KR101494771B1 - Apparatus for controlling continuous ship unloader - Google Patents

Abstract

The present invention relates to an apparatus for controlling a continuous unloader. The apparatus comprises a control panel having multiple control starting points where a joystick included in the apparatus is placed to start a specific operation. The control information for the specific movement of the continuous unloader is generated by the joystick moving from a first position as a control starting point to a second point, wherein the first point is a current point included in the control starting points. In addition, the speed of the specific operation is determined by the movement of the joystick between the control starting points. When a change of direction between specific movements is performed, a digging unit of a bucket elevator lifting a cargo attached and loaded on the continuous unloader completes the change of direction, and then is placed to be at right angles to the direction of the specific operation.

Description

[0001] Apparatus for controlling continuous ship unloader [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a control system for a continuous cargo handling unit for unloading raw cargo loaded on a ship.

The continuous type unloading unit is a device for continuously discharging bulk cargo (coal, grain, cement, mineral, etc.) loaded on dedicated carrier cargoes from the dock of the cargo ship to the port. Fig. 7 shows a schematic view of the continuous cargo handling unit.

7, the moving part 708 of the unloading unit can move left / right along the rail 706 to transport the cargo transferred from the cargo ship by the unloading unit. The boom 704 can rotate the rotary gear 711 located on the upper side of the traveling portion 708 as well as raise or lower the bucket elevator post 703 in the up and down directions.

The English control command for controlling the rotation (clockwise or counterclockwise) of the boom 704 may be expressed as "Boom Slew CW" or "Boom Slew CCW". The boom 704 conveys the bulk cargo lifted vertically through the elevator post 703 to a gantry conveyor installed on the traveling part using a boom conveyor installed on the boom, and the gantry conveyor conveys the bulk cargo to the port Pier) conveyor.

The bucket elevator post 703 is capable of rotating clockwise or counterclockwise more than 360 degrees around the bucket elevator post as indicated by the arrow, and the English control command is "Bucket Slew CW" or "Bucket Slew CCW" to be. The bucket elevator post 703 may also be connected to the boom 704 head hinge and moved up and down. Here, the English-style control command for controlling the operation of raising or lowering the boom 704 up or down can be expressed as "Boom Hoist Up" or "Boom Hoist Down".

The bucket elevator post 703 maintains a right angle with the ground and forms an angle with the boom 704. It also provides a path of movement for the bucket elevator to transport scraped bulk cargo up. A digging unit 701 is disposed at the lowermost end of the elevator post 703.

The digging unit 701 has an "L" shape similar to that of a human foot. The digging unit 701 includes a plurality of buckets 709 for scraping bulk cargo. Since the bucket 709 can continuously orbit the excavation, the excavation can be continuously performed.

The boom 704, the elevator post 703, and the motion of the digging unit 701 in order to scrape up the bulk cargo accumulated in the loading area 707, Will be briefly discussed.

Generally, the unloading space 707 located at the dock of the mobile shelf has a rectangular shaped surface. In general, excavation is based on a combination of a traveling portion 708, a boom 704, and a bucket elevator poster 703 motion, and the digging portion 701 is connected to the roadside And moving along the vertical side (outline). In addition, uniform excavation can be achieved through rotational movement of the elevator post 703 itself.

Here, the operation of purging the bulk cargo is first performed on the side of the road and the side of the side which constitutes the farthest from the center of the area, and then the side and the side of the lateral side Lt; / RTI > For convenience of the unloading control, the reference to the side and the longitudinal side may be a rail 706 on which the traveling part of the unloading unit moves.

In more detail, the axis of the rectangular area lying in the direction of the rail and the axis of the rectangular area is the horizontal axis, and the movement along the horizontal axis can be a traveling motion. In the same vein, the movement along the side lying in the direction perpendicular to the direction of the rail can be a traverse.

The digging unit 701 should be controlled so as to scrape up the bulk cargo accumulated in the unloading area and maintain a constant angle with respect to the traveling or transverse direction in order to prevent repeated scraping of the area. Also, it is necessary to control the rotational motion of the digging unit 701 while switching between the traveling and the traversing operation.

1 (a) and (b), a conventional control device for controlling the operation of the continuous unloading machine will be described.

Conventional continuous freight handler controllers generally consist of a manipulator with a main joystick and a manipulator with an auxiliary joystick.

First, FIG. 1 (a) shows the main joystick controller 100. The main joystick controller 100 has a cross-shaped guide line around an origin 102 located at the center of the control panel 106.

The origin 102 is the point at which the specific operation of the continuous cargo handling unit is first started in the stopped state. Further, it is a point at which the main joystick 101 should be returned when the continuous unloading machine ends the first specific operation being performed and another second specific operation is started.

A total of four control points located on the upper, lower, left, and right sides of the origin 102 are disposed on the control panel 106.

 "Bucket Slew CCW" 103 located at 12 o'clock, "Travel North" 104 located at 3 o'clock, "Bucket Slew CW" 105 located at 6 o'clock, And a "Travel South" 106 located at 9 o'clock.

Here, "Bucket Slew CCW" 103 and "Bucket Slew CW" 105 mean "Bucket Slew" is abbreviation of bucket elevator slew and "CCW" "CW" means that the direction of rotation is clockwise. Here, a bucket is a container for storing bulk cargo loaded on a ship. These plural buckets are attached in line to a moving chain in the form of an endless track.

The bucket holds the bulk cargo directly, and the moving chain continuously moves the plurality of buckets. The bucket elevator is an elevator used to lift bulk cargo loaded on the ship out of the ship. The elevator vertically transports excavated cargo based on a vertical bucket elevator shaft. The cargo thus vertically conveyed is moved to the land via a conveyor on the boom and the traveling part 708.

Here, the "Bucket Slew CCW" 103 is a control input command for rotating the digging unit counterclockwise with respect to the vertical axis of the bucket elevator. The "Bucket Slew CW" 105 means the digging unit 701 It is a control input command for clockwise rotation.

Next, referring to "Travel North" 104 and "Travel South" 106, "Travel" means movement (movement) along the horizontal axis of the area when the area occupied by the bulk cargo is rectangular. The reference to the horizontal axis may be a position of the rail for the movement of the continuous unloading unit.

In more detail, the axis of the rectangular area lying in the horizontal direction with respect to the direction of the rail becomes the horizontal axis, and the movement along the horizontal axis can be "Travel ". If the direction of movement along the horizontal axis is the north, it may be "Travel North ".

When the stick 101 located at the control origin 102 at the center of the controller panel 106 is moved to "Travel North ", traveling operation input information to the north may be generated.

When the stick 101 located at the control origin 102 is moved to "Travel South ", traveling operation input information directed to the south can be generated.

In FIG. 1 (b), an auxiliary joystick controller 110 is shown to enhance the accuracy of the specific operation performed by the continuous cargo handler.

Similar to the main joystick controller 100, the auxiliary joystick controller 110 is provided with a cross-shaped guide line around the origin 116 of the control panel 117. And the origin 116 may be the point at which the particular motion of the continuous cargo handler is initially initiated in the stationary state. The specific motion includes boom motion and bucket elevator rotational motion. Or the point at which the auxiliary joystick 111 should be returned when the continuous unloading machine ends the first specific motion and starts another second specific motion.

A total of four control points located on the upper, lower, left, and right sides of the origin point 116 are disposed on the control panel 117.

Boom Hoist Down "112 located at 12 o'clock," Boom Slew CCW "113 located at 3 o'clock position, and" Boom Hoist Down "located at 6 o'clock located at the origin 116 located at the center of the control panel 117 A " Boom Hoist Up "114, and a" Boom Slew CW "115 located at 9 o'clock.

The boom can be moved up and down by a vertical hydraulic cylinder controlled by a cockpit for controlling the unloading operation, and the digging unit 701 can be brought into close contact with the excavator through control (descending) of the boom. , The digging unit 701 can be lifted through the control (lift) of the boom. The specific operation of the unloading unit may be performed by control information generated by "Boom Hoist Down" 112 and "Boom Hoist Up"

With respect to the "Boom Slew CCW" 113 and the "Boom Slew CW" 115, when the stick is moved in the "Boom Slew CCW" direction to generate control information, It is possible to rotate in the counterclockwise direction about the axis which is the axis of rotation. Further, when the stick is moved to the control point "Boom Slew CW " to generate control information, the boom can rotate clockwise about the axis supporting the boom.

The conventional continuous-type unloading machine control information generation system shown in FIG. 1 (a) and FIG. 1 (b) is complicated in implementing traveling and transverse movement required for unloading operation, switching between these operations, Since a plurality of control information must be generated, it is inefficient and the accuracy of the implementation operation is low. Therefore, there is a need for a control equipment having an efficient control information generation method for implementing all the operations of the unloader.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems of the prior art, and it is an object of the present invention to simplify a control information generation method for implementing specific operations of a continuous freight cargo for loading and unloading a raw cargo loaded on an existing ship; Designing a control device for a simplified continuous cargo handler; Another object of the present invention is to provide a control device for efficiently and accurately controlling a plurality of motions required for the switching when the switching between the unloader operations (motions) is performed, thereby performing an accurate and safe unloading operation.

In order to solve the above-mentioned technical problems, a cargo handling device for controlling a continuous cargo handling unit based on a plurality of motions according to the present invention is as shown in FIG. The unloading unit control device includes a main joystick controller receiving control information for the continuous unloading unit; And a control unit for controlling the motion associated with the specific operation among the plurality of motions based on the input control information to control the continuous unloading unit to perform the specific operation.

Wherein the control information may be generated by movement of the joystick moving at any two points located on the control panel.

The joystick may be coupled to a hinged structure rotatable about a vertical axis of the control panel, or the joystick may slide on the control panel.

According to an embodiment of the present invention, the specific operation is performed based on movement displacement information or movement rotation information corresponding to the movement, and the movement displacement information includes movement direction information of the movement and movement displacement amount information of the movement And the movement rotation information may include rotation direction information and rotation angle information about the rotation formed by moving the joystick about the vertical axis of the control panel

As an example in connection with the present specification, the speed of the particular operation is determined by the maximum speed of the particular operation, the acceleration to reach the maximum speed in the stationary state of the continuous cargo handler, And may be at least one of the deceleration.

As one example related to the present specification, the continuous unloading unit includes a boom attached to the continuous unloading unit and performing a rotary motion; And a bucket elevator used to transport bulk cargo to the upper part of the boom. The bucket elevator is configured to closely contact the bucket elevator casing to carry the cargo.

As one example related to the present specification, the plurality of motions include bucket elevator swing motion, boom slew motion, traveling motion, and hoist motion.

As an example related to the present specification, the specific operation may include a left / right traveling operation and an up / down movement operation corresponding to the horizontal and vertical directions of the rectangle, respectively, .

As an example related to the present specification, the direction of the left / right travel operation may be perpendicular to the direction of the up / down motion.

As an example related to the present specification, the motion associated with the specific operation is the running motion of the continuous freighter moving along the rails when the specific operation is the left / right driving operation.

As an example related to the present specification, the left / right driving operation is horizontal to the driving motion direction.

As an example in connection with the present specification, the motion associated with the particular operation may include a Boom Slew motion associated with the rotary motion of the boom, and a movement of the loader moving along the rails when the particular operation is an up / It is driving motion.

As an example related to the present specification, the up / down traverse operation is made by summing up the turning motion of the boom and the traveling motion.

In one embodiment of the present invention, the control information regarding the generation of the specific motion of the continuous unloading machine is a horizontal movement generated when the joystick is horizontally moved from the first point to a second point located in the right or left horizontal direction Control information; Vertical movement control information generated when the object is moved vertically to a second point located in an upper or lower direction from the first point; And diagonal movement control information generated when the first point is moved to a second point located in a diagonal direction from the first point.

In one embodiment of the present invention, the left / right traveling operation of the continuous unloading unit is performed based on the horizontal movement control information, and the up / down operation of the continuous unloading unit is performed based on the vertical movement control information do.

As an example related to the present specification, the left / right traveling operation and the up / down traverse operation may be performed based on the diagonal movement control information.

As an example related to the present specification, the interlocking of the left / right traveling operation and the up / down transverse operation may be performed by performing the left / right traveling operation and the up / down transverse operation simultaneously or sequentially.

When the vertical movement control information indicating the up / down operation is input while the left / right travel operation is being performed based on the horizontal movement control information, The position of the digging 701 can be controlled to be perpendicular to the direction of the up / down transverse operation.

When the horizontal movement control information indicating the left / right travel operation is inputted while the up / down operation is being performed based on the vertical movement control information, It is possible to control the position of the digging unit 701 to be perpendicular to the left / right travel operation direction.

As an example related to the present specification, the continuous unloader control apparatus may further include an auxiliary joystick to reduce an operation error generated in performing the specific operation.

According to one embodiment of the present invention, the control unit controls the up and down movement of the boom for the rotation and hoist motion of the bucket elevator bucket elevator motion of the continuous unloading unit based on the auxiliary joystick have.

Also, as an example related to this specification, there is provided a control method for controlling a continuous cargo handler operating on a plurality of motions, comprising the steps of: Moving a single joystick to generate control information based on the displacement between any two points; Controlling a motion related to the specific motion among the plurality of motions based on the control information; And performing the specific operation based on the motion, the control information being generated by movement of the joystick moving at any two points located on the control panel.

In accordance with one aspect of the present disclosure, there is provided a continuous cargo handler control system for implementing a cargo handling operation based on a plurality of motions, the system comprising: a main joystick controller for generating control information for the continuous cargo handler; A control device for controlling a motion associated with a specific one of the plurality of motions based on the control information; And a continuous unloader for performing a specific operation based on the related motion, wherein the main joystick controller comprises: a control panel; And a joystick capable of moving on the control panel, the control information being generated by movement of the joystick moving at any two points located on the control panel.

According to the example disclosed in this specification, when the joystick on the control panel for controlling the continuous cargo handler is used, it is possible to omit the control point return movement, which has been performed every time when switching between the specific operations of the continuous cargo handler is made.

In addition, the direction and speed control information of the corresponding specific operation of the continuous unloading machine are simultaneously generated based on the movement amount of the joystick.

In addition, when the sequential switching between the specific operations proceeds, the speed associated with the switching is automatically controlled.

Finally, through the auxiliary joystick controller, it is possible to flexibly cope with the changing situations during the unloading operation, so that accurate and stable unloading control can be achieved.

Brief Description of the Drawings Figure 1 is a view of a conventional continuous unloader joystick controller comprising two manipulators.
2 is a block diagram of a continuous cargo handling unit control apparatus according to an embodiment of the present invention;
3 is a block diagram of a main joystick controller according to an embodiment of the present invention.
FIG. 4A is a diagram illustrating movement of a main joystick for generating basic control information (traveling, traversal, stop) according to an embodiment of the present invention; FIG.
FIG. 4B illustrates a motion of a main joystick for generating direction switching control information according to another embodiment of the present invention; FIG.
5 (a), (b), (c) and (d) illustrate movement of a main joystick for generating shortened control information (traveling, traversal, direction change) according to an embodiment of the present invention.
6 (a) and 6 (b) illustrate a method of inputting control information of a main joystick for implementing a loading and unloading operation performed along an outer path of an unloading area (quadrangle) and an operation of implementing a deck corresponding to the control information.
FIG. 6C is a view showing a detailed form and a rotating operation of the continuous unloader digging unit according to the progress of the outer route. FIG.
FIG. 7 is a schematic view of a continuous unloader controlled by the main joystick controller of the present invention; FIG.
FIG. 8 is a block diagram of an auxiliary joystick controller according to an embodiment of the present invention; FIG.
9A illustrates a joystick that is movable along a cruciform guide line according to one embodiment of the present invention.
FIG. 9B is a view showing a joystick having a hinge structure in which the upper end of the joystick according to the embodiment of the present invention is rotatable 360 degrees about the vertical axis of the control panel. FIG.

It is noted that the technical terms used herein are used only to describe specific embodiments and are not intended to limit the scope of the technology disclosed herein. Also, the technical terms used herein should be interpreted as being generally understood by those skilled in the art to which the presently disclosed subject matter belongs, unless the context clearly dictates otherwise in this specification, Should not be construed in a broader sense, or interpreted in an oversimplified sense. In addition, when a technical term used in this specification is an erroneous technical term that does not accurately express the concept of the technology disclosed in this specification, it should be understood that technical terms which can be understood by a person skilled in the art are replaced. Also, the general terms used in the present specification should be interpreted in accordance with the predefined or prior context, and should not be construed as being excessively reduced in meaning.

Also, the singular forms "as used herein include plural referents unless the context clearly dictates otherwise. In this specification, the terms "comprising ", or" comprising ", etc. should not be construed as necessarily including the various elements or steps described in the specification, Or may be further comprised of additional components or steps.

Furthermore, terms including ordinals such as first, second, etc. used in this specification can be used to describe various elements, but the elements should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals denote like or similar elements, and redundant description thereof will be omitted.

Further, in the description of the technology disclosed in this specification, a detailed description of related arts will be omitted if it is determined that the gist of the technology disclosed in this specification may be obscured. It is to be noted that the attached drawings are only for the purpose of easily understanding the concept of the technology disclosed in the present specification, and should not be construed as limiting the spirit of the technology by the attached drawings.

Prior to the description of the operation of the joystick constituting the control device of the continuous unloading machine which is a constituent element of the present invention and the specific operation of the continuous unloading machine related thereto, the configuration of the joystick constituting the control device related to this specification will be briefly described as I want to explain.

9A illustrates a form of a joystick 920 according to an example of the present invention. The joystick 920 is movable along a cruciform guide line 910 formed on the control panel.

9B shows another form of the joystick 910 according to another example of the present invention. One end (upper end) and the other end (lower end) of the joystick 930 are connected by a hinge 930 so that the one end (upper end) can rotate about the hinge 930. The rotary motion of the joystick 930 generates control information for a specific operation of the continuous cargo handling unit.

Whether or not a specific motion is generated and controlled based on the motion direction and the motion speed of the joystick 910 through the hinge 930 will be described in detail with reference to the drawings.

2 shows a block diagram of a continuous cargo handling system control device according to the embodiments disclosed herein. The continuous unloading controller 200 includes a main joystick controller 210 for generating control information 220 for the unloading unit, an auxiliary joystick controller 211 for controlling a continuous unloading unit in response to a floating situation of the unloading station, And a control unit 230 for controlling the motion interlock 250 based on the control information 220. The auxiliary joystick controller 211 may improve the accuracy of the specific operation 260 of the unloader by the motion interlock 250 of the unloader.

In addition, the freight controller 200 may include a storage unit (not shown). The storage unit (not shown) may store a program for processing and controlling the control information 220 of the controller 230. Also, the storage unit (not shown) may perform the function of temporarily storing input control information 220 data and outputting the output of the handler motion 240 and operation 260 data.

 Specifically, the main joystick controller 210 is a general computer input device that can input a direction intended by a driver by using a shaft (stick or lever) attached to the joystick. The input is performed through a sensing unit that senses the position information of the joystick moving along the guideline, and the transmitting unit in the main joystick controller 210 transmits the position information to the controller 230. [ In the continuous cargo handling unit control apparatus according to the present invention, the cargo handling unit moves the stick of the main joystick control unit 210 so that the cargo handling unit performs a specific operation according to the intention of the driver.

When the stick of the main joystick 210 is moved, the control unit 230 stores information about the unloading operation 260 during the operation, and then, based on the information stored in the storage unit, The specific operation of the unloading unit according to the movement can be controlled by the control unit. The control unit 230 will be described later in detail with reference to FIG.

The storage unit (not shown) may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, an SD or XD memory A random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM) , A magnetic disk, or an optical disk. In addition, the continuous freight controller 200 includes a display unit (not shown), and the display unit can display the loading and unloading operation 260 information stored in the storage unit to the driver. A detailed description of the main joystick controller 210 and the auxiliary joystick controller 211 will be described later with reference to FIG.

The control information 220 is generated by a driver moving the main joystick 210. The control information 220 is based on a movement amount or a displacement of the joysticks 210 and 211.

The control unit 230 may receive a movement amount and a displacement amount generated by the joystick and perform a specific operation corresponding to the movement amount and the displacement amount, And the speed of the specific operation.

In other words, the specific operation is based on the moving displacement information or the moving rotation information corresponding to the movement, and the moving displacement information includes the moving direction information of the movement and the moving displacement amount information of the movement, Information may include rotational direction information and rotational angle information about the rotation formed by moving the joystick about the vertical axis of the control panel.

The displacement amount information and the rotation direction information may be generated by other types of joysticks. As discussed briefly above with respect to the above two types of joysticks, the joystick having a cross-shaped guide line in FIG. 9A and the joystick having a hinge structure in FIG. 9B can be used.

The amount of movement or amount of displacement in the joystick having the crossed guide line may be a moving displacement (distance) generated when the joystick movement starts at a first point on the crossed guide line and ends at a second point on the crossed guide line have.

On the other hand, in the joystick of the hinge structure in which the upper end of the joystick is rotatable 360 degrees about the vertical axis of the control panel, the amount of movement or displacement is the amount (eccentric amount) of rotation or bias of the joystick about the vertical axis of the control panel of the joystick You can.

Each of the joysticks generates movement displacement information and rotation direction information in a different manner but they are used to control the horizontal movement 221 control information, the vertical movement 222 control information, the control reference point return control information 223, Information, and diagonal motion 225 control information.

The speed of the specific operation is determined based on the movement displacement information or the movement rotation information generated by the joystick. Wherein movement of the joystick is based on displacement, eccentricity, or angle between the first point and the second point on the control panel, or an angle at which the joystick is biased about a vertical axis of the first point.

The speed of the specific operation may be at least one of the maximum speed of the specific operation, the acceleration for reaching the maximum speed in the stop state of the continuous cargo handler, and the deceleration from the maximum speed to the stop state It can be speed.

One of the most features of the present invention is that the moving displacement information or the movement rotation information can be generated at any point on the control panel of the main joystick controller. In other words, it means that any of the above points can be the control origin. The control origin may be an initial operation mode in which the main joystick is positioned to start a specific operation.

Typically, the control origin becomes the origin located at the center of the control panel, and when the continuous cargo handler starts any specific operation in the stopped state, or when the continuous cargo handler starts the second specific operation If you want to switch to,

Wherein the main joystick of the continuous cargo handler starts to move from the origin to another point on the control panel for any particular operation or after the movement for the first specific operation is terminated, The return to the origin has to be made before the movement of the origin is started. Then, after the return is made, the joystick can be moved for the second specific operation.

However, in the present invention, all the points on the control panel may be the control origin, and therefore, in order to implement the second specific operation in the movement of the main joystick for realizing the first specific operation without the above- The movement of the main joystick can be continued.

The control unit may control the sequential switching between the specific operations of the continuous unloading unit without returning to the origin so as to store the specific operation being performed before the switching is started, And may have the ability to interpret movement of the joystick input based on the stored particular operation to create a new specific operation that the unloader wishes to perform.

How the control unit implements the switching based on the stored specific operation will be described later with reference to specific examples in FIGS. 4A and 4B.

One of the other features of the present invention is that the control unit 230 automatically synchronizes motions related thereto to implement a specific movement of the continuous cargo handler.

The control unit 230 receives the control information 220 and implements a specific operation 260 corresponding to the control information 220 and interlocks the loader motion 240 to implement the specific operation 260 250).

The interlocking means that the control unit 230 simultaneously or sequentially moves the plurality of motions 240 of the continuous unloading unit. The freighter motion 240 may include a bucket elevator rotation motion (Bucket Elevator Slew) 241, a boom slew motion 242, a driving motion 243, and a hoist motion 244 have.

The horizontal movement 221 control information is generated when the joystick provided in the controller of the continuous unloading machine according to the present invention moves to a second point located at a horizontal position with respect to the first point on the control panel.

3, the joystick may be a joystick 300 located at the center of the main joystick control unit 310, and a panel having a rectangular structure centering on the joystick may be the control panel 320 . And each side surrounding the control panel 320 indicates a specific operation to be performed by the continuous cargo handler and a direction of the specific operation.

The vertical movement 222 control information is control information that is generated when the joystick moves to a second position in a vertical position with respect to the first point on the control panel. Details of the horizontal movement 221 control information, the vertical movement 222 control information, and the control origin return 223 control information will be described later in detail with reference to FIGS. 4A and 4B.

The directional switching 224 control information may include vertical motion 222 control information indicating the horizontal motion 262 while the controller 230 is performing the traveling motion 261 based on the horizontal motion 221 control information, Is the control information to be generated. The control information for the direction change 224 may be input to the horizontal movement 221 indicating the driving operation 261 while the control unit 230 is performing the horizontal movement operation 262 based on the vertical movement 222 control information, ) Control information is generated when receiving input information. The direction switching 224 will be described in detail with reference to FIG. 4B.

The diagonal movement 225 control information is generated when the joystick constituting the main joystick manipulator 210 diagonally moves to a second position located diagonally with respect to the first point on the control panel. Diagonal movement 225 control information may be transmitted to the control panel by moving the joystick to a second point lying horizontally with respect to the first point so that the joystick is moved to the control panel To a third point located on the diagonal from the second point on the screen.

In addition, the diagonal movement 225 control information may be generated by moving the joystick on the control panel to a second point lying vertically with respect to the first point, And a third point located on a diagonal line at the second point. The diagonal movement 225 is a uniaxial control information input method, and a detailed description thereof will be described later in detail with reference to FIG. 5 (a, b, c, and d).

The control unit 230 receives the control information 220 generated by the main joystick controller 210 and the data related to the loading and unloading operation 260 performed by the unloading unit and outputs the control information 220 And controls the unloader motion 240 required for the corresponding unloader operation 260. The controller can be implemented in various forms. For example, the control unit may be implemented as a microcomputer, a controller, a microcontroller, or various controllers. The controller 230 may also be separately implemented to control the components related to the motion interlock 250, the control information 220, and the unloader motion 240, and one component may be controlled by one controller , And another control unit controls the other components.

Referring to the unloader motion 240, the continuous unloader utilizes an elevator comprised of a bucket that lifts the bulk cargo in the vessel out of the vessel. The elevator is in close contact with the excavation area and in a position parallel to the straight form with the ground to be excavated. The excavated cargo is transported through a bucket elevator shaft (passage) connected in a vertically close manner on the basis of the position in the form of the date.

Here, the bucket elevator rotary motion 241 is a motion in which the bucket elevator positioned close to the straight form rotates about its axis (passage). The boom pivoting motion 242 is a motion to rapidly move the digging unit 701 to a proper position for unloading by rotating around the center of the rotary gear 711 provided on the upper side of the traveling part together with the bucket elevator connected to the boom.

The traveling motion 243 is a motion in which the entire consecutive unloading machine including the bucket elevator and the boom 704 is moved to the left / right along the moving rail located in the harbor to move the digging unit 701 to a position to be unloaded.

The hoist motion 244 is a motion for raising the boom 704 to a given angle by using a boom hoist cylinder installed above the travel portion. The bucket elevator post 703 connected to one end of the boom 704 is always mechanically restrained to perform a vertical up and down movement.

When the control unit 230 receives the control information 220 related to the horizontal movement 221, the control unit 230 controls the driving motion of the unloading unit 243) to implement the traveling operation 261 of the unloading unit.

Here, the traveling operation 261 means a movement corresponding to a side of the area when the area where the raw cargo is loaded is a rectangle. The reference to the side of the road may be the position of the rail for the movement of the continuous unloading unit. And, the movement along the side of the rail and the horizontal can be the driving operation 261.

When the control unit 230 receives the control information of the vertical movement 222, the control unit 230 may combine the boom turning motion 242 and the traveling motion 243, A traversing operation 261 can be implemented.

Here, the traverse operation 262 means a movement corresponding to the longitudinal side of the area when the area on which the raw cargo is loaded is a rectangle. The criterion for the longitudinal side may be the position of the rail for the movement of the continuous unloading unit. In other words, the movement along the side lying in the direction perpendicular to the direction of the rail can be a traversing motion 262.

The control unit 230 may receive the control reference point return control information to stop the motion 240 of the continuous unloading unit and stop the operation of the unloading unit 263, The running motion 240 is maintained and the corresponding operation 260 can be maintained.

The bucket elevator pivot motion 241, the boom pivot motion 242, the traveling motion 243, and the bucket elevator swing motion of the continuous unloading machine, when the controller 230 receives the control information of the direction change 224, And the hoist motion 244 may be combined to implement the hauling operation 261 and the traversing operation 262 of the hauler.

The controller 230 controls the horizontal movement 221 to perform a vertical movement operation 262 for performing the vertical operation 262 while performing the left / right movement operation 261 based on the horizontal movement 221 control information 222 control information, the control unit 230 switches the position of the bucket elevator digging unit 701 so as to be perpendicular to the direction of the up / down operation 262.

The control unit 230 may be configured to decelerate the left / right traveling operation 261 of the continuous unloading unit when receiving the vertical movement 222 control information while performing the left / right traveling operation 261. [ The bucket elevator digging unit 701 is changed in direction so as to be perpendicular to the traveling direction of the left / right traveling motion, and after the direction switching is completed, the up / down motion can be accelerated .

In the same manner, the control unit 230 controls the horizontal movement 221 to perform the left / right traveling motion 261 while performing the up / down motion 262 based on the vertical movement 222 control information When the information is inputted, the bucket elevator digging unit 701 is turned to be perpendicular to the direction of the left / right travel operation 261.

Specifically, when the control unit 230 receives the horizontal movement 221 control information for performing the left / right travel operation 261 while performing the up / down operation 262, The bucket elevator digging unit 701 is changed in direction so as to be perpendicular to the traveling direction of the left / right traveling operation, and after the direction switching is completed, the left / The right traveling motion can be accelerated.

The speed of the first operation that the control unit 230 performs in order to change the direction based on the direction information of the direction change 224 and the speed acceleration of the second operation that is performed after the completion of the direction change, The amount of displacement, the amount of displacement, the amount of eccentricity, or the tilting tilt angle of the joystick, and the speed control will be described later in detail with reference to FIGS. 6A and 6B.

When the controller 230 receives the diagonal movement 225 control information, the controller 230 controls the horizontal movement 221 control information, the vertical movement 222 control information, 224) similar to the case of sequentially receiving the control information. The motion interlock 250 includes a traveling motion 243 of the unloader generated by the horizontal movement 221 control information, a boom turning 242 motion of the unloader generated by the vertical movement 222 control information, The bucket elevator rotation motion 241, the traveling motion 243, and the boom pivot motion 242, which are generated by the control information, and the direction information 224, can be sequentially controlled. Therefore, the diagonal movement 225 control information is control information in which the motion of the main joystick controller 210 is shortened.

For example, the operation of the unloader for each side when unloading the sides (horizontal lines and vertical lines) of the unloading area of a rectangular shape requires a total of four pieces of control information 220. The four pieces of control information 220 require the movement of the four main joysticks 210. However, as an example of the present invention, using the diagonal movement 225 control information, the four control information 220 requires only the motion of the three main joysticks 210. Therefore, the traveling 243 motion constituting the running operation 261 of the unloader, the boom revolution 242 motion and the traveling 243 motion constituting the traversing motion 261, and the bucket elevator turning 241 motion . 5A, 5B, 5C, and 5D, the speed control of the cargo handling unit, which is implemented when the control unit 230 receives the diagonal movement 225 control information, will be described later in detail.

FIG. 3 is a top view of the main joystick controller 310 according to an embodiment of the present invention. Here, the joystick 300 is located at the control origin 301 at the center of the main joystick controller 310. With reference to the control origin 301, the 3 o'clock direction end point is denoted as "Travel North", and the 9 o'clock end point is denoted as "Travel South". In addition, based on the control origin 301, the end point at 12 o'clock is denoted as "Traversing Land ", and the end point at 6 o'clock is denoted as" Traversing Sea ". This English expression provides the driver with the desired operation and the operating direction. Specifically, the first word of each expression is control information related to an operation (traveling operation or traversing operation) implemented by the digging unit 701 for excavation, and the second word is control information related to the direction of the operation (north, south, , And land).

Next, the functional meaning of the control point is that when the operator moves the joystick 300 to a specific control point, the operation of the unloader can be implemented based on the control point before the movement and the control point after the movement. In other words, it means that the joystick 300 is referred to also, implement operation equivalent based on the Were the movement is made from the case where the control lies at the same point can be made different. A detailed description thereof will be described in detail later with reference to Figs. 4A and 4B.

3 shows a plurality of points at which the joystick 300 constituting the main joystick control unit can be generated by moving between any two points on the control panel 320. In this example, The movement may be based on an angle at which the joystick 300 is tilted about a vertical axis at a point where the joystick 300 is currently located.

The joystick 300 may move from a first point 301 to a second point 302 and the second point 302 may move to the beginning of the movement of the joystick 300 And the current position (point) of the main joystick 300 becomes the starting point of the movement as the control origin, so that any point can be moved to the third point 303 as a point Can be generated by the movement of the joystick 300.

3 illustrates the movement of the main joystick 300 to create nine points in total, including square corners 303, 305, 307 and 309 centering on the origin 301 and center points 302, 304, 306 and 308 of the sides making up the rectangle . The movement path of the joystick for generating the points is represented by broken lines connected between the plurality of points.

4A is a diagram illustrating a method of generating control information of a main joystick controller according to an exemplary embodiment of the present invention. Prior to the description of the control information generation according to the movement of the joystick 400 between the plurality of points 401, 402, 403, 404, and 405 and the specific operation of the unloading unit, in FIG. 4A, at the origin 401 of the main joystick manipulator, The meaning of "Travel" in the direction is the same as mentioned above.

That is, when the area on which the raw cargo is loaded is a rectangle, it means a movement corresponding to the side of the area. The criteria for this side of the road may be the position of the rail for the movement of the continuous unloader. In other words, the movement along the sides of the rail and the horizontal can be "Travel ".

Here, on the basis of the north or south, the above-mentioned freighter is located. In other words, the upper side of the unloading unit or the direction away from the unloading unit may be the north based on the position of the unloading unit. And the direction in which it is confronted can be the south. Based on this criterion, it is described as "Travel North" when the direction of the movement along the side of the road is the north and in the direction of 3 o'clock from the origin of the main joystick controller 401.

In the same manner, "traversing" described at 12 o'clock and 6 o'clock directions from the origin of the main joystick controller may be a movement along a longitudinal side of the area when the area of the raw material load is a rectangle. The reference to the longitudinal side may be the position of the rail for movement of the continuous unloading unit. And, if the movement along the longitudinal side is the sea side, it may become "Traversing Sea ".

The control unit 230 according to the movement of the joystick 400 and the processes of the continuous cargo handling unit are as follows. That is, the control information 220 is generated based on the specific movement of the joystick 400. The control unit 230 may operate the corresponding motion 240 of the unloading unit based on the control information 220. Based on the motion linkage 250, the unloader may implement the specific operation 260.

Hereinafter, control information generated when the joystick 400 represented in FIG. 4A is moved in the positive (+) direction with respect to the origin 401 will be briefly described. The movement of the plus (+) shape may be realized through the joystick 920 represented in FIG. 9A or the joystick 930 represented in FIG. 9B.

First, when the joystick 400 is actually moved (slid) or tilted to the second point 402 in the 3 o'clock direction starting from the first point 401, which is the first point, horizontal movement 221 ) Control information is generated. The control unit 230 receives the horizontal movement 221 control information and then interlocks the running (243) motion of the continuous unloading unit corresponding to the control information. Then, the continuous cargo handling unit performs the traveling operation 261 from the stopped state to the north through the traveling 243 motion interlocking.

 In one embodiment, as indicated by the dotted line, when the joystick 400 located at the second point 402 is returned (re-moved) to the origin 401 or the tilted state is restored to its original position, Home return 223 control information can be generated. Then, the control unit 230 receives the control origin return 223 control information, and interlocks the corresponding stop motion of the continuous unloading unit 245, so that the continuous unloading unit performs the traveling operation 261 toward the north Can be stopped.

In another embodiment, the control unit 230 receives the control origin return 223 control information and may maintain a specific operation of the unloader corresponding to the control point, which is a starting point of movement of the joystick 400. In this case, since the movement of the joystick has started at the second point 402, the running operation 261 toward the north can be maintained.

"Traversing Sea" control information may be generated when the joystick 400 is actually moved (slid) or tilted to the third point 403 in the 6 o'clock direction starting from the first point 401, which is the first point. The control information is vertical movement 222 control information toward the sea. The control unit 230 receives the vertical movement 222 control information and operates the boom turning 242 and traveling 243 motions of the corresponding continuous type unloading unit. Through the interlocking, the continuous unloading unit performs the traverse operation 262 from the stopped state to the sea.

In one embodiment, the joystick 400 positioned at the third point 403 may be returned (moved) to the origin 401 or returned (re-moved) to the origin 401 as indicated by the dotted line, When the tilted state is restored to its original position, the traversing operation 262 toward the sea can be stopped. In another embodiment, the control unit 230 receives the control origin return 223 control information and may maintain a specific operation of the deck corresponding to the control point, which is a starting point of movement of the joystick 400. In this case, since the movement of the joystick has started at the third point 403, the traversing motion 262 toward the sea can be maintained.

Next, when the joystick 400 is actually moved (slid) or tilted from the first point 401, which is the first point, to the fourth point 404, which is the 9 o'clock direction, "Travel South" control information is generated . The control information is the horizontal movement 222 control information to the south. The controller 230 receives the control information of the horizontal movement 221, and interlocks the running (243) motion of the corresponding continuous unloading machine. Through the interlocking, the continuous cargo handling unit performs a traveling operation 261 from the stationary state toward the south.

 In one embodiment, as indicated by the dotted line, when the joystick 400 located at the fourth point 404 is returned (re-moved) to the origin 401 or the tilted state is restored to its original position, Can be stopped.

In another embodiment, the control unit 230 receives the control origin return 223 control information and may maintain a deck specific operation corresponding to a control point that is a starting point of movement of the joystick 400. In this case, since the movement of the joystick 400 is started at the fourth point 404, the driving operation 261 toward the south can be maintained.

Next, when the joystick 400 is actually moved (slid) or tilted to the fifth point 405 in the 12 o'clock direction starting from the first point 401 as the first point, "Traversing Land" control information is generated . The control information is vertical landing 222 control information. The control unit 230 receives the vertical movement 222 control information and interlocks the motion of the boom turning 242 and the traveling 243 of the corresponding continuous type unloading machine. Through the interlocking, the continuous cargo handling unit performs a traversing operation 262 from the stationary state to the land.

In one embodiment, as indicated by the dotted line, when the joystick 400 located at the fifth point 405 is returned (re-moved) to the origin 401 or the tilted state is restored to its original position, The traversing motion 262, which has been directed to the direction, can be stopped. In another embodiment, the control unit 230 receives the control reference point return control information and may maintain a specific operation of the unloader corresponding to the starting point of the movement of the joystick 400. [ In this case, since the movement of the joystick started at the fifth point 405, the traversing motion 262 toward the land can be maintained.

FIG. 4B is a diagram illustrating generation of control information (redirection) of a joystick controller according to an embodiment of the present invention. Here, the control information 220 that can be generated as the joystick 410 located in the control neutral 411 sequentially changes and the continuous unloader motion 240 corresponding to the control information and the unloader motion 240) will now be discussed with respect to operation 260 of the continuous cargo handler.

The most significant feature of the present invention is that any point on the control panel can be utilized as a control point.

A control device of a continuous freight cargoer usually needs to be moved (returned) to an origin located at the center of the control panel of the joystick of the control device for switching between a specific operation (traveling operation or traversing operation).

However, as an example of the present invention, when two or more specific operations of the continuous cargo handling unit are sequentially implemented, the control information related to the specific operation may include movement of the joystick moving at any two points located on the control panel Movement to the origin located at the center of the control panel is not necessary because the point at which the movement starts is the control origin.

In this regard, in FIG. 4B, a plurality of points on the control panel are any points that can be created as the joystick 410 moves over the control panel. The joystick 410 may be at least one of a joystick shown in FIG. 9A or a joystick shown in FIG. 9B.

In addition, the speed of the specific operation performed by the continuous unloading unit based on the movement of the main joystick 410 depends on the maximum speed of the specific operation, the acceleration for reaching the maximum speed in the stationary state of the continuous unloading machine, And a deceleration from the maximum speed to the stop state, wherein the amount of displacement between any two points on the control panel of the main joystick or the angle at which the main joystick (410) Can be determined in direct proportion.

First, when the joystick 410 is actually moved (slid) or tilted to the second point 412 in the 3 o'clock direction starting from the first point 411, which is the first point, the horizontal movement 221 control information Is generated. The control unit 230 drives the corresponding traveling motion 243 of the unloading unit based on the horizontal movement 221 control information. The control unit controls the cargo handling unit 261 to implement the running operation 261 toward the north, based on the driving motion 243.

 Next, the joystick 410 placed at the second point 412 may be moved (slid) or tilted to three points adjacent to the second point 412. The three points may include a first point 411 in the 9 o'clock direction from the second point 412, a third point 413 in the 6 o'clock direction, and a ninth point 419 in the 12 o'clock direction have.

First, when the joystick 410 is moved (returned) to the first point 411 or the tilted state is restored to the home position, the control origin return 223 control information is generated and the northward traveling operation is stopped . The control unit 230 may control the operation stop (263) of the unloading unit corresponding to the control origin return (223) to be implemented.

In another embodiment, the controller 230 receives the control origin return 223 control information and may maintain a specific operation of a deck corresponding to a control point that is a starting point of movement of the joystick 410. In this case, since the movement of the joystick has started at the second point 412, the running operation 261 toward the north can be maintained.

On the other hand, vertical movement 222 control information may be generated when the joystick 410 is moved (slid) or tilted from the second point 412 to the third point 413 in the 6 o'clock direction. Based on the movement of the joystick 410, a vertical movement 222 - "Traversing Sea" -control information may be generated.

The control unit 230 recognizes the vertical movement 222 control information as the direction switching 224 control information based on the traveling operation 261 - "Travel North" - of the unloading unit that has proceeded before the joystick 410 is moved And the bucket elevator pivot 241 motion of the unloader corresponding to the direction information 224 may be interlocked.

Since the bucket elevator swivel 241 motion of the unloading machine is inputted with the vertical movement 222 control information indicating the sweeping motion 262 while the traveling motion 261 is being performed, And is controlled to be perpendicular to the direction of motion 262.

The controller 230 controls the bucket elevator swing motion 241 to move the bucket elevator swing motion 241 from the up / The control unit 230 switches the position of the bucket elevator digging unit 701 so as to be orthogonal to the direction of the up / down operation 262, when receiving the vertical movement 222 control information for performing the up / .

The control unit 230 decelerates and stops the left / right traveling operation of the continuous unloading machine to stop the bucket elevator digging unit 701 at a right angle to the traveling direction of the left / right traveling operation. Direction. After the direction switching is completed, the up / down transverse operation is accelerated.

Here, the controller 230 controls the direction of the traversing motion 262 to be directed toward the sea from the land. Here, the left / right traveling operation speed of the continuous unloading machine, the deceleration of the traveling operation speed, and the acceleration for achieving the speed of the up / down traverse operation are determined based on the movement amount of the joystick.

Further, after the moving direction switching operation 265 for making the position of the bucket elevator according to the switching from the traveling operation to the traversing operation perpendicular to the direction of the traversing operation is completed, (243) motion of the unloader in order to implement the traversing motion 262 corresponding to the control information.

Here, the interlock means that the control unit 230 controls to sum up the motion of the boom revolution 242 and the motion 243 so that a traversing motion 262 having a constant direction with respect to the axis of the traversing motion is realized do.

On the other hand, if the joystick 410 is moved (slid) or tilted from the second point to the ninth point 419 in the 12 o'clock direction, the vertical movement 222 input information may be generated. Based on the movement of the joystick 410, the vertical direction movement 222 - "Traversing Land" -control information may be generated.

The control unit 230 may recognize the direction change 224 as control information based on the traveling operation 261 - "Travel North" of the unloading unit that was performed before the movement of the joystick 410. The control unit 230 may control the bucket elevator pivot 241 motion of the unloader corresponding to the direction change control information.

Since the bucket elevator swivel 241 motion of the unloading machine is inputted with the vertical movement 222 control information indicating the sweeping motion 262 while the traveling motion 261 is being performed, And is controlled to be perpendicular to the direction of motion 262.

The controller 230 controls the bucket elevator swing motion 241 to move the bucket elevator swing motion 241 from the up / The control unit 230 controls the bucket elevator driving unit 270 so that the position of the bucket elevator logging unit 701 is perpendicular to the direction of the up / .

For this switching, the control unit decelerates and stops the left / right traveling operation of the continuous unloading machine, and then turns the bucket elevator digging unit 701 so as to be perpendicular to the traveling direction of the left / right traveling operation , And after the direction switching is completed, the up / down traverse operation is accelerated based on the movement (sliding) or the inclination of the joystick.

That is, the left / right driving operation speed of the continuous unloading machine, the deceleration of the driving operation speed, and the acceleration for achieving the speed of the up / down operation are determined based on the movement amount of the joystick. Here, the controller 230 may control the direction of the traversing motion 262 to be directed from the sea to the land.

Here, after the moving direction switching operation 264 for making the position of the bucket elevator according to the switching from the left / right traveling operation to the up / down traverse operation to be perpendicular to the direction of the up / down traverse operation is completed, The control unit 230 may control the movement of the boom turning 242 and the traveling 243 motion of the unloader to implement the traversing motion 262 corresponding to the vertical movement 224 control information.

The interlocking means that the control unit 230 controls to add the motion of the boom revolution 242 and the motion 243 so that a traversing motion 262 having a constant direction with respect to the axis of the traversing motion is realized .

Next, the joystick 410 placed at the third point 413 can be moved (slid) or tilted to two adjacent points. And the two points may include a second point 412 at 12 o'clock and a fourth point 414 at 9 o'clock, starting at the third point 413.

First, when the joystick 410 is moved from the third point 413 to the second point 412 at 12 o'clock position or the inclined state is restored to its original position, "Traversing Land" -control information can be generated based on the vertical direction movement 222 (Fig.

The control unit 230 may link the motion of the boom turning 242 and the running 243 of the unloader corresponding to the vertical movement 222 control information based on the vertical movement 222. Here, the interlock means that the motion of the boom revolution 242 and the motion of the running 243 are added so that a traverse motion 262 having a constant direction with respect to the axis of the traversing motion is realized.

The bucket elevator turn 241 motion of the unloading machine is controlled such that the traverse motion 222 control information indicating the traverse motion 262 in the opposite direction is inputted while the traverse motion 261 is being performed, The position is maintained at a right angle to the direction of the traversing motion 262.

The direction of the traversing motion 262 is the same as the direction of the traversing motion 262 when the traversing motion 261 is being performed and the traversing motion 222 control information indicating the traversing motion 262 in the opposite direction is being input Regardless of the return operation of the joystick 410, the sea direction is maintained in the land. However, when the joystick 410 passes the second point 412, the transverse movement 262 in the sea direction is stopped and the transverse movement 262 in the land direction can be started.

In another embodiment of the present disclosure, when the traversing motion 262 is being performed and the traversing motion 222 control information indicating the traversing motion 262 in the opposite direction is input, the direction of the traversing motion 262 is Regardless of the return operation of the joystick 410, the sea direction is maintained in the land.

However, since the movement of the joystick for the transverse movement 262 in the opposite direction is performed, the speed of the transverse movement 262 in the sea direction can be reduced.

In another embodiment of the present disclosure, when the joystick 410 reaches the second point 412, the transverse motion 262 in the sea direction can be stopped. When passing through the second point 412, the traverse motion 262 in the land direction can be started in proportion to the amount of movement or eccentricity of the joystick.

The buckle elevator digging unit 701 is rotated at right angles to the direction of the traverse motion 262 until the joystick 410 starts from the third point 413 and reaches the fourth control point 414 at 9 o'clock. / RTI > The direction of the traversing motion 262 is toward the sea (Traversing Sea), and the interlocking for realizing the traversing motion means that the motion of the boom revolution 242 and the traveling motion 243 are added.

In addition to the two adjacent control points, when the joystick 410 is moved (slid) or tilted from the third control point to the fifth point 415 through the fourth point 414 at 9 o'clock, Directional switch 224 control information may be generated. The reason why the control unit 230 recognizes as the control information of the movement change 224 is that the joystick 410 passes the traversing operation 262 of the unloading unit in which the control unit was performed before the fourth point 414, Quot; Traversing Sea "and the horizontal movement" Travel South "-control information generated after the joystick 410 passes the fourth control point 414.

The bucket elevator pivot 241 motion of the continuous unloading machine can be interlocked with the direction information 224 according to the control information. When the joystick 410 is moved (slid) or tilted past the fourth point 414, the traversing motion 262 is decelerated and stopped, and then the bucket elevator logging portion 701 is moved Direction, and accelerates the traveling operation after the direction switching is completed. Finally, the direction of the travel operation 262 is from north to south.

Further, when the joystick 410 is moved (slid) or tilted to the first point 411 located in the diagonal direction starting from the third point 413, the control unit 230 determines whether the joystick 410 is traversing Sea ") operation.

In another embodiment, when the joystick 410 is moved (slid) or tilted from the third point 413 to the first point 411 located in the diagonal direction, the control unit 230 controls the control point 223) control information, and can maintain a specific operation of the continuous unloading machine corresponding to the movement start point. That is, since the movement of the joystick is started at the third point 413, the corresponding traverse motion 262 can be maintained. Where the traversing motion 262 refers to the traversing motion 262 towards the sea.

Next, the joystick 410 at the fourth point 414 may be moved (slid) or tilted to a plurality of points adjacent the point 414. The plurality of points include a third point 413 in the 3 o'clock direction, a first point 411 in the 12 o'clock direction, and a fifth point 415 in the 9 o'clock direction starting at the fourth point 414 do.

The horizontal movement 221 control information may be generated when the joystick 410 starts to move from the fourth point 414 to the third point 413 in the 3 o'clock direction. The horizontal movement 221 - "Travel North" -control information is generated on the basis of the movement of the joystick 410 and the traveling operation ("Travel South") of the unloader that has been performed before the movement of the joystick 410 .

The control unit 230 may control the movement of the traveling (243) motion of the unloader corresponding to the horizontal movement 221 control information. Since the horizontal movement 221 control information indicating the traveling operation 261 in the opposite direction is inputted while the traveling operation 261 is being performed, the bucket elevator digiting unit 701 calculates the vertical movement direction of the traveling operation 261 at a right angle to the direction of the traveling operation 261 As shown in Fig.

On the other hand, when the joystick 410 is moved (slid) or tilted to the first point 411 at 12 o'clock starting from the fourth point 414, the operation in the south traveling ("Travel South" . In another embodiment of this case, when the joystick 410 is moved (slid) or tilted from the fourth point 414 to the first point 411 located at 12 o'clock, It is possible to maintain the specific operation of the cargo handling unit corresponding to the control point which is the starting point of movement of the cargo handling unit 400.

That is, since the movement of the joystick is started at the fourth control point 414, the corresponding movement operation 261 can be maintained. Here, the traveling operation 261 means the traveling operation 261 toward the south.

On the other hand, when the joystick 410 is moved (slid) or tilted from the fourth point 414 to the fifth point 415 of the 9 o'clock direction, the north-to-south horizontal movement 221 control information . The control unit 230 drives the corresponding traveling motion 243 of the unloading unit based on the horizontal movement 221 control information.

And the control unit controls the cargo handling unit 261 to implement the traveling operation 261 from the north to the south based on the traveling motion 243. Since the bucket elevator swivel 241 motion of the unloading machine is inputted with the horizontal movement 221 control information indicating the traveling motion 261 in the same direction while the traveling motion 261 is being performed, It can be controlled so as to be maintained at a state perpendicular to the direction of the traveling operation 261.

Next, the joystick 410 placed at the fifth point 415 may be moved (slid) or tilted to a plurality of points adjacent to the fifth point 415. The plurality of points include a sixth point 416 and a seventh point 417 lying at 12 o'clock direction of the fourth point 414 and the fifth point 415 in the 3 o'clock direction from the fifth point 415 can do.

When the joystick 410 passes the fourth point 414 in the 3 o'clock direction from the fifth point 415, the running motion 261 toward the south is decelerated to stop, and the running motion 261 toward the north The horizontal movement 221 control information related to the horizontal movement 221 can be generated.

The control unit 230 may continue to link the traveling (243) motion of the unloader corresponding to the horizontal movement 221 control information. Since the bucket elevator swivel 241 motion of the unloading machine is inputted with the horizontal movement 222 control information indicating the opposite direction running motion 262 while the traveling motion 261 is being performed , And can be maintained at a right angle to the direction of the travel operation 262. [

Next, when the joystick 410 is moved or tilted from the fifth point 415 to the seventh point 417 through the sixth point 416 in the 12 o'clock direction, vertical movement 222 control information is generated .

Specifically, after the traveling operation 261 toward the south is decelerated and stopped, the bucket elevator digging unit 701 performs a direction change so as to be perpendicular to the traveling direction of the traversing motion 262, and after the direction switching is completed , The transverse motion 262 is accelerated. The direction of the traversing motion 262 is from sea to land.

After the moving direction switching operation 265 for moving the position of the bucket elevator perpendicularly to the direction of the traversing operation is completed according to the switching from the traveling operation to the traversing operation, the controller 230 controls the vertical movement 222, It is possible to control the boom turning 242 motion and the traveling 243 of the unloader corresponding to the control information. Further, the traversing motion 262 is characterized in that the boom pivot motion and the traveling motion are added together.

Finally, the control reference point return control information may be generated when the joystick 410 is moved (returned) or tilted from the fifth point 415 to the first point 411. The control unit 230 may control the stopping motion 245 and the stopping motion 263 of the unloading unit corresponding to the control origin return 223 to be implemented based on the control origin point 223 control information.

In another embodiment of this case, when the joystick 410 is moved or tilted (diagonally) from the fifth point 415 to the first point 411 located in the (right) diagonal direction, The controller can receive the control origin return 223 control information and maintain the specific operation of the unloader corresponding to the control point that is the starting point of movement of the joystick 400.

That is, since the movement of the joystick is started at the fifth point 415, the corresponding movement operation 261 can be maintained. Here, the traveling operation 262 means the traveling operation 262 from north to south.

Next, the joystick 410 placed at the sixth point 416 may be moved (slid) and tilted to three points adjacent to the sixth point 415. The plurality of points include a first point 411 in the 3 o'clock direction from the sixth point 416, a seventh point 417 in the 12 o'clock direction, and a fifth point 415 in the 6 o'clock direction.

Control origin point return control information may be generated when the joystick 410 is moved (slid) or tilted from the sixth point 416 to the first point 411 in the 3 o'clock direction. The control unit 230 may control the stopping motion 245 and the stopping motion 263 of the unloading unit corresponding to the control origin return 223 to be implemented based on the control origin point 223 control information. Thus, the traversing land motion, which is in progress, can be controlled to stop.

In another embodiment of this case, when the joystick 410 is moved (slid) or tilted from the sixth point 416 to the first point 411 located at 3 o'clock, Control origin point returning 223 control information is received and the specific operation of the unloading unit corresponding to the starting point of the movement can be maintained.

That is, since the movement (sliding) or tilting of the joystick has started at the sixth point 416, the corresponding traverse motion 262 can be maintained. Where transverse motion 262 refers to transverse motion 262 from sea to land.

On the other hand, when the joystick 410 is moved (returned) or tilted from the sixth point 416 to the fifth point 415, the vertical movement 222 from the land to the sea based on the movement of the joystick 410 ) - "Traversing Sea" - Control information can be generated. The control unit 230 may link the motion of the boom turning 242 and the running 243 of the unloader corresponding to the vertical movement 222 control information based on the vertical movement 222.

Here, the interlock means that the motion of the boom revolution 242 and the motion of the running 243 are added so that a traverse motion 262 having a constant direction with respect to the axis of the traversing motion is realized.

The bucket elevator turn 241 motion of the unloading machine is controlled such that the traverse motion 222 control information indicating the traverse motion 262 in the opposite direction is inputted while the traverse motion 261 is being performed, It can be maintained at a state perpendicular to the direction of the traverse motion 262. [ The direction of the traversing motion 262 is from sea to land on land. The control unit 230 can implement a traversing operation from land to sea by interlocking the motion of the boom turning 242 and the traveling 243 motion of the unloading unit corresponding to the control information of the vertical movement 224.

Next, the joystick 410 at the seventh point 417 may be moved (slid) or tilted to a plurality of points adjacent to the seventh control point 417. [ The plurality of points may include a sixth point 416 and a fifth point 415 at 6 o'clock from a seventh point 417 and may include an eighth point and a ninth point 419 at 3 o'clock have.

First, when the joystick 410 is moved (returned) or tilted to the sixth point 416 or the fifth point 415 in the sixth o'clock direction, Vertical movement 222 - "Traversing Sea" - control information may be generated. The control unit 230 may link the motion of the boom turning 242 and the running 243 of the unloading unit based on the vertical movement 222 control information. Here, the interlocking means that the control unit 230 controls to add the motion of the boom revolution 242 and the motion 243 so that a traversing motion 262 having a constant direction with respect to the axis of the traversing motion is realized .

The bucket elevator swivel 241 motion of the unloading machine is controlled by the bucket elevator swinging unit 701 since the vertical movement 222 control information indicating the sweeping motion 262 in the opposite direction is inputted while the sweeping motion 262 is being performed It can be maintained at a state perpendicular to the direction of the traverse motion 262. [ The direction of the traversing motion 262 is from sea to land on land. The control unit 230 may implement a traversing operation from the land to the sea by interlocking the movement of the boom turning 242 and the traveling 243 motion of the unloading unit corresponding to the vertical movement 222 control information.

On the other hand, when the joystick 410 is moved (slid) or tilted from the seventh point 417 to the eighth point 418 or the ninth point 419 in the 3 o'clock direction, The control information relating to the operation switching can be generated. The object of the operation change may be a traveling North ("North") operation from the south side to the north side. Based on the traverse operation 266 - "Traversing Land" The switching information 224 may be generated and the bucket elevator turn 241 motion of the unloader corresponding to the direction information 224 may be interlocked.

Since the horizontal movement 222 control information indicating the traveling operation 261 is inputted while the bucket elevator turn 241 motion of the unloading machine is performed while the traverse operation 262 is being performed, Can be controlled to be perpendicular to the direction of the traveling operation 261. [ The direction of the travel operation 261 is from south to north. After the movement direction switching operation 265 is completed, the controller 230 may link the traveling (243) motion of the unloader corresponding to the horizontal movement 221 control information.

In addition, when the joystick 410 is moved or tilted from the seventh point to the first point 411, the ongoing traversing land motion may be stopped. Control origin point return control information may be generated when the joystick 410 is moved or tilted to the first point 411 in the (right) diagonal direction. The control unit 230 may control the stopping motion 245 and the stopping motion 263 of the unloading unit corresponding to the control origin return 223 to be implemented based on the control origin point 223 control information. Thus, the traversing land motion, which is in progress, can be controlled to stop.

In another embodiment of this case, when the joystick 410 is moved (slid) or tilted from the seventh point 417 to the first point 411 located diagonally (right) The controller 230 can receive the control origin return 223 control information and maintain the specific operation of the unloader corresponding to the starting point of the movement of the joystick 400. That is, since the movement of the joystick is started at the seventh point 417, the corresponding traversing motion 262 can be maintained. Where transverse motion 262 refers to transverse motion 262 from sea to land.

Next, the joystick 410 placed at the eighth point 418 may be moved (slid) or tilted to a plurality of control points adjacent to the eighth point 418. The plurality of points include a ninth point 419 in the 3 o'clock direction from the eighth point 418, a first point 411 in the 6 o'clock direction, and a seventh point 417 in the 9 o'clock direction.

First, when the joystick 410 is moved (slid) or tilted from the eighth point 418 to the ninth point 419 in the 3 o'clock direction, a traveling ("Travel North") operation from the south to the north Can be maintained.

Control origin point return control information may then be generated when the joystick 410 is moved (slid) or tilted from the eighth point 418 to the first point 411 in the 6 o'clock direction. The control unit 230 may control the stopping motion 245 and the stopping motion 263 of the unloading unit corresponding to the control origin return 223 to be implemented based on the control origin point 223 control information. Therefore, the running ("Travel North") operation from the south to the north direction in progress can be controlled to be stopped.

In this case, when the joystick 410 is moved (slid) or tilted to the first point 411 located at the 6 o'clock position from the eighth point 418, It is possible to receive the origin return 223 control information and maintain the specific operation of the deck corresponding to the control point which is the starting point of movement of the joystick 400. That is, since the movement of the joystick is started at the control point 418, the corresponding movement operation 261 can be maintained. Here, the traveling operation 261 means the traveling operation 261 from south to north.

On the other hand, when the joystick 410 is moved (returned) or tilted from the eighth point 418 to the seventh point 417 in the 9 o'clock direction, control information regarding the operation switching can be generated. The object of the operation change may be a traveling ("Travel South") operation from the north direction to the south direction. The control unit 230 may control the movement of the traveling 243 motion of the unloader corresponding to the horizontal movement 222 control information. Since the horizontal movement 221 control information indicating the traveling operation 261 in the opposite direction is inputted while the traveling operation 261 is being performed, the bucket elevator digiting unit 701 calculates the vertical movement direction of the traveling operation 261 at a right angle to the direction of the traveling operation 261 And can be controlled to be maintained as it is.

Next, the joystick 410 placed at the ninth point 419 can be moved (slid) or tilted from the ninth point 419 to a plurality of points. The plurality of points may be the eighth point 418 and the seventh point 417 at the 9 o'clock position from the ninth point 419. In addition, the plurality of points may be a second point 412 and a third point 413 at 6 o'clock. Further, it may be the first point 411 in the diagonal direction.

When the joystick 410 is moved from the ninth point 419 to the second point 412 and the third point 413 at 6 o'clock direction, the controller 230 controls the joystick 410 ("Travel North") which has been performed before the movement of the joystick 410 and before the movement of the joystick 410 can be recognized as the direction switching control information.

 The control unit 230 performs the motion interlock 250 corresponding to the control information of the direction change 224 based on the generated control information and the operation "Travel North" of the unloader before the movement of the joystick 410 can do. The control unit 230 may control the bucket elevator turn 241 motion, the travel 243 motion, and the boom turn 242 motion to correspond to the direction information 224 control information.

Then, the control unit 230 can perform control for switching to a traversing operation toward the sea in a northward traveling operation. And the hauling station may implement transverse motion 262 towards the sea. The control unit 230 may link the bucket elevator pivot 241 motion of the unloader corresponding to the direction change control information. Since the bucket elevator swivel 241 motion of the unloading machine is inputted with the vertical movement 222 control information indicating the sweeping motion 262 while the traveling motion 261 is being performed, And is controlled to be perpendicular to the direction of motion 262. Here, the controller 230 may control the direction of the traversing motion 262 to be directed toward the sea from the land.

Subsequently, after the control for switching to the traversing operation toward the sea in the traveling operation toward the north is completed, the controller 230 performs the traversing operation 262 corresponding to the vertical movement 222 control information It is possible to control the boom turning (242) motion and the traveling (243) motion of the unloader.

On the other hand, when the joystick 410 is moved (slid) or tilted from the ninth point 419 to the eighth point 418 or seventh point 417 at 9 o'clock, Control information can be generated. ("Travel South") from the north to the south based on the movement of the joystick 410.

Since the horizontal movement 221 control information indicating the traveling operation 261 is inputted while the bucket elevator turn 241 motion of the unloading machine is performed while the traveling operation 261 is being performed, And is controlled so as to be perpendicular to the direction of the motion 261. Here, the control unit 230 may control the direction of the traveling operation 261 from north to south.

The control unit 230 may control the movement of the traveling vehicle 243 in order to implement the traveling movement 261 corresponding to the horizontal movement 221 control information. In addition, when the joystick 410 is moved (slid) or tilted from the ninth point 419 to the first point 411, the ongoing north traveling ("Travel North") operation can be stopped.

In another embodiment of this case, when the joystick 410 is moved (slid) or tilted from the ninth point 419 to the first point 411 located at the (left) diagonal (left) The controller can receive the control origin return 223 control information and maintain the specific operation of the unloader corresponding to the control point which is the starting point of movement of the joystick 400. [ That is, since the movement of the joystick is started at the ninth point 419, the corresponding driving operation 261 can be maintained. Here, the traveling operation 261 means the traveling operation 261 from south to north.

5 (a), (b), (c) and (d) illustrate a method of generating shortened control information (traveling, traversing, and redirecting) of the main joystick controller according to an embodiment of the present invention. According to an embodiment of the present invention, four pieces of control information can be generated through the main joystick controller in order to unload the sides (horizontal and vertical lines) of the rectangular shaped loading area. However, as another example of the present invention, an unloading operation based on the total of four pieces of control information through a total of three pieces of control information through diagonal movement (input method) can be realized. Hereinafter, a method of generating shortening control information using the diagonal line will be described.

Prior to the description of the diagonal movement embodiments, the joystick 500 constituting the main joystick manipulator may be coupled to the control panel in a rotatable hinge structure or may be slidably coupled to the control panel, As shown in FIG.

The control panel can be viewed as an orthogonal coordinate system on the same plane. When the straight line connecting arbitrary points on the rectangular coordinate system (control panel) can be analyzed as a horizontal vector component and a vertical vector component constituting the straight line, the shortened control information input method (diagonal movement input method) Can be used. And based on the magnitude of the horizontal vector component and the vertical vector component, the specific operating speed of the continuous cargo handler corresponding to each vector component can be determined.

As an example of the diagonal movement, a first axis (horizontal line) parallel to the control panel and a second axis (vertical line) perpendicular to the first axis (horizontal line) intersect at the origin of the control panel, The movement of the joystick starts at a first point (the origin) and is completed at a second point, and the amount of movement (length) between the first point and the second point is 2 When the intersection angle between the straight line having the movement amount and the first axis (horizontal line) of the rectangular coordinate system is 60 degrees, the size of the horizontal vector component of the straight line is 1 and the size of the vertical vector component of the straight line is 3 Route 3).

The control unit recognizes the vector component values as a moving amount or an eccentric amount of the joystick for a horizontal vector component size of 3 and a horizontal vector component size of 1 for a horizontal vector component size of 3 (root 3), and based on the vector component values, To determine the specific speed of the cargo handler based on the movement of the cargo.

Here, the speed of the specific operation includes a maximum speed of the specific operation, an acceleration for reaching the maximum speed in the stop state of the continuous cargo handler, and a deceleration from the maximum speed to the stop state.

5A, when the joystick 500 is moved (slid) or tilted from the first point 501, which is the first point, to the second point 502 at the 12 o'clock position, Control information can be generated. Next, when the joystick 500 is moved (slid) or tilted from the second point 502 to the third point 503 in the third o'clock direction, control information on the northward traveling operation ("Travel North ≪ / RTI >

In accordance with the plurality of control information, the continuous unloading unit can perform unloading on the first side and the first side constituting the unloading area (square). Thereafter, when the joystick 500 is moved (slid) or tilted from the third point 503 to the first point 501 in the diagonal direction, control information related to the interruption of the traveling operation ("Travel North" Lt; / RTI > In another embodiment, when the joystick 500 is moved (slid) or tilted from the third point 503 to the first point 501 located at a diagonal (left) diagonal, the control unit 230 controls the control point 223) control information and can maintain the specific operation of the unloader corresponding to the start point of movement of the joystick 500. That is, since the joystick 500 starts to move at the third point 503, the running operation 261 from the south to the north can be maintained.

According to one embodiment of the present invention, when the joystick 500 is moved (slid) or tilted to the seventh point beyond the first point 501 or to any point between the first point and the seventh point Control information for a traversing sea ("Traversing Sea") toward the sea and control information for a southward traveling operation ("Travel South") can be sequentially generated. When the joystick 500 is moved to the seventh point through the first point 501, the control unit analyzes the diagonal vector from the third point 503 to the seventh point 507 in the diagonal direction, The vertical component of the diagonal vector (the vertical motion amount of the joystick for the transverse operation of the continuous unloading machine) and the horizontal component (the horizontal motion amount of the joystick for the traveling operation of the continuous unloading machine).

The amount of movement of the joystick relative to the vertical component starting at the third point may be calculated and based on the amount of movement the controller may calculate the acceleration to reach the maximum speed and the maximum speed of the traversing motion. The controller may calculate and determine a fifth point at which movement of the horizontal component (traveling motion) of the joystick is started based on the diagonal vector analysis.

The controller may determine the deceleration of the traversing operation so that the direction of the specific operation is changed at the fifth point based on the fifth point. The control unit may calculate a movement amount between a fifth point at which movement of the horizontal component of the joystick (traveling movement) starts and a seventh point at which the diagonal movement is to be performed, and determine, based on the movement amount, You can calculate the acceleration to reach the maximum speed. The acceleration may also be determined based on the amount of movement (sliding) of the joystick 500 or the magnitude of the tilted angle.

Here, the direction switching between the specific operations (the traveling operation in the traversing operation) may be performed in a stopped state. However, it may be performed at a specific (lowest) speed input by the user in addition to the above-mentioned stopped state. The description of the (lowest) speed will be described later in detail with reference to Figs. 6 (a) and 6 (b).

After the direction change, the traveling speed toward the south is accelerated to reach the maximum speed. The maximum velocity and the acceleration may be determined based on the amount of movement of the joystick 500 calculated based on the diagonal vector analysis.

On the basis of the movement of the joystick 500 in the diagonal direction, the second longitudinal side and the second lateral side constituting the unloading area (square) can be unloaded. Therefore, the unloading of the outer side (area) of the unloading area (square) can be performed through the total of three pieces of control input information.

5B, when the joystick 500 is moved (slid) or tilted from the origin 501 on the control panel to the second point 502 in the 12 o'clock direction, the "Traversing Land" motion control information Can be generated. When the joystick 500 is moved (slid) or tilted from the second point 502 to the ninth point 509 at 9 o'clock, a southward traveling operation ("Travel South") control information may be generated have.

In this case, the unloading unit can perform unloading of the first longitudinal side and the first lateral side constituting the unloading area (square) corresponding to the control information input twice. Thereafter, when the joystick 500 is moved (slid) or tilted from the ninth point 509 to the first point 501 in the diagonal direction, Control information can be generated.

The control unit 230 receives the control reference point return control information and outputs the control reference point return control information to the joystick 500 when the joystick 500 is moved from the ninth point 509 to the first point 411. [ Can be maintained at a point where the movement of the cargo handling unit starts. That is, since the movement of the joystick has started at the ninth point 509, the running operation 261 from the north to the south can be maintained.

According to one embodiment of the present invention, when the joystick 500 starts from the ninth point 509 and is moved (slid) or tilted past the diagonal fifth point 505, Control information for the "Traversing Sea " operation and control information for the northward traveling (" Travel North ") operation can be sequentially generated.

When the joystick 500 is moved to the fifth point beyond the first point 501, the control unit analyzes the diagonal vector from the ninth point 509 to the fifth point 505 in the diagonal direction, The vertical component of the diagonal vector (the vertical motion amount of the joystick for the transverse operation of the continuous unloading machine) and the horizontal component (the horizontal motion amount of the joystick for the traveling operation of the continuous unloading machine).

The amount of movement of the joystick relative to the vertical component starting at the ninth point 509 may be calculated and based on the amount of movement the controller may calculate the acceleration to reach the maximum velocity and the maximum velocity of the traversing motion have. The controller may calculate the seventh point 507 at which the horizontal component (running motion) of the joystick is started based on the diagonal vector analysis.

The control unit may determine the deceleration of the traversing operation so that the specific operation is redirected at the seventh point 507 based on the seventh point 507. [ Further, the control unit may calculate a movement amount between a seventh point 507 at which movement of the horizontal component (running motion) of the joystick is started and a fifth point 505 that is a destination of the diagonal movement, The maximum speed of operation and the acceleration to reach the maximum speed can be calculated. The acceleration may also be determined based on the amount of movement (sliding) of the joystick 500 or the magnitude of the tilted angle.

Here, the direction switching between the specific operations (the traveling operation in the traversing operation) may be performed in a stopped state. However, it may be performed at a specific (lowest) speed input by the user in addition to the above-mentioned stopped state. The description of the (lowest) speed will be described later in detail with reference to Figs. 6 (a) and 6 (b).

After the direction change, the traveling speed toward the north is accelerated to reach the maximum speed. The maximum velocity and the acceleration may be determined based on the amount of movement of the joystick 500 calculated based on the diagonal vector analysis.

In this case, the unloading unit can perform unloading of the second longitudinal side and the second transverse side constituting the unloading area (square) corresponding to the above-mentioned control information input. Therefore, unloading on the outer side (area) of the unloading area (square) can be performed through the total of three pieces of control input information.

5C, southward traveling ("Travel South") motion control information can be generated when the joystick 500 is moved or tilted from the origin 501 to the eighth point 508 at 9 o'clock. When the joystick 500 is moved or tilted from the eighth point 508 to the seventh point 507 at 6 o'clock direction, traversing sea motion control information toward the sea can be generated.

In accordance with the plurality of control information, the continuous unloading unit can perform unloading on the first side and the first side constituting the unloading area (square). Thereafter, when the joystick 500 is moved (slid) or tilted from the seventh point 507 to the first point 501 in the diagonal direction, the movement of the joystick 500 relative to the stopping of the traversing sea Control information can be generated.

In another embodiment, when the joystick 500 is moved from the seventh point 507 to the first point 501 located at a diagonal (right) position, the control unit 230 controls the control reference point return control information It is possible to maintain the specific operation of the unloader corresponding to the point where the joystick 400 starts to move. That is, since the motion of the joystick is started at the seventh control point 507, the corresponding traverse motion 262 can be maintained. Where transverse motion 262 refers to transverse motion 262 from land to sea.

On the other hand, when the joystick 500 is moved to the third point beyond the seventh point 507, the control unit calculates a diagonal vector from the seventh point 507 to the third point 503 in the diagonal direction The horizontal component of the diagonal vector (the horizontal motion amount of the joystick for the traveling operation of the continuous unloading machine) and the vertical component (the vertical movement amount of the joystick for the lateral movement of the continuous unloading machine).

The amount of movement of the joystick relative to the horizontal component starting at the seventh point can be calculated and the controller can calculate the acceleration to reach the maximum speed and the maximum speed of the traveling operation based on the amount of movement. The control unit may calculate a fifth point at which movement of the vertical component (transverse movement) of the joystick is started based on the diagonal vector analysis.

The controller may determine the deceleration of the traversing operation so that the direction of the specific operation is changed at the fifth point based on the fifth point. The control unit may calculate a movement amount between a fifth point at which the movement of the vertical component of the joystick (transverse movement) starts and a third point at which the diagonal movement is a destination, and determine, based on the movement amount, You can calculate the acceleration to reach the maximum speed. The acceleration may also be determined based on the amount of movement (sliding) of the joystick 500 or the magnitude of the tilted angle.

Here, the direction change between the specific operations (the traversing operation in the traveling operation) may be performed in a stopped state. However, it may be performed at a specific (lowest) speed input by the user in addition to the above-mentioned stopped state. The description of the (lowest) speed will be described later in detail with reference to Figs. 6 (a) and 6 (b).

After the change of direction, the transverse velocity toward the land is accelerated to reach the maximum velocity. The maximum velocity and the acceleration may be determined based on the amount of movement of the joystick 500 calculated based on the diagonal vector analysis.

In this case, the unloading unit can perform unloading on the second side and the second side constituting the unloading area (square) corresponding to the above-mentioned input of the control information. Therefore, unloading on the outer side (area) of the unloading area (square) can be performed through the total of three pieces of control input information.

5D, traveling ("North North") operation control information can be generated when the joystick 500 is moved from the origin 501 to the fourth point 504 in the 3 o'clock direction. When the joystick 500 is moved from the fourth point 504 to the fifth point 505 at 6 o'clock, traversing sea motion control information toward the sea can be generated. In this case, the unloading unit can perform unloading on the first side and the first side constituting the unloading area (quadrangle) corresponding to the control information input twice.

Control information regarding the interruption of the traversing sea operation toward the sea when the joystick 500 is moved from the fifth point 505 to the first point 501 in the diagonal direction may be generated When the joystick 500 is moved from the fifth point 505 to the first point 511 located at the (left) diagonal, the control unit 230 controls the control point 223) control information, and can maintain a specific operation of the unloader corresponding to the control point, which is a starting point of movement of the joystick 500.

That is, since the movement of the joystick 500 starts at the fifth point 505, the corresponding traverse motion 262 can be maintained. Where transverse motion 262 refers to transverse motion 262 from sea to land.

On the other hand, when the joystick 500 is moved (slid) or tilted to the ninth point beyond the fifth point 505, the control unit moves from the seventh point 507 to the ninth point 509 in the diagonal direction, (The horizontal motion amount of the joystick for the traveling operation of the continuous unloading machine) and the vertical component (the vertical movement amount of the joystick for the lateral movement of the continuous unloading machine) are analyzed by analyzing the diagonal vector from the diagonal vector .

The movement amount of the joystick with respect to the horizontal component starting at the fifth point 505 can be calculated and the control unit can calculate an acceleration for reaching the maximum speed and the maximum speed of the traveling operation based on the movement amount have. The control unit may calculate and determine a seventh point 507 at which movement of the vertical component (transverse movement) of the joystick is started based on the diagonal vector analysis.

The control unit may determine the deceleration of the traversing operation so that the specific operation is redirected at the seventh point 507 based on the seventh point 507. [ Further, the control unit may calculate a movement amount between a seventh point 507 at which movement of the vertical component (transverse movement) of the joystick is started and a ninth point 509 that is a destination of the diagonal movement, The maximum speed of operation and the acceleration to reach the maximum speed can be calculated. The acceleration may also be determined based on the amount of movement (sliding) of the joystick 500 or the magnitude of the tilted angle.

Here, the direction change between the specific operations (the traversing operation in the traveling operation) may be performed in a stopped state. However, it may be performed at a specific (lowest) speed input by the user in addition to the above-mentioned stopped state. The description of the (lowest) speed will be described later in detail with reference to Figs. 6 (a) and 6 (b).

After the change of direction, the transverse velocity toward the land is accelerated to reach the maximum velocity. The maximum velocity and the acceleration may be determined based on the amount of movement of the joystick 500 calculated based on the diagonal vector analysis.

In this case, the unloading unit can perform unloading on the second side and the second side constituting the unloading area (square) corresponding to the above-mentioned input of the control information. Therefore, unloading on the outer side (area) of the unloading area (square) can be performed through the total of three pieces of control input information.

Hereinafter, how the main joystick controller according to one embodiment of the present invention controls the area of the quadrangle where the raw cargo is located will be described. Specifically, the description will be made as to the speed change, the direction change, the position change of the bucket elevator digging unit 701, and the motions related to the traveling and traversing movements, which can be made in switching between the operations of the unloader.

The control information generation method for implementing the horizontal movement, the traversing movement, the stopping of the operations, and the stopping of the movement between the operations using the main joystick controller has been described. In addition, the control information generation method can be realized by the horizontal movement, the vertical movement, the control origin return operation, the horizontal and vertical movement, and the diagonal movement between the joysticks of the joystick controller.

6A, 6B, and 6C, a description will be given of a case in which the unloading operation of each rectangular area by the control information, the position change of the digging unit 701 according to the direction change of the operation, And the change of the motions by the direction switching will be described.

Prior to the section analysis, the components of the main joystick and the operating methods of the main joystick in FIG. 6A are as described in FIG. Also, the method of generating control information by the joystick 600 of the main joystick controller is the same as that described in FIG. In FIG. 6A, the movement of the joystick 600 is represented by a dashed line between control points.

In FIG. 6B, the loading area 610 is formed of a quadrangle, and the quadrangle contains the areas (A), (B), (C), and (D) at four corners. The zones may be areas where the direction of the digging unit 701 is changed.

The direction change means switching between a traveling movement moving along the horizontal axis and a horizontal movement moving along the vertical axis. And the points are connected by a passage having a constant width (W). The passage serves as an unloading (proceeding) route of the digging unit 701. The width of the passage may be based on the width of the digging unit 701.

Here, if the traveling and traversing motion for the outskirts of the unloading area (square) is completed, the unloading for the outer radius of the reduced radius from the quadrangle (unloading area) center where the unloading operation is not performed can be sequentially performed.

FIG. 6C illustrates a schematic configuration and directional change of the bucket elevator digging section 701. FIG. The digging unit 701 has an L shape and has a plurality of rectangular buckets 611 attached thereto. The lowermost end of the digging unit 701 may be in contact with an unloading area (ground). The digging unit 701 may rotate based on a vertical axis 610 connected to the post 703 of the bucket elevator.

6C shows a state in which the protruding portion 612 of the digging unit 701 is positioned at 9 o'clock with respect to the shaft 610. As shown in Fig. 6C shows a state in which the protruding portion 612 of the digging unit 701 is located at the 9 o'clock position with respect to the shaft 610. As shown in Fig. The position of the digging unit 701 shown in the drawings on both sides is a position where the digging unit 701 can be placed when a transverse movement with respect to a loading area (square) is performed.

Hereinafter, the traveling and traversing operation of the continuous type unloading unit by the outer route of the unloading area will be described. In FIG. 6B, the outer path is defined by a first horizontal line 611 located at 12 o'clock, a first vertical line 612 located at 3 o'clock, a second horizontal line 612 located at 6 o'clock, A second vertical line 613 located at 9 o'clock, and a second vertical line 614 located at 9 o'clock.

6A, the first step is to move the joystick 600 located at the origin 601 to the second point 602 in the 3 o'clock direction. In Fig. 6B, correspondingly, the digging unit 701 starts a traveling movement toward the area (B) along the side of the road 611 in the area (A). Here, the traveling motion may be implemented based on the amount of movement along the rails of the cargo station vehicle. In addition, the unloading speed can be determined based on the amount of displacement on the control panel of the joystick. In other words, if the positional change of the joystick between the control points is large, the unloading speed can be accelerated based on this. In the same vein, if the change of the position of the joystick between the control points is small, the unloading speed can be slowed based on this.

In addition, the bucket elevator digging unit 701 is positioned perpendicular to the direction of travel. 6 (c), the lower end 612 of the digging portion 701 can be placed at 12 o'clock with respect to the rotary shaft 610 when traveling from the (A) zone to the (B) zone. Also, traveling from (A) zone to (B) zone is switchable to a traversing motion parallel to longitudinal side 612 before reaching zone (B).

The second step is that the joystick 600 is moved from the second point 602 to the third point 603 in FIG. 6A, correspondingly, 6B shows that the traveling operation is redirected to a traversing operation between zones (B) and (C). Specifically, the redirection may be initiated at B1 of FIG. 6B and completed at B2. In this case, the direction change may be based on the rotation of the bucket elevator digging unit 701 of the unloading unit.

Also, in FIG. 6b, the speed change of the continuous cargo handler can be made in the area (B) corresponding to the direction change. Wherein the speed change means that the running speed that has been advanced between the zone (A) and the zone (B) is decelerated so that the directional change of the continuous unloading unit is performed at the lowest speed, And is accelerated to reach a constant traverse speed at the lowest speed after the completion of the direction change.

In one embodiment of the present invention, when the direction switching control information is inputted, the control unit decelerates the traveling speed of the unloading unit to stop at the point (B1). After the traveling operation is stopped, the control unit controls the 90-degree directional switching of the bucket elevator. Specifically, the control unit accelerates the rotational motion and maintains a constant rotational speed in a state where the digging unit 701 of the bucket elevator is perpendicular to the running direction. The control unit then starts decelerating when the digging unit 701 of the bucket elevator approaches the transverse direction between the zone B and the zone C so that the digging unit 701 moves in the transverse direction And controls the rotation motion to be stopped when the angle is right.

In FIG. 6 (b), the traveling motion is stopped after decelerating at the point B1, and the bucket elevator rotation can be accelerated to a constant speed, C), the deceleration starts. At the point (B2), the rotational movement of the bucket elevator is stopped after the deceleration, so that the switching of the position can be completed. Further, the changeover from the running operation to the traversing operation can be made at other points on the path connecting the (A) zone and the (B) zone other than the (B) zone. 6B, the traversing movement along the vertical line (longitudinal side) 612 may be performed by summing the boom pivot motion and the traveling motion.

The third step is that the joystick 600 is moved from the third point 603 to the fifth point 605 in FIG. 6A, and correspondingly, 6B shows that the traversing operation is redirected to the traveling operation between the zones (C) and (D). Specifically, the redirection may be initiated at C1 of FIG. 6B and completed at C2. In this case, the direction change can be made based on the rotation of the bucket elevator digging portion of the unloading unit.

Further, in the region (C) corresponding to the direction change in Fig. 6 (b), the speed change of the continuous cargo handling unit can be made. Wherein the speed change means that the traversing speed that has progressed between the zone (B) and the zone (C) is decelerated so that the directional change of the continuous unloading unit occurs at the lowest speed, Is a transition that is accelerated to reach a constant running speed between zone (C) and zone (D) at the lowest speed after completing the turnaround.

In one embodiment of the present invention, when the direction switching control information is inputted, the control unit controls the traversing speed of the unloading unit to decelerate and stop at the point (C1). After the traversing operation is stopped, the control unit controls the 90-degree turning of the bucket elevator. Specifically, the control unit accelerates the rotational motion of the bucket elevator in a state where the digging unit of the bucket elevator is perpendicular to the transverse direction, and maintains a constant rotational speed. If the digging unit starts decelerating when the digging unit of the bucket elevator is close to a state that is perpendicular to the running direction between the zone (C) and the zone (D), and the digging unit is perpendicular to the running direction, Control to stop.

6 (b), the transverse movement is stopped after deceleration at the point (C1), the bucket elevator rotation can be accelerated to a constant speed, and the (C) zone and the ), The deceleration starts to be started. At the point (C2), the rotation of the bucket elevator is stopped to complete the position switching. In addition, the transition from the traversing operation to the traveling operation can also be performed at other points on the path connecting the (A) zone and the (B) zone other than the (B) zone. 6B, the traveling movement along the horizontal line (road side) 613 may be performed based on the traveling motion in which the unloader moves along the traveling rail.

The fourth step is that the joystick 600 is moved from the fifth point 605 to the seventh point 607 in FIG. 6A. And the shifting step is a step of shifting from a traveling operation between the zone (C) and the zone (D) to a traversing operation between the zone (D) and the zone (A). And, the redirection takes place in the area (D). Specifically, the redirection may be initiated at D1 in Fig. 6B and completed at D2. In this case, the direction change can be made based on the rotation of the bucket elevator digging portion of the unloading unit.

Also, in FIG. 6 (b), the speed change of the continuous cargo handler can be made in the area (D) corresponding to the direction change. Wherein the speed change means that the traveling speed between the zone (C) and the zone (D) is decelerated so that the directional change of the continuous unloading unit is performed at the lowest speed, Is a transition that is accelerated to a constant traversing speed between the (D) zone and the (A) zone at the lowest speed after completion of diversion.

In one embodiment of the present invention, when the direction switching control information is inputted, the control unit decelerates the traveling speed of the unloading unit and controls the traveling speed to be stopped at a point (D1). After the traveling operation is stopped, the control unit controls the 90-degree directional switching of the bucket elevator. Specifically, the control unit accelerates the rotational motion of the bucket elevator in a state where the digging unit of the bucket elevator is perpendicular to the running direction, and maintains a constant rotational speed. Then, when the digging unit of the bucket elevator starts to decelerate when the digging unit approaches the transverse direction between the section (D) and the section (A), and the digging unit is perpendicular to the transverse direction, Control to stop.

6B, the traveling motion is stopped after deceleration at a point D1, and the bucket elevator rotation can be accelerated to a constant speed, and after the predetermined speed D and A, The deceleration starts to be started. At the point (D2), the rotation of the bucket elevator is stopped, and the position change can be completed. In addition, the changeover from the traveling operation to the traversing operation can also be made at other points on the path connecting the (C) zone and the (D) zone other than the (D) zone. 6B, the traversing motion along the vertical line 614 may be performed by summing the boom pivot motion and the traveling motion.

In the fifth step, the joystick 600 is moved in a diagonal direction from the seventh point 607 to the first point 601 in FIG. 6A. Movement of the joystick 600 may generate origin return control information. The rotation of the boom of the unloading unit and the rotation stop of the bucket elevator digging unit can be performed based on the origin return control information.

In another embodiment, the control unit 230 may receive the control origin return 223 control information and may maintain a specific operation of a deck corresponding to a control point that is a starting point of movement of the joystick 600. In this case, since the movement of the joystick is started from the seventh point 607, the corresponding traverse motion 262 can be maintained. Where the traversing motion 262 refers to the traversing motion 262 towards the land.

In FIG. 6B, the diagonal shifting step may be performed at a point where the transverse movement between the (D) zone and the (A) zone intersects with the (A) zone and the roadside 611.

6C, the lower end portion 612 of the digging portion may be maintained at the 9 o'clock position with respect to the rotary shaft 610 in accordance with the origin return control information. In addition, the changeover from the traveling operation to the traversing operation can be made at other points on the path connecting the (D) zone and the (A) zone other than the (A) zone.

FIG. 7 is a schematic view of a continuous unloader controlled by the main joystick controller of the present invention.

The bucket elevator digging unit 701 is brought into close contact with the loading area 707 to excavate the cargo loaded on the ship and rotate in the direction of the arrow. The loading area 707 has a rectangular shape, and the horizontal axis and the vertical axis of the loading area (square) can be defined based on the moving rail 706 of the unloading unit. The horizontal axis thus defined may be the travel line 704 and the vertical axis may be the transverse line 705. [ The digging unit 701 is vertically connected to the post 703 of the bucket elevator so that the excavated cargo can be lifted vertically through the attached elevator and the cargo is transferred to the boom 704, It can be transported to the yard. Up / down motion of the boom 704 can be controlled by "Boom Hoist Up" and "Boom Hoist Down" of the auxiliary joystick. Further, the rotation of the digging unit 701 can be controlled using the "BE Slew CCW" or "BE Slew CW" of the auxiliary joystick.

8 is a view illustrating the auxiliary joystick controller according to an embodiment of the present invention viewed from above.

The controller of the auxiliary joystick includes a total of five control points including the control origin 821 located at the center of the auxiliary joystick controller 830 and the center points 822,823,824,825 of each side of the rectangle centered on the control origin 821 . In addition, the control information 220 may generate a plurality of control information 220 corresponding to a point where the joystick is located when the joystick 820 is moved to a specific point.

Specifically, "BE Slew CW" control information may be generated when the joystick 820 moves from the control origin 821 to the second control point 822 at 3 o'clock. Here, "BE Slew " means bucket elevator rotation control, where" BE "is an abbreviation of Bucket Elevator. "Slew" means rotational motion. "CW" is an abbreviation of "Clockwise", which means clockwise rotation. Next, "BE Slew CCW" control information can be generated when the stick 810 is moved from the control origin 821 to the fourth control point 824 at 9 o'clock. In other words, it means that control information regarding the counterclockwise rotation of the bucket elevator is generated.

The bucket elevator rotation ("BE Slew CW") is the motion 240 of the unloader that can be implemented in the movement direction switching 264 operation of the unloader as described above as the motion 240 of the unloader. However, if the bucket elevator rotation 241 motion based on the direction change 224 control information is not implemented as intended by the driver, the driver can directly control the bucket elevator rotation 241 motion.

Finally, when the joystick 820 is moved from the control origin 821 to the third control point 823 at the 6 o'clock direction, or to the fifth control point 825 at the 12 o'clock position, the corresponding "Boom & Hoist Up "and" Boom Hoist Down "can be generated. The description of each operation is similar to that described in Fig.

FIG. 9 shows a form of a joystick 910 constituting the main joystick control unit according to an embodiment of the present invention.

The joystick 910 has a hinge 930 coupled to a lower end of the opening 920 with respect to an opening 920 which is a part of a control panel constituting the main joystick controller. One end (upper end) and the other end (lower end) of the joystick are connected to each other by a hinge 930 so that the one end (upper end) can rotate about the hinge 930 in all directions. Further, the hinge 930 is connected to the ball joint 940 to show external characteristics

As described above, according to the embodiments disclosed herein, a method for simplifying a method of generating control information for implementing specific operations of a continuous cargo handler for unloading a raw cargo has been provided. Concretely, there is an inconvenience that the conventional continuous type unloading machine has to return to the control origin every time the operation is switched in order to implement the operation switching between the left / right traveling operation for unloading and the up / down traverse operation.

An embodiment of the present invention may provide a main joystick adjuster 210 having a plurality of control origin to omit the control method of the repeated control home return. This can reduce operator fatigue, maximize work efficiency, and increase equipment life.

The main joystick adjuster 210 according to an embodiment of the present invention automatically controls a plurality of motions required for the switching when switching between the continuous unloader motions (motions) Acceleration and deceleration are automatically controlled based on the amount of change in the position of the joystick.

Specifically, the conventional unloader has a disadvantage that the driver must directly control the rotation of the bucket elevator relative to the turning point in order to advance the unloading along the movement path (outline) of the unloading area. This operation increases the fatigue of the driver and makes it difficult to carry out an efficient unloading to the turning point.

The automatic control function according to the present invention analyzes the specific operation to be performed in the future considering the movement and position of the unloading unit and controls the unloading operation to reduce the fatigue of the driver and maximize the operation efficiency The traveling speed, the traverse speed, and the rotating speed of the bucket elevator digging unit associated with the switching between the unloading operations can be automatically controlled to eliminate the hassle of the control operation for the speed control. Lastly, the present invention provides an auxiliary joystick controller, so that the driver flexibly copes with various situations in the loading operation, and an accurate and stable unloading control can be performed.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas falling within the scope of the same shall be construed as falling within the scope of the present invention.

Figure 200: Continuous freight controller
300: main joystick control device of the continuous type unloading machine
Figure 830: Secondary joystick transmitter

Claims (23)

In a control device for controlling a continuous type unloading machine that operates based on a plurality of motions,
A main joystick controller for generating control information for the continuous unloading unit; And
And a control unit for controlling the motion associated with the specific operation among the plurality of motions based on the control information to cause the continuous unloading unit to perform the specific operation,
The main joystick controller includes:
Control panel; And
And a joystick movable on the control panel,
The control information includes:
The joystick being generated by movement of the joystick moving at any two points located on the control panel,
Wherein the specific operation includes a left / right traveling operation and an up / down movement operation corresponding to the lateral direction and the longitudinal direction of the quadrangle, respectively, when the area on which the raw cargo is loaded is a quadrangle,
Wherein the control information related to the generation of the specific operation of the continuous cargo handling unit includes:
Horizontal movement control information generated when the joystick is horizontally moved from a first position to a second position located in a right or left horizontal direction;
Vertical movement control information generated when the object is moved vertically to a second point located in an upper or lower direction from the first point; And
And diagonal movement control information generated when the first point is moved to a second point located in a diagonal direction from the first point,
Wherein the left / right traveling operation of the continuous cargo handling unit is performed based on the horizontal movement control information,
Wherein the up / down transverse operation of the continuous unloading machine is performed based on the vertical movement control information,
Wherein,
When the vertical movement control information indicating the up / down movement operation is input while the left / right travel operation is performed based on the horizontal movement control information,
Wherein the control unit controls the digging position of the bucket elevator to be perpendicular to the direction of the up / down transverse operation.
In a control device for controlling a continuous type unloading machine that operates based on a plurality of motions,
A main joystick controller for generating control information for the continuous unloading unit; And
And a control unit for controlling the motion associated with the specific operation among the plurality of motions based on the control information to cause the continuous unloading unit to perform the specific operation,
The main joystick controller includes:
Control panel; And
And a joystick movable on the control panel,
The control information includes:
The joystick being generated by movement of the joystick moving at any two points located on the control panel,
Wherein the specific operation includes a left / right traveling operation and an up / down movement operation corresponding to the lateral direction and the longitudinal direction of the quadrangle, respectively, when the area on which the raw cargo is loaded is a quadrangle,
Wherein the control information related to the generation of the specific operation of the continuous cargo handling unit includes:
Horizontal movement control information generated when the joystick is horizontally moved from a first position to a second position located in a right or left horizontal direction;
Vertical movement control information generated when the object is moved vertically to a second point located in an upper or lower direction from the first point; And
And diagonal movement control information generated when the first point is moved to a second point located in a diagonal direction from the first point,
Wherein the left / right traveling operation of the continuous cargo handling unit comprises:
And performing horizontal movement control on the basis of the horizontal movement control information,
Wherein the up / down transverse operation of the continuous cargo handling unit comprises:
Wherein the vertical movement control information is based on the vertical movement control information,
Wherein,
When the horizontal movement control information instructing the left / right travel operation is input while the up / down operation is performed based on the vertical movement control information,
Wherein the bucket elevator control unit controls the bucket elevator digging position to be perpendicular to the left / right traveling operation direction.
The control device according to claim 1 or 2, wherein the joystick is coupled with a hinge structure rotatable about a vertical axis of the control panel, or the joystick slides on the control panel.
3. The method according to claim 1 or 2,
Wherein the specific operation is performed based on movement displacement information or movement rotation information corresponding to the movement,
The moving displacement information may include,
The movement direction information of the movement and the movement displacement amount information of the movement,
Wherein the movement rotation information includes:
Wherein the joystick includes rotation direction information and rotation angle information about rotation generated by moving the joystick about a vertical axis of the control panel.
3. The method according to claim 1 or 2,
Wherein the determination is made based on the moving displacement information or the movement rotation information.
6. The method of claim 5,
The maximum speed of the specific operation, the acceleration for reaching the maximum speed in the stationary state of the continuous cargo handling unit, and the deceleration from the maximum speed to the stop state. Unloader control unit.
[3] The apparatus according to claim 1 or 2,
A boom attached to the continuous unloading unit and rotating; And
(Continuous Ship Unloader) including a bucket elevator used to transport bulk cargo to the upper part of the boom,
The bucket elevator includes:
And is configured to be in close contact with the bucket elevator casing to carry the cargo.
3. The method according to claim 1 or 2,
A bucket elevator bucket elevator bucket elevator bucket elevator bucket elevator bucket elevator bucket elevator bucket elevator bucket elevator bucket elevator bucket elevator bucket elevator bucket elevator bucket elevator bucket elevator bucket elevator bucket elevator bucket elevator bucket elevator bucket elevator bucket elevator bucket elevator bucket elevator bucket elevator
3. The method according to claim 1 or 2, wherein the direction of the left /
And the vertical direction is perpendicular to the direction of the up / down transverse operation.
3. The method according to claim 1 or 2,
Wherein when the specific operation is a left / right traveling operation, the traveling motion of the continuous unloading unit moving along the rails is performed.
11. The method according to claim 10, wherein the left /
And is parallel to the running motion direction.
3. The method according to claim 1 or 2,
Wherein when the specific operation is an up / down traversing operation, a boom slew motion related to the turning motion of the boom and a traveling motion of the unloader moving along the rails are performed.
13. The method according to claim 12, wherein the up /
Wherein the boom turning motion and the running motion are summed up.
3. The method according to claim 1 or 2, wherein the left / right traveling operation and the up /
Wherein the diagonal movement control information is based on the diagonal movement control information.
3. The method according to claim 1 or 2, wherein the interlocking of the left / right traveling operation and the up /
Wherein the left / right traveling operation and the up / down transverse operation are performed simultaneously or sequentially.
The continuous cargo handling system according to claim 1 or 2,
Further comprising an auxiliary joystick for reducing an operation error generated when performing the specific operation.
17. The apparatus of claim 16,
Wherein the control unit controls at least one of a bucket elevator turn motion of the continuous unloading unit and a vertical movement of the boom for boom hoist motion based on the auxiliary joystick. .
A control method for controlling a continuous cargo handling unit operating on a plurality of motions,
A single joystick moves between any two points located on the control panel to implement a specific operation of the continuous unloading station, and control information is generated based on the displacement between any two points;
Controlling a motion related to the specific motion among the plurality of motions based on the control information; And
And performing the specific operation based on the motion,
The control information includes:
The joystick being generated by movement of the joystick moving at any two points located on the control panel,
In the specific operation,
A left / right traveling operation and an up / down movement operation corresponding to the horizontal and vertical directions of the rectangle, respectively, when the area where the raw cargo is loaded is a quadrangle,
Wherein the control information related to the generation of the specific operation of the continuous cargo handling unit includes:
Horizontal movement control information generated when the joystick is horizontally moved from a first position to a second position located in a right or left horizontal direction;
Vertical movement control information generated when the object is moved vertically to a second point located in an upper or lower direction from the first point; And
And diagonal movement control information generated when the first point is moved to a second point located in a diagonal direction from the first point,
Wherein the left / right traveling operation of the continuous cargo handling unit comprises:
And performing horizontal movement control on the basis of the horizontal movement control information,
Wherein the up / down transverse operation of the continuous cargo handling unit comprises:
Wherein the vertical movement control information is based on the vertical movement control information,
The control unit,
When the vertical movement control information indicating the up / down movement operation is input while the left / right travel operation is performed based on the horizontal movement control information,
Wherein the bucket elevator digging position is controlled to be perpendicular to the direction of the up / down transverse operation.
A control method for controlling a continuous cargo handling unit operating on a plurality of motions,
A single joystick moves between any two points located on the control panel to implement a specific operation of the continuous unloading station, and control information is generated based on the displacement between any two points;
Controlling a motion related to the specific motion among the plurality of motions based on the control information; And
And performing the specific operation based on the motion,
The control information includes:
The joystick being generated by movement of the joystick moving at any two points located on the control panel,
In the specific operation,
A left / right traveling operation and an up / down movement operation corresponding to the horizontal and vertical directions of the rectangle, respectively, when the area where the raw cargo is loaded is a quadrangle,
Wherein the control information related to the generation of the specific operation of the continuous cargo handling unit includes:
Horizontal movement control information generated when the joystick is horizontally moved from a first position to a second position located in a right or left horizontal direction;
Vertical movement control information generated when the object is moved vertically to a second point located in an upper or lower direction from the first point; And
And diagonal movement control information generated when the first point is moved to a second point located in a diagonal direction from the first point,
Wherein the left / right traveling operation of the continuous cargo handling unit comprises:
And performing horizontal movement control on the basis of the horizontal movement control information,
Wherein the up / down transverse operation of the continuous cargo handling unit comprises:
Wherein the vertical movement control information is based on the vertical movement control information,
The control unit,
When the horizontal movement control information instructing the left / right travel operation is input while the up / down operation is performed based on the vertical movement control information,
Wherein the bucket elevator control unit controls the bucket elevator digging position to be perpendicular to the direction of the left / right traveling operation.
CLAIMS 1. A continuous freighter control system for implementing a loading and unloading operation based on a plurality of motions,
A main joystick controller for generating control information for the continuous unloading unit;
A control device for controlling a motion associated with a specific one of the plurality of motions on the basis of the control information;
And a continuous descrambler performing a specific operation based on the associated motion,
The main joystick controller includes:
Control panel; And
And a joystick capable of moving on the control panel
The control information includes:
The joystick being generated by movement of the joystick moving at any two points located on the control panel,
In the specific operation,
A left / right traveling operation and an up / down movement operation corresponding to the horizontal and vertical directions of the rectangle, respectively, when the area where the raw cargo is loaded is a quadrangle,
Wherein the control information related to the generation of the specific operation of the continuous cargo handling unit includes:
Horizontal movement control information generated when the joystick is horizontally moved from a first position to a second position located in a right or left horizontal direction;
Vertical movement control information generated when the object is moved vertically to a second point located in an upper or lower direction from the first point; And
And diagonal movement control information generated when the first point is moved to a second point located in a diagonal direction from the first point,
Wherein the left / right traveling operation of the continuous cargo handling unit comprises:
And performing horizontal movement control on the basis of the horizontal movement control information,
Wherein the up / down transverse operation of the continuous cargo handling unit comprises:
Wherein the vertical movement control information is based on the vertical movement control information,
The control unit,
When the vertical movement control information indicating the up / down movement operation is input while the left / right travel operation is performed based on the horizontal movement control information,
And the digging position of the bucket elevator is perpendicular to the direction of the up / down transverse operation.
CLAIMS 1. A continuous freighter control system for implementing a loading and unloading operation based on a plurality of motions,
A main joystick controller for generating control information for the continuous unloading unit;
A control device for controlling a motion associated with a specific one of the plurality of motions on the basis of the control information;
And a continuous descrambler performing a specific operation based on the associated motion,
The main joystick controller includes:
Control panel; And
And a joystick capable of moving on the control panel
The control information includes:
The joystick being generated by movement of the joystick moving at any two points located on the control panel,
In the specific operation,
A left / right traveling operation and an up / down movement operation corresponding to the horizontal and vertical directions of the rectangle, respectively, when the area where the raw cargo is loaded is a quadrangle,
Wherein the control information related to the generation of the specific operation of the continuous cargo handling unit includes:
Horizontal movement control information generated when the joystick is horizontally moved from a first position to a second position located in a right or left horizontal direction;
Vertical movement control information generated when the object is moved vertically to a second point located in an upper or lower direction from the first point; And
And diagonal movement control information generated when the first point is moved to a second point located in a diagonal direction from the first point,
Wherein the left / right traveling operation of the continuous cargo handling unit comprises:
And performing horizontal movement control on the basis of the horizontal movement control information,
Wherein the up / down transverse operation of the continuous cargo handling unit comprises:
Wherein the vertical movement control information is based on the vertical movement control information,
The control unit,
When the horizontal movement control information instructing the left / right travel operation is input while the up / down operation is performed based on the vertical movement control information,
Wherein the bucket elevator control unit controls the bucket elevator digging position to be perpendicular to the left / right traveling direction. delete delete

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