KR20130002070A - Crane with spreader postrure control and method for spreader postrure control using wire regulation - Google Patents

Abstract

PURPOSE: A spreader pose control crane by wire control and a spreader control method is provided to control and stabilize the pose of a spreader automatically measuring the movement of the spreader in real time. CONSTITUTION: A spreader control method includes processes below. The measured movement information is sent to a crane control unit(500) measuring six degree-of-freedom(DOF) of the spreader(140) through use of a spreader sensor unit(300) which includes a tilt sensor and/or a vibration sensor(320). Control elements are determined based on the movement information received in a crane control portion. Operational information which restrains the movement of the spreader is automatically generated according to the control elements. In a spreader driving unit(200), position or pose is controlled by the control of the wire length or tension receiving the operational information and the restrain of the movement of the spreader. [Reference numerals] (120) Trolley; (140) Spreader; (200) Wire; (AA) X axis movement control; (BB) Y axis movement control; (CC) Roll, Pitch, Skew, Heave control

Description

Spreader attitude control crane and spreader control method by wire control {CRANE WITH SPREADER POSTRURE CONTROL AND METHOD FOR SPREADER POSTRURE CONTROL USING WIRE REGULATION}

The present invention relates to a method of controlling a posture of a spreader provided to a crane by adjusting a wire, and a crane thereof.

In maritime transportation, such as container ships are used to increase the size of the vessel, which is to secure the economics of transportation by increasing the volume of the vessel. Accordingly, more and more ports are required to have mooring and unloading facilities for docking large vessels.

However, harbors that can dock large container ships are limited at home and abroad, and the construction of such ports requires a lot of expenses due to dredging to maintain the necessary port depth, as well as a large place. In addition, due to the construction of a large port has a lot of influence on the surrounding environment, such as causing a traffic jam or destruction of the coastal environment, there are many restrictions on the construction of a large port.

Accordingly, researches on mobile harbors (mobile harbors) capable of loading and unloading cargo while anchored in offshore lands without large vessels docked on the quay in the harbor are underway. 1 is a view schematically showing a state in which a crane 1 installed in a ship 50 serving as a mobile harbor performs a container C unloading operation for a container ship S. Referring to FIG. Here, the longitudinal direction of the boom 10 and the width direction of the vessel 50 is defined as the longitudinal direction (X direction), the width direction of the boom 10 and the longitudinal direction of the vessel 50 is defined as the transverse direction (Y direction).

In general, the container crane (1), the spreader (30) to hold the container (C) and move in the vertical direction, the trolley (20), which is supported by the spreader 30 and moves in the longitudinal direction, the trolley (20) It has a boom 10 for guiding it to move. Spreader 30 is moved vertically using a hoist wire system.

On the other hand, at sea, the movement (shaking, tilting, twisting, etc.) of the ship 50 and the spreader 30 is indispensable under the influence of wind, blue, or algae. Such movements typically include six degrees of freedom: sway, surge, skew, pitch, roll, and heave. When the relative position between the spreader and the container to be unloaded cannot be maintained due to the movement of the spreader 30, it is difficult to fasten or detach them, so it is necessary to control such movement.

Conventionally, an operator located at a high place of a crane has controlled this with a joystick while watching the state of the spreader directly, but in this case, stress and danger in working at a high place exist, and the view may be limited depending on the position of the spreader. It has been difficult to accurately control the movement of six degrees of freedom in real time.

In view of the above problems, the present invention is to provide a spreader attitude control method and a crane that can measure the movement of the spreader in real time and automatically control and stabilize the spreader's posture based on this.

One aspect of the present invention includes a trolley formed to be transported in a horizontal direction on a boom, a spreader connected at a lower side of the trolley to be transported in a vertical direction, and at least a tilt sensor for measuring an inclination of the spreader. However, the spreader sensor unit for measuring the movement of the spreader and transmits the measured movement information to the smart device, and the crane control unit for receiving the steering information generated by the smart device to control the attitude of the spreader according to the steering information The smart device includes a smart device sensor including a smart device sensor unit having a screen for displaying the motion information of the spreader and a motion sensor for measuring at least the tilt of the smart device to generate the steering information. Provided by crane .

Another aspect of the invention, the step of receiving the movement information of the spreader, including at least inclination in the spreader sensor unit provided in the spreader of the crane in the smart device, and the motion information of the spreader is displayed on the screen provided in the smart device Measuring the movement of the smart device, including at least tilting, by the smart device sensor unit provided in the smart device, and generating motion information of the smart device; and controlling based on the generated motion information of the smart device. And generating information, and transmitting steering information generated by the crane to control the attitude of the spreader according to the steering information.

One aspect of the invention, the trolley is formed to be transported in the horizontal direction on the boom of the crane, the spreader is formed to be transported in the vertical direction connected to the lower side of the trolley, and at least the inclination sensor for measuring the inclination of the spreader And a spreader sensor unit for measuring the movement of the spreader, a crane control unit for receiving the motion information measured from the spreader sensor unit and automatically selecting a control element according to the motion information to generate steering information; Provided is a spreader attitude control crane which is formed so as to independently control the roll and the pitch and the heave of the spreader, the spreader driving unit for controlling the attitude of the spreader based on the steering information generated from the crane control unit.

According to another aspect of the present invention, the movement of the spreader including tilting and shaking is measured and the movement information is received from the crane control unit, and the control element of the movement of the spreader is determined based on the received movement information And generating steering information according to the determined control element, and transmitting the generated steering information to a spreader driver connected to a plurality of wires connected to the spreader, wherein the steering information is provided by the spreader driver. Provided is a spreader attitude control method comprising information for controlling the posture of the spreader by adjusting the length or tension of the wire independently.

According to the present invention, the movement of the spreader is measured in real time, and based on this, the posture of the spreader can be automatically controlled and stabilized.

According to the present invention, by independently driving the length and tension of the plurality of wires connected to the spreader, it is possible to control the movement of the multiple degree of freedom of the spreader.

According to the present invention, despite the severe movement of the ship, crane or spreader at sea, it is possible to maintain the attitude of the spreader and efficiently and stably handle the cargo transportation of the ship.

1 is a diagram schematically showing a state in which a crane installed in a ship performs a cargo unloading operation for a container ship.
2 is a view schematically showing the structure of a container crane according to an embodiment of the present invention.
3 is a perspective view illustrating a trolley and a spreader according to an embodiment of the present invention.
4A and 4B are side and perspective views schematically illustrating a structure of a spreader drive unit according to an embodiment of the present invention.
FIG. 5A is a diagram schematically illustrating a state in which the length of the wire is reduced or a tension is applied in the spreader driver, and FIG. 5B is a diagram schematically illustrating a state in which the length of the wire is increased or the tension is released. .
6A, 6B, 6C, and 6D are conceptual views illustrating how the spreader's heave, roll, pitch, and skew are adjusted according to the length adjustment of the wire.
7 is a conceptual view showing a state of adjusting the sway or surge of the spreader according to the tension of the wire.
8 is a conceptual diagram schematically illustrating a method of controlling a posture of a spreader according to an embodiment of the present invention.
9 is a flow chart showing the flow of a method for controlling the attitude of the spreader according to an embodiment of the present invention.

The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated and described in the drawings. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. In the following description of the present invention, if it is determined that detailed descriptions of related well-known technologies or functions may obscure the gist of the present invention, the detailed description thereof will be omitted.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

DETAILED DESCRIPTION Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings, and in the following description with reference to the accompanying drawings, the same or corresponding components will be given the same reference numerals and redundant description thereof will be omitted. do.

2 is a view schematically showing the structure of a container crane according to an embodiment of the present invention.

The container crane 100 is a horizontally extended boom 110, a trolley 120 formed to be transported in a horizontal direction on the boom 110, and connected to a lower side of the trolley 120 so as to be transported in a vertical direction. And a spreader driver 200 for controlling the position and posture of the trolley 120 and the spreader 140.

The trolley 120 may move in the longitudinal direction along the boom 110 and may be formed in a structure that may move in the lateral direction. Detailed operation principle and structure thereof will be described later with reference to FIG. 3.

The spreader 140 may hold the container and is operated by the spreader driver 200 using a wire. In FIG. 2, the wire is not illustrated, and an operation principle and a structure thereof will be described later with reference to FIGS. 4 and 5.

3 is a perspective view illustrating a trolley and a spreader according to an embodiment of the present invention.

The trolley 120 is a multi-stage trolley, and may include a first trolley 122, a second trolley 124, and a third trolley 126.

The first trolley 122 may move laterally along the boom 110 of the container crane. The first trolley 122 may be mainly used for the purpose of transporting the container.

The second trolley 124 may move longitudinally on the first trolley 122. The third trolley 126 may move laterally on the second trolley 124. The position may be changed so that the third trolley 126 moves on the first trolley 122 and the second trolley 124 moves on the third trolley 126.

By having such a multi-stage structure of the trolley 120, the trolley 120 is precisely formed so that the second trolley 124 or the third trolley 126 can be independently transferred in the longitudinal and transverse directions. Accordingly, the spreader 140 connected to the third trolley 126 may also be moved independently in the longitudinal and transverse directions.

Patent application 2010-0032270, filed previously by the applicant of the present application, describes a specific description of such a multistage trolley.

The crane is provided with a spreader sensor unit. The spreader sensor unit may measure a movement of the spreader 140 and transmit the measured movement information to a control means provided in a crane or an external controller.

The spreader sensor unit may include an inclination sensor 330, a shake sensor 320, and a distance sensor 340.

The tilt sensor 330 may be implemented, for example, in the form of a gyroscope, an accelerometer or an inertial navigation device (INS), an inertial measurement unit (IMU), or the like. The inclination sensor 330 may measure the inclination of the spreader, that is, a roll that is X-axis rotation, a pitch that is Y-axis rotation, and a skew that is Z-axis rotation.

The shake sensor 320 may be implemented, for example, in the form of a vision camera or a smart camera. The shake sensor 320 processes the image of the spreader 140 and measures its movement. The shedding sensor 320 may measure the spreader's shaking, that is, a surge that is an X-axis movement, a sway that is a Y-axis movement, and a skew that is a Z-axis rotation. The skew may be measured by two methods, the tilt sensor 330 or the shake sensor 320. A light source 310 may be provided to help measure the shake sensor, which is described in detail in patent application No. 2010-0106084 filed previously by the present applicant.

For example, the distance sensor 340 may use an ultrasonic wave or a laser, and may measure a heap that is a Z-axis movement of the spreader.

4A and 4B are side and perspective views schematically illustrating a structure of a spreader drive unit according to an embodiment of the present invention.

Spreader drive unit 200 is formed so as to independently control the rolling, pitching and hiving of the spreader 140 to control the attitude of the spreader 140 based on the control information provided from the control means provided on the crane or an external controller Done. The spreader driver 200 is formed in a structure having three or more wires connected to at least three locations of the spreader 140, respectively.

4B, for example, four wires 205 are connected to four corners of the spreader 140, respectively. Four actuators 220 are provided to allow each wire 205 to be adjusted independently, a hoist drum 210 to which the wire 205 is wound and unrolled, and a guide sheave 215 to guide the operation of the wire 205. .

Each of the four actuators 220 pushes the four wires 205 in the direction away from the spreader 140, thereby adjusting the length of the wires 205 (ie, the length between the trolley 120 and the spreader 140). It can be implemented in the form of a hydraulic cylinder.

The tilt and shaking of the spreader 140 may be controlled by controlling the operation of the spreader driver 200 to independently adjust the four wires 205.

FIG. 5A is a diagram schematically illustrating a state when the length of the wire is reduced or a tension is applied in the spreader driver 200, and FIG. 5B is a diagram schematically illustrating a state when the length of the wire is increased or the tension is released. It is a figure.

Referring to FIG. 5A, in the state where the hoist drum 210 is stopped, the spreader 140 is pulled upward by extending the actuator 220, that is, the hydraulic cylinder. At this time, if the hydraulic cylinder is gradually stretched, the spreader 140 will move with the movement of the hydraulic cylinder. On the other hand, if the hydraulic cylinder is stretched immediately and then contracted again immediately, a strong tension is applied to the spreader. 140 is momentarily attracted by force.

Referring to FIG. 5B, in the state in which the hoist drum 210 is stopped, the spreader 140 is lowered by contracting the actuator 220, that is, the hydraulic cylinder.

The tilt of the spreader 140 may be controlled by adjusting the lengths of the four wires 205, and the shaking of the spreader 140 may be controlled by adjusting the tension of the four wires 205.

6A, 6B, 6C, and 6D are conceptual views illustrating how the spreader's heave, roll, pitch, and skew are adjusted according to the length adjustment of the wire.

By adjusting the length of the two wires of the four wires 205 to control the heave and roll of the spreader 140, and to control the pitch and skew. The spreader 140 may be controlled to move in the opposite direction in which the spreader 140 is shaken or tilted.

In FIG. 6A, the four wires are adjusted to be equal to each other, and the hives are controlled. In FIG. 6B, the diagonally facing wires are controlled by mating and controlled. In FIG. 6C and 6D, the skew is controlled. Pitch and roll are respectively controlled.

FIG. 7 is a conceptual view illustrating how a sway or surge of the spreader 140 is adjusted according to the tension of the wire.

By momentarily applying tension in pairs of two of the four wires 205, the spreader 140 is subjected to a force pulled from the side to which the wire is connected, whereby the shaking of the spreader 140 is suppressed.

When the spreader 140 is shaking, tension will be applied in the opposite direction to the shaking side (moving side), and the timing may be performed immediately after the spreader 140 is changed in direction.

8 is a conceptual diagram schematically illustrating a method of controlling a posture of a spreader according to an embodiment of the present invention. 9 is a flow chart showing the flow of a method for controlling the attitude of the spreader according to an embodiment of the present invention.

The spreader sensor unit 300 including the inclination sensor 310 and the shake sensor 320 measures the six degree of freedom movement of the spreader 140 and transmits the measured movement information to the crane controller 500 (S510). ).

The crane controller 500 determines a control element (that is, which one of the spreaders to control) based on the received motion information (S520). At this time, the motion information received from two or more sensors can be integrated and more precisely corrected and calculated (Sensor Fusion). Here, the control element may be any one or more of three types: the spreader's sway, the spreader's surge, and the spreader's four degrees of freedom (skew, rolling, pitching, and heave).

According to the determined control element, the steering information to suppress the movement of the spreader 140 is automatically generated (S530). The adjustment of the wire by the spreader driver 200 will enable movement control of up to four degrees of freedom.

The spreader driver 200 receives the generated steering information to control the position or posture by controlling the length or tension of the wire 205 to suppress the movement of the spreader 140 (S540).

Alternatively, the four degree of freedom movement may be controlled by adjustment of the wire, and the sway and surge may control all six degrees of freedom when generating steering information to be controlled by the movement of the trolley 120. At this time, the trolley 120 or the driver (not shown) of the trolley may receive the generated steering information to control the position of the spreader 140 while the trolley 120 is moved in the transverse and longitudinal directions.

Spreader attitude control crane 100 according to an embodiment of the present invention may be installed in a floating or floating port floating on the sea to perform the unloading operation for the container (see Fig. 1).

The float may be a vessel capable of moving with its own power or may be a floating structure mooring at sea. Floating bodies can perform the function of a mobile port that floats at sea and transfers containers and temporarily loads containers instead of onshore or alongside land ports.

After the floating body provided with the crane 100 approaches the container ship, the trolley 120 is transported along the boom and the spreader 140 grasps and lifts the container to perform the unloading operation of the container. At this time, according to an embodiment of the present invention by accurately measuring the movement of the spreader 140 during the unloading operation for the container to easily control and stabilize the posture of the spreader 140, despite the shaking or movement of the floating body Ensure that the unloading work for

Floating body or mobile port equipped with a container crane according to the present invention can efficiently and stably handle the cargo transportation of a large vessel requiring deep water depth will contribute to the future strengthening of port system competitiveness.

Meanwhile, the control method according to the present invention can be embodied as computer readable codes on a computer readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. Examples of computer-readable recording media include ROM, RAM, magnetic tape, optical data storage, and the like, and may also be implemented in the form of a carrier wave (eg, transmission over the Internet). 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 mentioned above, although specific embodiment of this invention was described, this is only an illustration and this invention is not limited to this, It should be interpreted that it has the broadest range based on the basic idea disclosed in this specification. Those skilled in the art can change the material, size, etc. of each component according to the application field, it is possible to implement a pattern of the shape not shown by combining or replacing the disclosed embodiments, but this is also not departing from the scope of the present invention. In addition, those skilled in the art can easily change or modify the disclosed embodiments based on the present specification, it is apparent that such changes or modifications are included in the scope of the present invention.

100: container crane 110: boom
120: trolley 140: spreader
200: spreader drive unit 300: spreader sensor unit
500: crane control unit

Claims (18)

A trolley formed to be transported in a horizontal direction on a boom of a crane,
Spreader is connected to the lower side of the trolley and formed to be transferred in the vertical direction,
A spreader sensor unit having a tilt sensor for measuring at least the tilt of the spreader, the spreader sensor unit for measuring a movement of the spreader;
A crane control unit for receiving the motion information measured from the spreader sensor unit and automatically selecting a control element according to the motion information to generate steering information;
It is formed to independently control the roll and the pitch and the heave of the spreader and includes a spreader driver for controlling the attitude of the spreader based on the steering information generated from the crane control unit
Spreader attitude control crane.
The method of claim 1,
The spreader drive unit,
Three or more wires each connected to at least three locations of the spreader,
With three or more actuators to allow the length for the three or more wires to be adjusted independently
Spreader attitude control crane.
The method of claim 2,
The spreader drive unit further comprises a drum to which the three or more wires are wound,
The actuator includes a hydraulic cylinder that adjusts the length by pushing the wire in a direction away from the spreader.
Spreader attitude control crane.
The method of claim 1,
The spreader sensor unit further includes a shake sensor for measuring the shake of the spreader,
The spreader driver includes a plurality of wires connected to the spreader,
The crane control unit to control the tilt and shake of the spreader by adjusting the length and tension of the plurality of wires, respectively
Spreader attitude control crane.
5. The method of claim 4,
The spreader drive unit has four wires connected to four corners of the spreader,
The crane control unit to control the inclination of the spreader by adjusting the length of the four wires and to control the shaking of the spreader by applying a momentary tension to the four wires
Spreader attitude control crane.
The method of claim 1,
The spreader drive unit,
Four wires each connected to four corners of the spreader;
Including four actuators to allow the lengths for the four wires to be adjusted independently,
Skew of the spreader is also formed to be independently adjustable
Spreader attitude control crane.
The method according to claim 6,
The crane control unit,
To control the roll, pitch and skew of the spreader by adjusting the length of the two wires of each of the four wires
Spreader attitude control crane.
The method according to claim 6,
The crane control unit,
To control the sway or surge of the spreader by instantaneously applying tension in two of the four wires.
Spreader attitude control crane.
The method of claim 1,
The crane control unit,
Selecting and controlling one or more of the spreader of the spreader, the surge of the spreader, the skew and the roll and the pitch of the spreader
Spreader attitude control crane.
The floating body in which the crane of any one of Claims 1-9 is installed.
A mobile harbor, wherein the crane according to any one of claims 1 to 9 is mounted to perform an unloading operation for a container that is shipped to a container ship at sea.
Measuring the movement of the spreader including tilting and shaking and receiving the movement information from the crane controller;
Determining a control element during the movement of the spreader based on the received motion information;
Generating steering information according to the determined control element;
Transmitting the generated steering information to a spreader driver connected to the plurality of wires connected to the spreader,
The steering information includes information for controlling the posture of the spreader by allowing the spreader driver to independently adjust lengths or tensions of the plurality of wires.
Spreader attitude control method.
The method of claim 12,
The steering information,
And information for adjusting the operation of each of the four actuators so that the lengths of the four wires respectively connected to the four corners of the spreader are independently adjusted.
Spreader attitude control method.
The method of claim 12,
The determining of the control element,
Selecting at least one of a spreader of the spreader, a surge of the spreader, a skew and a roll, and a pitch of the spreader.
Spreader attitude control method.
15. The method of claim 14,
When the determined control element includes one or more of skew, roll and pitch of the spreader, the steering information includes information for adjusting the length of some of the plurality of wires,
When the determined control element includes one or more of the spreader's sway and surge, the steering information includes information for instantaneously applying tension to some of the plurality of wires.
Spreader attitude control method.
15. The method of claim 14,
When the determined control element includes one or more of the spreader's sway and surge, the steering information includes information for moving the trolley to which the spreader is connected on the boom,
When the determined control element includes one or more of skew, roll and pitch of the spreader, the steering information includes information for adjusting the length of some of the plurality of wires,
Spreader attitude control method.
The floating body provided with the crane approaching the container ship,
Transporting the trolley along the boom and the spreader grasps and lifts the container to perform the unloading operation of the container;
17. Each step of the control method of any one of claims 12-16.
Container unloading method with spreader control. A computer-readable recording medium for causing the control method according to any one of claims 12 to 16 to be realized.

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