KR20060016215A - Method for controlling movement of unmanned crane in 3 axes at the same time and system therefor - Google Patents

Abstract

The present invention relates to a system and method for controlling an unmanned crane, specifically, a first shaft motor for lifting and unloading a product, a second shaft motor for moving in a second axis direction and a movement in a third axis direction. A method of controlling the operation of an unmanned crane having a third shaft motor for the method comprising the steps of: (a) receiving feature information located on a path to which the unmanned crane moves; (b) receiving position information and transfer destination information of a product to be transferred by the unmanned crane; And (c) calculating a path through which the product can be transported without being disturbed by the feature included in the feature information, using the input feature information, the location information of the product, and the transfer destination information. And calculating motor control information for controlling the driving of the first shaft motor, the second shaft motor, and the third shaft motor so that the unmanned crane operates along a transport path. A three-axis interlocking control method and system thereof are provided.

According to the present invention, by using the feature information on the basis of the feature information to control the movement of each axis component in the direction that the unmanned crane moves so that the unmanned crane can move the product for the shortest time at the same time to prevent unnecessary waste of time. .

Unmanned Crane, Motor Control

Description

Method for controlling movement of unmanned crane in 3 axes at the same time and system therefor}

1 is a view showing the operation of a conventional unmanned crane

2 is a block diagram showing a general configuration of an unmanned crane system usable in the present invention.

3 is a block diagram showing the configuration of the system of the present invention.

4 is a flow chart illustrating a method of the present invention.

5 is a view showing the path of the product transported by the unmanned crane according to the present invention.

The present invention relates to a system and method for controlling an unmanned crane, specifically, using the feature information of the area where the unmanned crane moves, the direction of the unmanned crane moves so that the unmanned crane can transport the product for the shortest time. A system and method for simultaneously controlling the movement of each axial component.

In general, the conveying path of the product through the unmanned crane is composed of a hoisting operation for lifting the product, a transverse operation for moving in the transverse direction and / or a traveling operation for moving in the longitudinal direction, and a lowering operation for lowering the transported product.

When each operation is performed by a motor in charge of each operation, each motor is operated by only one motor at a time. 1 illustrates an example of a coil being a product to be transported to a diagram illustrating an operation of a conventional unmanned crane.

The conveyed coil 101 is positioned on a skid 110 that fixes the coil, and is lifted to the highest point in the vertical Z-axis direction by the hoisting operation 103 of the unmanned crane 100, x After moving to the upper point of the position 102 to which the coil is to be conveyed through the axial driving operation or the transverse movement 104 in the y-axis direction, it is brought to the final position 102 by the unwinding operation 105. do.

If the hoisting / lowering speed is 10 m / min, The running speed is 100 m / min, the transverse speed is 50 m / min, and each movement is made at a constant speed. In the z-axis direction at 30m, the final position 102 of the coil is 500m in the x-axis direction, 50m in the y-axis direction from the current position 101, when transferring the coil through the conventional method, It takes 3 minutes on the hoist, 5 minutes on the run, 1 minute on the traverse, and 3 minutes on the unload, taking a total of 12 minutes.

In the case of transferring the product in the above manner, first, each operation is divided, so it takes a lot of time to transfer the product, and second, to prevent the impact of other products or other objects during the transfer of the coil. In order to raise the coil to the highest point in order to unnecessarily move the product in a state of high lifting, there is a problem that takes unnecessary time.

In order to solve the above problems, an object of the present invention is to provide a system in which a product can be safely transported in the shortest time by using information about a feature located on a path on which an unmanned crane moves.

In addition, in order to solve the above problems, an object of the present invention is to provide a method in which a product can be safely transported in the shortest time by using information about a feature located in the path that the unmanned crane moves.

In order to achieve the above object, the present invention provides a first shaft motor for lifting and unwinding a product, a second shaft motor for movement in a second axis direction and a third shaft motor for movement in a third axis direction. A method of controlling the operation of an unmanned crane provided, comprising: (a) receiving feature information located in a path along which the unmanned crane moves; (b) receiving position information and transfer destination information of a product to be transferred by the unmanned crane; And (c) calculating a path through which the product can be transported without being disturbed by the feature included in the feature information, using the input feature information, the location information of the product, and the transfer destination information. And calculating motor control information for controlling the driving of the first shaft motor, the second shaft motor, and the third shaft motor so that the unmanned crane operates along a transport path. It provides 3 axis interlock control method.

Here, the motor control information of step (c) is preferably calculated to include a section for simultaneously driving at least two or more motors of the first shaft motor, the second shaft motor and the third shaft motor of the transfer path. Do.

In addition, the three-axis interlocking control method of the unmanned crane further comprises the step of (d) when the product is transferred through the unmanned crane, modifying the input feature information by using the position information of the transferred product; It is desirable to.

In addition, the three-axis interlocking control method of the unmanned crane includes the steps of (e) identifying the movement path of the second unmanned crane used with the unmanned crane; And (f) calculating the motor control information so that the unmanned crane moves without disturbing the movement of the second unmanned crane when the unmanned crane movement impedes the movement of the second unmanned crane. It is preferable to include.

Meanwhile, in order to achieve the above object, the present invention provides a first shaft motor for lifting and unwinding a product, a second shaft motor for movement in a second axis direction, and a third shaft for movement in a third axis direction. A control system for controlling an operation of an unmanned crane having a motor, comprising: a feature information storage means for storing feature information located in a path along which the unmanned crane moves; Product transfer information storage means for storing location information and transfer destination information of the product to be transferred by the unmanned crane; And using the feature information stored in the feature information storage means and the location information and transfer destination information of the product set by the product transfer information storage means, if the product is not disturbed by the feature included in the feature information. A motor control information for controlling driving of the first shaft motor, the second shaft motor, and the third shaft motor to operate the unmanned crane along the calculated transport path. Motor control information calculating means for calculating; provides a three-axis interlocking control system of an unmanned crane comprising a.

The motor control information may be calculated to include a section for simultaneously driving at least two or more motors among the first shaft motor, the second shaft motor, and the third shaft motor in the transfer path.

In addition, the feature information stored in the feature information storage means is preferably modified by using the position information of the conveyed product when the product is transferred through the unmanned crane.

In addition, the motor control information calculation means grasps the movement path of the second unmanned crane used with the unmanned crane, and if the unmanned crane movement hinders the movement of the second unmanned crane, It is preferable to calculate the motor control information so as to move without disturbing the movement of the unmanned crane.

In order to achieve the above object, the present invention provides a computer readable recording medium having recorded thereon a program for realizing the above method.

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

2 is a block diagram showing a general configuration of an unmanned crane system usable in the present invention.

The unmanned control computer 200 instructs the operation of each unmanned crane 210. The unmanned control computer 200 and the unmanned crane 210 transmit and receive data by the wireless antennas 201 and 211.

The crane control unit 212 of the unmanned crane 210 controls the unmanned crane 210 by using data received from the unmanned control computer 200.

Specifically, the crane control unit 212 is a hoist motor 215 responsible for the lifting and unwinding of the product, the traveling motor 216 and the unmanned crane 210 that is responsible for the movement in the first axis direction of the unmanned crane 210. A motor including a transverse motor 217 that is responsible for movement in the second axis direction of the controller is controlled, and a coil lifter (not shown) is controlled by controlling the coil lifter controller 214.

In addition, the crane controller 212 measures the current position of the unmanned crane 210 by using the position measuring device 213 and informs it to the unmanned control computer 200. Position measurement generally measures the distance to the factory wall by measuring a round trip time by firing a laser or the like on a reflector (not shown) installed on the factory wall and measuring the position of the unmanned crane 210 by using the same.

In addition, the unmanned crane 210 is provided with an anti-collision sensor to prevent a collision, a shake angle measuring device for measuring the shake of the rope, a shake prevention device for preventing the shake, product width sensor for measuring the width of the product And, may further include an omission measurement sensor for measuring the weight of the product, and the unmanned control computer 200 is also connected to and control the balance control system and vehicle shape analysis system, but the above configuration is a direct Since it does not affect the function, a detailed description thereof will be omitted here.

Figure 3 shows a three-axis linkage control system of the unmanned crane of the present invention. The system of the present invention comprises a feature information storage means 301, a product transfer information storage means 302 and a motor control information calculation means 303. In addition, although the system of the present invention shown in FIG. 3 may be provided in the unmanned control computer 200, it may be provided in the crane control unit 2120.

The feature information storage means 301 receives and stores the feature information 305 located on the path where the unmanned crane 210 is movable. Here, the feature information refers to the degree of bending caused by various products or skids located under the moving path of the crane, that is, the height information of each point where the unmanned crane 210 and the product conveyed by the unmanned crane may not collide when moving. Indicates.

Initially input feature information can be directly input by the administrator. Since the products conveyed by the unmanned crane 210 generally have a certain size, the programming to automatically calculate accurate feature information even if the administrator inputs only the number and the approximate location of the product is a technical field of the present invention. It would be a very easy task for those of ordinary skill in Esau. Through this operation, initial feature information can be input and stored.

In addition, the first feature information may be set to be calculated using values measured by various sensors installed in the factory. The position of the lowermost product, for example, each skid for fixing the coil, can be known in advance, and if the standard of the coil is constant, even in this case, if only the shape information forming the outline of the product is accumulated by the sensor, Since the location of each product can be identified, the location of each product can be determined by a simple program.

In addition, since the position of each skid, etc. in the absence of a product at first will be known by the design drawing, it is also possible to store the first feature information by inputting the feature information every time the product to be transported on the skid is transferred.

The feature information stored in the feature information storage means 301 is changed and stored by the modified feature information 306 which is continuously input using the measured product information whenever the unmanned crane 210 transfers the product. .

That is, since the first input information 305 is likely to be a theoretical value and may be different from the actual value, the sensor installed when the unmanned crane 210 moves the lifter to transport the product (coil). By measuring the height of the product, and compares the measured result with the location information of each product stored in the feature information storage means 301, and corrects the feature information including the location information of the product and transfers each product. After this, since the shape of the feature has been changed, the feature information storage means 301 receives the modified feature information 306 and reflects it on the feature information stored in the feature information storage means 301.

The product transfer information storage means 302 stores the position of the product to be transferred by the crane and the transfer destination information of the product. Where to transfer the product where the administrator may be input directly in advance, or may be automatically set and stored according to the location information of each product and the work schedule of the unmanned crane (210).

The motor control information calculating means 303 hoists using the feature information stored in the feature information storage means 301 and the current position information and the transfer destination information of the product to be transferred stored in the product transfer information storage means 302. Control information for controlling the operation of each motor 304, such as the motor 215, the traveling motor 216, and the transverse motor 217, is calculated.

The transfer path of the product through the unmanned crane 210 using the motor control information calculated by the motor control information calculating means 303 is shown in FIG.

As shown in FIG. 5, the present invention is not driven by any one motor at any one moment when the product is being transported. Since two or more motors are interlocked with each other, the product is transported only at a right angle as shown in FIG. 1. This can prevent unnecessary waste of time.

In FIG. 5, a path for transferring the coil from the current position 501 to the final destination position 502 is illustrated in a two-dimensional form, and the driving or traversing process is omitted, but the transfer path shown in FIG. Includes both driving and traversing processes.

The motor control information calculation means 303 uses the feature information received from the feature information storage means 301 to secure the safety distance 521 that will not collide with other products, that is, the product, accumulated in each location. , 522, 523 to calculate the transport path to secure.

At this time, the driving speed ratio of each motor may be made constant and the transport path may be calculated, or the transport path may be calculated by varying the driving speed ratio of each motor at each point.

For example, when the motor driven in the section 512 is two of the hoist motor 215 and the traveling motor 216, the movement speed of the product driven by the hoist motor 215 and the driving motor 216 If the ratio of the moving speed of the product by driving is exactly 1: 1, the product will be tilted at an angle of 45 ° in section 512, and it will be recommended at an angle of 45 ° in section 514. If the ratio of the hoisting speed and the traveling speed is 1: 2, the lifting and unwinding operation will be made obliquely at a predetermined constant angle in the sections 512 and 514.

When the angles in the sections 512 and 514 are determined in this way, a feed path that can secure the safety distances 521, 522, and 523 in the case of lifting and lowering at the angle is determined, and the hoist motor ( A section 513 for driving only the driving motor 216 and / or the transverse motor 217 without driving 215 is also calculated.

The driving section of each motor is determined according to the calculated transport path. That is, in the section 511, only the hoist motor 215 is driven, and in the section 512, any one or more motors of the traveling motor 216 and the traverse motor 217 are simultaneously driven in conjunction with the hoist motor 215. In the section 513, only the driving motor 216 and / or the traversing motor 217 are driven without the hoist motor 215. In the section 514, at least one of the driving motor 216 and the traversing motor 217. The motor is simultaneously driven in conjunction with the hoist motor 215, in the section 515 only the hoist motor 215 is driven to transfer the product to the target position (502).

The time taken when transported in the above manner will be described with reference to FIG. 1. As in Fig. 1, the hoisting / lowering speed of the hoist motor 215 is constant at 10 m / min, the traveling speed of the traveling motor 216 is 100 m / min, and the traverse speed of the traverse motor 217 is 50 m / min. In addition, the hoisting operation by the unmanned crane 210 may be made up to 30 m above the current position 501 of the coil, and the final position 502 of the coil is 500 m in the traveling direction and 50 m in the transverse direction from the current position 501. When it is said that a distance of 10 m hoisting and unwinding operations are required in the sections 511 and 515 for the minimum safety distances 521, 522, and 523, the conventional right angle transfer method as shown in FIG. In the case of feeding the coil through, it takes 3 minutes on the winding, 5 minutes on the run, 1 minute on the transverse, and 3 minutes on the winding, which takes 12 minutes in total.

However, using the same method as in FIG. 5 in the present invention, even if the product to be transported up to the highest point in order to secure a minimum safety distance is driven only the hoist motor 215 in the section 511, 15 seconds, section At 512, the hoist motor 215, the driving motor 216, and the traversing motor 217 are all driven for 2 minutes, and in the section 513, only the driving motor 216 and the traversing motor 217 are driven together for 1 minute. 2 minutes by driving both the hoist motor 215, the traveling motor 216 and the traverse motor 217 in the section 514, and 15 seconds by driving only the hoist motor 215 in the section 515, so 5 Only 30 minutes is required, so the time required for transportation is greatly reduced.

As another example, the motor control information calculating means 303 may calculate the feed path by varying the driving speed ratio of each motor at each point. If the driving speed ratio of each motor is different, the angle of lifting or lowering can be adjusted differently in the section such as the section 512 or the section 514. The control information of each motor including the drive speed ratio of the motor at each position can be calculated.

That is, the hoist motor 215 is calculated according to the hoist angle and the hoist angle for the product to be transported through the shortest feed path at each point, and calculate the shortest feed path to secure the safety distances 521, 522, 523 for each point. And calculating the motor control information to adjust the driving speed ratio of the traveling motor 216 and / or the traversing motor 217, it is preferable to allow the product to be transported through the shortest distance.

In addition, the motor control information calculating means 303 grasps a moving path of each crane driven at the same place in addition to the unmanned crane 210 to be driven using the control information when calculating the motor control information. When the movement route of 210 overlaps with the movement route of another crane or there is a possibility of collision, it is preferable to calculate the transfer route so as to evacuate to the point where there is no possibility of collision for a while, and thus, the motor control information is calculated.

4 is a flow chart illustrating a method of the present invention.

First, in order to calculate the control information of each motor in the present invention, it is necessary to grasp all the pieces of information located in the path where the unmanned crane 210 can move (401). Here, the feature information is information indicating the degree of bending caused by various products or skids located at the lower part of the moving path of the crane, and the first feature information is calculated based on a value directly inputted by the manager or through a sensor. As described above, the feature information may be input whenever the product is calculated based on the measured value or the product is transferred and stacked on the skid to store the entire feature information.

In addition, in order to calculate the control information of each motor in the present invention, the current position of the product to be transferred and the transfer destination information to which the product is to be transferred must be input to the motor control information calculating means 303 in addition to the feature information (402). Where to transfer the product located where can be entered directly by the administrator, or automatically set according to the location information of each product and the work schedule of the unmanned crane 210 to be stored in the product transfer information storage means (302) It may be.

In addition, in order to calculate the control information of each motor in the present invention, while driving each motor according to the motor control information to move the crane to prevent the other crane to move to the other unmanned crane moving in the same area It is desirable to identify the movement route of the animals (403).

When the feature information, the product location information and the transfer destination information and the movement paths of the other cranes are identified, the motor control information calculating means 303 uses the hoist motor 215, the traveling motor 216 and the traversing motor based on the identified information. 217) Control information of each motor is calculated (404).

The method of calculating the motor control information has already been described with reference to FIG. 5. In other words, based on feature information, two or more motors are linked and driven at the same time in a section necessary for transporting the product to the shortest path at the minimum safe height to prevent a collision, and in a section where collision with another crane is expected. The transfer path is calculated to be evacuated to a predetermined evacuation site while the other crane moves the section, and the motor control information is calculated according to the transfer path.

When the motor control information is calculated, the unmanned crane 210 drives the motor according to the calculated motor control information to transfer the product (405).

When the product is transferred, the unmanned crane 210 accurately measures the current position of the product through the sensor, and corrects the feature information stored in the feature information storage means 301 based on the measured information. When the product is transferred, the feature information is stored by reflecting the change of the feature information according to the change of the product position (406).

The feature information is continuously modified and stored every time the product is transported, and the unmanned crane 210 performs the transfer of another product again through the aforementioned steps based on the modified feature information.

The method of the present invention can also be embodied as computer readable code on a computer readable recording medium. The computer-readable recording medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, and the like, and may also be implemented in the form of a carrier wave (for example, transmission over the Internet). Include. The computer readable recording medium can also be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion.

As described above, according to the present invention, since the transfer path of the product through the unmanned crane is calculated based on the feature information, it is necessary to raise the product to the highest point that the crane can lift when transferring the product through the unmanned crane. In addition, unnecessary waste of time can be prevented by allowing a plurality of motors which advance in different axial directions to be driven at the same time.

Claims (8)

A method of controlling the operation of an unmanned crane having a first shaft motor for lifting and unloading a product, a second shaft motor for moving in a second axis direction, and a third shaft motor for moving in a third axis direction. To (a) receiving feature information located on a path through which the unmanned crane moves; (b) receiving position information and transfer destination information of a product to be transferred by the unmanned crane; And (c) calculating a path through which the product can be transported without being disturbed by the feature included in the feature information by using the input feature information, the location information of the product, and the transfer destination information; Calculating motor control information for controlling the driving of the first shaft motor, the second shaft motor, and the third shaft motor so that the unmanned crane operates along a path. 3-axis interlock control method. The method of claim 1, wherein the motor control information of step (c) is And a section for simultaneously driving at least two or more motors of the first shaft motor, the second shaft motor, and the third shaft motor of the transfer path. According to claim 1, wherein the three-axis interlocking control method of the unmanned crane (d) when the product is transferred through the unmanned crane, modifying the input feature information by using the position information of the transferred product; 3-axis interlocking control of the unmanned crane further comprising: Way. According to claim 1, wherein the three-axis interlocking control method of the unmanned crane (e) identifying a moving path of a second unmanned crane used with the unmanned crane; And (f) calculating the motor control information so that the unmanned crane moves without disturbing the movement of the second unmanned crane when the unmanned crane movement impedes the movement of the second unmanned crane. 3-axis interlocking control method of the unmanned crane, characterized in that. Control to control the operation of the unmanned crane having a first shaft motor for lifting and unloading the product, a second shaft motor for movement in the second axis direction and a third shaft motor for movement in the third axis direction In the system, Feature information storage means for storing feature information located in a path to which the unmanned crane moves; Product transfer information storage means for storing location information and transfer destination information of the product to be transferred by the unmanned crane; And The product is transferred without being disturbed by the feature included in the feature information by using the feature information stored in the feature information storage means and the location information and the transfer destination information of the product set by the product transfer information storage means. Calculating motor control information for controlling driving of the first shaft motor, the second shaft motor, and the third shaft motor to operate the unmanned crane along the calculated transport path. Motor control information calculation means; three-axis interlocking control system of an unmanned crane comprising a. The method of claim 5, wherein the motor control information And a section for simultaneously driving at least two or more motors among the first shaft motor, the second shaft motor, and the third shaft motor of the transfer path. The feature information stored in the feature information storage means is 3. When the product is transferred through the unmanned crane, the three-axis interlocking control system of the unmanned crane, characterized in that modified by using the position information of the conveyed product. 6. The motor control information calculating means according to claim 5, wherein If the unmanned crane does not interfere with the movement of the second unmanned crane when the movement path of the second unmanned crane is used and the movement of the unmanned crane interferes with the movement of the second unmanned crane. The three-axis interlocking control system of the unmanned crane, characterized in that for calculating the motor control information to move.

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