KR970002023Y1 - Crane for harbor - Google Patents

Abstract

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Description

Spreader and Container Position Recognition Device for Harbor Cranes

1 is a front view of a crane for harbor (Crane) to which the present invention is applied.

2 is a side view of FIG.

3 is a schematic view of the sensor mounting mechanism of the present invention.

4 is an operation explanatory diagram of the present invention.

5 is an X-Y coordinate diagram excluding the Z coordinate that indicates that the present invention operates to recognize the edge of the target.

6 is a working block diagram of the present invention.

＊ Explanation of symbols for main parts of drawing

1: harbor crane 2: trolley

3: position recognition device 4: sensor mounting mechanism

5: laser sensor

The present invention uses a laser sensor to detect the position of the target container and the spreader in three dimensions automatically so that the spreader of a port crane such as a container crane or a transfer crane can be easily settled on the target container. A spreader of a port crane that can be seated on a container, and a positioning device of a container.

In a cab installed under a trolley of a conventional port crane, an experienced worker adjusts the spreader, picks up a container, moves it to a desired position, and loads it. In this process, the container detachment using the spreader requires the driver's mastery of the sense as the driver lowers the spreader onto the target container and visually checks the situation, followed by the difficulty of accurately lowering the spreader onto the target container.

The object of the present invention is to overcome the inconvenient manual container loading method by the conventional inefficient person and to automatically recognize the position of the target container and the spreader using a laser sensor to perform unmanned work.

This object of the present invention attaches two laser sensors to the bottom of the trolley in diagonal direction, the scanning direction of which is downward, and the spreading and container position recognition device of the present invention scans both ends of the spreader and container in the longitudinal direction. do.

The laser sensor can scan an arbitrary range and can read the measurement distance by causing a slight change in angle for each pulse, thereby recognizing two-dimensional information of the object using this information.

The present invention utilizes this function of the laser sensor, and is attached to the sensor mounting mechanism that can move the laser sensor in one direction, and thus the laser sensor is moved in the longitudinal direction of the container to scan an object. Since three-dimensional coordinates can be obtained, the relative position of the container or spreader with respect to the trolley can be found using this information and the information obtained by the laser sensor is used for the container position recognition and automatic detachment of the crane.

The three-dimensional position recognition device of the spreader and the container according to the present invention will be described in detail below with reference to the accompanying drawings.

1 is a view showing the shape of the spreader and the container according to the present invention from the front of the harbor crane (1) is installed in a simplified position, the position recognition device 3 of the present invention is the bottom of the trolley (2) It is installed in the sensor mounting mechanism (4) for moving the laser sensor and the sensor mounting mechanism to be movable in the longitudinal direction of the container and consists of a laser sensor (5) for scanning the laser beam downward, diagonally at the bottom of the trolley In two directions. The sensor mounting mechanism 4 is driven by the servo motor 4a and the ball screw 4b so as to drive the laser sensor 5 in one direction as shown in FIG. 3, and the driving distance of the laser sensor is the servo motor. It is measured by an encoder 4c attached thereto. 4d is a panel for driving the sensor mounting mechanism. FIG. 2 is a side view of the crane of FIG. 1, and as shown in the drawing, the laser sensor 5 moves in the direction of the arrow A in the longitudinal direction of the container, and the spreader 6 and the destination container 7 ) Scan the edges.

Hereinafter, the operation of the position recognition device according to the present invention.

The spreader 6 of the harbor crane 1 scans the laser beam of the laser sensor 5 downward while descending onto the target container 7 to receive the container.

At this time, the laser sensor 5 has a constant angle change and can continuously scan the target to measure the scan position for each point, so that the scan angle and the scan distance can be obtained for all the scanned points. Can be converted into two-dimensional coordinates.

Further, when the laser sensor 5 receives a command from the sensor control unit 9 while scanning the laser beam and moves by the sensor mounting mechanism 4 in the direction of arrow A, which is the longitudinal direction of the container, the scanning angle of the laser sensor 5 And coordinate recognition of the scanning distance and the moving distance of the sensor mounting mechanism 4 in three dimensions.

4 is a plan view in which the laser sensor 5 recognizes the edges of the spreader 6 and / or the container 7, wherein the scanning area 8 of the laser sensor 5 is the spreader 6 and / or the container 7. ) The area shown by the dashed-dotted line at the edge, and the series of points 8a shown in the scanning area 8, show the state that the laser sensor 5 has scanned once. Thus, when the laser sensor 5 moves in the direction of arrow A which is the longitudinal direction of a container by the sensor mounting mechanism 4, scanning the inside of the scanning area 8, the container 7 and / or as shown in FIG. The edges 6a and 7a of the spreader 6 can be recognized in three dimensions. In this way, the information scanned by the laser sensor 5 and made recognizable in three dimensions by the sensor mounting mechanism 4 is received by the sensor control unit 9, as shown in FIG. In this case, the container and / or the position of the spreader are input to the crane control unit 10, and the crane control unit 10 controls the crane driving unit 11 using this information, thereby controlling the target container of the spreader 6. 7) It is possible to carry out the removal work on the statue unattended.

As described above, the positioner of the spreader and / or container according to the present invention makes it possible to automatically recognize the position of the spreader and / or the container in three dimensions by using a laser sensor and a sensor mounting mechanism. Not only was it possible to perform unattended work of the work, but also it was possible to work more quickly and accurately, thereby improving work efficiency.

Claims (2)

In the position recognition device 3 of the spreader 6 and the container 7 of the harbor crane 1, the motor 4a and the motor 4a are movable in the container longitudinal direction, and the harbor crane It is attached to the sensor mounting mechanism 4 installed below the trolley 2 of (1), the encoder 4c for measuring the moving distance of the sensor mounting mechanism 4, and the sensor mounting mechanism 4, Position recognition device characterized in that it consists of a laser sensor (5) for scanning a ranger beam having a constant angle range downward to recognize the position of the spreader (6) and the container (7) in three dimensions. The position recognition device according to claim 1, wherein the position recognition device is mounted diagonally to each other at the bottom of the trolley.