KR20180015516A - Apparatus and methods for controlling crane for anti-collision of container - Google Patents

Abstract

The present invention relates to a crane control apparatus to prevent collision with containers, and a method for the same. To this end, the crane control apparatus comprises: a horizontally formed pole-like girder (100); a leg (200) supporting both ends of the girder (100); a seal beam (300) connected to a lower end portion of the leg (200); a driving part (400) connected to the bottom of the seal beam (300) and moving the whole crane; a trolley (500) moving in a longitudinal direction on the girder (100); and a spreader (600) which is connected to the bottom of the trolley (500) by a wire rope and descends and ascends.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a crane control device for preventing collision of a container,

The present invention relates to a crane control apparatus and method for preventing collision of a container, and more particularly, to a crane control apparatus and method for preventing a collision between a moving container fixed to a spreader and an already loaded container, To a crane control device and method for preventing collision of a container.

In general, a container is a steel box of a certain size that is manufactured for the purpose of transporting cargo.

Containers are not only easy to store and transport goods but also can be used repeatedly, and there is no need to load them again during transportation, and there is an advantage that transit between transportation means is easy and it is widely used.

These containers are mainly transported by vehicles and ships. These containers are stored in container terminals, container yards, container docks, and the like.

However, containers are uniformly loaded at terminals or yard because they are internationally sized.

Equipment such as RTGC (Rubber Tired Container Gantry Crane), RMGC (Rail Mounted Container Gantry Crane), OHBC (Overhead Bridge Crane) and Straddle Carrier are used according to the loading method.

The RMGC is composed of a gantry that travels to the bell and a trolley which is provided on the girder of the gantry and which traverses, an operator's cabin installed on one side of the trolley, And is configured as a spreader for hoisting the container.

The container loading and unloading in the yard is carried out by the spreader of the cranes, and the loading and unloading of the yard is carried out by the moving of the trolley.

Open Patent No. 2005-0069343 (2005.07.05 Name: Yacht Container Location Tracking System) tracks the position of container waiting in the yard for export, import and transshipment, so that importing and exporting can be done more quickly .

In the prior art, after assigning an individual code number to a container in a yard, inputting container information at a gate, selecting an optimal block position through radio, and then positioning the container transportation vehicle in real time by a GPS receiver attached to the container transportation vehicle So that they can understand it.

However, in order to move the container into and out of the spreader, a moving container fixed to the spreader is moved to a desired position, thus causing a collision with the stacked container at a predetermined height. Such a container collision may cause the container to fall or fall In addition, there is a serious problem that very complicated damage compensation and reliability are degraded due to internal product damage.

Patent Publication No. 2005-0069343 (2005.07.05.)

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide a container lifting device and a container lifting device, There is provided a crane control apparatus and method for preventing collision of a container which can lift a container and enable safe operation and removal of the container.

It is another object of the present invention to provide a crane control apparatus and method for preventing collision of a container that enables safe operation without resorting to operator's operating skill or work concentration.

In particular, the present invention provides a crane control apparatus and method for preventing collision of a container, which can be remotely controlled automatically while avoiding driver's inattentiveness by always monitoring the loading state of the container and the position of the moving container There is another purpose.

In order to accomplish the above object, according to the present invention, there is provided a crane control apparatus for preventing collision of a container, comprising: a transverse girder, a leg for supporting both ends of the girder, and an actual beam connected to a lower end of the leg, A traveling section connected to a lower portion of the yarn beam to move the entire crane, a trolley moving in the longitudinal direction of the girder, and a spreader connected to the lower portion of the trolley by a wire rope so as to be vertically movable A distance measuring sensor mounted on a girder on the same vertical line as a loading position of a container provided at regular intervals and measuring a distance from each column to an upper surface of a container placed at the uppermost stage; A hoisting encoder installed on a hoisting machine for moving the spreader up and down to detect the height of the screed by the length of the wire rope taken in and out; A transverse encoder installed on a trolley moving along the girder to detect a traverse position of the trolley; And a controller for moving the moving container by the spreader to a height that is spaced apart from the upper surface of the container, which is highest by the height and position signals detected from the distance measuring sensor, the hoisting encoder and the transverse encoder, .

At this time, the container loading height, the height of the spreader, and the position of the trolley of each column checked by the controller are displayed on the monitor in real time in the cab.

The distance measuring sensor is mounted on the girder immediately above the trailer moving path so that the distance to the upper surface of the container loaded on the trailer can be measured.

The method of controlling a crane using a crane control device for preventing collision of a container includes moving a crane when a crane is operated and a position of a container to be moved is detected; Measuring a distance to a top surface of a container placed at the top of each column through a plurality of distance measuring sensors mounted on a girder on the same vertical line as a loading position of a container provided at regular intervals; The step of fixing the container to be moved by the descent of the spreader: The signal detected by the hoisting encoder installed on the hoisting machine fixed to the trolley is checked to determine the height of the container placed at the highest position among the stacked containers arranged in a plurality of rows Allowing the movable container to be elevated higher than the predetermined height; Detecting the position of the trolley from the transverse encoder mounted on the trolley and moving the moving container to a desired position.

The apparatus and method for controlling a crane according to the present invention for preventing collision of a container according to the present invention is characterized in that a container mounted on a plurality of rows and columns, So that the mobile container for carrying in and out can be safely moved without collision.

In addition, the height of the spreader and the position of the trolley are checked along with the height of the container provided at the top of each column, and the position of the spreader is monitored, so that it is not dependent on the operation technique of the driver.

1 is a front view of a crane to which a crane control device for preventing collision of a container according to the present invention is applied;
2 is a schematic block diagram illustrating a crane control method for preventing collision of a container according to the present invention
FIG. 3 is a view showing an operation state diagram of an embodiment of a moving state of a container by a crane control device for preventing collision of a container according to the present invention
4 is an enlarged view illustrating a configuration in which a container is separated from a loading container and a moving container during movement of the container by a crane control device for preventing collision of the container according to the present invention.
FIG. 5 is a diagram illustrating a moving state in which the container is moved to the shortest distance by a crane control device for preventing collision of the container according to the present invention.

Hereinafter, a crane control apparatus and method for preventing collision of a container according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a front view of a crane to which a crane control device for preventing collision of a container according to the present invention is applied.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for controlling a container crane for loading and unloading containers, and particularly, a yard crane is illustrated as an example in the drawings of the present invention.

As shown in the drawing, the container crane according to the present invention includes a girder 100, a leg 200 supporting both ends of the girder 100, and a beam 300 connected to a lower end of the leg 200, A moving part 400 connected to the lower part of the actual beam 300 to move the entire crane, a trolley 500 moving in the longitudinal direction of the girder 100, and a wire rope And a spreader 600 connected thereto.

The wire rope connecting the trolley 500 and the spreader 600 moves up and down the spreader 600 by the hoisting machine 700 connected to the trolley 500 and the hoisting machine 700 is connected to the hoisting machine 700 .

In this type of container crane, the present invention is characterized in that a crane control device for preventing container collision, which is comprised of the distance measuring sensor 10, the hoisting encoder 20, the transverse encoder 30 and the controller 40, is provided.

The distance measuring sensor 10 in the present invention is a plurality of detecting means attached vertically downward at a predetermined interval in the girder 100.

In other words, the distance between the distance measuring sensors 10 is spaced apart by a distance equal to the distance between the plurality of containers C provided on the same straight line at the bottom.

As the distance measuring sensor 10, an infrared sensor is most commonly used, but an ultrasonic sensor may be used, but the present invention is not limited thereto.

The distance measuring sensor 10 measures the stacking height of the container C in real time.

If there is no container at the loading position of the container C, the distance to the ground is measured. If the container C is loaded, the distance to the upper surface of the container C loaded at the uppermost one of the loaded containers C Measure the distance.

Therefore, the plurality of distance measuring sensors 10 can check the height to the upper surface of the container C placed at the uppermost position at each loading position of the container C in real time.

When the winding encoder 20 of the present invention is applied, it is mounted on the traction machine 700 connected to the spreader 600 via a wire.

When the distance measuring sensor is used, it is mounted on the trolley 500.

The height of the spreader 600 is detected by the number of wind-up rotations of the wire rope drum wound or unwound from the winding machine 700.

The transverse encoder 30 according to the present invention is configured to detect the moving position of the trolley 500 moving in the longitudinal direction of the girder 100. The transverse encoder 30 at this time is configured such that the trolley 500 100 to detect the position of the trolley 500 by checking the amount of rotation of the wheel.

In particular, the position of the trolley 500 can be detected by mounting a distance measuring sensor on the girder 100.

On the other hand, the controller 40 of the present invention makes it possible to check the detection signals from the plurality of distance measuring sensors 10, the winding encoder 20 and the transverse encoder 30.

The height to the upper surface of the container C, which is the highest height at the position where the container C is loaded, is measured.

The height of the current spreader 600 is checked through the hoisting encoder 20 together with the height of the loaded containers C and at the same time the moving direction of the trolley 500 is checked through the transverse encoder 30, It is possible to detect the rising height of the wafer W.

When the spreader 600 is lifted up to a height higher than the height of the upper surface of the container C loaded at the highest position in the direction in which the spreader 600 moves, Can be prevented.

It is preferable that the container height C of each row checked in the controller 40 and the height of the spreader and the position of the trolley are displayed in real time in the cab 800, It is most preferable to be mounted on the girder 100 immediately above the trailer moving path so that the distance to the upper surface of the container C loaded on the trailer traveling path can be measured.

A control method using the crane control device for preventing the collision of the container according to the present invention will be described as follows.

2 is a schematic process block diagram illustrating a crane control method for preventing collision of a container according to the present invention.

When the container C is to be moved by the trailer 900 at the time of loading / unloading the container C and the container C for loading the container C loaded on the trailer 900 is to be moved, This is a control method performed when the loading position of the container C is to be moved.

When the operation of the crane for moving the container C is started, the crane is moved to the place where the container C to be moved is located first.

The height of each container C that is stacked on the same straight line at predetermined intervals at a position where the crane moves is detected in real time through the distance measuring sensor 10 provided on the girder 100. [

That is, the height of the container C positioned on the same vertical line as the distance measuring sensor 10 is detected through the distance measuring sensor 10 provided at the same interval as the intervals of the containers C in the girder 100 .

The distance measuring sensor 10 measures the height to the upper surface of the container C located at the uppermost one of the containers C arranged in a row.

This height check may set the height from the girder 100 to the upper surface of the container C as a measured value but may be set to a predetermined height from the bottom of the yard where the containers C are loaded to the distance measuring sensor 10 The stacking height of the containers C can be calculated and the height can be set as the measured value.

In this manner, the height of the container C with respect to the uppermost container C or the height of the container C placed on the uppermost container C at the stacking position of each container C is measured in real time by the plurality of distance measuring sensors 10, The height of the movable container C can be set.

However, since the container C to be loaded or to be loaded usually has a unique identification number, the position of the container C can be accurately known by the identification number.

Accordingly, the container C to be moved is moved to the position of the container C to be taken in and out by the movement of the trolley 500, and then the moving container (MC) (600).

When the moving direction of the moving container MC is set while the moving container MC is fixed, the height of the container C that is the highest on the moving direction side can be known.

3, the height of the container C at the top of the moving direction side has already been detected through the distance measuring sensor 10, so that the moving container MC is elevated to a height of 45 to 55 cm from the height by the traction machine 700 Thereby causing the spreader 600 to rise.

At this time, only the height of the spreader 600 can be checked by the hoist encoder 20 provided in the hoisting machine 700. However, since the height of the mobile container MC fixed to the spreader 600 is already determined, the spreader 600 And the height of the movable container MC is added to the height of the movable container MC, the accurate height can be calculated.

The elevation height of the spreader 600 is set at a position higher than the height of the container C in the column positioned at the highest position among the heights of the containers C stacked in each column through the plurality of distance measuring sensors 10 MC).

In other words, the height of the spreader 600 can be checked through the hoisting encoder 20. Since the height of the mobile container MC fixed to the spreader 600 is already standardized, if the height of the mobile container MC is increased, Can be known.

The moving container MC is moved upward by a certain height higher than the height of the upper surface of the highest container C measured through the distance measuring sensor 10 in the moving direction.

It is preferable that the space between the lower surface of the elevated mobile container MC and the upper surface of the container C having the highest height among the stacked containers C is set to about 45 to 55 cm as shown in FIG. 4, Most preferably 50 cm.

The moving container MC raised to a position higher than the highest loading container C among the loading containers C provided in the moving direction moves to a desired position by the movement of the trolley 500, So as to be stacked on top of the other container (C).

The loading height of the containers C loaded on a plurality of columns passing through the girders 100 of the present invention is converted into a database so that the container C is moved to the container C loaded with the moving container MC, It is possible to prevent a collision between the two.

Such movement of the container C is more effective for remote automatic control. In the control by the driver, such information is monitored in the cab 800, and by the monitored information, the driver can easily control the container C It can safely be carried in and out and moved to a desired position.

Particularly, according to the control of the present invention, the moving container MC can move the container C in the fastest path as the trolley 500 moves simultaneously with the lifting and lowering of the spreader 600, as shown in FIG.

When the container C is transported through the trailer 900, the container C may be moved to a specific position so as to be loaded on the already loaded container C, To be moved.

In addition, when the container C to be taken in and out of the container C is not located at the uppermost end but is positioned below the container C, the container C placed on the container C must be moved to a proper position.

The moving container MC fixed to the spreader 600 when the containers C move is fixed to the uppermost position of the container C stacked at the highest position among the containers C already loaded So that the collision with the loaded container C can be prevented in advance.

That is, the mobile container MC moves up to a position higher than the container C at the highest position, and moves to a position where the mobile container MC is to be moved.

As described above, according to the present invention, the height of the moving conveyor (MC) to be moved is checked in real time to move the container (C) at a height higher than the stacked container (C) .

Particularly, the present invention enables precise and safer control without relying on operator's skill.

10: distance measuring sensor 20: hoisting encoder
30: transverse encoder 40: controller
100: girder 200: leg
500: Trolley 600: Spreader
700: Traction machine 800: Cab
900: Trailer

Claims (7)

A girder connected to a lower portion of the leg, a running portion connected to a lower portion of the girder to move the entire crane, and a girder having a length And a spreader connected to the lower portion of the trolley by a wire rope so as to be able to move up and down,
A distance measuring sensor mounted on a girder on the same vertical line as the loading position of the container provided at regular intervals and measuring the distance from each row to the upper surface of the container placed at the uppermost stage;
A hoisting encoder installed on a hoisting machine for raising and lowering the spreader to detect the height of the spreader by the length of the wire rope taken in and out;
A transverse encoder installed on a trolley moving along the girder to detect a traverse position of the trolley;
A controller for moving the moving container by the spreader to a height that is spaced apart from a top surface of the container by a predetermined height by the height and position signals detected from the distance measuring sensor, the hoisting encoder and the transverse encoder;
And a crane control device for preventing collision of the container.
The method according to claim 1,
The container height of each row by the distance measuring sensors checked by the controller, the height of the spreader by the hoisting encoders, and the position of the trolley by the transverse encoder are displayed on the monitor in real time in the cab, For crane control.
The method according to claim 1,
Wherein the distance measuring sensor is mounted on the girder immediately above the trailer moving path so as to measure the distance to the upper surface of the container loaded on the trailer.
The method according to claim 1,
And the controller is remotely controlled.
Moving the crane when the crane is operated and the position of the container to be moved is detected;
Measuring a distance from each loading position to a top surface of a container loaded at the top via a plurality of distance measuring sensors mounted on a girder on the same vertical line as a loading position of a container provided at regular intervals;
Fixing the container to be moved by the descent of the spreader:
Checking the signals detected by the hoisting encoders provided on the traction machine fixed to the trolley and elevating the moving container to a height higher than the height of the upper surface of the container placed at the highest position among the stacking containers arranged in a plurality of rows ;
Detecting a position of a trolley from a transverse encoder mounted on the trolley and moving the moving container to a desired position;
A crane control method for preventing collision of a container performed as a crane.
The method of claim 5,
Wherein the loading height of each container checked by the distance measuring sensor is converted into a database.
The method of claim 5,
Wherein the distance between the upper surface of the uppermost loading container and the lower surface of the moving container to be fixed to the spreader is 45 to 55 cm apart from the uppermost one of the loading containers.

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