KR20110008567A - System and method for controlling crane movement using laser scanner - Google Patents

Abstract

PURPOSE: A system and a method for controlling crane movement using a laser scanner are provided to minimize the cycle time of a crane since the operation of the crane is rapidly controlled at an optimal time. CONSTITUTION: A system for controlling crane movement using a laser scanner comprises laser scanners(110a,110b), a determining unit(130) and a crane controller(140). The laser scanner irradiates laser light to a coil, which is loaded on the lower part of the crane, and outputs scanning information. The determining unit generates information to determine using the scanning information whether a coil exists on a coordinate, on which the coil has to be wound, and a coordinate, from which the coil has to be unwound. The crane controller controls the crane using the information so that the coil, which is located on the coordinate to be wound, is wound and the coil, which is located on the coordinate to be unwound, is unwound.

Description

System and method for controlling crane movement using laser scanner

The present invention relates to a crane motion control system and control method using a laser scanner, and more particularly to a system and method for rapidly controlling the operation of the crane in the driving direction and transverse direction using a laser scanner.

In general, the steel sheet produced through the rolling process is wound in a circular coil state to facilitate storage and transportation. Such a coil is moved to a target position using a crane installed on the ceiling of a factory, and a crane control method of moving the coil to the target position will be described with reference to FIG. 1.

1 is a schematic diagram showing a conventional crane control method. As shown in FIG. 1, in the related art, the lifter 10a of the crane 10 starts to move to a target position after lifting the coil 20 to a certain safety height, and when the coil 20 is loaded, a constant safety height. After reaching the target position of, I started to recommend. The point in time when the lifter 10a recommends the coil 20 is when the target position is reached, and the coil 20 is not recommended while the crane 10 is moving. The operation time at the time of driving and the crossing is when the lifter 10a is raised and hoisted to a height that is not colliding even when the largest coil is near, that is, the safety height. Otherwise, the crane 10 does not move.

Conventionally, when there is no obstacle during hoisting in accordance with the loading situation of the yard as in the manual operation, it is difficult to apply the crane 10 to start quickly and start unwinding before reaching the target position. Therefore, the crane 10 by minimizing the distance that the lifter (10a) can be moved down so as to work safely even when the coil 20 is two stages, and the height to which the lifter (10a) can move, as high as possible, It took unnecessary time. For this reason, there was a problem that the total work time is more than the work time during manual operation.

Due to the problems described above, there is a need for a system and method capable of quickly and accurately controlling the operation of the crane 10 at an optimal point in three-dimensional space when the coil 20 is raised and unrolled according to the coil 20 loading situation. It is true.

It is an object of the present invention to provide a system and a method for rapidly controlling the operation of a crane at an optimal time point in a traveling and transverse direction in a three-dimensional space on a hoisting and unwinding coil according to a coil loading situation.

An object of the present invention is to provide a system and method for rapidly controlling the operation of a crane that can prevent collision with another coil by acquiring three-dimensional coordinate information of another coil when the coil is recommended.

One aspect of the present invention, the laser scanner for outputting the scanning information by irradiating the laser light to the coil mounted in the lower driving direction of the crane; A coil presence determining unit which determines whether a coil is present on a predetermined hoisting coordinate or a predetermined hoisting coordinate by using the scanning information; And a crane controller configured to receive the discrimination information indicating that the coil exists on the preset hoisting coordinates from the coil presence determination unit, to control the crane to hoist the coil located on the preset hoisting coordinates, and to roll it onto the preset hoisting coordinates. It provides a crane motion control system using a laser scanner comprising a.

In one embodiment of the present invention, the crane is provided with two laser scanners in a line in the line axis of the running direction of the crane, the laser scanner provided in the opposite direction of the running direction of the crane is the crane driving direction Provided is a crane motion control system using a laser scanner, characterized in that for scanning by scanning the laser light to the coil mounted on the lower portion.

In another embodiment of the present invention, the coil presence determining unit obtains three-dimensional coordinate information about the loading state of the coil from the scanning information in real time to determine whether there is a coil on a predetermined hoisting coordinate or a predetermined unwinding coordinate. It provides a crane motion control system using a laser scanner characterized in that.

In another embodiment of the present invention, the coil presence determining unit calculates in real time the three-dimensional coordinate information about the loading state of the coil by calculating the irradiation distance of the laser light according to the angle at which the scanning is performed from the scanning information It provides a crane motion control system using a laser scanner.

In another embodiment of the present invention, when the crane control unit receives the discrimination information indicating that there is another coil at a position higher than a predetermined height from the coil presence determination unit, the crane moves to the initial position after stopping the running of the crane. It provides a crane motion control system using a laser scanner characterized in that.

In another embodiment of the present invention, the crane control unit receives the determination information that the coil is located in the position coordinates to be coiled from the coil presence determination unit to lift the coil located in the position coordinates to be elevated It provides a crane motion control system using a laser scanner.

In another embodiment of the present invention, during the control of the crane to unload the hoisting coil on a preset unwinding coordinate, the crane control unit determines whether there is another coil on a preset unwinding coordinate. When receiving from the determination unit provides a crane operation control system using a laser scanner, characterized in that for moving the crane to the initial position after stopping the running of the crane.

In another embodiment of the present invention, the crane control unit provides a crane motion control system using a laser scanner, characterized in that for moving the crane to the initial position after the hoisting coil to be unloaded on a preset lifting coordinates. do.

Another aspect of the invention, the step of irradiating the laser light to the coil loaded in the lower driving direction of the crane using a laser scanner outputting the scanning information; Acquiring determination information that a coil exists on the preset hoisting coordinate using the scanning information; Controlling the crane to lift a coil positioned on the preset hoisting coordinate; And controlling the crane to unload the hoisting coil on a preset unwinding coordinate.

In an embodiment of the present disclosure, the determining of the presence of the coil on the preset hoisting coordinates may include obtaining, in real time, three-dimensional coordinate information about a loading state of the coil from the scanning information. Provides a crane motion control method using a scanner.

In another embodiment of the present invention, the determining of the presence of the coil on the preset hoisting coordinates may include: calculating the irradiation distance of the laser light according to the angle at which the scanning is performed from the scanning information to determine the loading state of the coil. Provided is a crane motion control method using a laser scanner, characterized in that to obtain three-dimensional coordinate information in real time.

In another embodiment of the present invention, the step of unloading the hoisted coil on the preset descent coordinates, after acquiring the discrimination information that there is another coil at a position above a predetermined height after stopping the running of the crane It provides a crane motion control method using a laser scanner, characterized in that for moving the crane to the initial position.

In another embodiment of the present invention, the step of unwinding the hoisted coil on the preset winding coordinates, the other coil on the preset winding coordinates during the winding of the hoisted coil on the preset winding coordinates And acquiring discrimination information, the crane operation control method using a laser scanner, characterized in that for moving the crane to the initial position after stopping the running of the crane.

In yet another embodiment of the present invention, the step of recommending the hoisted coil to the positional coordinates to be rolled may be performed by recommending the hoisted coil to the positional coordinates to be rolled up during the recommendation. When acquiring the discrimination information that there is another coil provides a crane motion control method using a laser scanner, characterized in that for moving the crane to the initial position after stopping the running of the crane.

In another embodiment of the present invention, further comprising the step of moving the crane to the initial position after the hoisting coil to be unloaded on a preset winding coordinates, the crane motion control method using a laser scanner to provide.

According to the present invention, according to the coil loading situation, by quickly controlling the operation of the crane in the optimal time in the running and transverse direction in the three-dimensional space of the coil hoisting and unwinding, the cycle time of the crane (original It is possible to improve productivity and work efficiency by minimizing the time to return to the standby state.

According to the present invention, by acquiring the three-dimensional coordinate information of the other coil at the time of coil recommendation to prevent collision with other coils, the situation in which work is stopped does not occur, thereby improving productivity and work efficiency.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, the embodiments of the present invention may be modified into various other forms, and the scope of the present invention is not limited to the embodiments described below. The shape and the size of the elements in the drawings may be exaggerated for clarity and the same elements are denoted by the same reference numerals in the drawings.

2A is a schematic diagram of a state in which the crane of the present invention moves the coil in the running direction, and FIG. 2B is a schematic diagram of a state in which the crane of the present invention moves the coil in the transverse direction.

2A and 2B, when the crane 100 moves in the traveling direction and the transverse direction, the lifter 100a of the crane 100 may lift the coil 200 to a certain safety height without a process. Start hoisting directly to the target position, and when the coil 200 is loaded, the winding starts directly to the target position without the process of arriving at a certain safety height. The coil 200 is not recommended while the crane 100 is moving.

As shown in FIG. 2B, when the crane 100 moves in a transverse direction perpendicular to the traveling direction, the crane 100 may move on a rail 150 having a constant width, and thus the traveling direction of FIG. Both transverse movements of 2b are possible.

3 is a schematic diagram of a crane motion control system using the laser scanner of the present invention. Referring to FIG. 3 along with FIG. 2, the crane motion control system using the laser scanners 110a and 110b includes the laser scanners 110a and 110b, a coil presence determining unit 130, and a crane control unit 140. The coil presence determining unit 130 and the crane control unit 140 may be implemented as a programmable logic controller (PLC).

The laser scanners 110a and 110b scan and scan laser light onto a coil mounted under the traveling direction of the crane 100.

The coil presence determiner 130 receives the scanning information from the laser scanners 110a and 110b, calculates the irradiation distance of the laser light according to the angle at which the scanning is performed, and calculates the three-dimensional coordinate information regarding the loading state of the coil in real time. Acquire and determine whether there is a coil on the preset hoisting coordinate or on the preset hoisting coordinate.

The crane control unit 140 travels or traverses the crane 100 while measuring the current coordinates of the crane 100 in real time, and receives the determination information that the coil exists on the preset hoisting coordinates from the coil presence determining unit 130. By controlling the traveling or traversing of the crane 100 and the lifter of the crane 100, the coils located on the preset hoisting coordinates are hoisted and the hoisted on the preset hoisting coordinates. In this way, the crane control unit 140 can quickly control the operation of the crane in the traveling and transverse directions on the three-dimensional space of the coil hoisting and unwinding.

In addition, the crane control unit 140 controls the lifter of the crane 100 to lift the coil on the preset hoisting coordinate or to lift the coil on the preset lifting coordinate by controlling the lifter of the crane 100. On the way, when receiving the discrimination information that there is another coil in the position above the predetermined height from the coil presence determining unit 130, the crane 100 is moved to the initial position after stopping the running of the crane. In this case, the crane control unit 140 may obtain the three-dimensional coordinate information of the other coil to prevent the collision with the other coil.

In addition, the crane control unit 140 controls the lifter of the crane 100 to unwind the coils that have been hoisted on the preset hoisting coordinates, and determines whether there is another coil on the preset hoisting coordinates. When received from 130, the crane 100 is moved to an initial position after pausing the traveling of the crane 100. In this case, the crane control unit 140 may obtain the three-dimensional coordinate information of the other coil to prevent the collision with the other coil.

In addition, the crane control unit 140 moves the crane 100 to the initial position after the hoisted coil to be unloaded on the preset lifting coordinates. The initial position of the crane 100 is a state in which the crane 100 stands by, but when the crane 100 does not lift and unwind the coil, it is in a stand-by state.

4 is a schematic diagram of an operating state of the laser scanner of the present invention. As shown in FIG. 4, the crane has two laser scanners 110a and 110b arranged in a line in a line around the running direction of the crane. The laser scanner 110a provided in a direction opposite to the traveling direction of the crane is provided. Scans by irradiating a laser beam to the coil mounted under the running direction of the crane. Then, the laser scanner 110b provided in the traveling direction of the crane irradiates the laser light on the lower side opposite to the traveling direction of the crane to perform scanning on the object to which the laser light arrives.

At this time, the laser scanner 110a on the opposite side of the traveling direction performs scanning within a predetermined angle from the bottom to the upper side, and the laser scanner 110b on the traveling direction side performs scanning within a constant angle from the upper side to the lower side.

5 is a schematic diagram illustrating a method of detecting a coil using a laser scanner of the present invention. As shown in FIG. 5, when the crane 100 moves in the driving direction to the right, the coil is sensed by the laser scanner 110a opposite to the driving direction of the crane 100.

이라고 하고, 레이저 스캐너(110a)가 스캔을 위하여 기본각도에서 상방 또는 하방으로 동작하여 조사된 레이저 광의 조사방향과 이루는 각도를

라고 하면, 레이저 스캐너(110a)의 레이저 광 조사로 레이저 광이 도달한 지점까지의 거리를 측정할 수 있다. 그리고, 거리측정을 통하여 수학식 1과 같이 레이저 광이 도달한 지점의 좌표도 구할 수 있다.At this time, the basic angle of the irradiation direction of the laser light irradiated from the laser scanner 110a and the vertical down

The angle formed by the laser scanner 110a in the irradiation direction of the irradiated laser light by operating upward or downward from the basic angle for scanning

In this regard, the distance to the point where the laser light reaches by the laser light irradiation of the laser scanner 110a can be measured. And, through the distance measurement, it is also possible to obtain the coordinates of the point where the laser light reaches, as shown in equation (1).

Here, x, y, z: coordinates indicating the running, traversal, height of the point where the laser light reaches, respectively

       L: distance from the laser scanner 110a to the point where the laser light reached

       Dx, Dy: distance traveled and traversed by the crane 100, respectively

       offset: Distance between the vertically downward direction of the laser scanner 110a and the vertically downward direction of the lifter 100a

Further, by using Equation 1, the coordinates of the point at which the laser light arrives can be obtained, so that the height of the point at which the laser light arrives as the crane 100 travels can also be obtained. If the height of the point at which the laser light reaches is a position higher than the preset height, it may be detected to prevent collision with the lifter 100a of the crane 100.

Figure 6 is a schematic diagram showing a method of calculating the detection height of the coil using the laser scanner of the present invention. As shown in FIG. 6, when the crane 100 moves in the driving direction to the right, the coil is sensed by the laser scanner 110a opposite to the driving direction of the crane 100.

이라고 하고, 레이저 스캐너(110a)가 스캔을 위하여 상방 또는 하방으로 동작하여 조사된 레이저 광의 조사방향과 이루는 각도를

라고 하면, 레이저 스캐너(110a)의 레이저 광 조사로 레이저 광이 도달한 코일(200)의 일부위의 높이(h)를 계산할 수 있다.At this time, the basic angle of the irradiation direction of the laser light irradiated from the laser scanner 110a and the vertical down

The laser scanner 110a operates upward or downward for scanning to determine an angle formed by the irradiation direction of the irradiated laser light.

In this regard, the height h of a portion of the coil 200 at which the laser light has arrived can be calculated by the laser light irradiation of the laser scanner 110a.

First, the length from the laser scanner 110a to a part of the coil 200 at which the laser light has arrived is a, and the straight line indicated by the irradiation direction of the laser light irradiated from the laser scanner 110a intersects the plane indicating h. If the distance from the laser scanner 110a to the point is b, a relational expression as in Equation 2 is established.

Subsequently, if the vertical downward distance from the laser scanner 110a to the plane representing h is c, a relational expression as in Equation 3 is established.

Subsequently, h may be obtained as in Equation 4 using Equations 2 and 3 below. At this time, it is assumed that the installation height of the laser scanner 110a is 12600 mm from the ground.

7 is a schematic diagram showing a method of controlling the down operation of the crane for winding up the single-stage coil of the present invention. As shown in FIG. 7, when the crane 100 moves to the right in the traveling direction, the coil is sensed by the laser scanner 110a opposite to the traveling direction provided in the crane 100.

When the laser scanner 110a detects the coil 200, the lifter 100a of the crane 100 begins to descend toward the coil 200. When the height from the ground to the bottom of the lifter 100a of the crane 100 is 5700 mm, the diameter of the coil 200 is 1300 mm, and the safety height from the coil 200 to the upper portion of the coil 200 is 1000 mm, The minimum height that the lifter 100a of the crane 100 must reach is 2300 mm.

Then, the linear distance at which the lifter 100a of the crane 100 reaches a height of 2300 mm from the ground is 3400 mm, and the elapsed time while traveling is 17 seconds. At this time, the distance that the lifter 100a of the crane 100 travels is 2600 mm.

8 is a schematic view showing a method of controlling the down operation of the crane for winding the two-stage coil of the present invention. As shown in FIG. 8, when the crane 100 moves in the driving direction to the right, the coil is sensed by the laser scanner 110a opposite to the driving direction of the crane 100.

When the laser scanner 110a detects the coil 200, the lifter 100a of the crane 100 begins to descend toward the coil 200. When the height from the ground to the upper end of the two-stage coil is 4000 mm and the distance from the lower part of the lifter 100a of the crane 100 to the upper end of the two-stage coil is 1700 mm, the distance that the lifter 100a of the crane 100 travels is the coil. It is 900 mm equal to the diameter of 200, and the elapsed time while driving is 10 seconds.

Figure 9 is a schematic diagram showing a method of controlling the down operation of the crane for one-stage loading by winding the coil of the present invention. As shown in FIG. 9, when the crane 100 moves to the right in the traveling direction, the position at which the coil 200 should be placed is placed by the laser scanner 110a on the opposite side of the traveling direction provided in the crane 100. Detect.

When the laser scanner 110a detects the position where the coil 200 is to be placed, the lifter 100a of the crane 100 starts to push toward the position where the coil 200 is to be placed. When the height from the ground to the lower portion of the lifter 100a of the crane 100 is 5700 mm, the diameter of the coil 200 is 1300 mm, and the safety height from the coil 200 to the upper portion of the coil 200 is 1000 mm, The minimum height that the lifter 100a of the crane 100 must reach is 2300 mm.

Then, the linear distance at which the lifter 100a of the crane 100 reaches a height of 2300 mm from the ground is 3400 mm, and the elapsed time while traveling is 17 seconds. At this time, the distance that the lifter 100a of the crane 100 travels is 2600 mm.

Figure 10 is a schematic diagram showing a method of controlling the down operation of the crane for the two-stage loading by winding the coil of the present invention. As shown in FIG. 10, when the crane 100 moves to the right in the traveling direction, the position at which the coil 200 should be placed by the laser scanner 110a opposite to the traveling direction provided in the crane 100 is located. Detect.

When the laser scanner 110a detects the position where the coil 200 should be placed, the lifter 100a of the crane 100 begins to descend toward the coil 200. When the height from the ground to the upper end of the two-stage coil is 4000 mm and the distance from the lower part of the lifter 100a of the crane 100 to the upper end of the two-stage coil is 1700 mm, the distance that the lifter 100a of the crane 100 travels is the coil. It is 900 mm equal to the diameter of 200, and the elapsed time while driving is 10 seconds.

11 is a schematic diagram showing a method of controlling an up operation of a crane for hoisting a two-stage coil of the present invention. As illustrated in FIG. 11, when the crane 100 moves to the left in the traveling direction, the coil 200 is gripped by the laser scanner 110b opposite to the traveling direction provided in the crane 100. The lifter 100a of the crane 100 starts to lift the coil 200 toward the initial position that is held at the bottom of the crane 100. When the height from the ground to the upper end of the two-stage coil is 4000 mm and the distance from the lower part of the lifter 100a of the crane 100 to the upper end of the two-stage coil is 1700 mm, the lifter 100a of the crane 100 is the coil 200. 10 seconds after gripping the distance is 8500mm.

12 is a schematic view showing a method of controlling the up operation of the crane after the two-stage stacking by winding the coil of the present invention. As shown in FIG. 12, when the crane 100 moves to the left in the travel direction, the coil 200 is positioned at the position to be placed by the laser scanner 110b opposite to the travel direction provided in the crane 100. After recommending the coil 200, the lifter 100a of the crane 200 starts to move up toward the initial position that is held at the bottom of the crane 100. When the height from the ground to the upper end of the two-stage coil is 4000 mm and the distance from the lower part of the lifter 100a of the crane 100 to the upper end of the two-stage coil is 1700 mm, the lifter 100a of the crane 100 is the coil 200. The distance traveled for 10 seconds after the vehicle was released is 8500 mm.

13 is a flowchart of a crane motion control method using the laser scanner of the present invention. 13 will be described with reference to FIGS. 2A, 2B, and 3.

First, laser beams are irradiated onto the coils mounted below the traveling direction of the crane 100 using the laser scanners 100a and 100b to scan them (S100).

Thereafter, the coil presence determining unit 130 calculates the irradiation distance of the laser light according to the angle at which the scanning is performed from the scanning information obtained from the laser scanners 100a and 100b in real time to obtain three-dimensional coordinate information regarding the loading state of the coil in real time. Acquire (S200).

Thereafter, the coil presence determining unit 130 determines whether there is a coil on the preset hoisting coordinate by using the 3D coordinate information (S300).

Subsequently, when the coil presence determining unit 130 obtains the discrimination information indicating that the coil exists on the preset hoisting coordinates, the crane controller 140 controls the traveling or traversing of the crane and the lifter of the crane 100 to preset the hoisting. The coil located on the coordinates is wound up (S400). However, when the coil presence determining unit 130 does not obtain the determination information that the coil is on the preset hoisting coordinates, the crane controller 140 pauses the running of the crane 100 and then moves the crane 100 to an initial position. Move to (S800).

Subsequently, while the coil 100 is unloading the hoisted coil on the preset hoisting coordinates, the coil presence determining unit 130 determines whether there is another coil at a position equal to or greater than the preset height (S500).

Subsequently, if it is not possible to obtain the determination information that there is another coil at a position equal to or greater than the preset height, the coil presence determining unit 130 determines whether there is another coil on the preset winding coordinates (S600). However, when the coil presence determining unit 130 obtains the discrimination information that there is another coil at a position equal to or greater than the preset height, the crane controller 140 pauses the running of the crane 100 and then moves the crane 100 to an initial position. Move to (S800).

Subsequently, when the coil presence determining unit 130 does not acquire the discrimination information indicating that there is another coil on the preset unloading coordinates, the crane controller 140 controls the lifter of the crane 100 to preset the wound coil. Recommend on the lower coordinates (S700). However, when the coil presence determining unit 130 obtains the discrimination information that there is another coil on the preset unwinding coordinates, the crane controller 140 pauses the running of the crane 100 and then moves the crane 100 to an initial position. Move to (S800).

After that, the crane control unit 140 moves the crane 100 to the initial position (S800). The initial position of the crane is in the standby state of the crane, but the crane is in the standby state when the crane is not lifting and unloading the coil.

As described above, the crane control unit 140 can not only quickly control the operation of the crane at the optimal time in the traveling and transverse directions in the three-dimensional space in the hoisting and unwinding of the coil, but also acquire three-dimensional coordinate information of another coil. This can prevent collision with other coils.

The present invention is not limited by the above-described embodiment and the accompanying drawings. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims, .

1 is a schematic diagram showing a conventional crane control method.

2A is a schematic diagram of a state in which the crane of the present invention moves the coil in the traveling direction.

2B is a schematic diagram of a state in which the crane of the present invention moves the coil in the transverse direction.

3 is a schematic diagram of a crane motion control system using the laser scanner of the present invention.

4 is a schematic diagram of an operating state of the laser scanner of the present invention.

5 is a schematic diagram illustrating a method of detecting a coil using a laser scanner of the present invention.

Figure 6 is a schematic diagram showing a method of calculating the detection height of the coil using the laser scanner of the present invention.

7 is a schematic diagram showing a method of controlling the down operation of the crane for winding up the single-stage coil of the present invention.

8 is a schematic view showing a method of controlling the down operation of the crane for winding the two-stage coil of the present invention.

Figure 9 is a schematic diagram showing a method of controlling the down operation of the crane for one-stage loading by winding the coil of the present invention.

10 is a schematic view showing a method of controlling the down operation of the crane for two-stage loading by winding the coil of the present invention.

11 is a schematic diagram showing a method of controlling an up operation of a crane for hoisting a two-stage coil of the present invention.

12 is a schematic view showing a method of controlling the up operation of the crane after the two-stage stacking by winding the coil of the present invention.

13 is a flowchart of a crane motion control method using the laser scanner of the present invention.

                 <Explanation of symbols for the main parts of the drawings>

100: crane 100a: lifter

110a, 110b: laser scanner 130: coil presence discrimination unit 140: crane control unit 150: rail 200: coil

Claims (15)

A laser scanner for outputting scanning information by irradiating laser light onto a coil mounted under the running direction of the crane; A coil presence determining unit configured to generate discrimination information for determining whether a coil exists in a position coordinate to which the coil is to be lifted and a position coordinate to which the coil is to be rolled up using the scanning information; And A crane control unit which controls the crane to wind the coil located at the position coordinate to be lifted and to roll the coil wound at the position coordinate to be rolled up using the discrimination information; Crane operation control system using a laser scanner comprising a. The method of claim 1, The crane is provided with two laser scanners in a line in a line around the running direction of the crane, and a laser scanner provided in a direction opposite to the running direction of the crane has a laser beam in a coil mounted below the running direction of the crane. Crane operation control system using a laser scanner, characterized in that for scanning by scanning. The method of claim 1, The coil presence determining unit obtains three-dimensional coordinate information about the loading state of the coil from the scanning information in real time to determine whether the coil is located in the position coordinate to which the coil is to be lifted or the position coordinate to which the coil is to be recommended. Crane motion control system using laser scanner. The method of claim 3, The coil presence determining unit calculates the irradiation distance of the laser light according to the angle at which the scanning is performed from the scanning information to obtain real-time three-dimensional coordinate information regarding the loading state of the coil crane control system using a laser scanner . The method of claim 1, When the crane controller receives the discrimination information indicating that there is another coil at a position equal to or greater than a preset height from the coil presence determining unit, the crane controller temporarily stops running of the crane and moves the crane to an initial position. Crane motion control system. The method of claim 1, The crane controller receives the discrimination information indicating that the coil is located at the position coordinate to which the coil is to be hoisted from the coil presence determining unit, and hoists the coil located at the position coordinate to be hoisted. system. The method of claim 1, During the control of the crane and the recommendation of the hoisted coil to the positional coordinates to be recommended, the crane controller receives the discrimination information from the coil presence determining unit indicating that there is another coil in the positional coordinates to which the coil should be recommended. Crane movement control system using a laser scanner, characterized in that for moving the crane to the initial position after pausing the movement of. The method of claim 1, The crane control unit is a crane motion control system using a laser scanner, characterized in that for moving the hoisted coil to the recommended position coordinates to move the crane to the initial position. Outputting scanning information by irradiating a laser beam onto a coil mounted under the driving direction of the crane using a laser scanner; Acquiring determination information that a coil is located at a position coordinate at which the coil is to be hoisted using the scanning information; Controlling the crane to hoist the coil located at the position coordinate to be hoisted; And Controlling the crane to lower the wound coil to a position coordinate to be rolled up; Crane operation control method using a laser scanner comprising a. 10. The method of claim 9, Acquiring the determination information that the coil is located in the position coordinates to which the coil is to be hoisted, crane motion control using a laser scanner, characterized in that to obtain in real time three-dimensional coordinate information about the loading state of the coil from the scanning information Way. The method of claim 10, Acquiring the determination information that the coil is located in the position coordinates to which the coil is to be wound may include calculating the irradiation distance of the laser light according to the scanning angle from the scanning information to obtain three-dimensional coordinate information regarding the loading state of the coil in real time. Crane operation control method using a laser scanner, characterized in that obtained by. 10. The method of claim 9, The step of recommending the hoisted coil to the position coordinate to be recommended is to move the crane to the initial position after stopping the running of the crane when acquiring discrimination information indicating that there is another coil at a position higher than a preset height. Crane operation control method using a laser scanner characterized in that. 10. The method of claim 9, The step of hoisting the coil located in the positional coordinates to be hoisted, using the discrimination information that the coil is located in the positional coordinates to be hoisted, the coils located in the positional coordinates to be hoisted Crane operation control method using a scanner. 10. The method of claim 9, The step of recommending the hoisted coil to the positional coordinates to be recommended includes obtaining the discrimination information indicating that there is another coil in the positional coordinates to which the coil should be raised during the recommendation of the hoisted coil to the positional coordinates to be recommended. Crane movement control method using a laser scanner, characterized in that for moving the crane to the initial position after stopping the running of the crane. 10. The method of claim 9, And moving the crane to an initial position after recommending the hoisted coil to a position coordinate to be rolled up.

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