[Figure  1-2] Real-time position of beacon

 

1.3) Sway control performance (simulation)
This is an optimal simulation result that determines the change of sway with respect to the length of the wire, under the same operation pattern.
-. Length of the wire : 5, 10, 15 meters
-. Speed : 70 m/min 
-. Acc: 5 Sec.
-. Dec: 5 Sec

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[Figure 1-3] performance when the wire is 5 meters long

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

[Figure 1-4] performance when the wire is 10 meters long

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

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[Figure 1-5] performance when the wire is 15 meters long

 

   Conclusion

We have simulated the sway characteristics in accordance with the crane’s movement, and the relevant optimal results were derived from the simulation. Although the practical on-site crane application involves many variables, measuring the swaying angle and controlling the offset distance through the camera system will greatly contribute to improving the production by preventing not only sway, but also the industrial disasters.

   Body: Controlling the sway
1.1) The following shows the basic diagram of a controller.

 

 

 

 

 

 

 

 

 

 

 

 

 

[Figure 1-1] Diagram of a sway controller.

1.2) The principle of sway control
Now the controller knows why the sway is produced, and how large sway is made in what situation.

A) Give permission to the optimal speed order to minimize the sway at a given condition.

B) Using the angle data collected by the real-time camera, calculate the position of the hook and trace-control about it.

C) The real-time position can be calculated by applying the equation below.