KR101826129B1 - System and method for control of gantry crane - Google Patents

Abstract

A gantry crane control system and method are disclosed.
A gantry crane control system for safe block transfer in ship building according to an embodiment of the present invention includes a camera array unit for photographing a worksite including a camera installed in a multifaceted top region of a gantry crane; An image processing unit for generating an arrangement view screen of a work area by integrating images photographed by the camera array unit; A display unit for displaying an arrangement view screen of the work area processed by the image processing unit so that the pilot can intuitively check the arrangement view screen; And a controller for enhancing and displaying a virtual block for displaying the final transfer position of the transfer block on the arrange-view screen and a guide line considering the movement width on the path of the transfer block.

Description

[0001] SYSTEM AND METHOD FOR CONTROL OF GANTRY CRANE [0002]

The present invention relates to a gantry crane control system and method thereof, and more particularly, to a gantry crane control system and method for secure block transfer in ship drying.

Generally, when the ship is to be dried in the shipyard, the outer member is manufactured in several blocks, and then the blocks are transported and assembled to complete one ship.

Since the block is a steel structure and bulky and weighs several hundreds of tons, a gantry crane of a large scale is used to transport it.

Figure 1 schematically shows a conventional gantry crane structure.

Referring to FIG. 1, a conventional gantry crane is a pedestrian-shaped conveying means that moves along two parallel rails. In the shipyard, the gantry crane is also called a Goliath crane.

The gantry cranes lift the block secured by the wire rope and transport it along the x- and y-axis rails to the desired location.

The transfer of the block is made in the cockpit (cabin) located on the horizontal beam on the support, and the pilot in the cockpit controls the block transfer while confirming the transfer status of the block through radio waves of the indicators located on the ground.

However, in the conventional block transfer operation, there is a problem that the collision between the blocks or the process progress is delayed when one of the pilots is immature or unsteady, depending on the pilots skilled piloting ability and the information providing ability of the indicators.

In the case of the pilot, the periphery of the cockpit is made of glass, but the block is located at the lower part of the cockpit, and it is difficult to confirm it as an oil pipe. In the case of the indicator, too, it is difficult to grasp the exact position of the gantry crane due to limitation of view, have.

For these reasons, there is a problem that it is very difficult for the beginner to approach the task.

On the other hand, shipyard gantry cranes are constructed to transport blocks of hundreds of tons, but can not overcome the load of the block due to aging of some equipment, can be overturned or collapsed, and major accidents such as wire rope breakage occur .

In actual shipyards, there are occasions when the gantry crane is overturned during block transfer of the theoretically allowed load due to aging. In the event of such a major accident, there will be enormous economic losses, such as the death of the field worker, the recovery of the gantry crane, and the delay in ship delivery.

Therefore, there is an urgent need for a method for safe block transfer when a ship is dried using a gantry crane.

The matters described in the background section are intended to enhance the understanding of the background of the invention and may include matters not previously known to those skilled in the art.

Patent Document 1: Korean Patent Laid-Open No. 2001-0044401 (published Jun. 25, 2001)

An embodiment of the present invention provides a gantry crane control system and method for enhancing and displaying guide information for block transfer to an arrange view of a gantry crane work place that relies on skill of a conventional worker The purpose.

It is another object of the present invention to provide a gantry crane control system and method for monitoring the state of a wire rope and a structure during a block transfer to support safe block transfer.

According to an aspect of the present invention, a gantry crane control system for safe block transfer at the time of ship building includes a camera array unit for photographing a worksite including a camera installed in many places in a tower area of a gantry crane; An image processing unit for generating an arrangement view screen of a work area by integrating images photographed by the camera array unit; A display unit for displaying an arrangement view screen of the work area processed by the image processing unit; And a controller for enhancing and displaying a virtual block for displaying the final transfer position of the transfer block on the arrange-view screen and a guide line considering the movement width on the path of the transfer block.

The image processing unit may form a coordinate system for the work area of the arrange view screen, and calculate the plane shape and area of the moving block in the work area where the coordinate system is formed.

The control unit may acquire the drawing of the transport block from the design data and accumulate it in accordance with the block area of the arrangement view screen, and display the same in the same shape as the plane shape of the transport block.

In addition, the controller may increase and display a cross-shaped guide line extending from the horizontal width and the vertical width of the transport block based on the plane shape and area of the transport block on the arrange-view screen.

The guide line may include a first guide line guiding a safe path when moving along the y-axis with reference to a maximum width of the transport block; And a second guide line guiding a safe path when moving along the x-axis with respect to the maximum vertical width of the transport block.

In addition, the first guide line and the second guide line can display the travel width of the moving block in the work area when moving the transport block by the crane while moving together with the transport block.

In addition, the control unit can increase and display the cross-shaped third guide line and the fourth guide line extending from the width and the vertical width of the virtual block displayed at the final transport position of the transport block.

In addition, the controller may recognize the presence of an obstacle or a person in a guideline of a path through which the moving block moves through the image analysis of the arrange view, thereby alerting the collision and presenting the avoidance path.

Also, the display unit may project the arrange-view screen and the enhancing information to a certain area of the window of the cockpit through the projector.

The apparatus may further include a monitoring unit for analyzing the wire rope tensile strength and the vibration of the structure of the gantry crane through finite element analysis to diagnose a risk according to a predetermined stress criterion.

In another aspect of the present invention, there is provided a gantry crane control method for safe block transfer at the time of ship drying, comprising the steps of: a) photographing a work area through a camera array installed in a multifaceted top region of a gantry crane; b) creating an arrange view screen of the work area by integrating images photographed by the camera array section; c) generating a virtual block of the same scale with reference to the plane shape and area of the transport block on the arrange-view screen to display a final transport position of the transport block; d) augmenting and displaying a cross-shaped guideline extending from the transverse width and the transverse width of the transport block; And e) collecting vibrations generated in the wire rope and the structure during movement of the transport block and monitoring the stress due to each finite element analysis.

The step e) further includes warning the pilot when the risk due to the stress exceeds the first set reference value, and entering the emergency stop mode when the risk exceeds the second set reference value, can do.

In another aspect of the present invention, a gantry crane control system for safe block transfer at the time of ship drying includes a camera array unit for photographing a workplace including a camera installed in a multifaceted top region of a gantry crane; An image processing unit for generating an arrangement view of a work area by integrating images photographed by the camera array unit; And a controller for enhancing a virtual block for displaying a final transfer position of a transfer block on the arrange-view screen and a guide line considering a travel width of the transfer block, and displaying the virtual block through a pilot portable terminal at a remote location, Can control the block transfer path and speed according to the operation of the pilot portable terminal.

According to an embodiment of the present invention, a virtual block is displayed at a position where a transport block should be placed on an arrange view screen generated through a camera array provided in a tower of a gantry crane, and a guide line The pilot can transfer the block intuitively confirming the moving state of the block through the screen without the radio of the indicator.

In addition, there is an effect that the pilot can visually display the distance relation between the conveying block and the obstacle and guiding the avoidance of collision with the obstacle, thereby facilitating the operation of the pilot and the safe block transfer.

In addition, it can prevent the safety accident of the gantry crane by monitoring the stress generated in the wire rope and the structure that can not be confirmed by visual inspection during the transportation of the block, and performing danger warning and emergency stop in advance.

Figure 1 schematically shows a conventional gantry crane structure.
2 schematically shows a structure of a gantry crane according to an embodiment of the present invention.
3 is a block diagram schematically showing a configuration of a gantry crane control system according to an embodiment of the present invention.
4 is a bottom view schematically showing the configuration of a camera array unit according to an embodiment of the present invention.
FIG. 5 schematically shows an arrangement view screen configuration of a workplace according to an embodiment of the present invention.
FIG. 6 shows a state in which an arrange-view screen is displayed inside the cockpit according to the embodiment of the present invention.
7 is a flowchart schematically showing a gantry crane control method according to an embodiment of the present invention.
FIG. 8 schematically shows a workplace arrangement view screen configuration according to an embodiment of the present invention.
FIG. 9 schematically shows a workplace arrangement view screen configuration according to an embodiment of the present invention.
10 shows a gantry crane control system according to another embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise. Also, the terms " part, "" module," and " module ", etc. in the specification mean a unit for processing at least one function or operation and may be implemented by hardware or software or a combination of hardware and software have.

Now, a gantry crane control system and method according to an embodiment of the present invention will be described in detail with reference to the drawings.

2 schematically shows a structure of a gantry crane according to an embodiment of the present invention.

2, a gantry crane 10 according to an embodiment of the present invention includes a first rail 11, a support 12, a horizontal beam 13, a second rail 14, and a cockpit 15, .

The first rail 11 is formed parallel to the edge of the work area for block assembly and the support 12 is vertically installed on the first rail 11 to support the horizontal beam 13 at the upper side of both sides, And moves along the rail 11 along the y-axis (front-rear direction).

The horizontal beam 13 has a second rail 14 formed in a direction perpendicular to the first rail 11 and a cockpit 15 moving along the second rail 14 in the x- . 2, the cockpit 15 is positioned at one side of the horizontal beam 13, but it is not limited thereto and may be located at the top or bottom of the horizontal beam 13. [

The horizontal beam 13 also includes a crane 17 to which a wire rope 16 for lifting or lowering the block is connected and the crane 17 moves together with the cockpit 15 in the y- and x- Can be transported.

At this time, though not shown in the drawings, hooks are provided at the ends of the plurality of wire ropes 16, and each hook can be fixed to a lug formed in the block.

The gantry crane 10 of this structure includes various mechanical power means for lifting a block fixed to the wire rope 16 to move back and forth and right and left according to the block movement path and to lower the block at the final destination position, Is controlled by the gantry crane control system (100).

3 is a block diagram schematically showing the configuration of a gantry crane control system according to an embodiment of the present invention.

3, a gantry crane control system 100 according to an exemplary embodiment of the present invention includes a communication unit 110, a camera array unit 120, an image processing unit 130, a design data unit 140, (150), a monitoring unit (160), and a control unit (170), and is located in the cockpit (15).

The communication unit 110 can communicate with a server (not shown) for managing ship manufacturing through wired / wireless communication and can communicate with an information communication terminal (not shown) of an operator located on the ground. In addition, the communication unit 110 may include a radio communication module with an operator located on the ground.

The camera array unit 120 includes a plurality of cameras installed in various directions around the cockpit 15 to shoot a work area in the top area of the gantry crane 10.

4 is a bottom view schematically showing the configuration of a camera array unit according to an embodiment of the present invention.

4, the camera array unit 120 may be installed at a lower portion of the cockpit 15 and may include a plurality of cameras 121, 122, 123, and 124, so that the entire work area can be photographed.

In addition, the present invention is not limited to this, and the camera array unit 120 may be installed below the crane 17 where the wire rope 16 is lowered to photograph the entire work area.

In the embodiment of the present invention, the cockpit 15, the crane 17, and the camera array unit 120 are moved together when the block is transferred, and the shooting timing of the work area is varied depending on the movement of the crane 17 do.

The image processing unit 130 integrates images photographed by the camera array unit 120 to generate an arrange-view screen of a work area.

FIG. 5 schematically shows an arrangement view screen configuration of a workplace according to an embodiment of the present invention.

Referring to FIG. 5, the image processor 130 forms a coordinate system for the work area of the arrange view, and displays a center point that is the center of the transport block. At this time, the coordinate system may be omitted without being visually displayed on the actual screen, and the center point may be a coordinate where the crane 17 is located at the center of gravity of the actual transport block.

Also, the image processing unit 130 calculates the plane shape and area of the transport block placed in the work area where the coordinate system is formed.

In addition, the image processing unit 130 may enhance and display various information such as a virtual block for guiding the block transfer and a guide line for guiding the conveyance path to be included in the arrange-view screen under the control of the controller 170. [ At this time, the information to be augmented will be described in detail in the description of the control unit 170, which will be described later.

The design data unit 140 receives design data (Cad) created for ship building from an in-house system server, and provides block shape information necessary for block transfer in a block assembly process.

The display unit 150 displays an arrange-view screen of the workplace plane processed by the image processing unit 130 so that the pilot can intuitively confirm the arrange-view screen.

For example, FIG. 6 shows a state in which an arrange-view screen is displayed inside a cockpit according to an embodiment of the present invention.

Referring to FIG. 6, the cockpit 15 is made of tempered glass which is transparent at the front and a part of the bottom so that the view of the pilot is secured.

The display unit 150 projects and displays the arrangement view and the augmenting information in a predetermined area of the front window through the projector, so that various information for guiding the block information and the block information in the workplace can be displayed intuitively .

Accordingly, there is an advantage that the conventional pilot performs the task while looking down on the work site through the glass which is difficult to secure the radio and visibility of the indicator, thereby solving the problem of high concentration power and increased fatigue.

In addition, the display unit 150 may be configured as a monitor to display an arrangement view including enhancement information.

The control unit 170 controls the overall operation of the respective parts of the gantry crane control system 100, and may integrate some or all functions of the respective parts. It is obvious that the control unit 170 may store a program for the functions of the respective units and implement the corresponding functions by executing the program.

The control unit 170 enhances and displays a virtual block for displaying the final transfer position of the transfer block on the arrange view screen generated by the image processing unit 130 and a guide line considering the moving width of the transfer block.

Specifically, the control unit 170 acquires the drawing of the transport block in the design data unit 140 when the arrange view screen is generated, and enhances the virtual block in accordance with the block plane shape of the arrange view screen. Here, the virtual block may be simplified shape information by extracting only the outline information from the CAD data of the actual block.

The controller 170 processes the scale of the virtual block in accordance with the area of the actual transport block on the arrange view screen and rotates the block diagram in the same manner as the plane shape on which the transport block is placed.

The control unit 170 refers to the design data and displays the virtual block at the final transport position to be placed for assembling the transport block.

For example, referring to FIG. 5, the control unit 170 refers to the design data, and if the transport block is to be finally transported between block 1 and block 2, the generated virtual block is displayed at the final transport position between blocks 1 and 2 can do.

In addition, the controller 170 may move the position of the virtual block on the arrange view screen according to the manipulation input of the manipulator, and display the virtual block on the final transfer position.

Referring to FIG. 5, the controller 170 enhances and displays a cross-shaped guide line extending from the horizontal width and the vertical width of the transport block based on the shape and area of the transport block plane on the arrange view screen.

The guideline includes a safe (x-axis) safe on the basis of the maximum of the transport block and on the basis of the maximum of the transport block (y-axis)

The first guide line and the second guide line move along with the conveying block when the conveying block is lifted by the crane 17, and displays the running width of the moving block in the work area.

In addition, the controller 170 recognizes that an obstacle (e.g., another block) and a person are present in the guide line of the path through which the moving block moves through analysis of the arrange view image to present and warn the collision avoiding path have.

At this time, the control unit 170 can display the actual distance between the moving block on the coordinate system and the obstacle in numerical values.

In this way, the control unit 170 displays the virtual block in a position where the transport block should be placed on the arrange view screen, and enhances and displays the guide line according to the moving direction of the transport block, There is an advantage that it can be manipulated while confirming intuitively.

In addition, the control unit 170 displays the distance relationship between the transport block and the obstacle visually, and guides the avoidance of collision with the obstacle. Thus, it is advantageous that the operation of the pilot is convenient and the block can be transported safely.

The monitoring unit 160 analyzes vibrations of structures such as the tensile strength of the wire rope 16, the horizontal beam 13 and the support base 12 through various sensors installed in the gantry crane 10, And calculate and diagnose the risks.

The monitoring unit 160 measures the tensile strength (tension) applied to the wire rope 16 through the IoT-based sensor when the block is transported, and warns of a risk exceeding a predetermined reference value.

In addition, the monitoring unit 160 collects the vibrations generated in the structure and the wire rope during the block transportation, performs finite element analysis (FEA) on each wire, and warns the risk due to the stress of the wire rope and the structure .

At this time, the controller 170 warns the pilot if the risk level received by the monitoring unit 160 exceeds the set first threshold value, and if the second threshold value is greater than the second threshold value, the control unit 170 enters the emergency stop mode, Leave.

On the other hand, a gantry crane control method for block transfer in shipbuilding on the basis of the construction of the gantry crane control system 100 of the present invention will be described.

Hereinafter, in describing the gantry crane control method, the functions of the detailed configuration described above can be integrated into the gantry crane control system 100, and therefore, the gantry crane control system 100 will be mainly described.

7 is a flowchart schematically showing a gantry crane control method according to an embodiment of the present invention.

Referring to FIG. 7, the gantry crane control system 100 according to the embodiment of the present invention photographs an entire work area through a camera array unit 120 installed in a multifaceted manner around a cockpit on a horizontal beam (S101) .

The gantry crane control system 100 integrates images photographed by the camera array unit 120 to generate an arrangement view of a work area (S102).

The gantry crane control system 100 forms a coordinate system of the work area and displays the center point of the transport block to locate the crane 17 (S103).

The gantry crane control system 100 calculates the plane shape and area of the transport block (S104).

The gantry crane control system 100 generates virtual blocks of the same scale by referring to the calculated planar shape and area of the transport block, and displays the virtual blocks at the final transport position on the arrangement view screen (S105).

The gantry crane control system 100 enhances and displays a cross-shaped guideline extending from the horizontal width and vertical width of the transport block (S106). At this time, the gantry crane control system 100 can lift the transport block and move the guide line in accordance with the position of the transport block moving during transport.

The gantry crane control system 100 collects vibrations generated in the wire rope and the structure during movement of the transport block, and monitors the stress due to each finite element analysis to determine occurrence of a dangerous situation (S107).

At this time, the gantry crane control system 100 warns the pilot according to the risk if the risk due to the stress exceeds the set reference value (S108; Yes), or enters the emergency stop mode and places the transport block on the work site S109).

On the other hand, if the risk due to the stress is less than the set reference value (S108: NO), the gantry crane control system 100 moves the transport block to a position overlapping the virtual block and then drops it (S110).

As described above, according to the embodiment of the present invention, a virtual block is displayed at a position where a transport block should be placed on an arrange view screen generated through a camera array provided in a tower of a gantry crane, and a guide By displaying the line in an augmented manner, the pilot can transfer blocks while intuitively confirming the moving state of the block through the screen without radio of the indicator.

In addition, there is an effect that the manipulation of the pilot is convenient and safe block transfer is possible by visually displaying the distance relation between the transport block and the obstacle and guiding the collision avoidance with the obstacle.

Also, there is an effect of preventing the overturning of the gantry crane by monitoring the stress generated in the wire rope and the structure that can not be confirmed at the time of transferring the block, thereby performing the danger warning and emergency stop.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications are possible.

For example, in the embodiment of the present invention described above, the controller 170 has been described to enhance and display the first guide line and the second guide line based on the plane shape and area of the transport block, The guideline can be displayed based on the virtual block without limitation.

FIG. 8 schematically shows a workplace arrangement view screen configuration according to an embodiment of the present invention.

Referring to FIG. 8, the controller 170 augments and displays a cross-shaped third guide line and a fourth guide line extending from the width and the vertical width of the virtual block displayed at the final transfer position of the transport block.

The third guide line (y-axis) and the fourth guide line (x-axis) are fixed and provide a reference path for safely guiding the transport block to a position overlapping the virtual block.

At this time, the pilot can move the width of the transport block to the width of the third guide line or the fourth guide line without using the first guide line and the second guide line extended from the existing transport block.

FIG. 9 schematically shows a workplace arrangement view screen configuration according to an embodiment of the present invention.

Referring to FIG. 9, FIG. 5 and FIG. 8 are all applied.

The control unit 170 enhances and displays the first guide line and the second guide line in a cross shape extending from the horizontal width and the vertical width of the transport block and displays a cross shape third guide line extending from the horizontal width and the vertical width of the virtual block. And the fourth guideline are simultaneously augmented and displayed.

Here, the first guide line and the second guide line move in accordance with the movement of the transport block, but the third guide line and the fourth guide line are fixed to the virtual block serving as the final transport position.

In addition, the first and second guide lines, the third and fourth guide lines are displayed in different colors.

Through this, the operator can confirm at a glance that the second guide line does not fit with the fourth guide line when the transport block is moved to the x side.

Accordingly, the controller 170 may move the transport block in accordance with the operation input of the operator to move the second guide lines to overlap with the fourth guide line.

Meanwhile, FIG. 10 shows a gantry crane control system according to another embodiment of the present invention.

10, the pilot controls the block transfer in the cockpit. However, the present invention is not limited thereto, and may be applied to a portable terminal of a pilot (hereinafter referred to as " , The pilot terminal is called) to control the block transfer on the ground at a remote location. Hereinafter, the same descriptions as those of the above-described embodiments will be omitted and different parts will be mainly described.

The control unit 170 of the can tree crane control system 100 transmits various information such as virtual blocks and guide lines for guiding the block transfer on the arrange view through the camera array unit 120 and the image processing unit 130, On the view screen, and displays the arrange-view screen on the pilots terminal on the ground.

At this time, the block transfer control of the controller 170 is performed by operating the pilot terminal through the communication unit 110, and the travel path and the speed are automatically controlled according to the setting of the pilot terminal.

10, the controller 170 moves the crane to the center point of the transport block and lifts the block by positioning the virtual block at the final transport position as described above .

The control unit 170 automatically sets the movement path from the center point of the transport block to the center point of the virtual block, and sets a certain distance from the start point, the direction change point, and the arrival point as the deceleration section.

At this time, the controller 170 controls to move according to the guide line formed on the movement path, and the setting of the deceleration section is to prevent the wire rope and the transport block from rocking due to sudden start, change of direction and stop.

In such an embodiment, the cockpit, which is located on the existing horizontal beam 13, can be omitted and only necessary control equipment can be configured, and the block transfer control on the ground can be performed, thereby improving the working environment of the pilot.

The embodiments of the present invention are not limited to the above-described apparatuses and / or methods, but may be implemented through a program for realizing functions corresponding to the configuration of the embodiment of the present invention, a recording medium on which the program is recorded And such an embodiment can be easily implemented by those skilled in the art from the description of the embodiments described above.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It belongs to the scope of right.

10: Gantry crane 11: First rail
12: Support 13: Horizontal beam
14: second rail 15: cockpit
16: wire rope 17: crane
100: gantry crane control system 110: communication unit
120: camera array unit 130: image processing unit
140: design data section 150: display section
160: monitoring unit 170:

Claims (13)

CLAIMS 1. A gantry crane control system for safe block transfer during shipbuilding,
A camera array unit for photographing a worksite including a camera installed in a multifaceted manner in a tower area of a gantry crane;
An image processing unit for generating an arrangement view screen of a work area by integrating images photographed by the camera array unit;
A display unit for displaying an arrangement view screen of the work area processed by the image processing unit; And
And a controller for enhancing and displaying a virtual block for displaying a final transfer position of the transfer block on the arrange-view screen and a guide line considering a movement width on the path of the transfer block. The method according to claim 1,
Wherein the image processing unit comprises:
Forming a coordinate system for a work area of the arrange view screen and calculating a planar shape and an area of the transport block in the work area where the coordinate system is formed. 3. The method according to claim 1 or 2,
Wherein,
Acquiring a drawing of the transfer block from the design data, storing the drawing in accordance with the block area of the arrangement view screen, and displaying the same in the same shape as the plane shape of the transfer block. The method according to claim 1,
Wherein,
Wherein a cruciform guide line extending from a horizontal width and a vertical width of the transport block is augmented and displayed based on the plane shape and area of the transport block on the arrange-view screen. The method according to claim 1 or 4,
The guideline includes:
A first guide line guiding a safe path when moving in the y-axis on the basis of a maximum width of the transport block; And
And a second guide line guiding a safe path when moving along the x-axis with respect to the maximum vertical width of the transport block. 6. The method of claim 5,
The first guide line and the second guide line may be formed of a metal,
And a traveling width of the moving block is displayed in the work area when the traveling block is lifted and moved by the crane while moving together with the transportation block. The method according to claim 1,
Wherein,
And a cross-shaped third guide line and a fourth guide line extending from the width and the vertical width of the virtual block displayed at the final transport position of the transport block are augmented and displayed. The method of claim 1,
Wherein,
A gantry crane control system for recognizing that an obstacle or a person is present in a guideline of a path through which the moving block moves through the image analysis of the arrange view, thereby alerting collision and presenting a avoidance path. The method according to claim 1,
The display unit includes:
A gantry crane control system for projecting and displaying the arrangement view screen and augmented information in a predetermined area of a window of a cockpit through a projector. The method according to claim 1,
Further comprising a monitoring unit for analyzing the wire rope tensile strength and vibration of the gantry crane of the gantry crane through finite element analysis to diagnose a risk according to a predetermined stress criterion. A gantry crane control method for safe block transfer in shipbuilding,
a) photographing a work area area through a camera array part installed in a multifaceted top area of a gantry crane;
b) creating an arrange view screen of the work area by integrating images photographed by the camera array section;
c) generating a virtual block of the same scale with reference to the plane shape and area of the transport block on the arrange-view screen to display a final transport position of the transport block;
d) augmenting and displaying a cross-shaped guideline extending from the transverse width and the transverse width of the transport block; And
e) collecting vibrations generated in the wire rope and the structure during movement of the transport block, and monitoring stresses according to each finite element analysis. 12. The method of claim 11,
The step e)
Warning to the pilot if the risk due to stress exceeds a first set reference value, and entering an emergency stop mode when the risk exceeds the second set reference value to lower the transfer block to the workplace. CLAIMS 1. A gantry crane control system for safe block transfer during shipbuilding,
A camera array unit for photographing a worksite including a camera installed in a multifaceted manner in a tower area of a gantry crane;
An image processing unit for generating an arrangement view of a work area by integrating images photographed by the camera array unit; And
And a control unit for enhancing a virtual block for displaying a final transfer position of the transfer block on the arrange-view screen and a guide line considering a travel width of the transfer block, and displaying the virtual block through a pilot portable terminal at a remote location,
Wherein the control unit controls the block transfer path and the speed according to an operation of the pilot portable terminal.

Images