KR20130078744A - Harbor crane and method for controlling the same - Google Patents

Abstract

The present invention provides a crab for supporting an object, a hoist for coupling the object, a boom to which the crab is movably coupled so that the hoist is located on the ground or the upper side of the ship, the loading surface of the vessel for supporting the object is inclined A first acquiring unit for acquiring motion information of which the inclination of the loading surface is changed based on the inclination information and the inclination information, and an object connected to the hoist according to the inclination information and the motion information to correspond to the loading surface; It relates to a harbor crane and a control method including a tilting unit for adjusting to tilt,
According to the present invention, even if the ship is inclined, it is possible to improve the ease and accuracy of the unloading work to load the object on the ship, and to implement the unloading work automatically to reduce the risk of safety accidents have.

Description

Harbor Crane and Control Method {Harbor Crane and Method for Controlling the same}

The present invention relates to a port crane for carrying an object such as a slab, a coil, and the like and a control method thereof.

The port crane is a mechanical device that is widely used to perform operations such as loading and unloading objects such as slabs and coils in industrial sites. The harbor crane can carry out the work of loading the object on the ground to the ship or unloading the object on the ship to the ground.

Such a port crane moves an object to a desired point in a three-dimensional space through operations such as hoisting, hoisting, traveling, and transverse movement. Hoisting means the port crane lifts the object. The harbor crane performs hoisting by lowering the hoist to the object on the ground and raising the hoist when the object is coupled to the hoist. The unloading operation means the port crane lowers the object. The harbor crane performs the unloading operation by lowering the hoist combined with the object toward the ship. The driving movement means an operation in which the whole harbor crane moves along the driving rail in the driving direction. The transverse movement refers to an operation in which the harbor crane moves the crab in the transverse direction. In general, the transverse direction and the traveling direction are directed in a direction perpendicular to each other.

Here, the ship is inclined due to the change in the sea condition, the change in the center of gravity as the objects are loaded on the ship because it is located at sea. As the inclination occurs in the ship as described above, the loading surface for supporting the object in the ship is also inclined. Therefore, the port crane according to the prior art has a problem that it is difficult to perform the unwinding operation for loading the object on the ship as the loading surface of the ship is inclined. Accordingly, the port crane according to the prior art has a risk of causing a safety accident by colliding an object, hoist, etc. with a ship, a worker in a ship, or a mechanism installed on the ship due to a signal system mismatch between the driver and the worker in the ship. there is a problem. In addition, the port crane according to the prior art, although the port crane unmanned technology is actively made recently, there is a problem that the unmanned due to the difficulty of unloading work due to the loading surface of the ship is inclined.

The present invention has been made to solve the problems described above, to provide a port crane and a control method that can improve the accuracy of the unloading operation for loading the object on the inclined loading surface as the ship is inclined will be.

In order to solve the problems as described above, the present invention may include the following configuration.

Port crane according to the invention is a crab (Crab) for supporting the object; A hoist connected to the crab and to which an object is coupled; A boom to which the crab is movably coupled so that the hoist is located above the ground or the vessel; A first installed on the boom so as to be positioned above the vessel and obtaining tilt information on which the loading surface of the vessel for supporting an object is inclined and movement information in which the inclination of the loading surface is changed based on the inclination information; Acquisition unit; And a tilting unit configured to adjust an object connected to the hoist to be inclined to correspond to the loading surface according to the inclination information and the motion information.

The harbor crane control method according to the present invention obtains the inclination information about the inclination state of the loading surface of the vessel for supporting the object, the first acquisition unit located on the upper side of the vessel, and of the loading surface based on the inclination information Obtaining motion information in which the slope changes; And when the gradient information is obtained from the motion information, and when a change occurs in the inclination of the loading surface, controlling the harbor crane for performing the unloading operation of loading the ship by adjusting the inclination of the object according to the motion information. It may include a step.

According to the present invention, the following effects can be achieved.

The present invention can improve the ease and accuracy of the unloading operation to load the object on the vessel, even if the inclination occurs in the vessel, it is possible to reduce the risk of a safety accident by implementing the unloading operation automatically.

The present invention can contribute to realizing the unmanned technology for the harbor crane by improving the responsiveness according to the inclination of the ship in the process of performing the unloading work.

1 is a schematic perspective view showing a state of a harbor crane and a ship according to the present invention
2 is a schematic perspective view of a harbor crane according to the present invention;
3 is a schematic plan view for explaining a first acquisition unit according to the present invention;
4 and 5 are conceptual views illustrating a process of acquiring tilt information and motion information by a first measuring device according to the present invention;
6 is a schematic block diagram illustrating a connection relationship between a first acquisition unit and a tilting unit according to the present invention;
7 is a conceptual diagram illustrating a process of acquiring tilt information and motion information by the first measuring instruments according to the present invention;
8 is a conceptual diagram illustrating a process of acquiring tilt information and motion information by a first stereo camera according to the present invention;
9 and 10 are schematic plan views illustrating a process of acquiring loading information by the second acquisition unit according to the present invention;
11 is a schematic block diagram illustrating a connection relationship between a second acquisition unit, a scheduling unit, and a control unit according to the present invention.
12 is a schematic flowchart of a method for controlling a harbor crane according to the present invention.

Hereinafter, with reference to the accompanying drawings a preferred embodiment of the harbor crane according to the present invention will be described in detail.

1 is a schematic perspective view showing a state of a harbor crane and a ship according to the present invention, Figure 2 is a schematic perspective view of a harbor crane according to the present invention, Figure 3 is a schematic plan view for explaining a first acquisition unit according to the present invention 4 and 5 are conceptual views illustrating a process of acquiring tilt information and motion information by a first measuring device according to the present invention, and FIG. 7 is a conceptual diagram illustrating a process of acquiring tilt information and motion information by the first measuring apparatus according to the present invention, and FIG. 8 is a tilt information and motion information of the first stereo camera according to the present invention. 9 and 10 are schematic plan views for explaining a process of acquiring the loading information by the second acquisition unit according to the present invention, and FIG. FIG. Is a schematic block diagram illustrating a connection relationship between a second acquisition unit, a scheduling unit, and a controller.

1 and 2, the harbor crane 1 according to the present invention is loaded, unloaded, etc. for the object (100, shown in Figure 2) such as slab (Slab), coil (Coil) in the industrial site Do the work. The port crane 1 according to the present invention carries out the shipment of the object 100 by transporting the object 100 to the vessel 200 from the ground, or transports the object 100 to the ground by the vessel 200 to be unloaded. Can be.

Port crane 1 according to the present invention is a boom 2 installed to be located on the upper side of the vessel 200, the crab (Crab, 3) that is movably coupled to the boom 2, the object 100 is The combined hoist 4 (shown in FIG. 3), the first acquisition unit 5 for acquiring the tilt information and the motion information of the vessel 200, and the tilting unit for adjusting the inclination of the object 100. It includes (6). The inclination information relates to the degree of inclination of the loading surface 210 for supporting the object 100 in the vessel 200. The motion information relates to a degree to which the inclination of the loading surface changes based on the inclination information. The loading surface 210 is inclined together as the vessel 200 is inclined, and since the vessel 200 is located at sea, the inclination may continue to change. As the state of the loading surface 210 is changed as described above, there is a difficulty in the unwinding operation of loading the object 100 on the loading surface 210. In order to solve this problem, the harbor crane according to the present invention, when the first acquisition unit 5 acquires the inclination information and the movement information for the loading surface 210, the tilting unit 6 is the inclination information and the The tilt of the object 100 connected to the hoist 4 is adjusted according to the motion information. Therefore, the harbor crane 1 according to the present invention may be loaded on the vessel 200 by adjusting the object 100 to be inclined to correspond to the inclination of the loading surface 210. Accordingly, the harbor crane 1 according to the present invention can achieve the following effects.

First, even if the harbor crane 1 according to the present invention is inclined to the loading surface 210 according to the change in the sea condition, the change in the center of gravity as the object 100 is loaded on the vessel 200, the object It is possible to improve the ease and accuracy of the unwinding operation for loading the 100 on the loading surface (210). In addition, since the harbor crane 1 according to the present invention can automatically perform the unloading operation, the object 100, the hoist 4, etc. due to the signal system mismatch between the driver and the worker in the ship (200), the worker in the vessel 200, it can be prevented from colliding with the mechanism installed in the vessel (200).

Second, the harbor crane 1 according to the present invention can contribute to realizing the unmanned technology for the harbor crane by improving the corresponding force according to the inclination of the vessel 200 in the process of performing the lifting operation.

Hereinafter, the boom 2, the crab 3, the hoist 4, the first acquisition unit 5, and the tilting unit 6 will be described in detail with reference to the accompanying drawings.

1 and 2, the boom 2 supports the crab 3. The boom 2 may support the hob 4 connected to the crab 3 and the object 100 coupled to the hoist 4 by supporting the crab 3. The boom 2 is coupled to a support 10 (shown in FIG. 1), one side of which is installed on the ground. The boom 2 is located on the vessel 200 the other side is located at sea. To this end, the boom 2 is formed to have a long length in the first axis direction (X-axis direction). Although not shown, the boom 2 may be coupled to a girder coupled to the support 10. In this case, the girder may be coupled to the support 10 and may support the boom 2 so that the boom 2 is positioned on the vessel 200 located on the sea. The support 10 may move on the ground in a second axial direction (Y-axis direction) perpendicular to the first axial direction (X-axis direction). To this end, a running rail 20 to which the support 10 is movably coupled is installed on the ground. As the support 10 moves in the second axis direction (Y-axis direction) along the driving rail 20, the boom 2 may move in the second axis direction (Y-axis direction). Although not shown, the harbor crane 1 according to the present invention may include a traveling mechanism for moving the support 10 in the second axial direction (Y-axis direction).

1 and 2, the crab 3 is movably coupled to the boom 2. The crab 3 may move in the first axial direction (X-axis direction) in a state of being coupled to the boom 2. The harbor crane 1 according to the present invention is moved by the crab 3 transversely moving in the first axial direction (X-axis direction) and the boom stand 2 traveling in the second axial direction (Y-axis direction). ) May transport the object 100 to the vessel 200 from the ground and ship it, or carry the object 100 from the vessel 200 to the ground to unload the object. Although not shown, the harbor crane 1 according to the present invention may include a transverse mechanism for moving the crab 3 in the first axial direction (X-axis direction).

The crab 3 supports the hoist 4 (shown in FIG. 2). The crab 3 may support the object 100 coupled to the hoist 4 by supporting the hoist 4. The crab 3 and the hoist 4 may be connected to each other via a wire 300 (shown in FIG. 2). The crab 3 may lift and lower the hoist 4 by winding or unwinding the wire 300. Accordingly, the harbor crane 1 according to the present invention can perform the lifting operation for lifting the object 100 and the lowering operation for lowering the object 100. The crab 3 includes a support mechanism 31 (shown in FIG. 2) movably coupled to the boom 2 and a winch mechanism 32 (shown in FIG. 2) coupled to the support mechanism 32. It may include.

The support mechanism 31 is movably coupled to the boom 2 in the first axial direction (X-axis direction). The support mechanism 31 may be coupled to the boom 2 so as to be located on the opposite side of the vessel 200 based on the boom 2. The support mechanism 31 may be formed in a rectangular plate shape as a whole.

The winch mechanism 32 is coupled to the support mechanism 31. The winch mechanism 32 may be coupled to the support mechanism 31 so as to be located opposite to the boom 2 based on the support mechanism 31. The winch mechanism 32 may include a winch drum 321 (shown in FIG. 2) to which the wire 300 is connected, and a power source 322 (shown in FIG. 2) for operating the winch drum 321. have.

The winch drum 321 may support the hoist 4 and the object 100 coupled to the hoist 4 by supporting the wire 300. The wire 300 may be coupled to the winch drum 321 through a through hole formed in the support mechanism 31. The winch drum 321 is rotatably coupled to the support mechanism 31.

The power source 322 may rotate the winch drum 321 such that the wire 300 is wound or unwound by the winch drum 321. The power source 322 may be a motor that generates a rotational force. The motor may rotate directly to the winch drum 321 by being directly coupled to the rotation shaft of the base drum 321. When the rotating shafts of the motor and the winch drum 321 are separated from each other by a predetermined distance, the power source 322 may include connecting means (not shown) for connecting the rotating shafts of the motor and the winch drum 321. . The connecting means may be a pulley and a belt.

Referring to FIG. 2, the crab 3 may include a plurality of winch mechanisms 32. In this case, the winch mechanism 32 is coupled to the support mechanism 31 to be spaced apart from each other by a predetermined distance. The wire 300 is coupled to each of the winch mechanisms 32. The wires 300 may be coupled to the hoist 4 to be spaced apart from each other by a predetermined distance.

1 and 2, the hoist 4 is connected to the crab 3 via the wire 300 (shown in FIG. 2). The hoist 4 may be located on the ground or above the vessel 200 as the crab 3 moves in the first axial direction (X-axis direction). The object 100 is coupled to the hoist 4. The object 100 may be coupled to the hoist 4 by being coupled to the wire 300 coupled to the hoist 4. In this case, the wire 300 connects the first wire 310 (shown in FIG. 2) and the hoist 4 and the object 100 to connect the crab 3 and the hoist 4. It may include a second wire 320 (shown in FIG. 2). The hoist 4 may be elevated as the winch mechanism 32 winds or unwinds the first wire 310. The hoist 4 may support the object 100 coupled to the second wire 320. Although not shown, the hoist 4 may be coupled to the object 100 through a hook, a magnet lifter, or the like instead of the second wire 320. The hook may be coupled to the object 100 by a hook. The magnet lifter may be coupled to the object 100 by magnetism.

Referring to FIG. 3, the first acquisition unit 5 is installed on the boom 2 to be positioned above the vessel 200. The first acquisition unit 5 may acquire the inclination information in which the loading surface 210 is inclined, and then provide the obtained inclination information to the tilting unit 6. When the tilting part 6 receives the inclination information, the tilting part 6 may adjust the inclination of the object 100 to correspond to the inclination of the loading surface 210. The first acquisition unit 5 may measure the distance spaced from the loading surface 210 and then obtain the inclination information using the measured value. The first acquiring unit 5 may acquire image data by capturing the loading surface 210 and then acquire the inclination information by using the acquired image data.

First, an embodiment in which the first acquisition unit 5 acquires the inclination information by using a distance spaced from the loading surface 210 will be described.

3 to 6, the first acquiring unit 5 may include a first measuring device 51 for measuring a distance spaced from the loading surface 210. After the first measuring device 51 emits the measurement light toward the stacking surface 210, the first measuring device 51 is separated from the stacking surface 210 from the time taken until the measurement light is reflected and received by the stacking surface 210. The distances can be measured. The first measuring device 51 may be a laser sensor using a laser beam as the measurement light. The first measuring device 51 is installed on the boom 2 to be positioned above the vessel 200. The first measuring device 51 may be coupled to the boom 2 so as to protrude outward from the boom 2 so that the crab 3 is not prevented from moving along the boom 2. The first measuring device 51 may be coupled to the boom 2 so as to protrude from the boom 2 in the second axial direction (Y-axis direction).

3 to 6, the first acquisition unit 5 may include a first movement mechanism 52 (shown in FIG. 3) for moving the first measurement mechanism 51. The first moving mechanism 52 may move the first measuring mechanism 51 in at least one of the first axis direction (X axis direction) and the second axis direction (Y axis direction). The first moving device 52 may move the first measuring device 51 by rotating the first measuring device 51.

The first moving mechanism 52 allows the first measuring mechanism 51 to measure a distance spaced from N points (N is an integer greater than 1) with respect to the loading surface 210. 51 can be moved. For example, the first moving mechanism 52 may be configured such that the first measuring device 51 is provided with a first point 211 (shown in FIG. 5) and a second load 212 (FIG. 5) of the loading surface 210. The first measuring instrument 51 can be moved to measure the distance from each other. Accordingly, the first acquisition unit 5 includes a first separation distance D1 and the first measurement in which the first measuring device 51 and the first point 211 of the loading surface 210 are spaced apart from each other. The second separation distance D2 between the instrument 51 and the second point 212 of the loading surface 210 may be measured. The first point 211 and the second point 212 are points positioned in parallel with the moving line in which the first measuring device 51 moves by the first moving device 52. As illustrated in FIG. 4, the first point 211 and the second point 212 may include one end 213 of the mounting surface 210 spaced apart from each other in the first axial direction (X-axis direction), respectively. It may be the other end 214. As shown in FIG. 5, the first point 211 and the second point 212 respectively have one end 213 (shown in FIG. 4) and the other end 214 of the first loading surface 210, respectively. Two points spaced apart from each other in between).

Although not shown, the first moving mechanism 52 may include a motor that generates a rotational force for rotating the first measuring mechanism 51. The motor may be directly coupled to the rotating shaft of the first measuring device 51 to rotate the first measuring device 51. When the rotating shafts of the motor and the first measuring device 51 are spaced apart from each other by a predetermined distance, the first moving mechanism 52 further includes connecting means for connecting the rotating shafts of the motor and the first measuring device 51. It may include. The connecting means may be a pulley and a belt.

Referring to FIGS. 3 to 6, the first acquisition unit 5 measures the inclination A (shown in FIG. 4) with respect to the loading surface 210 from the distance measured by the first measurement device 51. The calculation unit 53 may include a calculation unit 53 (shown in FIG. 6). The calculation unit 53 may derive the inclination A with respect to the loading surface 210 by calculating according to at least one of the sine law and the cosine law using the distance measured by the first measuring device 51. have.

For example, as shown in FIG. 4, the first measuring device 51 is spaced apart from the first end 213 and the other end 214 of the loading surface 210 by the first separation distance D1 and the second separation distance, respectively. When measuring (D2), the calculation unit 53 calculates the first separation distance (D1) and the second separation distance (D2) according to the following equations (1) and (2) below the loading surface 210 The slope A for can be derived.

[Equation 1]

&Quot; (2) "

In Equations 1 and 2, L1 is a distance between one end 213 and the other end 214 of the loading surface 210, B is the first when the loading surface 210 is in an inclined state A first included angle between the first side formed by the separation distance D1 and the loading surface 210, S is the first side and the when the loading surface 210 is not inclined. It is the 2nd pinched angle between the loading surfaces 210. FIG. The operation unit 53 may include a memory (not shown) in which the distance L1 between the one end 213 and the other end 214 of the loading surface 210 and the second pinched angle S are stored.

The calculation unit 53 may include a first separation distance D1 and a second separation distance D2 received from the first measuring device 51, and one end 213 of the loading surface 210 stored in the memory. By substituting the distance L1 between the other ends 214 into Equation 1, the first pinched angle B between the first side D1 and the inclined loading surface 210 may be derived. Thereafter, the calculation unit 53 may derive the inclination A with respect to the mounting surface 210 by substituting the derived first pinched angle B into Equation 2 and calculating it.

The calculation unit 53 calculates the inclination A with respect to the loading surface 210 by calculating the first separation distance D1 and the second separation distance D2 according to Equation 3 and Equation 2 below. It can also be derived.

&Quot; (3) "

In Equation 3, C is the first moving mechanism 52 rotates the first measuring device 51 to measure the first separation distance (D1) and the second separation distance (D2). The measurement angle. The calculation unit 53 is a second separation distance D2 received from the first measuring device 51, the distance (L1) between one end 213 and the other end 214 of the loading surface 210 stored in the memory. ) And the measured angle C received from the first moving mechanism 52 can be calculated by substituting Equation 3 to derive the first pinched angle B. Thereafter, the calculation unit 53 may derive the inclination A with respect to the mounting surface 210 by substituting the derived first pinched angle B into Equation 2 and calculating it.

For example, as illustrated in FIG. 5, the first measuring device 51 may include a first separation distance D1 spaced apart from each of the first point 211 and the second point 212 of the loading surface 210. When the second separation distance D2 is measured, the calculator 53 calculates the first separation distance D1 and the second separation distance D2 by Equation 4, Equation 5, and Equation 2 below. By calculating according to the inclination (A) with respect to the mounting surface 210 can be derived.

&Quot; (4) "

[Equation 5]

In Equations 4 and 5, L2 is a distance between the first point 211 and the second point 212 of the loading surface 210, C is the first separation distance (D1) and the first 2 is a measurement angle at which the first movement mechanism 52 rotates the first measurement mechanism 51 to measure the separation distance D2, and B is the first angle when the loading surface 210 is inclined. It is a first pinched angle between the side and the loading surface 210.

The calculator 53 calculates the first separation distance D1 and the second separation distance D2 received from the first measuring device 51, and the measurement angle C received from the first moving device 52. By substituting into Equation 4, the distance L2 between the first point 211 and the second point 212 can be derived. Thereafter, the calculation unit 53 calculates the distance L2 between the derived first point 211 and the second point 212 by using Equation 5 to calculate the first side D1. ) And the first pinched angle B between the tilted loading surface 210 can be derived. Thereafter, the calculation unit 53 may derive the inclination A with respect to the mounting surface 210 by substituting the derived first pinched angle B into Equation 2 and calculating it.

Referring to FIG. 7, the first acquisition unit 5 may include a plurality of first measurement instruments 51.

The first measuring instruments 51, 51 ′ are coupled to the boom 2 so as to be located opposite to each other with respect to the boom 2. The first measuring instruments 51 and 51 ′ may be coupled to the boom 2 so as to be spaced apart from each other in the second axial direction (Y-axis direction). In this case, the first acquisition unit 5 includes a plurality of first movement mechanisms 52, for moving each of the first measurement mechanisms 51, 51 'in the first axial direction (X-axis direction). 52 ').

The first measuring instruments 51 and 51 'are moved in the first axial direction (X-axis direction) by the first moving mechanisms 52 and 52', respectively, so that the first axial direction (X-axis). Direction, the separation distances spaced apart from the loading surface 210 may be measured based on the measurement lines A1 and A2 spaced apart from each other. The calculator 53 calculates the separation distances received from the first measuring instruments 51 and 51 ′ by substituting at least one of Equations 1 to 5 to calculate the first axial direction X. FIG. Slopes of the loading surface 210 based on each of the measurement lines A1 and A2 spaced apart from each other in the axial direction) may be derived. In addition, the calculation unit 53 is inclined inclination of the loading surface 210 based on the measurement line A3 perpendicular to the measurement lines A1 and A2 spaced apart from each other in the first axis direction (X-axis direction). Can be derived. The first acquisition unit 5 may include a plurality of calculation units 53 and 53 'that calculate the separation distances received from each of the first measuring instruments 51 and 51'. Meanwhile, in the above description, the calculator 53 is implemented as a separate configuration from the first measuring device 51, but is not limited thereto, and the first measuring device 51 includes the calculating part 53. It may be implemented.

Referring to FIG. 8, the first acquiring unit 5 captures the loading surface 210 to acquire image data, and then uses the first stereo camera to obtain the tilt information using the acquired image data. Stereoscopic camera) 54.

The first stereo camera 54 may acquire the plurality of image data by photographing the loading surface 210 from different angles, and obtain the tilt information from the obtained image data. The first stereo camera 54 may include three first lenses 541, 542, and 543 for capturing the loading surface 210. The three first lenses 541, 542, and 543 may be installed on the boom 2 so as to be spaced apart from each other by a predetermined distance so as to photograph the loading surface 210 in different directions. The first stereo camera 54 has one end 213 (shown in FIG. 4) and the other end 214 of the loading surface 210 from image data acquired through the first lenses 541, 542, 543. , As illustrated in FIG. 4, may be obtained. The calculator 53 (shown in FIG. 6) may derive the inclination of the loading surface 210 inclined in the first axis direction (X-axis direction) from the coordinates obtained by the first stereo camera 54. Can be.

7 and 8, the first acquisition unit 5 may include a plurality of first stereo cameras 54. The first stereo cameras 54 and 54 'are coupled to the boom 2 so as to be located opposite to each other with respect to the boom 2. The first stereo cameras 54 and 54 ′ may be coupled to the boom 2 to be spaced apart from each other in the second axial direction (Y-axis direction). The first stereo cameras 54 and 54 ′ are mounted on the loading surface based on the measurement lines A1 and A2 (shown in FIG. 7) spaced apart from each other in the first axial direction (X-axis direction), respectively. Coordinates of one end 213 (shown in FIG. 4) and the other end 214 (shown in FIG. 4) of 210 may be obtained. The calculator 53 (shown in FIG. 6) measures measurement lines A1 and A2 spaced apart from each other in the first axis direction (X-axis direction) from coordinates obtained by the first stereo cameras 54 and 54 ′. The slopes of the loading surface 210 on the basis of each can be derived. In addition, the calculator 53 is perpendicular to the measurement lines A1 and A2 spaced apart from each other in the first axis direction (X-axis direction) from the coordinates obtained by the first stereo cameras 54 and 54 '. The inclination of the loading surface 210 in the second axis direction (Y-axis direction) can be derived.

Here, since the ship 200 is located at sea, the inclination of the loading surface 210 may continue to change even after the first acquisition unit 5 acquires the inclination information. In order to correspond to a change in inclination of the loading surface 210, the first acquisition unit 5 may acquire motion information in which the inclination of the loading surface is changed based on the inclination information. Therefore, the harbor crane 1 according to the present invention, even if a change occurs in the inclination with respect to the loading surface 210, by adjusting the inclination of the target object 100 to correspond to the change in the slope by loading on the vessel 200 In addition, the accuracy of the recommendation work can be further improved.

3 to 8, the first acquisition unit 5 acquires inclination information on which the loading surface 210 is inclined and then tilts the loading surface 210 based on the obtained inclination information. Obtains changing motion information. The first acquisition unit 5 provides the acquired movement information to the tilting unit 6. When the tilting unit 6 receives the motion information, the tilting unit 6 may adjust the inclination of the object 100 to correspond to the motion information.

After acquiring the inclination information, the first acquiring unit 5 may acquire the motion information by continuously measuring the distance spaced from the loading surface 210 by the first measuring device 51. . In this case, the first measuring device 51 may periodically measure the distance spaced from the loading surface 210 according to the set measurement period.

After acquiring the inclination information, the first acquisition unit 5 may acquire the motion information by the first stereo camera 54 continuously photographing the loading surface 210 to obtain image data. . In this case, the first stereo camera 54 may acquire the motion information by periodically photographing the loading surface 210 according to a set shooting cycle.

2 and 6, the tilting unit 6 may adjust the inclination of the object 100 connected to the hoist 4 according to the inclination information.

The tilting part 6 may be coupled to the hoist 4. Although not shown, the tilting part 6 may be coupled to the crab 3. The tilting unit 6 may receive the inclination information from the first acquisition unit 5 and then adjust the inclination of the object 100 connected to the hoist 4 according to the received inclination information. The tilting part 6 is connected to the hoist 4 or the object 100 to M or less wires 300 of M wires (M is an integer greater than 1) or less than (M-1) wires 300. By adjusting the length with respect to, it is possible to adjust the inclination of the object 100 connected to the hoist (4).

For example, as shown in FIG. 2, when the hoist 4 is connected to the crab 3 through two first wires 310 and 310 ′, the tilting part 6 is connected to two first wires. The length of any one of the (310, 310 ') can be adjusted. Accordingly, the hoist 4 is inclined to correspond to the difference in length between the two first wires 310 and 310 '. Therefore, the tilting part 6 adjusts the inclination of the object 100 to correspond to the inclination of the loading surface 210 by inclining the object 100 to correspond to the inclination of the hoist 4. Can be. In this case, the tilting part 6 may selectively adjust any length of the first wires 310 and 310 'by selectively driving any one of the winch mechanisms 32 and 32'. Although not shown, when the hoist 4 is connected to the crab 3 through the four first wires 310, the tilting part 6 may have three or less of the four first wires 310. By adjusting the length of the first wires 310, the inclination of the object 100 may be adjusted.

For example, as shown in FIG. 2, when the object 100 is connected to the hoist 4 through two second wires 320 and 320 ′, the tilting part 6 has two second wires. The length of any one of the 320 and 320 'may be adjusted. Accordingly, the object 100 is inclined to correspond to the difference in length between the two second wires 320 and 320 '. Therefore, the tilting part 6 may adjust the inclination of the object 100 to correspond to the inclination of the loading surface 210. In this case, the tilting unit 6 may individually adjust the lengths of the second wires 320 and 320 'by winding or unwinding the second wires 320 and 320', respectively. The tilting part 6 may be coupled to the hoist 4. Although not shown, when the object 100 is connected to the hoist 4 through four second wires 320, the tilting part 6 may have three or less of four second wires 320. By adjusting the length of the second wires 320, the inclination of the object 100 may be adjusted.

2 and 6, the tilting unit 6 may further adjust the inclination of the object 100 connected to the hoist 4 according to the motion information.

The tilting unit 6 adjusts the inclination of the object 100 connected to the hoist 4 according to the inclination information received from the first acquisition unit 5. Thereafter, when the tilting part 6 confirms that the inclination of the loading surface 210 is changed from the motion information received from the first acquiring part 5, the inclination of the object 100 is further increased. Adjust. In this case, the tilting unit 6 may adjust the inclination of the object 100 a plurality of times according to the motion information. The tilting part 6 adjusts the inclination of the object 100 according to the inclination information, and when it is confirmed that there is no change in the inclination with respect to the loading surface 210 from the motion information, according to the inclination information The inclination of the object 100 is maintained so that the inclined object is loaded on the ship.

9 and 10, the harbor crane 1 according to the present invention includes a second acquisition unit 7 for acquiring loading information on the loading state of the object 100 loaded on the vessel 200. It may include.

The second acquisition unit 7 is installed in the crab 3. The second acquisition unit 7 may be installed on the crab 3 to be located between the crab 3 and the vessel 200. As the crab 3 moves in the first axis direction (X-axis direction) and the second axis direction (Y-axis direction), the second acquisition unit 7 may move together. The second acquisition unit 7 is loading information about the position of the object 100 loaded on the loading surface 210, the number of the object 100 is stacked, the position that can be additionally loaded from the loading surface 210, etc. Can be obtained. The harbor crane 1 according to the present invention may perform a task of loading the object 100 on the ship 200 by using the loading information acquired by the second acquisition unit 7. The second acquisition unit 7 may provide the obtained loading information to a crane controller (not shown). The crane controller may control at least one of the traverse mechanism and the traveling mechanism according to the obtained loading information, thereby allowing the object 100 to move to a loadable position in the vessel 200.

The second acquisition unit 7 measures the distance spaced from at least one of the object 100 and the loading surface 210 loaded on the loading surface 210, and then uses the measured value to load the loading information. Can be obtained. After acquiring the image data of the loading surface 210, the second acquisition unit 7 may obtain the loading information by using the acquired image data.

First, the second obtaining unit 7 obtains the loading information by using a distance spaced from at least one of the object 100 and the loading surface 210 loaded on the loading surface 210. If you look at the following.

Referring to FIG. 9, the second acquisition unit 7 is a second measuring device for measuring a distance spaced from at least one of the object 100 and the loading surface 210 loaded on the loading surface 210. 71 may be included. The second measuring device 71 emits the measurement light toward the vessel 200, and then the measurement light is reflected by the loading surface 210 or the object 100 loaded on the loading surface 210 to receive the light. The distance spaced from the loading surface 210 or the object 100 loaded on the loading surface 210 may be measured from the time required until the time is taken. The second measuring device 71 may be a laser sensor using a laser beam as the measurement light. The second measuring device 71 is installed in the crab 3. The second measuring device 71 may measure a distance spaced from an object located vertically below the crab 3. The object may be the loading surface 210 or the object 100 loaded on the loading surface 210. When the position is changed as the crab 3 moves, the second measuring instrument 71 acquires the loading information by measuring a distance separated from the loading surface 210 or the object 100 belonging to the changed position. Can be.

The time taken until the measurement light is reflected on the mounting surface 210 and received by the second measuring instrument 71 is reflected by the object 100 loaded on the loading surface 210. It is shorter than the time taken until it is received by the second measuring instrument 71. From this time difference, the second acquisition unit 7 may obtain the loading information to distinguish whether or not the object 100 is loaded vertically below the crab (3). In addition, the more the number of the object 100 is stacked on the loading surface 210, the longer it takes for the measurement light to be reflected by the object 100 and received by the second measuring device 71. Lose. From this time difference, the second acquisition unit 7 may acquire the loading information to distinguish whether or not the number of objects 100 are stacked below the crab 3 vertically.

Referring to FIG. 9, the second acquisition unit 7 may include a second movement mechanism 72 for moving the second measurement mechanism 71. The second moving mechanism 72 may move the second measuring mechanism 71 in at least one of the first axis direction (X axis direction) and the second axis direction (Y axis direction). Accordingly, the second measuring mechanism 71 is moved by the second moving mechanism 72, so that not only the vertical down of the crab 3 but also the loading information on the periphery thereof can be obtained. The second moving mechanism 72 may move the second measuring mechanism 71 by rotating the second measuring mechanism 71. Although not shown, the second moving mechanism 72 may include a motor that generates a rotational force for rotating the second measuring mechanism 71. The motor may be directly coupled to the rotating shaft of the second measuring device 71 to rotate the second measuring device 71. When the rotating shafts of the motor and the second measuring mechanism 71 are spaced apart from each other by a predetermined distance, the second moving mechanism 72 further includes connecting means for connecting the rotating shafts of the motor and the second measuring mechanism 71. It may include. The connecting means may be a pulley and a belt.

Referring to FIG. 9, the second acquisition unit 7 may include a plurality of second measurement instruments 71. The second measuring instruments 71, 71 ′ may be coupled to the crab 3 to be spaced apart from each other. The second measuring instruments 71 and 71 ′ may be coupled to the crab 3 to be spaced apart from each other in the second axial direction (Y-axis direction). In this case, the second measuring instruments 71 and 71 ′ may be coupled to the crab 3 to be spaced apart by a distance smaller than the size of the object 100 in the second axial direction (Y-axis direction). . The second acquisition unit 7 may include a plurality of second moving mechanisms 72 and 72 'for moving each of the second measuring instruments 71 and 71'.

Referring to FIG. 10, the second acquisition unit 7 captures the loading surface 210 to acquire image data, and then uses a second stereo camera to obtain the loading information using the acquired image data. Stereoscopic camera) 74.

The second stereo camera 74 may acquire the plurality of image data by capturing the photographing area from different angles, and obtain the loading information from the obtained image data. The photographing area may include all or part of the loading surface 210. The second stereo camera 74 may include three second lenses 741, 742, and 743 for photographing the loading surface 210. The three second lenses 741, 742, and 743 may be installed in the crab 3 to be spaced apart from each other by a predetermined distance so as to photograph the loading surface 210 in different directions. The second stereo camera 74 acquires the loading information by acquiring the coordinates of the object 100 loaded on the loading surface from the image data acquired through the second lenses 741, 742, and 743. Can be.

Referring to FIG. 10, the second acquisition unit 7 may include a plurality of second stereo cameras 74. The second stereo cameras 74 and 74 ′ may be coupled to the crab 3 to be spaced apart from each other. The second stereo cameras 74 and 74 ′ may be coupled to the crab 3 to be spaced apart from each other in the second axial direction (Y-axis direction). In this case, the second stereo cameras 74 and 74 ′ may be coupled to the crab 3 to be spaced apart by a distance smaller than the size of the object 100 in the second axial direction (Y-axis direction). .

9 to 11, the harbor crane 1 according to the present invention is a scheduling unit 8 for setting a loading order for loading the object 100 on the vessel 200 according to the obtained loading information. , As shown in FIG. 11).

The scheduling unit 8 receives the loading information from the second acquisition unit 7. The stacking information may include a position of the object 100 loaded on the stacking surface 210, a number of stacking of the object 100, a position that can be additionally stacked among the stacking surface 210, and the like. The scheduling unit 8 may distinguish the additional stackable positions from the stacking surface 210 from the stacking information, and set a stacking order so that the target 100 can be loaded to the maximum using the positions. In the process of loading the object 100 into the vessel 200 by the harbor crane 1 according to the present invention, the scheduling unit 8 is located in the position where the object 100 is loaded on the vessel 200 You can also save. Accordingly, the scheduling unit 8 may update and store a position in which the object 100 may be additionally loaded from the loading surface 210 in the process of being loaded on the vessel 200. The scheduling unit 8 may receive the loading information from the second measuring device 71 or the second stereo camera 74.

9 to 11, the harbor crane 1 according to the present invention may include a control unit 9 (shown in FIG. 11) for controlling the crab 3 according to the loading order and the loading information. have.

The control unit 9 may receive the loading information from the second acquisition unit 7 and may receive the loading order from the scheduling unit 8. The control unit 9 controls the crab 3 so that the object 100 coupled to the hoist 4 (shown in FIG. 2) is positioned at a loading position to be loaded in the loading order, and then the loading information. The crab 3 may be controlled such that the object 100 coupled to the hoist 4 (shown in FIG. 2) is loaded in close contact with the object 100 loaded adjacent to the loading position. The control unit 9 may control the winch mechanism 32 (shown in FIG. 2) according to the loading order and the loading information. The controller 9 may control the movement of the crab 3 by controlling at least one of the traveling mechanism (not shown) and the transverse mechanism (not shown) according to the loading order and the loading information. . The control unit 9 may receive both the loading information and the loading order from the scheduling unit 8.

Hereinafter, with reference to the accompanying drawings a preferred embodiment of the harbor crane control method according to the present invention will be described in detail.

12 is a schematic flowchart of a port crane control method according to the present invention.

1 to 12, the port crane control method according to the present invention can be performed using the above-described port crane (1) according to the present invention. The harbor crane control method according to the present invention may include the following configuration.

First, the slope information is obtained (S10, shown in FIG. 12). This process (S10) may be performed by the first acquisition unit (5, shown in Figure 6) to obtain the slope information.

1 to 12, in the process of obtaining the slope information (S10), the first acquisition unit 5 is spaced apart from N points with respect to the mounting surface 210 (shown in FIG. 5). It may include a step of measuring the distance, and the step of obtaining the inclination information by calculating the inclination with respect to the loading surface 210 from the measured distances.

The process of measuring the spaced distance may be performed by measuring the distance spaced from the N points with respect to the loading surface 210 by the first measuring device 51 (shown in FIG. 5). As the process of measuring the spaced distance is performed, a first spaced distance in which the first measuring device 51 and the first point 211 (shown in FIG. 5) of the loading surface 210 are spaced apart from each other ( D1 (shown in FIG. 5) and a second separation distance D2 (FIG. 5) from which the first measuring device 51 and the second point 212 (shown in FIG. 5) of the loading surface 210 are separated from each other. Shown) can be measured. In the process of measuring the spaced apart distance, the first measuring device 51 is spaced apart from one end 213 (shown in FIG. 4) and the other end 214 (shown in FIG. 4) of the loading surface 210. It can also be achieved by measuring the distance. The process of measuring the spaced distance may be performed by a plurality of first measuring instruments 51 and 51 '. In this case, each of the first measuring instruments 51, 51 '(shown in FIG. 3) is moved in the first axial direction (X-axis direction) by the first moving mechanisms 52, 52'. As a result, the separation distances spaced apart from the mounting surface 210 may be measured based on the measurement lines A1 and A2 spaced apart from each other in the first axial direction (X-axis direction).

In the process of obtaining the inclination information by calculating the inclination with respect to the loading surface 210, the calculation unit 53 (shown in FIG. 6) may measure the measured first separation distance D1 and the measured second separation. The distance D2 may be calculated according to at least one of Equations 1 to 5 to derive a slope A with respect to the loading surface 210. The process of obtaining the inclination information by calculating the inclination of the loading surface 210 may be performed using the separation distances obtained by the plurality of first measuring instruments 51 and 51 '. In this case, the calculator 53 calculates the separation distances received from the first measuring instruments 51 and 51 'according to at least one of Equations 1 to 5, thereby providing the first axis direction. Tilts of the loading surface 210 based on each of the measurement lines A1 and A2 spaced apart from each other in the X-axis direction may be derived. In addition, the calculator 53 adds an inclination of the loading surface 210 based on the measurement lines A3 perpendicular to the measurement lines A1 and A2 spaced apart from each other in the first axis direction (X-axis direction). It can be derived as

1 to 12, in the process of obtaining the inclination information (S10), the first acquisition unit 5 photographs the loading surface 210 (shown in FIG. 5) from different angles, thereby obtaining a plurality of gradient information. And obtaining the gradient information from the obtained image data.

The process of acquiring the image data may include obtaining a plurality of image data by photographing the loading surface 210 (shown in FIG. 8) from different angles by the first stereo camera 54 (shown in FIG. 8). Can be done. As the process of acquiring the image data is performed, coordinates of one end 213 (shown in FIG. 4) and the other end 214 (shown in FIG. 4) of the loading surface 210 may be obtained. The process of acquiring the image data may be performed by a plurality of first stereo cameras 54 and 54 '. In this case, the first stereo cameras 54 and 54 ′ are based on the measurement lines A1 and A2 (shown in FIG. 7) spaced apart from each other in the first axial direction (X-axis direction). Coordinates of one end 213 and the other end 214 of the loading surface 210 may be obtained.

In the process of obtaining the inclination information from the obtained image data, the calculation surface 53 (shown in FIG. 6) is the loading surface 210 is the coordinates received from the coordinates received from the first stereo camera 54 It may be achieved by deriving an inclination inclined in the first axis direction (X-axis direction). The obtaining of the tilt information from the obtained image data may be performed using coordinates acquired by the plurality of first stereo cameras 54 and 54 ′. In this case, the calculator 53 (shown in FIG. 6) may measure measurement lines spaced apart from each other in the first axis direction (X-axis direction) from coordinates received from the first stereo cameras 54 and 54 ′. Slopes of the loading surface 210 based on each of A1 and A2) may be derived. In addition, the calculator 53 is perpendicular to the measurement lines A1 and A2 spaced apart from each other in the first axis direction (X-axis direction) from the coordinates received from the first stereo cameras 54 and 54 '. The inclination of the loading surface 210 inclined in the second axis direction (Y-axis direction) may be further derived.

Next, the motion information is obtained (S20). The process S20 may be performed by the first acquiring unit 5 acquiring the inclination information, and then confirming the change of the inclination of the loading surface 210 based on the obtained inclination information. After acquiring the inclination information, the first acquiring unit 5 may acquire the motion information by continuously measuring the distance spaced from the loading surface 210 by the first measuring device 51. . In this case, the first measuring device 51 may periodically measure the distance spaced from the loading surface 210 according to the set measurement period. After acquiring the inclination information, the first acquisition unit 5 may acquire the motion information by the first stereo camera 54 continuously photographing the loading surface 210 to obtain image data. . In this case, the first stereo camera 54 may acquire the motion information by periodically photographing the loading surface 210 according to a set shooting cycle.

Next, the port crane 1 is controlled to perform the lifting operation (S30). In this step (S30), the tilting unit 6 adjusts the inclination of the object 100 according to the inclination information and the motion information, and the crab 3 controls the object 100 by the vessel 200. This can be done by lowering the load toward). The tilting part 6 adjusts the length of the wire 300 of (M-1) or less among the M wires 300 connected to the hoist 4 or the object 100, thereby making the hoist ( It is possible to adjust the inclination of the object 100 connected to 4).

The step S30 of controlling the harbor crane 1 to perform the unwinding operation may include the following steps.

First, it is determined whether the inclination with respect to the loading surface 210 has changed from the motion information (S31). This step (S31) may be performed by continuously measuring the distance spaced from the mounting surface 210 by the first measuring device 51 after the first acquisition unit 51 obtains the inclination information. have. In the step S31 of determining whether the inclination with respect to the loading surface 210 has changed, after the first acquisition unit 5 acquires the inclination information, the first stereo camera 54 loads the loading information. It may be achieved by continuously photographing the surface 210 to obtain image data.

Next, when it is confirmed that there is no change in the inclination of the loading surface 210 from the motion information (S31), the object 100 is maintained in an inclined state according to the inclination information (S32). This process (S32) may be achieved by controlling the tilting unit 6 to maintain the inclined state according to the inclination information. The tilting unit 6 adjusts the inclination of the object 100 according to the inclination information when the step (S10) of acquiring the inclination information is performed, and then adjusts the inclination of the loading surface 210 from the motion information. If there is no change, the inclination of the object 100 may be maintained.

Next, when it is confirmed that the change of the loading surface 210 is inclined from the motion information, the inclination of the object 100 is adjusted according to the motion information (S33). The process S33 may be performed by controlling the tilting unit 6 to adjust the inclination of the object 100 according to the motion information. The tilting unit 6 adjusts the inclination of the object 100 according to the inclination information when the step (S10) of acquiring the inclination information is performed, and then adjusts the inclination of the loading surface 210 from the motion information. Confirming that the change can be further adjusted to the inclination of the object 100.

Next, the object 100 is loaded on the vessel 200 (S34). In this step (S34), when the tilting part 6 adjusts the inclination of the object 100 according to the inclination information and the motion information, the crab 3 causes the object 100 to be moved to the vessel 200. This can be achieved by controlling the harbor crane 1 to be lowered and loaded toward the side of the vehicle.

Here, the harbor crane control method according to the present invention, the step of acquiring the loading information on the loading state of the object 100 loaded on the vessel 200 and loading the object on the vessel according to the obtained loading information It may further comprise the step of setting the loading order for.

In the obtaining of the loading information, the second acquisition unit 7 (shown in FIG. 9) is spaced apart from at least one of the object 100 and the loading surface 210 loaded on the loading surface 210. After measuring the distance, it can be achieved by acquiring the loading information by using the measured value. In this case, the process of measuring the spaced distance may be performed by the second measuring instrument 71 (shown in FIG. 9). The process of acquiring the loading information using the value measured by the second measuring device 71 may be performed by the calculating unit 53. The process of acquiring the loading information may be performed by the second acquiring unit 7 acquiring image data of the loading surface 210 and then acquiring the loading information using the acquired image data. In this case, the second stereo camera 74 may acquire the image data, and acquire the loading information by using the acquired image data.

In the step of setting the stacking order, the scheduling unit 8 distinguishes positions that can be additionally loaded from the stacking surface 210 by using the stacking information received from the second acquisition unit 7, and stores the positions. It can be made by setting the loading order so that the object 100 can be loaded to the maximum. In this case, the scheduling unit 8 may receive the loading information from the second measuring device 71 or the second stereo camera 74.

The step (S30) of controlling the harbor crane is to bring the object 100 connected to the harbor crane 1 in close contact with the object 100 loaded on the vessel 200 according to the loading order and the loading information. Process may be included. In this process, the harbor crane is positioned such that the control unit 9 (shown in FIG. 11) is positioned at a loading position where the object 100 coupled to the hoist 4 (shown in FIG. 2) is placed in the loading order. After controlling (1), the object 100 coupled to the hoist 4 (shown in FIG. 2) is placed in close contact with the object 100 loaded adjacent to the loading position according to the loading information. This can be achieved by controlling the harbor crane 1.

The above-described harbor crane control method is implemented in the form of program instructions that can be executed by various computer means, and can be recorded in a computer-readable recording medium. In this case, the computer-readable recording medium may include program instructions, data files, data structures, and the like, alone or in combination. On the other hand, the program instructions recorded on the recording medium may be those specially designed and configured for the present invention or may be available to those skilled in the art of computer software.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.

It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

DESCRIPTION OF SYMBOLS 1 Harbor crane 2 Boom 3 Crab 4 Hoist 5 1st acquisition part
6 tilting unit 7 second acquisition unit 8 scheduling unit 9 control unit 10 support
20: running rail 31: support mechanism 32: winch mechanism 51: first measuring mechanism
52: first moving mechanism 53: calculator 54: first stereo camera
71: first measuring unit 72: second moving mechanism 100: object 200: ship
210: loading surface 300: wire 310: first wire 320: second wire

Claims (16)

Crab for supporting the object;
A hoist connected to the crab and to which an object is coupled;
A boom to which the crab is movably coupled so that the hoist is located above the ground or the vessel;
A first installed on the boom so as to be positioned above the vessel and obtaining tilt information on which the loading surface of the vessel for supporting an object is inclined and movement information in which the inclination of the loading surface is changed based on the inclination information; Acquisition unit; And
And a tilting unit configured to adjust an object connected to the hoist to be inclined corresponding to the loading surface according to the inclination information and the motion information. The method of claim 1,
And the tilting unit adjusts the inclination of the object according to the inclination information, and if it is confirmed that the inclination of the loading surface is changed from the motion information, the harbor crane characterized in that it adjusts the inclination of the object according to the changed inclination. The method of claim 1, wherein the first acquisition unit
A plurality of first measuring instruments for measuring a distance spaced from the loading surface; And
Each of the first measuring instruments including a plurality of first moving mechanisms for moving the first measuring instruments to measure a distance spaced from N points (N is an integer greater than 1) to the loading surface; Port crane characterized by the above-mentioned. The method of claim 1, wherein the first acquisition unit
A first measuring device for measuring a distance spaced from the loading surface;
A first moving mechanism for moving the first measuring mechanism so that the first measuring mechanism measures a distance separated from each of one end and the other end of the loading surface; And
And a calculation unit configured to obtain the inclination information and the motion information from a distance between one end of the loading surface and the first measurement device and a distance between the other end of the loading surface and the distance from the first measurement device. Port Crane. The method of claim 1,
The first acquiring unit includes a plurality of first measuring mechanisms for measuring a distance spaced from the loading surface to obtain the inclination information and the motion information;
The first crane mechanism is characterized in that coupled to the boom to be located opposite to each other with respect to the boom. The method of claim 1,
The first acquiring unit includes a first stereo camera which acquires a plurality of image data by photographing the loading surface at different angles, and obtains the tilt information and the motion information from the obtained image data. Port Crane. The method of claim 1,
The tilting part adjusts the length of the object (M-1) or less among M wires (M is an integer greater than 1) connected to the hoist or the object according to the inclination information and the motion information, thereby adjusting the inclination of the object. Port crane, characterized in that to regulate. The method of claim 1,
The harbor crane is installed in the crab, characterized in that it comprises a second acquisition unit for obtaining the loading information on the loading state of the object loaded on the vessel. The method of claim 8, wherein the second acquisition unit
A plurality of second measuring mechanisms for measuring a distance spaced from at least one of the object loaded on the loading surface and the loading surface; And
And a second moving mechanism for moving the second measuring instruments in a direction perpendicular to or identical to a direction in which the crab moves. 9. The method of claim 8,
And the second acquisition unit comprises a second stereo camera which acquires a plurality of image data by photographing the loading surface from different angles, and obtains the loading information from the obtained image data. 9. The method of claim 8,
A scheduling unit for setting a loading order for loading an object on the ship according to the obtained loading information; And
And a control unit for controlling the crab such that the object coupled to the hoist is loaded in close contact with the object loaded on the ship according to the loading order and the loading information. The first acquisition unit located on the upper side of the vessel obtains the inclination information about the inclination state of the loading surface of the vessel for supporting the object, and obtains the motion information that the inclination of the loading surface changes based on the inclination information step; And
If it is confirmed that a change in the inclination of the loading surface occurs after the inclination information is obtained from the motion information, controlling the harbor crane for performing the unloading operation for loading the ship by adjusting the inclination of the object according to the motion information; Port crane control method comprising a. The method of claim 12,
If it is confirmed that there is no change in the inclination of the loading surface after the inclination information is obtained from the motion information, the port crane control method comprising the step of performing the lifting operation for loading the inclined object in accordance with the inclination information on the ship . The method of claim 12, wherein the obtaining of the slope information and the motion information comprises:
Measuring, by the first obtaining unit, a distance spaced from N points (N is an integer greater than 1) to the loading surface; And
And calculating the inclination of the loading surface from the measured distances to obtain the inclination information and the motion information. The method of claim 12, wherein the obtaining of the slope information and the motion information comprises:
Acquiring a plurality of image data by photographing the loading surface from different angles by the first acquiring unit; And
Obtaining coordinates for N points (N is an integer greater than 1) with respect to the loading surface from the obtained image data, and obtaining the tilt information and the motion information from the obtained coordinates. Port crane control method characterized in that. The method of claim 12,
Acquiring loading information on the loading state of the object loaded on the ship, and setting a loading order for loading the object on the ship according to the obtained loading information; Including;
The step of controlling the harbor crane to perform the unloading operation includes controlling the crane according to the loading order and the load information, comprising the step of closely attaching an object connected to the harbor crane to an object loaded on the ship. Way.

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