIGS. 6 and 7. Can be provided to perform the steps.

Here, the contacting step S506a may be a step of fixing the contact member 106a of FIG. 2 with the first fixing member 106b of FIG. 2.

In this case, the contacting step S506a may be a step of providing a contact member (106a of FIG. 2) by including a touch bar, and may be a step of providing a first fixing member (106b of FIG. 2) by providing a saddle.

Thereafter, the elastic / restoring step S506b is performed by the elastic member (FIG. 2 of FIG. 7) connected to the contact member 106A of the crane control unit 106 of FIG. 7 provided on the other side of the coil transfer part 104 of FIG. 6 and FIG. 2 to provide a resilient action from the pressing of the current coil (B1 in FIG. 6) through 106c) or to restore from the unpressurization of the current coil (B1 in FIG. 6) through the elastic member (106c in FIG. Providing to generate can be performed.

Here, the elasticity / restoration action step S506b may be a step of fixing the elastic member (106c in FIG. 2) with the second fixing member (106d in FIG. 2).

At this time, the elastic / restoring action step (S506b) may be a step of providing the elastic member (106c of Figure 2) by including any one of the elastic spring, the hydraulic elastic spring and the pneumatic elastic spring, the second fixing member (Fig. It may be a step of providing 106d) of 2 as a saddle.

Finally, the crane operation control signal sending step (S506c) is a crane operation connected to the elastic member (106c in Fig. 2) of the crane control unit (106 in Fig. 7) provided on the other side of the coil transfer unit (104 in Figs. 6 and 7). When generating elastic action from the elastic member (106c in FIG. 2) through the control signal sending member (106e in FIG. 2), the crane operating portion is supplied to the crane operating portion (102 in FIG. 6 and FIG. 7) by supplying the crane operation control signal. The operation of stopping the operation of (102 in Figs. 6 and 7) can be performed.

At this time, the crane operation control signal transmission step (S506c) is to send the antenna for transmitting the crane operation control signal to the crane operation unit (102 in Figs. 6 and 7) through the crane operation control signal transmission member (106e of Fig. 2). It may be included in the step of providing.

As such, the unmanned crane control apparatus 600 and the control methods 1000 and 1100 according to the second exemplary embodiment of the present invention include a crane operating unit 102, a coil transfer unit 104, and a crane control unit 106. .

Therefore, the unmanned crane control apparatus 600 and the control method 1000 and 1100 according to the second embodiment of the present invention are the operation of the crane operating unit 102 and the magnetic properties of the magnetic body 104a through the coil feeder 104. When the current coil B1 is transferred to a desired position by the force, pressurization of the current coil B1 from the contact between the current coil B1 and the surrounding objects B2, B3, C, D through the crane control unit 106 is performed. By supplying the crane operation control signal generated by the crane operation unit 102 to stop the operation of the crane operation unit (102).

Accordingly, the unmanned crane control apparatus 600 and the control methods 1000 and 1100 according to the second embodiment of the present invention are based on the contact between the current coil B1 and the peripheral objects B2, B3, C, D. Since the damage to the coils B1, B2, and B3 can be prevented, the production yield for the production of the coils B1, B2, and B3 can be prevented from being lowered, so that the production of the coils B1, B2, and B3 can be prevented. It is possible to suppress the increase in manufacturing cost.

In addition, the unmanned crane control apparatus 600 and the control method (1000, 1100) according to the second embodiment of the present invention includes a crane feed speed adjusting unit (608).

Therefore, the unmanned crane control apparatus 600 and the control methods 1000 and 1100 according to the second embodiment of the present invention can adjust the feed speed of the crane A through the crane feed speed adjusting unit 608. .

Accordingly, the unmanned crane control apparatus 600 and the control methods 1000 and 1100 according to the second embodiment of the present invention speed up the feeding speed of the current coil B1 while the current coil B1 and the surrounding object B2. , The damage of the coils B1, B2, B3 due to the contact between the B3, C, D can be prevented, and the production yield for the production of the coils B1, B2, B3 can be further prevented from being lowered. The increase in manufacturing cost for the production of the coils B1, B2, and B3 can be further suppressed.

≪ Third Embodiment >

12 is a schematic diagram showing an unmanned crane control apparatus according to a third embodiment of the present invention, Figure 13 is a block diagram showing an unmanned crane control apparatus according to a third embodiment of the present invention.

12 and 13, the unmanned crane control apparatus 1200 according to the third embodiment of the present invention is the same as the unmanned crane control apparatus 100 according to the first embodiment of the crane operating unit 102 and the coil. The transfer part 104 and the crane control part 106 are included.

Such a function of each of the components corresponding to the unmanned crane control apparatus 1200 according to the third embodiment of the present invention and the organic connection relationship therebetween are according to the unmanned crane control apparatus 100 according to the first embodiment. Since the functions of the respective components corresponding to and the organic connection therebetween are the same, each description thereof will be omitted below.

Here, the unmanned crane control apparatus 1200 according to the third embodiment of the present invention further includes a crane stop situation identification unit 1210.

That is, the crane stop situation identification unit 1210 is connected to at least one of the other side of the crane A and the crane control unit 106, when the operation of the crane operating unit 102 by the crane control unit 106 is stopped It is provided to identify the current crane standstill.

In this case, the crane stop situation identification unit 1210 may be provided to identify the current crane stop situation to at least one of the alarm sound of the siren, the voice of the speaker and the light emission of the light emitting diode.

Such an unmanned crane control method for controlling an unmanned crane using the unmanned crane control apparatus 1200 according to the third embodiment of the present invention will be described with reference to FIGS. 14 and 15.

14 is a flowchart illustrating an unmanned crane control method according to a third embodiment of the present invention, and FIG. 15 is a flowchart illustrating an unmanned crane control method according to a third embodiment of the present invention as an example.

14 and 15, the unmanned crane control method (1400, 1500) according to the third embodiment of the present invention is a crane operation step (S402, S502), coil transfer step (S404, S504), crane control step ( S406 and S506, the crane stop situation identification step S1410 is performed.

First, the crane operation steps (S402, S502) performs the step of operating the crane (A in FIG. 12) through the crane operating portion (102 in FIGS. 12 and 13) provided on one side of the crane (A in FIG. 12). .

Thereafter, the coil conveying steps S404 and S504 are provided on the other side of the crane (A in FIG. 12) and the magnetic material (FIG. 12 and 13 in FIG. 12) includes a coil conveying unit (104 in FIG. 12 and FIG. 12). The current coil (B1 of FIG. 12) is transferred to a desired position by using the magnetic force of 104a of 12.

At this time, the coil transfer step (S404, S504) is a magnetic material (Magnetic off signal supplied from the crane operating unit (102 in Figs. 12 and 13) when the desired position through the coil transfer unit (104 in Figs. 12 and 13). 12A may be supplied to 104a in FIG. 12 to drop the current coil B1 in FIG.

After that, the crane control steps S406 and S506 are provided on one side of the coil transfer part 104 (Figs. 12 and 13) and the crane control part (Fig. 13) which communicates with the crane operating part (102 in Figs. 12 and 13). 12), the crane operation control signal generated by the pressurization of the current coil (B1 in FIG. 12) is supplied to the crane operating portion (102 in FIG. 12 and FIG. 13) to thereby operate the crane operating portion (102 in FIG. 12 and FIG. ) To stop the operation.

For example, as illustrated in FIG. 15, the crane control step S506 may perform a contact step S506a, an elasticity / restoration action step S506b, and a crane operation control signal transmission step S506c.

The contact step S506a is in contact with the current coil B1 in FIG. 12 through a contact member 106a in the crane control unit 106 in FIG. 13 provided on one side of the coil transport unit 104 in FIGS. 12 and 13. Can be provided to perform the steps.

Here, the contacting step S506a may be a step of fixing the contact member 106a of FIG. 2 with the first fixing member 106b of FIG. 2.

In this case, the contacting step S506a may be a step of providing a contact member (106a of FIG. 2) by including a touch bar, and may be a step of providing a first fixing member (106b of FIG. 2) by providing a saddle.

Thereafter, the elastic / restoration step S506b is performed by the elastic member (FIG. 2A of FIG. 2) of the crane control unit 106 (FIG. 13) provided on the other side of the coil transfer part 104 (FIG. 12 and FIG. 13). 2 to provide a resilient action from the pressing of the current coil (B1 in FIG. 12) through 106c) or to restore from the unpressurization of the current coil (B1 in FIG. 12) through the elastic member (106c in FIG. Providing to generate can be performed.

Here, the elasticity / restoration action step S506b may be a step of fixing the elastic member (106c in FIG. 2) with the second fixing member (106d in FIG. 2).

At this time, the elastic / restoring action step (S506b) may be a step of providing the elastic member (106c of Figure 2) by including any one of the elastic spring, the hydraulic elastic spring and the pneumatic elastic spring, the second fixing member (Fig. It may be a step of providing 106d) of 2 as a saddle.

Thereafter, the crane operation control signal sending step S506c is a crane operation connected to the elastic member (106c in FIG. 2) of the crane control unit 106 in FIG. 13 provided on the other side of the coil transfer unit 104 in FIGS. 12 and 13. When generating an elastic action from the elastic member (106c in FIG. 2) through the control signal sending member (106e in FIG. 2), the crane operating portion is supplied to the crane operating portion (102 in FIG. 12 and FIG. 13) by supplying the crane operation control signal. Steps for stopping the operation of (102 in Figs. 12 and 13) can be performed.

At this time, the crane operation control signal transmission step (S506c) is to send the antenna for transmitting the crane operation control signal to the crane operation unit (102 in Figs. 12 and 13) through the crane operation control signal transmission member (106e of Fig. 2). It may be included in the step of providing.

Finally, the crane stop situation identification step (S1410, S1510) is a crane stop situation identification unit (Figs. 12 and 13) connected to at least one of the other side of the crane (A in Fig. 12) and the crane control unit (106 in Fig. 13). When stopping the operation of the crane operating unit (102 in Figs. 12 and 13) from the crane control unit 106 in Fig. 13 via 1210, the step of identifying the current crane stop situation is performed.

At this time, the crane stop situation identification step (S1410, S1510) provides the crane stop situation identification unit (1210 of Figs. 12 and 13) at least one of the alarm sound of the siren, the voice of the speaker and the light emission of the light emitting diode to stop the current crane. It may be a step of identifying the situation.

As such, the unmanned crane control apparatus 1200 and the control methods 1400 and 1500 according to the third exemplary embodiment of the present invention include a crane operating unit 102, a coil transfer unit 104, and a crane control unit 106. .

Accordingly, the unmanned crane control apparatus 1200 and the control methods 1400 and 1500 thereof according to the third embodiment of the present invention operate the crane operating unit 102 and the magnetic body 104a through the coil transfer unit 104. When the current coil B1 is transferred to a desired position by the force, pressurization of the current coil B1 from the contact between the current coil B1 and the surrounding objects B2, B3, C, D through the crane control unit 106 is performed. By supplying the crane operation control signal generated by the crane operation unit 102 to stop the operation of the crane operation unit (102).

Accordingly, the unmanned crane control apparatus 1200 and the control methods 1400 and 1500 thereof according to the third embodiment of the present invention are based on the contact between the current coil B1 and the peripheral objects B2, B3, C, and D. Since the damage to the coils B1, B2, and B3 can be prevented, the production yield for the production of the coils B1, B2, and B3 can be prevented from being lowered, so that the production of the coils B1, B2, and B3 can be prevented. It is possible to suppress the increase in manufacturing cost.

In addition, the unmanned crane control apparatus 1200 and the control methods 1400 and 1500 according to the third embodiment of the present invention include a crane stop situation identification unit 1210.

Therefore, the unmanned crane control apparatus 1200 and the control method 1400 and 1500 thereof according to the third embodiment of the present invention are the crane operating unit 102 from the crane control unit 106 through the crane stop situation identification unit 1210. Since the current crane stop situation can be identified at the time of stopping the operation, the safety accident according to the stop state of the crane A can be prevented in advance.

<Fourth Embodiment>

16 is a schematic diagram showing an unmanned crane control apparatus according to a fourth embodiment of the present invention, Figure 17 is a block diagram showing an unmanned crane control apparatus according to a fourth embodiment of the present invention.

16 and 17, the unmanned crane control apparatus 1600 according to the fourth embodiment of the present invention is the same as the unmanned crane control apparatus 100 according to the second embodiment of the crane operating unit 102 and the coil. It includes a conveying unit 104, a crane control unit 106, a crane feed speed adjusting unit 608.

Such a function of each component corresponding to the unmanned crane control apparatus 1600 according to the fourth embodiment of the present invention and an organic connection relationship therebetween are according to the unmanned crane control apparatus 100 according to the first embodiment. Since the functions of the respective components corresponding to and the organic connection therebetween are the same, each description thereof will be omitted below.

Here, the unmanned crane control apparatus 1600 according to the fourth embodiment of the present invention further includes a crane feed speed adjustment situation identification unit 1612.

That is, the crane feed speed adjustment situation identification unit 1612 is connected to at least one of the other side of the crane (A) and the crane feed speed adjusting unit 608, the crane operating unit by the crane feed speed adjusting unit 608 When the operation of (102 in Figs. 16 and 17) is controlled to adjust the feed speed of the crane A, it is provided to identify the current feed speed adjustment situation of the crane A.

At this time, the crane feed rate adjustment situation identification unit 1612 may be provided to at least one of the alarm sound of the siren, the voice of the speaker and the light emission of the light emitting diode may be provided to identify the current feed rate adjustment situation of the crane (A). .

Such an unmanned crane control method for controlling an unmanned crane using the unmanned crane control device 1600 according to the fourth embodiment of the present invention is as follows with reference to FIGS. 18 and 19.

18 is a flowchart illustrating an unmanned crane control method according to a fourth embodiment of the present invention, and FIG. 19 is a flowchart illustrating an unmanned crane control method according to a fourth embodiment of the present invention as an example.

18 and 19, the unmanned crane control method (1800, 1900) according to the fourth embodiment of the present invention is a crane operation step (S402, S502), crane feed speed adjustment step (S1003, S1103), crane feed Speed adjustment situation identification steps (S1803, S1903), coil transfer steps (S404, S504), crane control steps (S406, S506) are performed.

First, the crane operation steps (S402, S502) performs the step of operating the crane (A in Fig. 16) through the crane operating portion (102 in Figs. 16 and 17) provided on one side of the crane (A in Fig. 16). .

After that, the crane feed speed adjusting steps S1003 and S1103 are provided at the other side of the coil feeder (104 in FIGS. 16 and 17) and the crane feeder communicates with the crane operating portion (102 in Figs. 16 and 17). Through the speed controller (608 in Figs. 16 and 17) and the approaching speed between the current coil (B1 in Fig. 16) and the surrounding objects (B2, B3, C, D in Fig. 16) and the current coil (B1 in Fig. 16), Detecting at least one of the approach distances between the surrounding objects (B2, B3, C, D of FIG. 16).

After that, the crane feed speed adjusting steps S1003 and S1103 are performed through the crane feed speed adjusting units 608 of FIGS. 16 and 17 and the current coil B1 of FIG. 16 and the surrounding objects (B2, B3 and C of FIG. 16). At least one of the approach speed between D) and the approach distance between the current coil (B1 in FIG. 16) and the surrounding object (B2, B3, C, D in FIG. 16) and the range of the reference approach distance. In the case of at least one of the ranges, the operation of the crane operating part (102 of Figs. 16 and 17) is controlled to adjust the feed speed of the crane (A of Fig. 16).

At this time, the crane feed speed adjusting step (S1003, S1103) is the other coil (B2, B3) seated on at least one of the bottom surface (C) and the support (D) the surrounding objects (B2, B3, C, D of Figure 16) ) May be provided.

For example, as illustrated in FIG. 19, the crane feed speed adjusting step S1103 may perform a sensing step S1103a, a determination step S1103b, and a crane feed speed adjusting step S1103c.

The sensing step S1103a is performed by the current means (B1 of FIG. 16) and the surrounding objects (B2, B3, FIG. 16) of the crane feed speed adjusting unit (608 of FIG. 16 and FIG. At least one of the approaching speed between C and D and the approaching distance between the current coil B1 of FIG. 16 and the surrounding objects B2, B3, C and D of FIG. 16 may be performed.

At this time, the detecting step (S1103a) includes the sensing means (608a of FIG. 18) as at least one of a 2D scanner, a 2D camera, a 3D camera, a 3D stereo camera, an infrared camera, a CMOS camera, a CCD camera, and a photo sensor. Of the approaching speed between B1 of FIG. 16 and the surrounding object (B2, B3, C, D of FIG. 16) and the approach distance between the current coil (B1 of FIG. 16) and the surrounding object (B2, B3, C, D of FIG. It may be a step of detecting at least one.

In addition, the sensing step S1103a is performed by the sensing means (608a of FIG. 8) to detect the feed speed detection intervals (Z1 to Z2, Z1 to Z3 and Z1 to Z4 of the coil feeder (104 of FIGS. 16 and 17)). Set at least two, and at the feed speed detection interval (Z1 to Z2, Z1 to Z3, Z1 to Z4 of Fig. 9) of the coil feeder (104 of Figs. 16 and 17) through the sensing means (608a of Fig. 8). According to the feed speed displacement (ΔV1, ΔV2, ΔV3 in Fig. 9) during a certain period of the feed speed of the coil feeder (104 in Figs. 16 and 17) (T1 to T2, T1 to T3, and T1 to T4 in Fig. 9). Approach speed between the current coil (B1 in FIG. 16) and the surrounding object (B2, B3, C, D in FIG. 16) and the current coil (B1 in FIG. 16) and the surrounding object (B2, B3, C, D in FIG. 16) Differentially detecting at least one of an approach distance between the two.

For example, the sensing step S1103a sets and provides a reference feed rate step range of the coil feeder (104 in FIGS. 16 and 17) to the sensing means (608a in FIG. 8), and provides the sensing means (608a in FIG. 8). The feed rate of the coil feeder (104 in FIGS. 16 and 17) in the feed speed detection section (Z1 to Z2, Z1 to Z3, Z1 to Z4 in FIG. 9) of the coil feeder (FIG. 16 and 104 in FIG. When it is faster than the range of the step-by-step feed rate of the feeder (104 in Figs. 16 and 17), the coil feeder (104 in Figs. 16 and 17) of the coil is sequentially It may be a step of detecting the feed speed of the coil feeder (104 in Figs. 16 and 17) in the feed speed detection section (Z1 to Z2, Z1 to Z3, Z1 to Z4).

This sensing step (S1103a) is based on the differential sensing time from the sensing means (608a of FIG. 8) according to the feed rate of the coil transfer unit (104 of FIGS. 16 and 17) and the current coil (B1 of FIG. 16) and the surrounding object. At least one of the approaching speed between B2, B3, C and D in FIG. 16 and the approach distance between the current coil B1 in FIG. 16 and the surrounding objects B2, B3, C and D in FIG.

Accordingly, the sensing step S1103a is performed by the sensing means (608a in FIG. 8) and the approach speed and current coil (FIG. 16) between the current coil B1 in FIG. 16 and the surrounding objects B2, B3, C and D in FIG. The current coil (B1 in FIG. 16) can be efficiently suppressed while effectively suppressing an increase in power consumption required for sensing at least one of the approach distances between B1) and the surrounding object (B2, B3, C, D in FIG. 16). Detects at least one of the approaching speed between the object and the surrounding object (B2, B3, C, D of FIG. 16) and the approach distance between the current coil (B1 of FIG. 16) and the surrounding object (B2, B3, C, D of FIG. Done.

Subsequently, the determination step S1103b includes the current coil (FIG. 16) detected from the detection means (608a in FIG. 8) through the determination means (608c in FIG. 8) of the crane feed speed adjusting unit (608 in FIG. 16 and FIG. 17). At least one of the approaching speed between B1) and the surrounding object (B2, B3, C, D of FIG. 16) and the approach distance between the current coil (B1 of FIG. 16) and the surrounding object (B2, B3, C, D of FIG. 16). The method may include determining whether one is in the range of at least one of a range of the reference approach speed and a range of the reference approach distance already set.

After that, the crane feed speed adjustment completion step (S1103c) is a crane feed speed adjusting means for performing communication with the crane operating part (102 in FIGS. 16 and 17) among the crane feed speed adjusting units (608 of FIGS. 16 and 17). The approaching speed and current coil (FIG. 16) of the current coil (B1 of FIG. 16) and the surrounding objects (B2, B3, C, D of FIG. 16) determined from the determination means (608c of FIG. 8) through 608e of FIG. When at least one of the approach distances between B1 of 16 and the surrounding object (B2, B3, C, D of FIG. 16) is at least one of a range of a reference approach speed and a range of reference approach distance already set, the crane operating unit It is possible to perform the step of adjusting the feed speed of the crane (A in Fig. 16) by controlling the operation of (102 in Figs. 16 and 17).

At this time, the determination step (S1103b) and the crane feed speed adjustment completion step (S1103c) is provided by including the determination means (608c in Figure 8) and the crane feed speed adjusting means (608e in Figure 8) as a PLC (Program Logic Controller) module It is possible to determine the situation between the current coil (B1 in FIG. 16) and the surrounding objects (B2, B3, C, D in FIG. 16), and stop the operation of the crane operating unit (102 in FIG. 16 and FIG. 17). It can be a step.

Then, the crane feed speed adjustment situation identification step (S1803, S1903) is the crane feed speed adjustment is connected to at least one of the other side of the crane (A in Fig. 16) and the crane feed speed adjusting unit (608 in Figs. 16 and 17). The operation of the crane operating part (102 in Figs. 16 and 17) from the crane feed speed adjusting part (608 in Figs. 16 and 17) through the situation identification part (1612 in Figs. 16 and 17) is used to control the crane (Fig. 16). When adjusting the feed speed of A), the step of identifying the feed speed adjusting situation of the current crane (A in Fig. 16) is performed.

At this time, the crane feed speed adjustment situation identification step (S1803, S1903) is provided by at least one of the alarm sound of the siren, the voice of the speaker and the light emission of the light emitting diode through the crane feed speed adjustment situation identification unit (1612 of Figs. 16 and 17). This may be a step of identifying the feed speed adjustment situation of the current crane (A in Fig. 16).

Thereafter, the coil conveying steps S404 and S504 are provided on the other side of the crane (A in FIG. 16) and the magnetic material (FIG. 16 and 17 in FIG. 16) includes a coil conveying unit (104 in FIG. 16). A current force (B1 in FIG. 16) is transferred to a desired position by using the magnetic force of 104a in FIG.

At this time, the coil transfer step (S404, S504) is a magnetic material (Magnetic off signal supplied from the crane operating unit (102 in Figs. 16 and 17) when the desired position through the coil transfer unit (104 in Figs. 16 and 17). 16A may be supplied to 104a in FIG. 16 to drop the current coil B1 in FIG.

Finally, the crane control steps S406 and S506 are provided on one side of the coil transfer part 104 (FIGS. 16 and 17) and the crane control part (FIG. 17) which communicates with the crane operating part (102 in FIGS. 16 and 17). Through 106), the crane motion control signal generated by the pressurization of the current coil (B1 in Fig. 16) is supplied to the crane operating part (102 in Figs. 16 and 17) and the crane operating part (102 in Figs. 16 and 17). ) To stop the operation.

For example, as illustrated in FIG. 19, the crane control step S506 may perform a contact step S506a, an elasticity / restoration action step S506b, and a crane operation control signal transmission step S506c.

The contact step S506a is in contact with the current coil B1 in FIG. 16 through the contact member 106a in the crane control unit 106 in FIG. 17 provided on one side of the coil conveying unit 104 in FIGS. 16 and 17. Can be provided to perform the steps.

Here, the contacting step S506a may be a step of fixing the contact member 106a of FIG. 2 with the first fixing member 106b of FIG. 2.

In this case, the contacting step S506a may be a step of providing a contact member (106a of FIG. 2) by including a touch bar, and may be a step of providing a first fixing member (106b of FIG. 2) by providing a saddle.

Thereafter, the elastic / restoring step S506b is performed by the elastic member (FIG. 2A of FIG. 2) of the crane control unit 106 (FIG. 17) provided on the other side of the coil transfer part 104 (FIG. 16 and FIG. 17). 2 to provide a resilient action from the pressing of the current coil (B1 in FIG. 16) through 106c, or to restore from the unpressurization of the current coil (B1 in FIG. 16) through the elastic member (106c in FIG. Providing to generate can be performed.

Here, the elasticity / restoration action step S506b may be a step of fixing the elastic member (106c in FIG. 2) with the second fixing member (106d in FIG. 2).

At this time, the elastic / restoring action step (S506b) may be a step of providing the elastic member (106c of Figure 2) by including any one of the elastic spring, the hydraulic elastic spring and the pneumatic elastic spring, the second fixing member (Fig. It may be a step of providing 106d) of 2 as a saddle.

Finally, the crane operation control signal sending step (S506c) is a crane operation connected to the elastic member (106c in Fig. 2) of the crane control unit (106 in Fig. 17) provided on the other side of the coil transfer unit (104 in Figs. 16 and 17). When generating elastic action from the elastic member (106c in FIG. 2) through the control signal sending member (106e in FIG. 2), the crane operating control signal is supplied to the crane operating portion (102 in FIG. 16 and FIG. 17). Steps for stopping the operation of (102 in Figs. 16 and 17) can be performed.

At this time, the crane operation control signal transmission step (S506c) is to send the antenna for transmitting the crane operation control signal to the crane operation unit (102 in Figs. 16 and 17) through the crane operation control signal transmission member (106e of Fig. 2). It may be included in the step of providing.

As such, the unmanned crane control apparatus 1600 and the control methods 1800 and 1900 according to the fourth exemplary embodiment of the present invention include a crane operating unit 102, a coil transfer unit 104, and a crane control unit 106. .

Therefore, the unmanned crane control apparatus 1600 and the control methods 1800 and 1900 according to the fourth embodiment of the present invention operate the crane operating unit 102 and the magnetic body 104a through the coil feeder 104. When the current coil B1 is transferred to a desired position by the force, pressurization of the current coil B1 from the contact between the current coil B1 and the surrounding objects B2, B3, C, D through the crane control unit 106 is performed. By supplying the crane operation control signal generated by the crane operation unit 102 to stop the operation of the crane operation unit (102).

Accordingly, the unmanned crane control apparatus 1600 and the control methods 1800 and 1900 according to the fourth embodiment of the present invention are based on the contact between the current coil B1 and the peripheral objects B2, B3, C, and D. Since the damage to the coils B1, B2, and B3 can be prevented, the production yield for the production of the coils B1, B2, and B3 can be prevented from being lowered, so that the production of the coils B1, B2, and B3 can be prevented. It is possible to suppress the increase in manufacturing cost.

In addition, the unmanned crane control apparatus 1600 and the control method (1800, 1900) according to the fourth embodiment of the present invention includes a crane feed speed adjusting unit 608.

Therefore, the unmanned crane control apparatus 1600 and the control methods 1800 and 1900 according to the fourth embodiment of the present invention can adjust the feed speed of the crane A through the crane feed speed adjusting unit 608. .

Accordingly, the unmanned crane control apparatus 1600 and the control methods 1800 and 1900 according to the fourth embodiment of the present invention speed up the feeding speed of the current coil B1 while the current coil B1 and the surrounding objects are increased. Since the damage of the coils B1, B2, B3 due to the contact between (B2, B3, C, D) can be prevented, the production yield for the production of the coils B1, B2, B3 can be further prevented from being lowered. This makes it possible to further suppress an increase in the manufacturing cost for the production of the coils B1, B2, and B3.

In addition, the unmanned crane control apparatus 1600 and the control method 1800, 1900 according to the fourth embodiment of the present invention includes a crane feed speed adjustment situation identification unit 1612.

Therefore, the unmanned crane control apparatus 1600 and the control methods 1800 and 1900 according to the fourth exemplary embodiment of the present invention are mounted from the crane feed speed adjusting unit 608 through the crane feed speed adjusting situation identification unit 1612. When controlling the feed speed of the crane A by controlling the operation of the operating unit 102, the current feed speed adjustment situation of the crane A can be identified, so safety according to the feed speed adjustment situation of the crane A The accident can be prevented in advance.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. Therefore, it should be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than the foregoing description, It is intended that all changes and modifications derived from the equivalent concept be included within the scope of the present invention.

Claims (12)

A crane operating unit provided at one side of the crane to operate the crane;
A coil transfer part provided on the other side of the crane and including a magnetic material, and configured to transfer the current coil to a desired position by the magnetic force of the magnetic material;
The coil transfer part is provided on the other side of the coil transfer part and communicates with the crane operating part, and transfers the coil transfer part when detecting at least one of the approach speed between the current coil and the surrounding object and the approach distance between the current coil and the peripheral object. Sensing means for sequentially detecting the feed rate of the coil feeder in the feed rate detection zone of the coil feeder during the next period when the feed speed of the coil feeder is faster than the preset feed rate step range of the coil feeder in the speed sensing section; And determining whether at least one of the approaching speed between the current coil and the surrounding object and the approaching distance between the current coil and the surrounding object sensed by the sensing means is at least one of a range of a preset reference approach speed and a reference approach distance. And means for communicating with the crane operating portion And at least one of the approaching speed between the current coil and the surrounding object and the approaching distance between the current coil and the surrounding object determined by the determining means is at least one of a range of the preset reference approach speed and the reference approach distance, A crane feed speed adjusting unit including a crane feed speed adjusting means for controlling an operation of the crane by controlling an operation of the crane operating unit;
A crane control part provided on one side of the coil transfer part to communicate with the crane operation part, and supplying a crane operation control signal generated by the pressure of the current coil to the crane operation part to stop the operation of the crane operation part; Including unmanned crane control device.
The method of claim 1,
The crane control unit,
A contact member provided on one side of the coil transfer part and provided to be in contact with the current coil;
An elastic member provided on the other side of the coil transfer part, the elastic member being connected to the contact member and provided to generate an elastic action by the pressing of the current coil or a restoring action by the unpressurization of the current coil; And
A crane operation provided at the other side of the coil transfer part and connected to the elastic member to supply the crane operation control signal to the crane operating part when the elastic action occurs by the elastic member to stop the operation of the crane operating part; Unmanned crane control device including a control signal transmission member.
delete delete delete The method of claim 1,
An unmanned crane control apparatus further connected to at least one of the other side of the crane and the crane control unit, the crane stopping situation identification unit for identifying a current crane stop situation when the operation of the crane operation unit is stopped by the crane control unit. .
A crane operation step of operating the crane through a crane operation unit provided on one side of the crane;
Detects the feed rate of the coil feeder when detecting at least one of the approach speed between the current coil and the surrounding object and the approach distance between the current coil and the surrounding object through a sensing means of the crane feed speed adjusting unit for communicating with the crane operation unit A sensing step of sequentially detecting a feed rate of the coil feeder in a feed rate detecting section of the coil feeder during a next cycle when the feed rate of the coil feeder is faster than a preset feed rate step by step in the section; At least one of the approaching speed between the current coil and the surrounding object and the approaching distance between the current coil and the surrounding object detected by the sensing means through the crane transport speed adjusting unit is determined within the range of the reference approach speed and the reference approach distance already set. Determine if it is at least one range Determination step, and the access speed between the current coil and the surrounding object and the approach distance between the current coil and the peripheral object determined by the determination means through the crane feed speed adjusting means for communicating with the crane operation unit of the crane feed speed adjusting unit When the at least one range of at least one of the range of the reference approach speed and the range of the reference approach distance already set crane transport speed control step of controlling the operation of the crane operation to adjust the feed speed of the crane to complete the crane transport A speed adjusting step;
A coil transfer step of transferring a current coil to a desired position using a magnetic force of the magnetic body through a coil transfer unit provided on the other side of the crane and including a magnetic body; And
A crane operation control signal which is provided on one side of the coil transfer unit and communicates with the crane operation unit to supply the crane operation control signal generated by pressurization of the current coil to the crane operation unit to stop the operation of the crane operation unit. Unmanned crane control method comprising the crane control step.
8. The method of claim 7,
The crane control step,
A contact step of providing contact with the current coil through a contact member of the crane controller provided at one side of the coil transfer unit;
The crane control unit provided on the other side of the coil transfer unit may be provided to generate an elastic action from the pressing of the current coil through an elastic member connected to the contact member, or may perform a restoring action from the unpressurization of the current coil through the elastic member. Providing an elastic / restoring action to generate; And
The crane operation control signal is supplied to the crane operation unit when the elastic operation is generated from the elastic member through the crane operation control signal transmission member connected to the elastic member among the crane control units provided on the other side of the coil transfer unit. Unmanned crane control method comprising the step of sending a crane operation control signal for stopping the operation of the crane operating unit.
delete delete delete 8. The method of claim 7,
After the crane control step,
Further performing a crane stop situation identification step of identifying a current crane stop situation when stopping the operation of the crane operation unit from the crane control unit through a crane stop situation identification unit connected to at least one of the other side of the crane and the crane control unit How to control an unmanned crane.

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