KR20100078837A - Remote control method and apparatus of crane - Google Patents

Abstract

PURPOSE: Manless control method and device of a crane are provided to accurately load a product on a carrier, such as a ship, by preventing the neglect accident of a crane operator. CONSTITUTION: A manless control method of a crane is as follows. The location of the loading stand on a carrier varies in real time. A movable product support is installed on the loading stand. The location information of the movable product support and the loading stand is received(S410). A reference date is received from a GPS station(S420). The location information of the loading stand and the movable product support is compared to the reference date. The corrected location information of the loading stand and the movable product support which has been created through the comparison is transmitted to a product load crane(S430). Based on the corrected location information of the loading stand and the movable product support, the product load crane moves the product to be loaded to the movable product support(S440). A load completion message is received from the product load crane(S450).

Description

Remote control method and apparatus of crane

The present invention relates to an unmanned control technology of a product loading crane. In particular, the place to ship the product or goods is not fixed and the place where the fluctuations are caused by the external environment is automatically controlled by the location recognition means such as GPS, without the subordinate supporters, so that the goods can be shipped in real time. It relates to a method and apparatus for shipping.

As we enter the industrialized society, the safety issues of workers in industrial sites become more important. It is especially important in the field where dangerous work is involved, and the best way to prevent safety accidents is to apply unmanned technology to the work method that may be a safety hazard. Unmanned technology not only guarantees the safety of the operator, but also saves costs and allows for more precise work.

Cranes are used to ship products or containers by ship. In order to ship goods to a ship by a crane, a driver usually boards a crane to exchange signals with subordinate job candidates on land or collaborate via wireless communication. In the case of cranes, especially heavy-weight items such as coils (Coils), there is a high risk of large-scale human accidents if a smooth communication with the lower work applicants on land is not made.

In the product loading crane, the crane worker boards the crane and moves unmannedly to a certain section, that is, on land, for example, by hoisting a coil. After unmanned movement, the coil is recommended to the ship. As described above, the crane operator must perform the work by exchanging a signal with the subordinate job supporter on the land, due to the disturbance such as rolling, twisting, etc. of the ship. It is very difficult to calculate the stowage location in real time as the ship is affected and the stowage location in the ship changes from time to time. Therefore, the operation of loading the coils on the ship was performed by manned operation or operation using a remote controller, and real time unmanned operation was impossible.

For this reason, the crane operator was exposed to the danger of falling due to external influences such as carelessness or sea breeze when boarding or getting off at the crane cab located in the high place. In addition, in view of the size of the product placed on the ship, the sub-land job applicants are still exposed to the dangers caused by the signal system mismatch with the crane driver.

In addition, when the crane recommends a product such as a coil, it is practically difficult to realize the accurate loading even if the loading of the vessel is assisted by the onshore subordinates for the change of the position of the ship.

In order to compensate for the position change when the product is shipped by crane in a location where there is fluctuation due to external influences such as a ship, the crane operator and the underland work supporter have had to send and receive signals from time to time to adjust the location of the product. Accurate loading is not easy.

In addition, the crane operator who adjusts the crane in a high position or the size of the product shipped by the crane will always be exposed to the risk of a safety accident.

In order to solve the above technical problem, there is provided a method for unmanned control of a product loading crane, which method comprises: a) the stockpile on the carrier having a variable position in real time and the movable stockpile installed on the stockpile; Receiving location information of a movable product holder; b) receiving reference data from a GPS calibrating base station; c) comparing the position information of the loading stand and the movable product stand with the reference data and transmitting the corrected position information of the loading stand and the movable product stand to the product loading crane; And d) causing the product loading crane to move the product to be shipped to the mobile product pedestal position based on the corrected position information of the loading rack and the mobile product pedestal, wherein The steps a) to d) are repeated until the shipment completion message is received indicating that the shipment is completed.

In order to solve the above technical problem, a) receiving the position information of the loading stand and the movable product stand from the mounting stand and the movable product stand on the mounting stand is mounted on a carrier whose position is changed in real time; b) transmitting the received location information to a ground station GPS server; c) receiving, from the ground station GPS server, the corrected position information generated by comparing the reference data transmitted from the GPS correction base station with the position information of the loading stand and the movable product support; And d) shipping the product to be shipped on the movable product holder based on the corrected position information, repeating steps a) to d) until the shipment of the product is completed. Provided is an unmanned control method for a product loading crane.

In order to solve the above technical problem, a location information receiving unit for receiving the position information of the loading stand and the movable product stand from the loading stand and the movable product stand of the vehicle which is variable in real time; A GPS location information transmitter for transmitting the location information to a ground station GPS server; A correction position information receiving unit for receiving the corrected position information generated by comparing the reference data transmitted from the ground station GPS server from the GPS correction base station with the position information of the loading stand and the movable product pedestal; And a control unit for controlling shipment of the product to be shipped on the movable product pedestal based on the corrected position information continuously received in real time.

According to the unmanned control method and apparatus of the product loading crane according to the present invention, it is possible to prevent the safety accidents of the crane driver and the sub-land work manager, and to accurately load the product on a vehicle such as a ship that changes in real time. Do.

Hereinafter, a method and system for providing a customer-specific location tracking service according to the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. In addition, terms to be described below are terms defined in consideration of functions in the present invention, which may vary according to a client's or operator's intention or custom. Therefore, the definition should be based on the contents throughout this specification.

Figure 1a is a view showing a product shipment method by a crane according to the existing method.

When the product such as the coil 130 is transported to the land, the crane 100 is to move the product to be shipped such as the coil 130 to the vessel 110. In this case, unmanned work is possible from the land to near the ship 110. However, in order to ship the product exactly at the desired point in the vessel 110, a separate lower work supporter is required. The reason for this is that there is a characteristic that the vehicle, such as the vessel 110, changes in real time. Due to the waves or winds, the vessel 110 is slightly changed in position, sometimes to a considerable extent, which adds to the difficulty of loading the product to the correct position.

For this reason, in the case of finally loading the product in the ship 110, it is inevitable that the cooperation between the crane worker and the lower work supporter in the ship is inevitably forced to ship the product by hand.

Figure 1b is a schematic diagram of the unmanned control method of the product loading crane according to the present invention unmanned the entire product shipping process including the manned section according to Figure 1a.

As will be described in detail later, the unmanned control method of the product loading crane according to the present invention is performed in real time using GPS data. That is, the crane 100 continuously monitors the corrected position where the product should be placed from the ground station GPS server (not shown), and the position is changed in real time such as the ship 110 based on the corrected position. It will be possible to ship exactly what is to be shipped to the vehicle.

Figure 2 is an exemplary view showing the installation of the loading deck and the mobile skid in ship according to the present invention.

The loading rack 230 and the movable skid 220 are installed on a vehicle having a variable position in real time, such as the vessel 200. As can be seen in Figure 2 there is a skid 210 already loaded with products in the loading rack, while there is also a mobile skid 220 according to the present invention now waiting for shipment of the product. The stockpile usually attaches a GPS position transmitter to each of the four vertices to monitor the position of the stockpile to allow unmanned crane control. As shown in FIG. 2, the loading decks are provided with movable skids 210 and 220, which may be referred to as a kind of a plurality of movable product pedestals.

3 is an overall system diagram showing an unmanned control method of the product loading crane according to the present invention.

The whole system is an embodiment of a ground station 310 that receives and transmits GPS data, a crane 330 that executes unmanned product shipment control based on GPS data, and a real-time variable vehicle that is an object to be shipped. It consists of 300 pieces. Also shown is a relay station 320 that is responsible for relaying data transfer between the ground station 310 and the crane 330.

Wireless control of the product loading crane according to the invention can be made in two ways.

First, the first method relates to a method in which the ship 300 directly transmits the position information (location data) of the loading stand 303 and the movable product support 301 in the ship to the GPS server in the ground station 310.

The GPS location information transmitter located in the loading rack 303 and the mobile product holder 301 in the ship transmits the positions of the loading rack 303 and the mobile product holder 301 to the ground station GPS server 313 in the ground station 310. . If the placeholder 303 is rectangular, it is necessary to attach the GPS location information transmitter to all four vertex positions of the rectangle to transmit the exact state of the placeholder 303. The mobile product pedestal 301 can use, for example, a mobile skid and the mobile product pedestal can also be attached to a GPS geolocation transmitter at all four vertex positions if the shape is rectangular, and one GPS geolocation transmitter at the center point. Can also be attached.

When all four vertex positions are transmitted, the ground station GPS server 313 can correct this even if there is a change in the inclination or the like of the loading rack 303.

As shown in FIG. 3, the ground station GPS server 313 receives reference data from the GPS correction base station 317 to correct the accuracy of the GPS location information. That is, the position data 305 received from the loading rack 303 and the mobile product support 301 in the ship and the reference data received from the GPS correction base station 317 are compared, and the position data 305 is corrected to compensate for the relay station. It passes through the 320 to the crane 330.

The crane 330 receiving the corrected position data (position information) loads the product on the ship 300 based on the corrected position data. The crane 330 ships the product while receiving the position information from the ground station GPS server 313 until the shipment is completed. Optionally, the crane 330 may send a shipment completion message to the ground station 310, and the ground station 310 stops transmitting the corrected location information upon receiving the shipment completion message.

4 shows a flowchart of a first scheme according to the invention according to FIG. 3.

In summary, the loading stand and the mobile product pedestal transmit the position data to the ground station GPS server (S410). The reference data is transmitted from the GPS calibrating base station to the ground station GPS server (S420). The ground station GPS server transmits the corrected position data to the crane (S430), and moves the product to be loaded by the crane to the loading rack and the mobile product support (S440). The crane determines whether the shipment of the product to be shipped is completed. Corrected location data transmission continues until a completion message is sent to the ground station GPS server.

The second way in FIG. 3 relates to the way that the crane 330 receives location information directly from the loading rack 303 and the movable product pedestal 301.

The crane 330 receives 337 position data (position information) from the loading stand 303 and the movable product support 301. The crane 330 transmits this position data to the ground station 310 via the relay station 320.

Similar to the first method, the GPS server 313 in the ground station 310 receives the reference data from the GPS correction base station 317. The ground station 310 compares the reference data received from the GPS correction base station 317 with the position information of the loading stand 303 in the ship received through the crane 330 and the position information of the movable product support 301 to generate the corrected position information. Then, it is transmitted to the crane 330 via the relay station 320 again. The crane 330 ships 335 the product to be shipped to the mobile product pedestal 301 in the ship 300 based on the corrected position data.

FIG. 5 is a flowchart illustrating an embodiment of a second scheme according to the present invention in FIG. 3.

The location data is transmitted to the crane from the loading stand and the mobile product pedestal in the ship (S510). The crane transmits the location data to the ground station GPS server (S520).

The ground station GPS server receives the reference data from the GPS correction base station (S530). The ground station GPS server transmits the corrected position data to the crane (S540). Based on the corrected position data, the crane moves the product to be shipped to the loading rack and the movable product support (S550). Now, the crane determines whether the shipment of the product has been completed, and if the shipment is not completed continuously receives the corrected position data, and when the shipment is complete it will no longer need to receive the corrected position data.

Figure 6a illustrates an embodiment of installing a GPS position data transmitter in the loading rack 600 as an example of a mobile product stand according to the present invention.

According to FIG. 6A, GPS position data transmitters x1, x2, x3, and x4 are installed at four vertices of the loading rack 600. In this case, a plane composed of four points x1, x2, x3, and x4 is called CT. As shown in FIG. 6A, the height of CT is H1, the height of CT is H2, the upper width of CT is W1, and the lower width of CT is W2.

Suppose that the transport chain ship with the loading rack 600 is shaken from side to side. Let each variation of CT / 2 be a. In this case, it is FIG. 6B which shows the rolling of the loading base 600 in sectional drawing.

FIG. 6B shows in cross section the change from the center marker to the right end of the loading table according to FIG. 6A.

The maximum length (lmax) of the stockpiles is from the centerline point A to the end of the stockpiles B. If the ship changes its tip B to C by rolling, the angular change in CT / 2 becomes a.

When the stockpile is observed from the top, the changed value of CT / 2 due to ship rolling becomes l ₂ . At this time, cos (a) = l ₂ / lmax, so a = cos ^-1 (l ₂ / lmax).

Now, if the height change amount of CT / 2 is h, h = lmax X sin (a).

In conclusion, h = lmax X sin (cos ^-1 (l ₂ / lmax)).

For example, if the CT is cut in half, a = 45 degrees.

If there is only a horizontal change, not a height change, only x1, x2, x3, and x4 will change without changing the size of the CT.

7 is a block diagram showing a product loading crane device 700 according to the present invention.

The position information receiving unit 710 of the product loading crane apparatus according to the present invention receives the position data from a mobile product pedestal, such as a loading deck and a movable skid in the vessel. The location data is transmitted from the GPS location information transmitter 720 to the ground station GPS server.

The data whose position is corrected in the ground station GPS server is received by the corrected position information receiver 730 of the crane apparatus 700, and the controller 740 controls the product shipment based on the corrected data.

As described above, the present invention has been described based on the preferred embodiments, but these embodiments are intended to illustrate the present invention, not to limit the present invention, so that those skilled in the art to which the present invention pertains can practice the above without departing from the technical spirit of the present invention. Various changes, modifications or adjustments to the example will be possible. Therefore, the protection scope of this invention will be limited only by the appended claims, and should be construed as including all changes, modifications or adjustments.

Figure 1a is a schematic diagram showing a product shipment method by a crane according to the existing method.

Figure 1b is a schematic diagram showing the product loading method by the unmanned control of the product loading crane according to the present invention.

2 is an exemplary view in which the loading deck and the mobile skid in the ship according to the invention is installed.

3 is an overall system diagram showing an unmanned control method of the product loading crane according to the present invention.

Figure 4 is a flow chart showing an embodiment of the unmanned control method of the product loading crane according to the present invention.

5 is a flow chart showing another embodiment of the unmanned control method of the product loading crane according to the present invention.

Figure 6a illustrates an embodiment of installing a GPS position data transmitter in the loading rack according to the present invention.

Figure 6b is a cross-sectional view showing a change in the loading deck during the rolling of the vessel in accordance with the present invention.

7 is a block diagram showing a product loading crane device according to the present invention.

Claims (9)

a) receiving position information of the stock holder and the movable product holder from a holder on a carrier whose position is changed in real time and a movable product holder installed on the holder; b) receiving reference data from a GPS calibrating base station; c) comparing the position information of the loading stand and the movable product stand with the reference data and transmitting the corrected position information of the loading stand and the movable product stand to the product loading crane; And d) causing the product loading crane to move the product to be shipped to the mobile product pedestal position based on the corrected position information of the loading rack and the mobile product pedestal; And repeating steps a) to d) before receiving a shipment completion message indicating that the product has been shipped from the product loading crane. The method according to claim 1, wherein the vehicle whose position is variable in real time is a ship. 2. The method of claim 1, wherein a GPS sensor is mounted at each vertex position when the place holder is rectangular. 4. The method according to claim 1 or 3, wherein the movable product pedestal is a movable skid. a) receiving position information of the locator and the movable product support from a locator installed on a carrier having a variable position in real time and a movable product support on the locator; b) transmitting the received location information to a ground station GPS server; c) receiving, from the ground station GPS server, the corrected position information generated by comparing the reference data transmitted from the GPS correction base station with the position information of the loading stand and the movable product support; And d) shipping the product to be shipped on the movable product support based on the corrected position information, wherein steps a) to d) are repeated until the shipment of the product is completed. Unmanned control method of product loading crane. 6. The method according to claim 5, wherein the carrier whose position is variable in real time is a ship. 6. The method according to claim 5, wherein a GPS sensor is mounted at each vertex position when the loading stand is rectangular. 8. The method according to claim 5, wherein the movable product pedestal is a movable skid. 9. A location information receiving unit for receiving location information of the loading stand and the movable product stand from the loading stand and the movable product stand of the vehicle which are variable in real time; A GPS location information transmitter for transmitting the location information to a ground station GPS server; A correction position information receiving unit for receiving the corrected position information generated by comparing the reference data transmitted from the ground station GPS server from the GPS correction base station with the position information of the loading stand and the movable product pedestal; And And a control unit for controlling shipment of the product to be shipped on the movable product base based on the corrected position information continuously received in real time.

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