KR20220077018A - Multi-step lifting control method for anti-snag and sway of crane - Google Patents

Abstract

The present invention relates to a multi-step lifting control method for preventing shaking of a crane, which blocks shaking that occurs during the movement of baggage without relying on a complex detection system by a number of sensors, as well as instantaneous lifting of baggage It is designed to effectively prevent fatal accidents that can be caused by the shaking of luggage and hooks by thoroughly blocking the initial shaking caused by the

Description

Multi-step lifting control method for preventing shaking of cranes

The present invention relates to a crane, and in particular, blocks shaking that occurs during the movement of baggage without relying on a complex detection system by a number of sensors, as well as thorough initial shaking that occurs instantaneously when lifting baggage It relates to a multi-step lifting control method for preventing the shaking of a crane so that it can effectively prevent fatal safety accidents that can be caused by shaking of luggage and hooks by blocking them.

In general, a crane serves to move luggage to a desired position, and is a machine or mechanical device that horizontally transports luggage by using power, and performs an operation of elevating and horizontally moving luggage.

These cranes are widely used in the process of loading or unloading luggage at the site, and when the luggage is lifted from the ground and moved, the luggage hanging from the cable shakes. In the case of luggage that is usually moved by cranes, it is common that luggage weighing more than 1 ton is common, so the shaking of luggage can cause damage to cables, drop luggage, and cause fatal problems such as injury or death of ground workers.

In order to solve the problem of shaking luggage, like in Korea Patent Publication No. 10-2012639 (Aug. 14, 2019), 'Crane anti-sway system', there is an attempt to suppress shaking through automatic control without relying on the manual operation of the crane operator. Although some of the technologies have been disclosed, there are many sensors required for this, and there is a problem in that it cannot suppress the initial instantaneous shaking that occurs because the luggage is not positioned at the moment the luggage is lifted from the ground. The sudden movement of the hook and luggage at this time is difficult to predict and may cause injury or death of ground workers.

Korean Patent Publication No. 10-2012639 (2019.08.14.)

Accordingly, the present invention has been proposed to solve the problems of the related art as described above, and an object of the present invention is to block shaking that occurs during the movement of luggage without relying on a complex detection system by a plurality of sensors, as well as , a multi-step lifting control method for preventing shaking of a crane that can effectively prevent fatal safety accidents that can be caused by shaking of luggage and hooks by thoroughly blocking the initial shaking that occurs instantaneously when lifting luggage will be.

In order to achieve the above object, a multi-step lifting control method for preventing shaking of a crane according to the technical idea of the present invention is a trolley and a hoist moving along a crane body, a support block hanging from the hoist to a cable, and the support a camera provided with a hook installed on the lower side of the block and installed so as to be able to photograph downward from one side of the trolley; a display member having a mark having an upper surface formed of a reflective surface, the display member being installed on the upper portion of the support block and installed in a protruding form from a point protruding to one side of the support block so as to be positioned in a vertical direction to correspond to the camera; And an image processing unit for image processing the mark of the display member photographed by the camera in real time, and calculating the coordinates of the mark image from the image generated by the image processing unit in real time, the support block in the vertical direction by the gravitational field without movement A coordinate setting unit that sets the coordinates of the mark image as the reference point coordinates by using the position of the mark as the reference position when it is hung on the cable, and calculates the coordinates of the mark image in the relative position therefrom, the operation of the trolley and the hoist Including a controller for controlling; a load cell installed on the trolley to sense the load of the luggage hanging on the hook; further comprising a; The controller includes: a first step of first raising the support block and the hook while winding the cable by operating the hoist; During the first step, if more than a certain load is detected on the load cell due to the luggage while the luggage does not fall from the ground during the first step, the operation of the hoist is stopped and the coordinates of the mark image are calculated by the coordinate setting unit. ; a third step of calculating the moving distance and direction of the trolley required to match the coordinates of the current marker image with the coordinates of the reference point when the coordinates of the marker image do not match the coordinates of the reference point; a fourth step of first moving the trolley according to the moving distance and direction calculated in the third step; a fifth step of re-operating the hoist in the state in which the trolley has moved first to raise the support block and the hook secondarily while winding up the cable; During the fifth step, if more than a certain load is sensed on the load cell due to the luggage while the luggage does not fall from the ground during the fifth step, the operation of the hoist is stopped and the coordinates of the mark image are calculated again by the coordinate setting unit. step; And if the coordinates of the marker image calculated in step 6 match the coordinates of the reference point, the hoist is operated again to lift the luggage from the ground, and if the coordinates of the marker image calculated in step 6 do not match the coordinates of the reference point, the trolley A seventh step of guiding to start again from the third step so that the coordinates of the mark image coincide with the reference point coordinates by moving the;

Here, the controller calculates the vertical distance from the hoist to the support block by the relative size ratio of the mark image in the image generated by the image processing unit when the luggage is lifted and moved by the trolley, and the reference point A displacement angle calculation unit for calculating a displacement distance of the support block from coordinates and image coordinates, and calculating an angle of change due to shaking of the support block from the vertical distance and displacement distance calculated in this way, wherein the angle of change during pendulum movement of the support block It may be characterized in that the movement control for moving the trolley in a direction to reduce the angle of change calculated by the calculator is performed.

In addition, the controller further includes a risk calculation unit for calculating the degree of risk in consideration of the angle of change calculated by the angle of change calculation unit and the vertical distance from the hoist to the support block, wherein the risk calculating unit increases the angle of change, the vertical distance It may be characterized in that the risk is calculated by weighting the shorter .

In addition, the display member may include: a guide casing attached to an upper surface of one end of the support block and having an opening opened toward one side; a slide bar installed to slide forward and backward in a partially inserted form through the opening of the guide casing; and a protruding mark installed in a form protruding from the upper surface of one end of the slide bar and provided with a reflective surface having a central point on the upper surface; It may be characterized in that it is possible to correct the reference position of the mark with respect to the camera.

In addition, a scale is displayed on the upper surface of the slide bar to check the advance and retreat distance of the slide bar along its longitudinal direction, and on the inner bottom surface of the guide casing, the sliding operation of the slide bar along the longitudinal direction of the guide casing is performed. It may be characterized in that a guide rail for guiding is provided.

In addition, the display member includes a support portion provided in an inverted U-shape in contact with the upper surface and both sides of the guide casing, and horizontally bent outward at both ends of the support portion so as to be in contact with the upper surface of the support block Further comprising a detachable magnetic fixing piece made of a contact portion, the guide casing made of a metal material is fixed to the support block by the magnetic force of the magnetic fixing piece, and the slide bar made of a metal material is fixed to the magnetic fixing piece by the magnetic force of the magnetic fixing piece. It may be characterized in that it is fixed so as not to move with respect to the guide casing.

In addition, the outer surface of the slide bar may be coated with Teflon to reduce the coefficient of friction with the inner surface of the guide casing.

The multi-step lifting control method for preventing shaking of the crane according to the present invention is to lift the luggage by the multi-step lifting control made based on the image generated from the camera shooting without relying on a complex detection system by a number of sensors. By thoroughly blocking the initial shaking that occurs instantaneously at the time of the event, it is possible to prevent safety accidents that may be caused by the shaking of luggage and hooks in advance.

In addition, the present invention can effectively block the shaking that occurs during the movement of luggage by real-time movement control for the trolley.

In addition, the present invention is a configuration provided with a display member so that the position of the mark can be easily changed by a sliding method while being easily detachable from the hook fixing block, without changing the software setting for the coordinate setting unit of the controller. Reference position correction can be made simply.

1 is a schematic view of an anti-shake crane for implementing a multi-step lifting control method for preventing shaking of a crane according to an embodiment of the present invention;
Figure 2 is a configuration diagram for explaining the configuration for implementing a multi-step lifting control method for preventing shaking of a crane according to an embodiment of the present invention
Figure 3 is a perspective view of a display member in the anti-shake crane for implementing a multi-step lifting control method for preventing the shaking of the crane according to an embodiment of the present invention;
4 to 6 are a series of reference views for explaining the action and operation of the display member in the anti-shake crane for implementing a multi-step lifting control method for preventing the shaking of the crane according to an embodiment of the present invention
7 to 9 are mark images implemented by image processing from camera image information in a multi-step lifting control method for preventing shaking of a crane according to an embodiment of the present invention
10 to 14 are a series of reference views for explaining a multi-step lifting control method for preventing shaking of a crane according to an embodiment of the present invention
15 is a reference view for explaining the movement control of the trolley performed by the controller in the multi-step lifting control method for preventing the shaking of the crane according to the embodiment of the present invention

A multi-step lifting control method for preventing shaking of a crane according to embodiments of the present invention will be described in detail with reference to the accompanying drawings. Since the present invention can have various changes and can have various forms, specific embodiments are illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to the specific disclosed form, it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention. In describing each figure, like reference numerals have been used for like elements. In the accompanying drawings, the dimensions of the structures are enlarged than actual for clarity of the present invention, or reduced than actual in order to understand the schematic configuration.

Also, terms such as first and second may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. Meanwhile, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by those of ordinary skill in the art to which the present invention belongs. Terms such as commonly used dictionary definitions should be interpreted as having meanings consistent with the meanings in the context of the related art, and unless explicitly defined in the present application, they are not to be interpreted in an ideal or excessively formal meaning. .

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1 is a schematic view of an anti-shake crane for implementing a multi-step lifting control method for preventing shaking of a crane according to an embodiment of the present invention, Figure 2 is a multi-step for preventing shaking of a crane according to an embodiment of the present invention It is a configuration diagram for explaining the configuration for implementing the lifting control method, Figure 3 is a perspective view of the display member in the anti-shake crane for implementing the multi-step lifting control method for preventing the shaking of the crane according to an embodiment of the present invention.

As shown, the anti-shake crane for implementing the multi-step lifting control method for preventing the shaking of the crane according to an embodiment of the present invention is a crane body 101, a trolley 102 moving along the crane body 101 and It basically includes a hoist 103, a support block 105 for lifting and lowering by hanging from the cable 106 from the hoist 103, and a hook 104 installed below the support block 105, where the display member 110 , the camera 120, the load cell 130 and the controller 140 as main components are further included.

The anti-shake crane effectively blocks the shaking that occurs during the movement of the luggage W1 by real-time movement control for the trolley 102 without a complex detection system by a number of sensors by these major components, as well as multi-step It is configured to thoroughly block the initial shaking that occurs instantaneously when the luggage W1 is lifted by performing lifting control.

As such, the present invention allows to block not only the shaking caused by the pendulum movement while moving the luggage by the trolley 102, but also the sudden shaking that occurs at the moment when the luggage is lifted from the ground, so that the luggage W1 and the hook ( 104), it is possible to more thoroughly prevent safety accidents that may be caused by shaking.

Hereinafter, a multi-step lifting control method for preventing shaking of a crane according to an embodiment of the present invention will be described in detail with a focus on the anti-shake crane having each of the components.

The display member 110 is provided so that the camera 120 can more accurately detect the displacement of the support block 105, has a mark 112 whose upper surface is formed of a reflective surface, and is installed on the support block 105 . Here, the mark 112 of the display member 110 is installed in the form of an upper protrusion from a point protruding to one side of the support block 105 so as to be positioned in the vertical direction corresponding to the camera 120 . Looking at the configuration of the display member 110 in detail, as shown in FIG. 3 , the slide bar 111, the protruding mark 112, the guide casing 113, the guide rail 114, and the magnetic fixing piece 115 are included. made up of components.

The slide bar 111 of the display member 110 is installed to slide forward and backward in a partially inserted form through the opening 113a of the guide casing 113 as shown in FIGS. 4 to 6 . The slide bar 111 is provided with a guide groove (not shown) on its lower surface into which the guide rail 114 installed inside the guide casing 113 is inserted correspondingly to receive the guide of the guide rail 114 during the sliding operation. A more stable sliding operation is made. Here, a scale 111a is displayed on the upper surface of the slide bar 111 along its longitudinal direction, so that the advance and retreat distance of the slide bar 111 can be easily checked. According to the configuration in which the scale 111a is provided on the slide bar 111 as described above, it is possible to simply quantify the position of the mark 112 in response to the camera 120 .

In addition, the outer surface of the slide bar 111 is coated with Teflon. Thereby, the coefficient of friction between the outer surface of the slide bar 111 and the inner surface of the guide casing 113 is reduced, thereby preventing frictional resistance caused by the slide operation of the slide bar 111 and damage resulting therefrom, and it is not difficult for the ground worker. It is possible to slide the slide bar 111 even without it.

The mark 112 of the display member 110 is installed in a cylindrical shape protruding upward from the upper surface of one end of the slide bar 111 , and the upper surface is provided as a reflective surface marked with a central point 112a. The mark 112 is a main photographing target of the camera 120 installed on the trolley 102 .

The guide casing 113 of the display member 110 is attached to the upper surface of one end of the support block 105 and has an opening 113a opened toward one side. A semicircular seating groove 113b is preferably formed in the upper end line of the opening 113a of the guide casing 113 so that the mark 112 is recessed. The guide casing 113 is made of a metal material together with the slide bar 111 .

The guide rail 114 is installed along the longitudinal direction of the guide casing 113 from the inner bottom surface of the guide casing 113 . Accordingly, the guide rail 114 stably guides the sliding operation of the slide bar 111 while being inserted into the guide groove formed on the lower surface of the slide bar 111 .

The magnetic fixing piece 115 of the display member 110 is made of a permanent magnet and uses magnetic force to fix the slide bar 111 and the guide casing 113 with respect to the support block 105. . To this end, the magnetic fixing piece 115 includes a support portion 115a provided in an inverted U-shape in contact with the upper surface and both sides of the guide casing 113, and both ends of the support portion 115a horizontally to the outside, respectively. It is made of a contact portion (115b) bent to be in contact with the upper surface of the support block (105).

Accordingly, the guide casing 113 made of a metal material can be fixed to the support block 105 by the magnetic force of the magnetic fixing piece 115 . At the same time, it is possible to simply fix the slide bar 111 on which the reference position correction has been completed so as not to move with respect to the guide casing 113 .

When the above-described display member 110 is provided, the reference position of the mark 112 with respect to the camera 120 can be easily adjusted without changing the software setting of the coordinate setting unit of the controller 140 by the sliding forward/backward operation of the slide bar 111 . The advantage is that it can be corrected. In the case of the display member 110, it can be simply mounted on the upper surface of the support block 105 by the magnetic fixing piece 115 as described above, and can be stored separately when the crane is not operated.

The camera 120 is installed at a point protruding to one side of the trolley 102 to enable downward shooting toward the mark 112 of the display member 110 . The camera 120 may be provided as a vision digital camera generally used in industrial machines, and is provided with a performance capable of transmitting image information of 20 frames per second, preferably 30 frames or more, to the controller 140 .

The load cell 130 is installed on the trolley 102 and serves to sense the load of the luggage W1 hanging on the hook 104 . Here, the load cell 130 may be installed to support the hoist 103 in a state supported by the trolley 102 .

As shown in FIG. 2 , the controller 140 includes an image processing unit, a coordinate setting unit, a change angle calculation unit, and a risk level calculation unit. Thereby, the image information transmitted from the camera 120 is processed in real time to perform multi-step lifting control and movement control of the trolley 102 to prevent shaking of the hook 104 and the luggage W1.

To this end, the image processing unit of the controller 140 plays a role in real-time image processing of the mark 112 of the display member 110 photographed by the camera 120 as shown in FIGS. 7 to 9 .

The coordinate setting unit of the controller 140 calculates the coordinates of the mark 112 image from the image generated by the image processing unit in real time, but the support block 105 is suspended from the cable 106 in the vertical direction by the gravitational field without movement. When the position of the mark 112 as the reference position, the coordinates of the mark 112 image are set as the reference point coordinates (x0, y0), and the coordinates (x1, y1) of the mark 112 image in the relative position from this are set Calculate. As such, when the coordinate setting unit is provided to calculate the coordinates (x1, y1) of the mark 112 image, the controller 140 lifts the luggage W1 from the ground regardless of the operation through the manipulator 107 of the crane driver. Multi-step lifting control can be automatically implemented to prevent shaking when lifting.

A brief look at the multi-step lifting control performed by the controller 140 is as follows.

As shown in FIG. 10 , when the crane is operated while the ground worker hangs the rope W2 of the luggage W1 on the hook 104 , the controller 140 performs multi-step lifting control in earnest.

First, as shown in FIG. 11 , the controller 140 operates the hoist 103 to take up the cable 106 while performing the first step of first raising the support block 105 and the hook 104 .

Then, during the first step, if more than a certain load is detected on the load cell 130 due to the luggage W1 while the luggage W1 does not fall from the ground, the operation of the hoist 103 is stopped and the coordinate setting unit The second step of calculating the coordinates (x1, y1) of the mark 112 image is performed. Here, the set load to be sensed to stop the operation of the hoist 103 and calculate the coordinates (x1, y1) of the image of the mark 112 is less than the weight of the luggage (W1), while the cable 106 and the luggage (W1) rope It is sufficient if the load is sufficient to extend (W2) in a straight line in a stretched state. However, if the weight of the luggage (W1) is less than the load that can be stretched in a straight line in the state where the cable (106) and the luggage (W1) rope (W2) are stretched, The load can be set as the set load.

Afterwards, if the coordinates (x1, y1) of the image of the marker 112 do not match the coordinates of the reference point (x0, y0), the coordinates (x1, y1) of the image of the marker 112 and the coordinates of the reference point (x0, y0) are matched. A third step of calculating the moving distance and direction of the trolley 102 required to

Thereafter, as shown in FIG. 12 , a fourth step of primarily moving the trolley 102 is performed according to the moving distance and direction calculated in the third step. When the angle of change (θ) is reduced by the movement of the trolley 102, the luggage (W1) rope (W2) becomes loose again.

Then, in the state in which the trolley 102 has moved first, the hoist 103 is re-operated as shown in FIG. 13 to wind up the cable 106 while raising the support block 105 and the hook 104 secondarily. Proceed to step 5.

Then, during the fifth step, if more than a certain load is detected on the load cell 130 due to the luggage W1 while the luggage W1 does not fall from the ground, the operation of the hoist 103 is stopped and the coordinate setting unit The sixth step of re-calculating the coordinates (x1, y1) of the mark 112 image by

When the coordinates (x1, y1) of the image of the mark 112 calculated in the sixth step coincide with the coordinates of the reference point (x0, y0), the hoist 103 is operated again as shown in FIG. 14 to lift the luggage W1 from the ground If the coordinates (x1, y1) of the image of the mark 112 calculated in the sixth step do not match the coordinates of the reference point (x0, y0), the trolley 102 is moved to the coordinates of the image of the mark 112 ( Step 7 is performed to guide the starting from step 3 so that x1, y1) coincides with the reference point coordinates (x0, y0).

As such, when the controller 140 performs multi-step lifting control, it is possible to completely control the instantaneous initial shaking that causes the greatest risk to ground workers and goods when lifting the luggage W1.

On the other hand, when the change angle calculation unit of the controller 140 moves by the trolley 102 after the luggage W1 is lifted as shown in FIG. 15 , as shown in FIG. 9 , in the image generated by the image processing unit of the controller 140 , The vertical distance (HD) from the hoist 103 to the support block 105 is calculated by the relative size ratio (d1/d0) of the mark 112 image, and the reference point coordinates (x0, y0) and the image coordinates The displacement distance of the support block 105 is calculated from (x1, y1), and the angle of change θ due to the shaking of the support block 105 is calculated from the vertical distance HD and the displacement distance calculated in this way.

The risk calculator of the controller 140 calculates the risk in consideration of the angle of change θ calculated by the angle calculator and the vertical distance HD from the hoist 103 to the support block 105 . At this time, the greater the angle of change θ caused by the shaking of the support block 105 and the shorter the vertical distance HD, the greater the weight to calculate the risk. Here, the large angle of change θ due to the shaking of the support block 105 means that the amplitude of the shaking of the hook 104 and the luggage W1 based on the same vertical distance HD is wide, and the vertical distance HD is short. This means that the pendulum moves at that high speed, so there is a high potential risk of the luggage (W1) falling or collided. It is preferable to divide the degree of risk calculated by the risk calculation unit into several stages, and when the level of risk is higher than a certain level, the trolley 102 in the direction of reducing the angle of change (θ) calculated by the angle of change calculation unit regardless of the operation through the manipulator 107 of the crane operator ) to automatically perform movement control.

15 for such movement control, when the trolley 102 starts running along the crane body 101, the hook 104 and the support block 105 for suspending the luggage W1 by inertia Vibration occurs during this pendulum movement. At this time, the angle of change calculator calculates the angle of change θ due to the shaking of the support block 105, and considers the angle of change θ calculated by the angle calculator and the vertical distance HD from the hoist 103 to the support block 105 In this way, the risk is calculated in real time. When the calculated risk level is higher than a certain level, the controller 140 suppresses the shaking of the support block 105 and the hook 104 by controlling the moving speed of the trolley 102 as shown in FIG. 15 . That is, when the pendulum movement of the support block 105 and the hook 104 occurs in the forward direction in which the trolley 102 moves, the moving speed of the trolley 102 is increased and the pendulum movement of the support block 105 and the hook 104 is performed. When the trolley 102 moves in the opposite direction, the cycle is repeatedly performed by reducing the moving speed of the trolley 102 to completely control the shaking of the support block 105 and the hook 104 .

At this time, it is preferable that the moving speed of the trolley 102 for controlling the shaking of the support block 105 and the hook 104 increases or decreases in proportion to the pendulum movement speed of the support block 105 and the hook 104 .

Although preferred embodiments of the present invention have been described above, various changes, modifications and equivalents may be used in the present invention. It is clear that the present invention can be equally applied by appropriately modifying the above embodiments. Accordingly, the above description is not intended to limit the scope of the present invention, which is defined by the limits of the following claims.

101: crane body 102: trolley
103: hoist 104: hook
105: support block 106: cable
107: manipulator 110: display member
111: slide bar 112: marker
113: guide casing 114: guide rail
115: magnetic fixture 120: camera
130: load cell 140: controller

Claims (3)

trolleys and hoists moving along the crane body; a support block for elevating by hanging from the cable from the hoist; a hook installed on the lower side of the support block; a camera installed so as to be able to photograph downward from one side of the trolley; a display member having a mark having an upper surface formed of a reflective surface and installed on the support block in a form that protrudes from a point protruding to one side of the support block so as to be positioned in a vertical direction corresponding to the camera; An image processing unit that image-processes the mark of the display member photographed by the camera in real time, and the coordinates of the mark image from the image generated by the image processing unit are calculated in real time, but the support block is not moved in the vertical direction by a gravitational field. and a coordinate setting unit that sets the coordinates of the mark image as the reference point coordinates by using the position of the mark as the reference position when it is hung on the a controller; and a load cell installed on the trolley to sense the load of luggage hanging on the hook. As a multi-step lifting control method for preventing shaking of a crane,
A first step of first raising the support block and the hook while winding the cable by operating the hoist by the controller immediately after the crane is operated in a state in which the rope of the luggage is hung on the hook;
During the first step, if more than a certain load is sensed on the load cell due to the luggage while the luggage does not fall from the ground during the first step, the operation of the hoist is stopped and the coordinates of the mark image are calculated by the coordinate setting unit. ;
a third step of calculating the moving distance and direction of the trolley required to match the coordinates of the current marker image with the coordinates of the reference point when the coordinates of the marker image do not match the coordinates of the reference point;
a fourth step of first moving the trolley according to the moving distance and direction calculated in the third step;
a fifth step of re-operating the hoist in the state in which the trolley has moved first to raise the support block and the hook secondarily while winding up the cable;
During the fifth step, if a load above a certain level is sensed on the load cell due to the luggage while the luggage does not fall from the ground during the fifth step, the operation of the hoist is stopped and the coordinates of the marker image are calculated again by the coordinate setting unit. step; and
If the coordinates of the marker image calculated in step 6 match the coordinates of the reference point, the hoist is operated again to lift the luggage from the ground, and if the coordinates of the marker image calculated in step 6 do not match the coordinates of the reference point, the trolley A seventh step of guiding to start again from the third step so that the coordinates of the mark image coincide with the coordinates of the reference point by moving the multi-step lifting control method for preventing shaking of a crane, comprising: a. According to claim 1,
The controller calculates the vertical distance from the hoist to the support block by the relative size ratio of the mark image in the image generated by the image processing unit when the luggage is lifted and moved by the trolley, and the reference point coordinate and Further comprising a displacement calculation unit for calculating the displacement distance of the support block from the image coordinates, and calculating an angle of change due to shaking of the support block from the vertical distance and the displacement distance calculated in this way, wherein the angle of displacement calculation unit is configured for pendulum movement of the support block A multi-step lifting control method for preventing shaking of a crane, characterized in that the movement control is performed to move the trolley in a direction to reduce the calculated angle of change. According to claim 1,
The controller further includes a risk calculator for calculating a degree of risk in consideration of the angle of change calculated by the angle of change calculation unit and the vertical distance from the hoist to the support block, wherein the risk calculator further includes a risk calculator that the larger the angle of change, the shorter the vertical distance A multi-step lifting control method for preventing shaking of a crane, characterized in that it calculates the degree of risk by adding weight to it.

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