KR970026885A - Automatic driving lane structure of trolley crane and automatic driving system using the same - Google Patents

Automatic driving lane structure of trolley crane and automatic driving system using the same Download PDF

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Publication number
KR970026885A
KR970026885A KR1019950041466A KR19950041466A KR970026885A KR 970026885 A KR970026885 A KR 970026885A KR 1019950041466 A KR1019950041466 A KR 1019950041466A KR 19950041466 A KR19950041466 A KR 19950041466A KR 970026885 A KR970026885 A KR 970026885A
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KR
South Korea
Prior art keywords
driving
crane
image signal
automatic driving
lane structure
Prior art date
Application number
KR1019950041466A
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Korean (ko)
Other versions
KR100393516B1 (en
Inventor
김정식
김민섭
Original Assignee
유상부
삼성중공업 주식회사
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Priority to KR1019950041466A priority Critical patent/KR100393516B1/en
Publication of KR970026885A publication Critical patent/KR970026885A/en
Application granted granted Critical
Publication of KR100393516B1 publication Critical patent/KR100393516B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C7/00—Runways, tracks or trackways for trolleys or cranes
    • B66C7/08—Constructional features of runway rails or rail mountings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B66C13/44—Electrical transmitters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • B66C19/002—Container cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
    • B66C9/08—Runners; Runner bearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0321—Travelling cranes
    • B66C2700/0357—Cranes on road or off-road vehicles, on trailers or towed vehicles; Cranes on wheels or crane-trucks

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

본 발명은 무궤도 크레인(Rubber Tyred Gantry Crane; 이하 크레인이라 함)의 자동주행시스템에 관한 것으로, 특히 중심선상에 진동의 정도를 파악하기 위한 슬릿을 갖는 휘도차가 큰 색상의 라인들을 배열하여 주행레인을 구성함으로써 CCD카메라의 자이로를 병용한 자동직진주행장치를 갖는 크레인에서 CCD카메라로 인식되는 레인화질을 향상하고, 진동정도를 파악하여 영상신호처리의 속도증진과 더불어 영상신호의 신뢰도를 향상할 수 있는 무궤도크레인의 자동주행레인구조 및 그를 이용한 자동주행시스템에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic driving system of a crawler crane (hereinafter referred to as a crane). In particular, a driving lane is arranged by arranging lines having a large luminance difference having a slit to grasp the degree of vibration on a center line. By constructing a crane with an automatic linear driving device using a gyro of a CCD camera, it is possible to improve the lane image quality recognized by the CCD camera, and to identify the vibration level, thereby increasing the speed of image signal processing and improving the reliability of the image signal. The present invention relates to an automatic driving lane structure of a trolleybus crane and an automatic driving system using the same.

본 발명에 따른 무궤도크레인의 자동주행레인구조를 이용하면 CCD카메라로 촬영되는 화상의 신뢰도를 향상할 수 있다. 이에 따라, 화상신호처리의 속도증진을 가져와 크레인의 직진주행성을 향상할 수 있다. 또한, 주간의 다양한 조명조건에도 놓은 선명도를 유지할 수 있는 잇점을 가지고 있다. 따라서, 주행시 크레인이 정확한 조향을 기할 수 있는 효과를 가지고 있다.By using the automatic running lane structure of the trolleybus according to the present invention, it is possible to improve the reliability of the image photographed by the CCD camera. As a result, it is possible to improve the speed of image signal processing and to improve the straight running ability of the crane. In addition, it has the advantage of maintaining the sharpness set in a variety of daytime lighting conditions. Therefore, the crane has the effect of ensuring accurate steering when driving.

Description

무궤도크레인의 자동주행레인구조 및 그를 이용한 자동주행시스템Automatic driving lane structure of trolley crane and automatic driving system using the same

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음As this is a public information case, the full text was not included.

제2도는 본 발명에 따른 자동주행시스템을 나타낸 구성도.2 is a block diagram showing an automatic driving system according to the present invention.

제3도는 본 발명에 따른 주행레인을 감지하는 CCD카메라가 부착된 차륜부분을 나타낸 구조도.3 is a structural diagram showing a wheel part with a CCD camera detecting a driving lane according to the present invention.

Claims (4)

CCD카메라로 주행노면을 읽어 정해진 경로를 따라 자동주행하는 차륜을 갖는 무궤도크레인에 있어서, 상기 주행노면상에 중앙부에 검정색선과 그 양측로 흰색선을 접경시켜 구성되고, 상기 검정색선의 중심선을 따라 진동의 정도를 파악하기 위한 슬릿들을 갖는 것을 특징으로 하는 무궤도크레인의 자동주행레인구조.A trolleybus having a wheel for automatically driving along a predetermined path by reading a driving surface with a CCD camera, comprising: a black line bordering a center portion and a white line on both sides thereof on the driving surface, and vibrating along a center line of the black line. Automatic driving lane structure of a trolleybus characterized in that it has slits to determine the degree. 자이로로 크레인의 편차각을 검출하고, 제1항에 의거한 레인구조를 갖는 노면을 CCD카메라로 검출하여, 검출된 경로를 따라 구동모터들을 제어해서 차륜들을 구동시켜 주행하는 무궤도크레인에 있어서, 상기 CCD카메라로부터 입력된 화상신호를 영상신호처리알고리즘에 따라 검정색선과 흰색선과의 경계를 검출하고, 이 검출된 경계값을 연산하여 주행편차거리를 산출하며, 화상신호로부터 슬릿을 검출하여 진동정도를 파악하는 조향콘트롤러; 상기 조향콘트롤러에서 산출된 주행편차거리와 진동정도를 갖고 조향 알고리즘에 따라 구동신호를 생성하여 드라이브에 인가하는 마스터 PLC; 및 C로부터 구동신호를 받아 상기 구동모터들을 제어하여 좌우측 차륜들을 조향구동하는 드라이브를 포함하는 자동주행레인구조를 이용한 자동주행시스템.In the trolley crane which detects the deviation angle of a crane with a gyro, detects the road surface which has a lane structure based on Claim 1, and controls driving motors along a detected path, and drives wheels, and runs, The image signal input from the CCD camera is detected between the black line and the white line according to the image signal processing algorithm, the calculated deviation value is calculated to calculate the driving deviation distance, and the slit is detected from the image signal to determine the vibration level. A steering controller; A master PLC having a driving deviation distance and a vibration degree calculated by the steering controller and generating a driving signal according to a steering algorithm and applying the driving signal to a drive; And a drive configured to receive the drive signal from C and control the drive motors to steer the left and right wheels. 제2항에 있어서, 상기 조향콘트롤러는 상기 슬릿이 검출되지 않으면 산출된 주행편차거리값에 20mm 이상의 편차가 발생한 것으로 판단하는 것을 특징으로 하는 자동주행레인구조를 이용한 자동주행시스템.The automatic driving system using the automatic driving lane structure according to claim 2, wherein the steering controller determines that a deviation of 20 mm or more occurs in the calculated driving deviation distance value when the slit is not detected. 제2항에 있어서, 상기 조향콘트롤러는 그레이화상신호를 비너리화상신호로 변환하여 상기 주행레인에서 횐색선과 검정색선의 경계를 검출하는 것을 특징으로 하는 자동주행레인구조를 이용한 자동주행시스템.The autonomous driving system using an autonomous driving lane structure according to claim 2, wherein the steering controller detects a boundary between a white line and a black line in the traveling lane by converting a gray image signal into a binary image signal. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019950041466A 1995-11-15 1995-11-15 Automatic traveling lane structure of rubber tired gantry crane and automatic traveling system KR100393516B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019950041466A KR100393516B1 (en) 1995-11-15 1995-11-15 Automatic traveling lane structure of rubber tired gantry crane and automatic traveling system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019950041466A KR100393516B1 (en) 1995-11-15 1995-11-15 Automatic traveling lane structure of rubber tired gantry crane and automatic traveling system

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KR970026885A true KR970026885A (en) 1997-06-24
KR100393516B1 KR100393516B1 (en) 2003-11-14

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KR1019950041466A KR100393516B1 (en) 1995-11-15 1995-11-15 Automatic traveling lane structure of rubber tired gantry crane and automatic traveling system

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100384637B1 (en) * 1999-05-26 2003-05-22 주식회사 포스코 Wireless defect diagnosing apparatus in over head crane
CN106219409A (en) * 2016-08-26 2016-12-14 李志刚 A kind of frequency conversion band bypass crane electrical apparatus control system

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2630190B2 (en) * 1992-10-14 1997-07-16 住友金属工業株式会社 Automatic cargo handling method with crane
SG134959A1 (en) * 1992-11-03 2007-09-28 Siemens Ag Apparatus for acquiring pendulum oscillations of crane loads using measurement techniques
JPH0820489A (en) * 1994-07-06 1996-01-23 Mitsubishi Heavy Ind Ltd Position deflection detection device for traveling body
JPH0826667A (en) * 1994-07-20 1996-01-30 Mitsubishi Heavy Ind Ltd Running position detection device for running body
JP3238285B2 (en) * 1994-08-09 2001-12-10 三菱重工業株式会社 Trajectory control method for trackless traveling vehicle
JPH0881178A (en) * 1994-09-12 1996-03-26 Mitsubishi Heavy Ind Ltd Traveling position control method for traveling body
JPH08324959A (en) * 1995-06-06 1996-12-10 Mitsubishi Heavy Ind Ltd Running address detecting device for runner

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100384637B1 (en) * 1999-05-26 2003-05-22 주식회사 포스코 Wireless defect diagnosing apparatus in over head crane
CN106219409A (en) * 2016-08-26 2016-12-14 李志刚 A kind of frequency conversion band bypass crane electrical apparatus control system

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