Crane Smart Safety System

Abstract

The present invention relates to a crane smart safety system for preventing safety accidents occurring in a workplace using a crane, preventing accidents that occur when an operator fails to detect obstacles or workers and proceeds with operation, ignores warning broadcasts and operates the crane, or when workers do not move out of the way, and preventing secondary accidents caused by the crane. A crane smart safety system characterized by: a sensor detection unit (100) provided on a traveling crane (11) and an upper crane (12) for a crane operator (10) to check blind spots of the crane (10); a safety inspection unit (200) that checks and inspects or operates electrical and mechanical elements provided in the crane in real time; a crane safety control unit (300) that prevents collision accidents between a worker, an obstacle, and the crane based on information acquired by the sensor detection unit (100), and prevents secondary accidents caused by the sudden stop of the crane; and a cabin control unit (20) that recognizes, detects, and tracks a load on a hook provided in the crane (10) based on information from the sensor detection unit (100) and rotates the cabin.

Description

Technology Field

[0001] The present invention relates to a "crane smart safety system" that prevents crane contact accidents by linking various lasers and sensors to a safety operation system for cranes used inside steel mills and factories, identifies electrical and mechanical problems of the crane using an inverter and vibration detection, and prevents safety accidents by having the cabin rotate relative to the moving blast furnace when the crane is carrying molten iron to move out of blind spots. Background Technology

[0003] A crane is a mechanical device widely used in industrial sites to transport materials, such as products, during the loading or unloading process. These cranes move materials to a desired location in three-dimensional space through operations such as hoisting, lowering, traveling, and traversing. Hoisting refers to the action of the crane lifting a material suspended from a lift, while lowering refers to the opposite action of hoisting, where the crane lowers the material suspended from the lift. Traveling refers to the movement of the entire crane, meaning the crane moves along a travel rail. Traversing refers to the action of the crane moving the lift. Typically, the direction of traversing and the direction of traveling are perpendicular to each other.

[0004] Cranes are generally used to transport materials or molten metal, and typically, super-large cranes called overhead cranes are used. However, as cranes are frequently used in workplaces, there are problems associated with causing safety accidents.

[0005] To explain in detail, there was a problem where the risk of safety accidents increased, such as collision accidents caused by workers or obstacles not seen while the crane was traveling along the rail, fall accidents caused by failure to check workers attempting to board or disembark from the crane, and accidents involving molten metal overflowing due to sudden stops or sudden braking.

[0006] Therefore, the purpose is to prevent safety accidents by devising a system to resolve the described problems. Prior art literature

[0008] Published Patent Application No. 10-2021-0029184 2022.09.14 Published Patent Application No. 10-2015-0113337 2015.10.08 Registered Patent Application No. 10-2007568 2019.07.30 Registered Patent Application No. 10-2499985 2023.02.10 Registered Patent Application No. 10-1834704 2018.02.26 The problem to be solved

[0009] The present invention aims to solve the aforementioned problems and conventional technical issues, and its purpose is to prevent safety accidents caused by cranes in workplaces where safety accidents frequently occur.

[0010] Another objective of the present invention is to prevent collision accidents between a crane and a worker or obstacle in the travel path while the crane is traveling along a travel rail, and to prevent fall or collision accidents that occur when an operator fails to notice a worker while the worker is attempting to board or disembark from the top of the crane. According to Published Patent Application No. 10-2021-0029184, there is a prior art that attempts to prevent crane safety accidents by installing sensors on hoist cranes and overhead cranes. However, prior art is intended to prevent contact accidents between cranes, and does not describe a technology to prevent collision accidents caused by a worker on the travel rail or the top of the crane. The present invention aims to solve these problems.

[0011] Another objective of the present invention is to stop the crane when a worker or obstacle is detected in its path of movement. However, in the case of a blast furnace moving molten iron, sudden stopping and braking can cause resonance, leading to the molten iron overflowing and potentially causing a secondary accident. According to Published Patent Application No. 10-2015-0113337, there is a conventional technology that stops the operation of a crane when a worker approaches its path of movement, but this technology has the potential to cause the problems described above. Accordingly, the present invention aims to solve these problems.

[0012] Another objective of the present invention is to address the problem that when transporting molten iron using a crane hook, workers and operators often fail to check the condition of the hook when moving the crane to another location after placing the blast furnace at a desired position due to a lack of safety awareness. Consequently, the crane operator fails to re-check the hook, resulting in the crane being operated with the hook not fully released from the latch, causing the hook to pull the blast furnace and spill out, thereby causing a major accident. The present invention aims to solve this problem.

[0013] Another objective of the present invention is that when a rotating cabin on a crane is conceived based on the technology of the aforementioned registered patent publication No. 10-1834704, the technology is mounted on an excavator and supported by the floor and the lower part of the excavator even when subjected to a load, but there is a problem in that there is no element capable of withstanding the load in the case of a cabin mounted on a crane. The present invention aims to solve this problem. means of solving the problem

[0015] To achieve the above-mentioned purpose, the present invention comprises a sensor detection unit (100) including a linearity sensor (102), a line laser (104) interlock sensor (not shown); a load cell sensor (108) that sends a stop signal to the crane (10) motor control unit when a load that is not allowed or exceeds the allowable range is applied to the hook using a load cell; and a digital protractor sensor (106) that sends a stop signal when a set range angle is reached or exceeded using a digital protractor.

[0016] A video processing unit (400) that acquires video information using CCTV and adds a storage function;

[0017] A safety control unit (302) that broadcasts a danger and notifies the driver when a worker or obstacle is detected while the crane (10) is moving based on the information identified by the sensor detection unit (100);

[0018] A crane control unit (304) that automatically controls the crane (10) when the worker does not avoid it or the driver ignores the warning and proceeds in the above safety control unit (302);

[0019] A crane safety control unit (300) comprising: a safety accident prevention unit (306) that calculates the distance between the crane (10), the worker, and the obstacle, the movement speed of the crane (10), and the load applied to the hook in conjunction with the information of the sensor detection unit (100) to secure a safe distance and prevent a secondary accident caused by a sudden stop;

[0020] In addition, to achieve the aforementioned other purpose, the present invention provides an object recognition camera (22) at the bottom of a crane (10) moving along a travel rail, and recognizes an object caught on the hook of the crane (10) based on information from a sensor detection unit (100);

[0021] A rotating cabin (21) that is linked to the object recognition camera (22) and controlled by a PLC to rotate in the direction the object recognition camera (22) is looking;

[0022] The above-mentioned rotating cabin (21) is based on the technology of the above-mentioned registered patent publication No. 10-1834704 and is characterized by a rotating shaft in the circular through-hole of the rotating link; a support base at the bottom of the rotating shaft that can support the cabin, and the top of the rotating shaft that can be installed on a bearing with a fixed screw that is separately prepared in the crane (10).

[0023] In addition, to achieve the other purpose mentioned above, the present invention is characterized by an electrical detection unit (202) that checks the condition of a drive motor of a crane (10) using an inverter to obtain information and check it in real time; a mechanical detection unit (204) that checks the magnitude of vibrations caused by breakage, damage, wear, hydraulic leakage, etc. of mechanical parts of the crane (10) in real time; and a safety inspection unit (200) that checks the condition of the crane (10) in real time to prevent safety accidents. Effects of the invention

[0025] According to the present invention, if a worker and an obstacle are present on the movement path of the crane (10) and the operator operating the crane (10) fails to see or ignores the worker and the obstacle, the system devised therein suggests moving the crane (10) and broadcasts a warning to the worker, thereby preventing a collision between the crane (10), the worker, and the obstacle, thereby preventing safety accidents.

[0026] In addition, according to the present invention, when moving a blast furnace (23) containing molten iron and materials using a crane (10) due to a lack of safety awareness, the blast furnace (23) collides with an obstacle that the driver cannot see on the path of movement and the molten iron spills out. In order to prevent this, an object recognition camera (22) is used to recognize the blast furnace (23), and at the same time, the object recognition camera (22) rotates in the direction in which the blast furnace (23) is moving, and at the same time, a rotating cabin (21) rotates together to cover the driver's blind spot and prevent safety accidents.

[0027] In addition, according to the present invention, a digital protractor sensor (106) and a load cell sensor (108) are attached to the hook of the crane so that the hook may get caught on the blast furnace (23) and materials, and the worker and operator may not see it and it may continue to proceed, thereby preventing the molten iron and materials from the blast furnace (23) from spilling out. A stop signal is given to prevent the load from exceeding the permitted range or the specified angle, thereby preventing safety accidents.

[0028] In addition, according to the present invention, instead of supporting the load of the rotating cabin (21) with the rotating link, the load is distributed through an axle connected to a crane, thereby preventing damage to the parts of the rotating link due to the load of the rotating cabin (21).

[0029] In addition, according to the present invention, electrical and mechanical parts of the crane can be inspected in real time and immediately resolved if a problem arises, thereby preventing safety accidents caused by user negligence. Brief explanation of the drawing

[0031] FIG. 1 Right side view of the crane (10) of the present invention. FIG. 2 Enlarged view of the line laser (104), straightness sensor (102), and LED light (110) mounted on the crane (10) of the present invention. FIG. 3 Perspective view showing an embodiment of detecting a worker through a sensor and a laser of the crane (10) of the present invention. FIG. 4 Bottom perspective view showing an example of rotating a rotating cabin (21) by linking the object recognition camera (22) of the cabin control unit (20) of the present invention. FIG. 5 Side view showing a digital angle sensor of a sensor detection unit (100) shown in an embodiment of the present invention FIG. 6 Side view showing a load cell sensor (108) of a sensor detection unit (100) shown in an embodiment of the present invention FIG. 7 Block diagram showing the crane smart safety system of the present invention FIG. 8 Perspective view according to an embodiment of the rotating cabin (21) of the present invention FIG. 9 Front cross-sectional view according to an embodiment of the rotating cabin (21) of the present invention FIG. 10 Exploded view of the key components according to an embodiment of the rotating cabin (21) of the present invention Specific details for implementing the invention

[0032] Hereinafter, an embodiment of the crane smart safety system of the present invention will be described in detail with reference to the attached drawings.

[0034] Figure 2 of the attached drawings is a drawing illustrating a crane smart safety system according to an embodiment of the present invention, and Figures 8 to 10 are drawings illustrating a rotating cabin of a crane smart safety system according to an embodiment of the present invention.

[0036] A crane smart safety system according to an embodiment of the present invention comprises, as illustrated in FIG. 7, a sensor detection unit (100) that detects workers and obstacles in the blind spot of the crane (10) through a sensor mounted on the crane (10); a safety inspection unit (200) that checks the status of the crane (10) in real time; a crane safety control unit (300) that drives the crane (10) based on a signal from the sensor detection unit (100); an image processing unit (400) that processes the storage and deletion of image information of the crane (10) through a camera (402); and a cabin control unit (20) that rotates the driver's seat of the crane (10) based on information from the sensor detection unit (100).

[0038] The sensor detection unit (100) is mounted on the crane (10) and has the role of detecting the path along the travel rail of the traveling crane (11) and detecting up to 20m; a line laser (104) which has the role of detecting workers and obstacles at the entrances and pillars of the travel rail and detecting up to 15m in a fan shape; an interlock sensor (not shown) which has the role of transmitting a stop signal and activating a red light on the operator's terminal to indicate danger when a worker attempts to board or disembark from the upper crane (12) provided on the upper part of the traveling crane (10), and stopping the transmission of the stop signal and changing the terminal to green to resume work when the worker moves out of the range; and a digital protractor sensor (106) which is provided on the hook provided on the crane (10) and transmits a stop signal when the angle reaches or exceeds the allowable angle designated based on the floor of the workplace where the crane (10) is used and the hook. A load cell sensor (108) is configured to measure the load applied to the hook and simultaneously transmit a stop signal when an unallowed load or a load exceeding the allowable range is detected.

[0040] The safety inspection unit (200) has the purpose of simultaneously detecting electrical and mechanical elements of the crane (10) in real time and reporting the status if a problem occurs, thereby resolving abnormal problems of the crane (10) before a safety accident occurs. First, there are typical electrical elements of the crane (10), such as the travel motor, transverse motor, and hoist motor, which are used together with mechanical component parts of the crane (10). Most cranes (10) have a method of disassembling and repairing or replacing electrical and mechanical elements by checking the travel distance or operating period. However, this method can cause safety accidents if parts break down due to sudden variables or if replacement and repair work is not carried out due to the mistake of the person in charge. To prevent this, the present invention aims to provide a method to constantly check electrical and mechanical component elements and immediately resolve problems if they occur.

[0042] First, the electrical detection unit (202) can smoothly control the speed of the motor through voltage and frequency fluctuations transmitted from the inverter when an inverter is connected to the travel motor, transverse motor, and hoist motor of a crane (10) that is commonly used, for example. Here, when controlling the speed of the motor through the converted voltage and frequency of the inverter, if a problem occurs with the motor, safety accidents can be prevented by replacing the motor through a panel and condition monitor linked to the inverter.

[0043] In addition, the mechanical detection unit (204) has a unique vibration in mechanical conditions. It attempts to identify and resolve problems in the machine by utilizing this vibration. For example, a sensor is installed on the reduction gear shaft to detect fluctuating vibrations rather than normal vibrations. For instance, if oil leaks out causing increased friction or if a bearing malfunctions, the vibration is transmitted differently, allowing the problem to be solved by analyzing the vibration.

[0045] The crane safety control unit (300) is a safety control unit (302) that, based on information from the straightness sensor (102), line laser (104), and interlock sensor (not shown) of the sensor detection unit (100), causes the worker to avoid the moving path when a worker or obstacle is detected while the moving crane (10) is moving, and simultaneously activates the LED lights (110) provided in the workplace and on the crane (10) to allow the operating operator to check the worker, and gives a warning to the worker and the operator through an announcement; and a crane control unit (304) that, if the worker does not deviate from the moving path of the crane (10) through the warning and announcement from the safety control unit (302), or if the operator ignores the warning and continues driving, calculates the distance between the worker and the obstacle and the speed of the crane (10) and stops the crane (10) to prevent a collision accident. It is composed of a safety accident prevention unit (306) that calculates the distance between the crane (10), the worker, and the obstacle, the movement speed of the crane (10), and the load applied to the hook based on the information of the sensor detection unit (100), the digital protractor sensor (106), and the load cell sensor (108), thereby securing a safe distance and preventing secondary accidents caused by sudden stops.

[0047] The image processing unit (400) is configured to process image information of the crane (10) through a camera (402) attached to the crane (10).

[0049] The cabin control unit (20) is provided at the bottom of a traveling crane (10) that moves along a traveling rail and is composed of: an object recognition camera (22) that recognizes information from the digital protractor sensor (106) and the load cell sensor (108) provided on the hook of the crane (10) and an object caught on the hook of the crane (10); and a rotating cabin (21) that is linked with the object recognition camera (22) and controlled by a PLC to rotate in the direction that the object recognition camera (22) is looking.

[0051] In addition, the rotating cabin (21) of the above-mentioned cabin control unit (20) is described as follows with reference to FIGS. 8 to 10. The rotating base (71) has the shape of a disc and has a circular through-hole formed in the center, into which a rotating shaft (91), which will be described later, is inserted. The rotating gear unit (51) is positioned above the rotating base (71), and the cabin (21) of the crane (10) is positioned below, and the cabin (21) is connected from the cabin (21) to the rotating gear unit (51) by a fixing bolt.

[0052] The above-mentioned rotating gear part (51) has a circular through-hole formed in the center, and the internal structure of the internal circular through-hole is formed with a stepped stopper so that it can be coupled with the bearing fixing part (81), and an external gear (51a) is formed on the outer diameter of the above-mentioned rotating gear part (51).

[0053] The bearing fixing part (81) has the shape of a bearing as shown in FIGS. 8 to 10, and has the characteristic of inducing smooth rotation of the rotating gear part (51) when the rotating gear part (51) is rotated by the motor (41).

[0054] The above motor (41) is a motor capable of forward and reverse operation, and when electricity is supplied, the motor (41) is operated and the motor shaft (41a) and the drive gear (42) rotate, and the rotating gear part (51) rotates, and the rotating support (71) coupled to the rotating gear part (51) is characterized by being able to rotate in the forward and reverse directions.

[0055] The rubber pad (73) has a donut shape, and the rubber pad (73) has the characteristic that the electricity supplied to the motor (41) is cut off through the PLC, and at the same time, electricity is supplied to the cylinder (71) so that the piston (71a) descends, and the rubber pad (73) comes into contact with the upper part of the rotating gear part (51) and can stop the rotation of the rotating cabin (21) of the crane (10) through friction.

[0056] The above-mentioned rotating shaft (91) is formed to be inserted into a circular through-hole in the center of the rotating base (92) and joined. Additionally, even if the rotating base (71), the rotating gear part (51), and the cabin (21) are combined as one, the rotating link must bear the entire load. To prevent this, the base (92) is inserted into the bottom of the rotating shaft (91) and the inside of the cabin (21), and the load is distributed by welding the bottom of the rotating shaft (91) and the inside of the cabin (21) to reduce damage to the parts of the rotating link. A screw hole is provided at the top of the rotating shaft (91), and the fixed screw bearing (61) is mounted to be suspended from the traveling crane (11), which can bear a large load on the bearing itself. To prevent this, the bearing housing (62) is connected to the traveling crane (11) with a bolt to prevent damage to the fixed screw bearing (61), and it has the characteristic of rotating according to the rotation of the motor (41).

[0057] The above bearing housing (62) is designed in a stepped shape internally to accommodate a fixed screw bearing (61) mounted to be suspended from the above traveling crane (11), and is configured with a fall prevention guide to prevent falling downwards under load, and has the feature of reducing damage to the fixed screw bearing (61) by fixing it to the above traveling crane (11) with bolts.

[0058] In addition, the object recognition camera (22) mounted on the crane (10) is linked with the load cell sensor (108) and digital protractor sensor (106) of the sensor detection unit (100) using a PLC, and the rotating cabin (21) rotates in the direction that the object recognition camera (22) is looking. In addition, even if the rotating cabin (21) is facing the opposite direction to the object recognition camera (22), the rotating cabin (21) (20) has the characteristic of rotating in the direction that the object recognition camera (22) is facing. The object recognition camera (22) is equipped with an object recognition AI (not shown) capable of learning specific objects in a general hemispherical camera housing and is trained to recognize, detect, and track blast furnaces (23) and loads used in the workplace in conjunction with the load cell sensor (108). When the crane (10) transports not only the blast furnace (23) but also the loads, the rotating cabin (21) rotates together with the object recognition camera (22).

[0059] Consequently, the crane smart safety system of the present invention comprises: a sensor detection unit (100) mounted on a crane (10) equipped with a hook and detecting workers and obstacles located in the blind spot of the crane through a sensor; an electrical detection unit (202) that checks the operating status and abnormality of the crane in real time, and checks the status of electrical components including the crane's drive motor in real time using an inverter, and a mechanical detection unit (204) that checks the status by detecting the magnitude of vibrations caused by breakage, damage, wear, or hydraulic leakage occurring in the crane's mechanical parts; a crane safety control unit (300) that controls the operation of the crane based on detection signals received from the sensor detection unit; and an image processing unit (400) that collects image information of the crane through a camera (402) and processes storage and deletion. The crane is composed of a cabin control unit (20) that controls the crane's driver's seat based on the detection signal of the sensor detection unit. In particular, the sensor detection unit (100) is characterized by being composed of: a linearity sensor (102) that detects the entrance of the travel rail guiding the travel path of the crane (10), the pillar of the travel rail, the pillar within the workplace, and the surrounding space in a fan shape; a line laser sensor (104) that is equipped on the crane moving along the travel rail and detects the rail ahead based on the travel rail; a digital protractor sensor (106) that is equipped on the crane's hook and outputs a stop signal to the crane safety control unit (300) when the angle of the hook reaches 30° relative to the floor surface of the workplace or exceeds this; a load cell sensor (108) that is equipped on the crane's hook and outputs a stop signal to the crane safety control unit when a load exceeding the set load or a sudden change in load is detected on the hook; and an interlock sensor (not shown) that is mounted on the upper corner blind spot of the moving crane to detect whether a worker is boarding or disembarking.In addition, the crane safety control unit (300) of the present invention comprises: a safety control unit (302) that notifies the operator of a dangerous situation through a warning broadcast when a worker or obstacle is recognized by information from a sensor detection unit (100) while the crane (10) is moving; and a crane control unit (304) that stops the crane by calculating the distance between the worker or obstacle and the crane and the moving speed of the crane when the worker does not avoid the danger or the operator ignores the warning even after the warning from the safety control unit. Another feature is that it is configured to include a safety accident prevention unit (306) that secures a safe distance and prevents secondary accidents caused by sudden stops by calculating the moving speed of the crane, the load acting on the hook, and the distance between the crane and the worker or obstacle based on information received from the load cell sensor (108) and the digital protractor sensor (106). Additionally, another feature is that the cabin control unit (20) is provided at the bottom of the crane (10) traveling along the travel rail and includes an object recognition camera (22) that recognizes information from the load cell sensor (108) and the digital protractor sensor (106) installed on the hook and an object caught on the hook; and a rotating cabin (21) that is linked to the object recognition camera, controlled by a PLC, and configured to rotate in the direction the object recognition camera is looking.

[0060] Although the technical concept of the present invention has been described and illustrated by way of example above, the present invention is not limited to the configuration and operation as described above. Those skilled in the art will understand that numerous changes and modifications can be made to the present invention without departing from the scope of the technical concept described in the claims.

[0061] Therefore, all such appropriate changes, modifications, and equivalents should also be considered to be within the scope of the invention. Explanation of the symbols

[0064] Crane (10) Traveling crane (11) Upper crane (12) Kevin control unit (20) rotating Kevin (21) Object recognition camera (22) and soro (23) Motor (41) Motor shaft (41a) Drive gear (42) Rotating gear section (51) external gear (51a) Fixed screw bearing (61) bearing housing (62) Rotating base (71) cylinder (72) Piston (72a) rubber pad (73) Bearing fixed part (81) rotating shaft (91) Support (92) Sensor detection unit (100) Line laser (104) with linearity sensor (102) Digital protractor sensor (106) load cell sensor (108) LED light (110) interlock sensor (not shown) Safety inspection unit (200) electrical detection unit (202) mechanical detection unit (204) Crane safety control unit (300) Safety control unit (302) Crane control unit (304) Safety accident prevention unit (306) Image processing unit (400) camera (402)

Claims

Claim 1 A sensor detection unit (100) mounted on a crane (10) equipped with a hook and detecting workers and obstacles located in the blind spot of the crane through a sensor; an electrical detection unit (202) that checks the operating status and abnormality of the crane in real time, and checks the status of electrical components including the crane's drive motor in real time using an inverter, and a mechanical detection unit (204) that checks the status by detecting the magnitude of vibrations caused by breakage, damage, wear, or hydraulic leakage occurring in the crane's mechanical parts; a crane safety control unit (300) that controls the operation of the crane based on detection signals received from the sensor detection unit; and an image processing unit (400) that collects image information of the crane through a camera (402) and processes storage and deletion. A crane smart safety system comprising: a cabin control unit (20) that controls the operator's seat of the crane based on the detection signal of the sensor detection unit; wherein the sensor detection unit (100) comprises: a linearity sensor (102) that detects the entrance of a travel rail guiding the travel path of a crane (10), a column of a travel rail, a column within a workplace, and the surrounding space in a fan shape; a line laser sensor (104) that is equipped on a crane moving along a travel rail and detects the rail in front of the travel rail based on the travel rail; a digital protractor sensor (106) that is equipped on the hook of the crane and outputs a stop signal to the crane safety control unit (300) when the angle of the hook reaches or exceeds 30° relative to the floor surface of the workplace; a load cell sensor (108) that is equipped on the hook of the crane and outputs a stop signal to the crane safety control unit when a load exceeding the set load or a sudden change in load is detected on the hook; and an interlock sensor (not shown) that is mounted on the upper corner blind spot of a moving crane to detect whether a worker is boarding or disembarking.A crane smart safety system comprising: a crane safety control unit (300) which, when a worker or obstacle is recognized by information from a sensor detection unit (100) while the crane (10) is moving, notifies the operator of a dangerous situation through a warning broadcast (302); a crane control unit (304) which, when the worker does not avoid the crane or the operator ignores the warning after the warning from the safety control unit, calculates the distance between the worker or obstacle and the crane and the movement speed of the crane to stop the crane; and a safety accident prevention unit (306) which secures a safe distance and prevents secondary accidents caused by sudden stopping by calculating the movement speed of the crane, the load acting on the hook, and the distance between the crane and the worker or obstacle in conjunction with information received from the load cell sensor (108) and the digital protractor sensor (106). Claim 2 delete Claim 3 delete Claim 4 delete Claim 5 In claim 1, the crane smart safety system comprises: a cabin control unit (20) provided at the bottom of a crane (10) traveling along a travel rail, and an object recognition camera (22) that recognizes information from a load cell sensor (108) and a digital protractor sensor (106) installed on a hook and an object caught on the hook; and a rotating cabin (21) that is linked to the object recognition camera, controlled by a PLC, and configured to rotate in the direction the object recognition camera is looking.

Images