KR102246014B1 - Anti-snag and sway crane using multi-step lifting control - Google Patents

Abstract

The present invention relates to an anti-shake crane using multi-level lifting control, which blocks shaking that occurs during the movement of baggage without relying on a complex detection system by a number of sensors. In addition, the present invention effectively prevents fatal accidents caused by the shaking of baggage and hooks by thoroughly blocking an initial shaking that occurs instantaneously when lifting baggage. The present invention includes a camera.

Description

Anti-shake crane using multi-stage lifting control {ANTI-SNAG AND SWAY CRANE USING MULTI-STEP LIFTING CONTROL}

The present invention relates to a crane, and in particular, without relying on a complex detection system by a plurality of sensors, not only to block the shaking that occurs during the movement of the luggage, but also thoroughly to the initial shaking that occurs instantaneously when the luggage is lifted. The present invention relates to an anti-shake crane using multi-stage lifting control to effectively prevent fatal safety accidents that may be caused by shaking of luggage and hooks by blocking them.

In general, a crane serves to move luggage to a desired position, and is a machine or mechanical device that horizontally transports luggage using power, and performs an operation of lifting and horizontally moving luggage.

Such a crane is widely used in the process of loading or releasing luggage at the site. When the luggage is lifted from the ground and then moved, the luggage suspended from the cable is shaken. In the case of luggage that is usually moved by a crane, it is common to weigh more than 1 ton, so the shaking of luggage can cause damage to cables, fall of luggage, and cause fatal problems such as injury or death of ground workers.

In order to solve the problem of shaking luggage like this, like the'Crane Anti-Sway System' of Korean Patent Publication No. 10-2012639 (2019.08.14), it tries to suppress the shaking through automatic control without relying on the manual operation of the crane driver. Although some technologies have been disclosed, there are a lot of sensors required for this, and there is a problem that it cannot suppress the initial momentary shake that occurs because the luggage is not positioned at the moment the luggage is lifted from the ground. Sudden movement of hooks and luggage at this time is difficult to predict and may cause injury or death to ground workers.

Korean Registered Patent Publication No. 10-2012639 (2019.08.14.)

Accordingly, the present invention has been proposed in order to solve the problems of the related art as described above, and an object of the present invention is to block shaking that occurs during the movement of luggage without relying on a complex detection system by a plurality of sensors. , It relates to an anti-shake crane using multi-stage lifting control that can effectively prevent fatal safety accidents that may be caused by shaking of luggage and hooks by thoroughly blocking the initial shaking that occurs instantaneously when lifting luggage.

In order to achieve the above object, the anti-shake crane according to the technical idea of the present invention includes a trolley and a hoist moving along the crane body, a support block suspended from a cable from the hoist and elevating, and a hook installed at the lower side of the support block. A camera provided and installed so as to be photographed downward from one side of the trolley; A display member having an upper surface having a mark formed as a reflective surface, installed on the support block, and protruding upward from a point protruding toward one side of the support block so as to be positioned in a vertical direction corresponding to the camera; And an image processing unit that image-processes the mark of the display member photographed by the camera in real time, and calculates the coordinates of the mark image in real time from the image generated by the image processing unit, wherein the support block is moved in a vertical direction by a gravitational field. When suspended from a cable, it has a coordinate setting unit that sets the coordinates of the mark image as the reference point coordinates with the position of the mark as the standard position, and calculates the coordinates of the mark image in a relative position therefrom, and controls the operation of the trolley and the hoist. A controller for controlling; including, a load cell installed on the trolley to detect the load of the luggage hanging on the hook; further including, immediately after the crane is operated while the rope of the luggage is hung on the hook The controller includes a first step of first raising the support block and the hook while winding up the cable by operating the hoist; The second step of stopping the operation of the hoist and calculating the coordinates of the mark image by the coordinate setting unit when a certain or more load is detected on the load cell due to the luggage while the luggage does not fall off the ground while the first step is in progress. ; A third step of calculating the moving distance and direction of the trolley required to match the coordinates of the current mark image and the reference point coordinates when the coordinates of the mark image do not coincide with the reference point coordinates; A fourth step of first moving the trolley according to the moving distance and direction calculated in the third step; A fifth step of re-operating the hoist in a state in which the trolley is first moved to raise the support block and the hook second while winding up the cable; The sixth step of stopping the operation of the hoist and recalculating the coordinates of the mark image by the coordinate setting unit when a certain load is detected on the load cell due to the luggage while the luggage is not separated from the ground while the fifth step is in progress. step; And if the coordinates of the mark image calculated in the sixth step match the coordinates of the reference point, the hoist is restarted to lift the luggage from the ground, and if the coordinates of the mark image calculated in the sixth step do not match the coordinates of the reference point, the trolley A seventh step of guiding the coordinates of the mark image to start again from the third step so that the coordinates of the reference point coincide with the reference point coordinates.

Here, when the luggage is lifted and moved by the trolley, the controller calculates the vertical distance from the hoist to the support block by the relative size ratio of the mark image in the image generated by the image processing unit, and the reference point Further comprising a shift angle calculation unit that calculates the displacement distance of the support block from coordinates and image coordinates, and calculates a change angle due to shaking of the support block from the vertical distance and displacement distance calculated as described above, and the change angle during the pendulum movement of the support block It may be characterized in that the movement control to move the trolley in a direction that reduces the deflection angle calculated by the calculation unit.

In addition, the controller further includes a risk calculation unit for calculating a risk by taking into account the variance calculated by the variance calculation unit and a vertical distance from the hoist to the support block, wherein the risk calculation unit increases the variance, the vertical distance The shorter is, the more weight is given to calculate the risk.

In addition, the display member may include a guide casing attached to an upper surface of one end portion of the support block and having an opening opening toward one side; A slide bar partially inserted through the opening of the guide casing and installed to slide forward and backward; And a protruding mark installed in a form protruding from an upper surface of one end of the slide bar and provided with a reflective surface having a center point on the upper surface thereof, and without changing the setting of the coordinate setting unit by the sliding forward/removing operation of the slide bar. It may be characterized in that the reference position of the mark relative to the camera can be corrected.

In addition, a scale is displayed on the upper surface of the slide bar so that the advancing and retreating distance of the slide bar can be checked along its longitudinal direction, and the sliding operation of the slide bar along the longitudinal direction of the guide casing is performed on the inner bottom surface of the guide casing. It may be characterized in that it is provided with a guide rail to guide.

In addition, the display member includes a support portion provided in an inverted U-shaped shape contacting an upper surface and both sides of the guide casing, and horizontally bent outwardly at both ends of the support portion to contact the upper surface of the support block. A detachable magnetic fixing piece made of a contact part is further provided, and the guide casing made of a metal material is fixed to the support block by magnetic force of the magnetic fixing piece, and the slide bar made of a metal material is fixed by the magnetic force of the magnetic fixing piece. It may be characterized in that it can be fixed so as not to move with respect to the guide casing.

In addition, the outer surface of the slide bar may be coated with Teflon to reduce the coefficient of friction with the inner surface of the guide casing.

The anti-shake crane according to the present invention does not rely on a complex detection system by a plurality of sensors, and an initial shake that occurs instantaneously when a luggage is lifted by an image generated from camera photographing and a multi-level lifting control based thereon. By thoroughly blocking the luggage, safety accidents that may be caused by the shaking of luggage and hooks can be prevented in advance.

In addition, the present invention can effectively block shaking that occurs during the movement of luggage by real-time movement control of the trolley.

In addition, the present invention is provided with a display member so that the position of the mark can be easily changed by a sliding method while being easily attached to and detached from the hook fixing block. Reference position correction can be made simply.

1 is a schematic view of an anti-shake crane according to an embodiment of the present invention
Figure 2 is a configuration diagram for explaining a configuration for performing multi-stage lifting control and movement control in the anti-shake crane according to an embodiment of the present invention
3 is a perspective view of a display member in an anti-shake crane according to an embodiment of the present invention
4 to 6 are a series of reference views for explaining the operation and operation of the display member in the anti-shake crane according to the embodiment of the present invention
7 to 9 are mark images implemented by processing an image from camera image information in an anti-shake crane according to an embodiment of the present invention.
10 to 14 are a series of reference diagrams for explaining the multi-level camera lifting control performed by the controller in the anti-shake crane according to an embodiment of the present invention
15 is a reference diagram for explaining the movement control of the trolley performed by the controller in the anti-shake crane according to an embodiment of the present invention

With reference to the accompanying drawings will be described in detail with respect to the anti-shake crane according to the embodiments of the present invention. Since the present invention can be modified in various ways and has various forms, specific embodiments will be illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to a specific form of disclosure, and it should be understood to include all changes, equivalents, and substitutes included in the spirit and scope of the present invention. In describing each drawing, similar reference numerals have been used for similar elements. In the accompanying drawings, dimensions of structures are shown to be enlarged than actual for clarity of the present invention, or reduced than actual to understand a schematic configuration.

In addition, terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another component. For example, without departing from the scope of the present invention, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element. On the other hand, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention belongs. Terms as defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in the present application. .

<Example>

1 is a schematic view of an anti-shake crane according to an embodiment of the present invention, and FIG. 2 is a configuration diagram for explaining a configuration for performing multi-stage lifting control and movement control in an anti-shake crane according to an embodiment of the present invention And Figure 3 is a perspective view of a display member in the anti-shake crane according to an embodiment of the present invention.

As shown, the anti-shake crane according to the embodiment of the present invention is a crane body 101, a trolley 102 moving along the crane body 101 and a hoist 103, a cable 106 from the hoist 103 Basically includes a support block 105 that is suspended from the upper and lower side of the support block 105, a hook 104 installed below the support block 105, and includes a display member 110, a camera 120, a load cell 130, and a controller 140 ) Is further included as a major component.

The anti-shake crane according to the embodiment of the present invention prevents shaking that occurs during the movement of the luggage W1 by real-time movement control of the trolley 102 without a complex detection system by a plurality of sensors by such main components. In addition to effective blocking, it is configured to thoroughly block initial shaking that occurs instantaneously when lifting the luggage W1 by performing multi-step lifting control.

As described above, the present invention is capable of blocking not only the shaking caused by the pendulum motion while moving the luggage by the trolley 102 but also the sudden shaking that occurs at the moment when the luggage is lifted from the ground, so that the luggage W1 and the hook ( 104) can more thoroughly prevent safety accidents that may be caused by the shaking.

Hereinafter, it will be described in detail for the anti-shake crane according to an embodiment of the present invention centering on each of the above components.

The display member 110 is provided so that the camera 120 can more accurately detect the displacement of the support block 105, and has a mark 112 formed as a reflective surface on the upper surface, and is installed on the support block 105. . Here, the mark 112 of the display member 110 is installed in a form protruding upward from a point protruding toward one side of the support block 105 so as to be positioned in a vertical direction corresponding to the camera 120. Looking specifically at the configuration of such a display member 110, as shown in FIG. 3, the slide bar 111, the protruding mark 112, the guide casing 113, the guide rail 114, and the magnetic fixing piece 115 It consists of components.

The slide bar 111 of the display member 110 is partially inserted through the opening 113a of the guide casing 113 as shown in FIGS. 4 to 6 and is installed to be slidable forward and backward. The slide bar 111 has a guide groove (not shown) in which the guide rail 114 installed inside the guide casing 113 is inserted correspondingly, and receives the guidance of the guide rail 114 during a sliding operation. Sliding operation is made more stably. Here, on the upper surface of the slide bar 111, a scale 111a is displayed along its longitudinal direction so that the advancing and retreating distance of the slide bar 111 can be simply checked. In this way, according to the configuration in which the scale 111a is provided on the slide bar 111, it becomes possible to simply quantify the position of the mark 112 in correspondence with the camera 120.

In addition, the outer surface of the slide bar 111 is coated with Teflon. This reduces the coefficient of friction between the outer surface of the slide bar 111 and the inner surface of the guide casing 113 to prevent frictional resistance and damage resulting from the slide operation of the slide bar 111, and it is difficult for ground workers. Without it, the slide bar 111 can be slid.

The mark 112 of the display member 110 is installed in a cylindrical shape protruding upward from an upper surface of one side end of the slide bar 111, and the upper surface is provided as a reflective surface marked with a central point 112a. The mark 112 is the main photographing object of the camera 120 installed on the trolley 102.

The guide casing 113 of the display member 110 is attached to an upper surface of one end of the support block 105 and has an opening 113a opened toward one side. It is preferable that a semicircular seating groove 113b is formed in the upper end line of the opening 113a of the guide casing 113 so that the mark 112 is concave. The material of the guide casing 113 is provided with a metal material together with the slide bar 111.

The guide rail 114 is installed along the longitudinal direction of the guide casing 113 on the inner bottom surface of the guide casing 113. Accordingly, the guide rail 114 stably guides the sliding operation of the slide bar 111 while being inserted into the guide groove formed on the lower surface of the slide bar 111.

The magnetic fixing piece 115 of the display member 110 is made of a permanent magnet and serves to fix the slide bar 111 and the guide casing 113 with respect to the support block 105 using magnetic force. . To this end, the magnetic fixing piece 115 is provided in the form of an inverted U-shaped contact along the upper surface and both sides of the guide casing 113 and horizontally outward at both ends of the support portion 115a, respectively. It consists of a contact portion (115b) that is bent to contact the upper surface of the support block (105).

Accordingly, the guide casing 113 made of a metal material can be fixed to the support block 105 by the magnetic force of the magnetic fixing piece 115. At the same time, it is possible to simply fix the slide bar 111 that has completed the reference position correction so that it does not move with respect to the guide casing 113.

When the above-described display member 110 is provided, the reference position of the mark 112 with respect to the camera 120 is simplified without changing the software setting of the coordinate setting unit of the controller 140 by sliding forward and backward motion of the slide bar 111. The advantage is that it can be corrected. In the case of the display member 110, as described above, it can be simply mounted and used on the upper surface of the support block 105 by the magnetic fixing piece 115, and it can be stored separately when the crane is not operating.

The camera 120 is installed at a point protruding toward one side of the trolley 102 so as to be photographed downward toward the mark 112 of the display member 110. The camera 120 may be provided as a vision digital camera generally used in industrial machinery and is provided with a capability of transmitting image information of 20 frames per second, preferably 30 frames or more to the controller 140.

The load cell 130 is installed on the trolley 102 and serves to sense the load of the luggage W1 suspended from the hook 104. Here, the load cell 130 may be installed to support the hoist 103 while being supported by the trolley 102.

As shown in FIG. 2, the controller 140 includes an image processing unit, a coordinate setting unit, a variable angle calculation unit, and a risk calculation unit. Accordingly, the image information transmitted from the camera 120 is processed in real time to perform multi-stage lifting control and movement control of the trolley 102 to prevent shaking of the hook 104 and the luggage W1.

To this end, the image processing unit of the controller 140 is responsible for processing an image of the mark 112 of the display member 110 photographed by the camera 120 in real time as shown in FIGS. 7 to 9.

The coordinate setting unit of the controller 140 calculates the coordinates of the mark 112 image in real time from the image generated by the image processing unit, but the support block 105 is suspended from the cable 106 in the vertical direction by the gravity field without movement. When the position of the mark 112 is used as the reference position, the coordinates of the mark 112 image are set as the reference point coordinates (x0,y0), and the coordinates of the mark 112 image at a relative position (x1,y1) are set. Calculate. As such, when the coordinate setting unit is provided to calculate the coordinates (x1,y1) of the mark 112 image, the controller 140 lifts the luggage W1 from the ground regardless of the operation through the manipulator 107 of the crane driver. Multi-stage lifting control can be performed automatically so as not to shake when lifting.

A brief look at the multi-stage lifting control performed by the controller 140 is as follows.

As shown in FIG. 10, when the crane is operated while the ground worker hangs the rope W2 of the luggage W1 on the hook 104, the controller 140 performs multi-stage lifting control in earnest.

First, as shown in FIG. 11, the controller 140 operates the hoist 103 to wind up the cable 106 and proceeds to a first step of raising the support block 105 and the hook 104 first.

Thereafter, while the first step is in progress, when the load cell 130 is detected with a certain load or more due to the luggage W1 while the luggage W1 does not fall off the ground, the hoist 103 stops operating and the coordinate setting unit As a result, the second step of calculating the coordinates (x1,y1) of the mark 112 image proceeds. Here, the set load that must be detected to stop the operation of the hoist 103 and calculate the coordinates (x1,y1) of the mark 112 image is less than the weight of the luggage (W1), while the cable 106 and the luggage (W1) rope It is enough to use a load that allows (W2) to extend in a straight line in the elongated state. However, if the weight of the luggage (W1) is less than the load that can be stretched in a straight line with the cable 106 and the luggage (W1) rope (W2) stretched, the luggage (W1) will be lifted from the ground. The load can be set as the set load.

Thereafter, if the coordinates (x1,y1) of the mark (112) image do not match the coordinates of the reference point (x0,y0), the coordinates (x1,y1) of the current mark (112) image and the coordinates of the reference point (x0,y0) are matched. The third step of calculating the moving distance and direction of the trolley 102 required to be performed is performed.

Thereafter, as shown in FIG. 12, a fourth step of first moving the trolley 102 according to the moving distance and direction calculated in the third step is performed. When the deflection angle θ is reduced by the movement of the trolley 102, the luggage W1 and the rope W2 are again in a loose state.

Thereafter, in a state in which the trolley 102 is first moved, the hoist 103 is re-operated as shown in FIG. 13 to wind up the cable 106 while the support block 105 and the hook 104 are secondarily raised. Proceed to step 5.

Thereafter, while the fifth step is in progress, when the load cell 130 is detected with a certain or more load due to the luggage W1 while the luggage W1 does not fall off the ground, the operation of the hoist 103 is stopped and the coordinate setting unit The sixth step of recalculating the coordinates (x1,y1) of the mark 112 image is carried out.

When the coordinates (x1,y1) of the mark 112 image calculated in the sixth step match the coordinates of the reference point (x0,y0), the hoist 103 is re-operated as shown in FIG. 14 to lift the luggage (W1) from the ground. If the coordinates (x1,y1) of the image of the mark 112 calculated in the sixth step do not match the coordinates of the reference point (x0,y0), the trolley 102 is moved to the coordinates of the image of the mark 112 ( A seventh step of guiding starting from the third step is performed so that x1,y1) coincide with the reference point coordinates (x0,y0).

In this way, when the controller 140 performs multi-stage lifting control, it is possible to completely control the instantaneous initial shaking, which causes the greatest risk to ground workers and articles when lifting the luggage W1.

On the other hand, when moving by the trolley 102 after the luggage W1 is lifted as shown in FIG. 15, the variable angle calculation unit of the controller 140, as shown in FIG. 9, from the image generated by the image processing unit of the controller 140 The vertical distance (HD) from the hoist 103 to the support block 105 is calculated by the relative size ratio (d1/d0) of the mark 112 image, and the reference point coordinates (x0,y0) and the image coordinates The displacement distance of the support block 105 is calculated from (x1,y1), and the shift angle θ due to the shaking of the support block 105 is calculated from the vertical distance HD and the displacement distance calculated in this way.

The risk calculation unit of the controller 140 calculates the risk by considering the angle of change (θ) calculated by the angle of change calculation unit and the vertical distance HD from the hoist 103 to the support block 105. At this time, as the angle of change (θ) due to the shaking of the support block 105 increases and the vertical distance HD decreases, a weight is assigned to calculate the degree of risk. Here, that the angle of change (θ) caused by the shaking of the support block 105 is large means that the amplitude of the hook 104 and the luggage (W1) shaking based on the same vertical distance (HD) is wide, and the vertical distance (HD) is short. This means that the pendulum moves at such a high speed that there is a high potential risk of accidents in which the luggage (W1) falls or collides. It is preferable to divide the risk calculated by the risk calculation unit into several stages, and if the risk is higher than a certain level, the trolley 102 is directed toward reducing the change angle θ calculated by the change angle calculation unit, regardless of the operation through the manipulator 107 of the crane driver. Movement control to move) is automatically executed.

Looking briefly with reference to FIG. 15 for such movement control, when the trolley 102 starts running along the crane body 101, the hook 104 and the support block 105 hanging the luggage W1 by inertia During this pendulum movement, shaking occurs. At this time, the shift angle calculation unit calculates the shift angle (θ) due to the shaking of the support block 105, and considers the shift angle (θ) calculated by the shift angle calculation unit and the vertical distance HD from the hoist 103 to the support block 105. The risk is calculated in real time. When the calculated risk is more than a certain level, the controller 140 suppresses the occurrence of shaking of the support block 105 and the hook 104 by adjusting the moving speed of the trolley 102 as shown in FIG. 15. That is, when the pendulum movement of the support block 105 and the hook 104 occurs in the forward direction in which the trolley 102 moves, the moving speed of the trolley 102 is increased and the pendulum movement of the support block 105 and the hook 104 When the trolley 102 rises in the opposite direction in which it moves, the movement speed of the trolley 102 is reduced and the cycle is repeatedly performed to completely control the shaking of the support block 105 and the hook 104.

At this time, the moving speed of the trolley 102 for controlling the shaking of the support block 105 and the hook 104 is preferably increased or decreased in proportion to the pendulum movement speed of the support block 105 and the hook 104.

Although the preferred embodiment of the present invention has been described above, the present invention can use various changes, modifications, and equivalents. It is clear that the present invention can be applied in the same manner by appropriately modifying the above embodiments. Therefore, the above description does not limit the scope of the present invention determined by the limits of the following claims.

101: crane body 102: trolley
103: hoist 104: hook
105: support block 106: cable
107: manipulator 110: display member
111: slide bar 112: mark
113: guide casing 114: guide rail
115: magnetic fixture 120: camera
130: load cell 140: controller

Claims (7)

In the anti-shake crane having a trolley and a hoist moving along a crane body, a support block suspended from a cable from the hoist and elevating, and a hook installed at a lower side of the support block,
A camera installed to be photographed downward from one side of the trolley; A display member having an upper surface having a mark formed as a reflective surface, installed on the support block, and protruding upward from a point protruding toward one side of the support block so as to be positioned in a vertical direction corresponding to the camera; And an image processing unit that image-processes the mark of the display member photographed by the camera in real time, and calculates the coordinates of the mark image in real time from the image generated by the image processing unit, wherein the support block is moved in a vertical direction by a gravitational field. When suspended from a cable, it has a coordinate setting unit that sets the coordinates of the mark image as the reference point coordinates with the position of the mark as the standard position, and calculates the coordinates of the mark image in a relative position therefrom, and controls the operation of the trolley and the hoist. Includes; a controller to control,
A load cell installed on the trolley to detect the load of luggage suspended from the hook; further including,
Immediately after the crane is operated in a state in which the rope of the luggage is hung on the hook, the controller operates a hoist to wind up the cable while first raising the support block and the hook; The second step of stopping the operation of the hoist and calculating the coordinates of the mark image by the coordinate setting unit when a certain or more load is detected on the load cell due to the luggage while the luggage does not fall off the ground while the first step is in progress. ; A third step of calculating the moving distance and direction of the trolley required to match the coordinates of the current mark image and the reference point coordinates when the coordinates of the mark image do not match the reference point coordinates; A fourth step of first moving the trolley according to the moving distance and direction calculated in the third step; A fifth step of re-operating the hoist in a state in which the trolley is first moved to raise the support block and the hook second while winding up the cable; The sixth step of stopping the operation of the hoist and recalculating the coordinates of the mark image by the coordinate setting unit when a certain load is detected on the load cell due to the luggage while the luggage is not separated from the ground while the fifth step is in progress. step; And if the coordinates of the mark image calculated in the sixth step match the coordinates of the reference point, the hoist is restarted to lift the luggage from the ground, and if the coordinates of the mark image calculated in the sixth step do not match the coordinates of the reference point, the trolley A seventh step of guiding to start again from the third step so that the coordinates of the mark image coincide with the reference point coordinates by moving a multi-step lifting control including,
When the luggage is lifted and moved by the trolley, the controller calculates a vertical distance from the hoist to the support block based on the relative size ratio of the mark image in the image generated by the image processing unit, and calculates the vertical distance from the hoist to the support block, and the reference point coordinates and Further comprising a shift angle calculation unit that calculates the displacement distance of the support block from the image coordinates, and calculates a change angle due to the shaking of the support block from the vertical distance and the displacement distance calculated as described above, and the change angle calculation unit during the pendulum movement of the support block It performs movement control to move the trolley in the direction to reduce the calculated deflection angle,
The controller further includes a risk calculation unit for calculating a risk by considering the variance calculated by the variance calculation unit and a vertical distance from the hoist to the support block, wherein the risk calculation unit increases the variance angle, the shorter the vertical distance. An anti-shake crane, characterized in that calculating the degree of risk by putting a weight as recorded. delete delete The method of claim 1, wherein the display member,
A guide casing attached to an upper surface of one end portion of the support block and having an opening opening toward one side;
A slide bar partially inserted through the opening of the guide casing and installed to be slidable forward and backward; And
It consists of a protruding mark installed in a form protruding from the upper surface of one end of the slide bar and provided with a reflective surface on which the center point is indicated,
The anti-shake crane, characterized in that the reference position of the mark relative to the camera can be manually corrected without changing the setting of the coordinate setting unit by the sliding forward/removing operation of the slide bar. The method of claim 4,
A scale is displayed on the upper surface of the slide bar so that the advancing and retreating distance of the slide bar can be checked along its longitudinal direction,
An anti-shake crane, characterized in that a guide rail is provided on the inner bottom surface of the guide casing to guide the sliding operation of the slide bar along the longitudinal direction of the guide casing. The method of claim 4,
The display member includes a support portion provided in an inverted U-shaped shape contacting an upper surface and both sides of the guide casing, and a contact portion that is horizontally bent outward at both ends of the support portion to contact the upper surface of the support block. Further provided with a detachable magnetic fixing piece made,
The guide casing made of a metal material is fixed to the support block by the magnetic force of the magnetic fixing piece, and the slide bar made of a metal material can be fixed so as not to move with respect to the guide casing by the magnetic force of the magnetic fixing piece. Anti-shake crane characterized by. The method of claim 6,
Anti-shake crane, characterized in that the outer surface of the slide bar is coated with Teflon to reduce the coefficient of friction with the inner surface of the guide casing during the sliding operation of the slide bar.

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