Remote operation method of scrap metal crane

Abstract

A remote operation method of a scrap metal crane comprises the steps of: acquiring position data of a chute from one or more sensors; controlling movement of the crane on the basis of the position data of the chute; after the movement of the crane is completed, acquiring position data of each of a first fastening member provided on the crane and a second fastening member provided on the chute on the basis of an image obtained by capturing the chute; controlling movement of the first fastening member so that the second fastening member is fastened to the first fastening member on the basis of the position data of the first fastening member and the position data of the second fastening member; determining whether the second fastening member provided on the chute and the first fastening member are fastened to each other, on the basis of at least one of the image and the tension acting on the first fastening member; and when it is determined that the second fastening member and the first fastening member are fastened to each other, controlling the movement of the crane and the first fastening member so that the chute moves to a predetermined position.

Description

Remote operation method for scrap metal cranes

[0001] The present disclosure relates to a method for remotely operating a scrap metal crane.

[0002] In the converter process of steel mills, chutes are used to transport molten iron and steelmaking byproducts, and these chutes are moved to the required locations using scrap cranes. Scrap cranes for chute transport operate by hooking the chute's trunnion with the crane's hook.

[0003] In particular, a secure connection between the chute and the crane hook is essential. Generally, a loop for connecting to the hook is installed on the upper part of the chute, and this trunnion is designed with sufficient strength to withstand the load of the chute. The crane hook must be precisely inserted and secured into the chute's trunnion, and to this end, the shape of the hook is designed to be compatible with the trunnion.

[0004] When the crane hook and the chute trunnion are connected, a safety device is activated to prevent the hook from detaching during transport. Generally, the hook is equipped with a spring-actuated safety latch to prevent the trunnion from detaching from the hook.

[0005] In addition, crane operators must be able to visually verify whether the hook is properly engaged with the chute's trunnion. To this end, the contact points between the hook and the trunnion are designed to be clearly distinguishable visually, and some cranes are equipped with indicators to check the engagement status.

[0006] Recently, a safety system is being applied in which a sensor detecting the hook's fastening status is introduced to restrict the crane's movement in an incompletely fastened state.

[0007] According to the present invention, a remote control method for a scrap metal crane is provided.

[0008] The technical problems to be solved in this document are not limited to those mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art to which this invention belongs from the description below.

[0009] A remote operation method for a scrap metal crane according to an embodiment of the present invention may include: a step of acquiring position data of a chute from one or more sensors; a step of controlling the movement of the crane based on the position data of the chute; a step of acquiring position data of a first fastening member provided on the crane and a second fastening member provided on the chute, respectively, based on an image of the chute after the movement of the crane is completed; a step of controlling the movement of the first fastening member so that the second fastening member is fastened to the first fastening member based on the position data of the first fastening member and the position data of the second fastening member; a step of determining whether the second fastening member provided on the chute and the first fastening member are fastened based on at least one of the image and the tension acting on the first fastening member; and a step of controlling the movement of the crane and the first fastening member so that the chute moves to a predetermined position when it is determined that the second fastening member and the first fastening member are fastened.

[0010] The step of determining whether the second fastening member and the first fastening member are fastened together may include the step of determining whether the first fastening member is fastened based on the position data of the first fastening member and the position data of the second fastening member.

[0011] The step of determining whether the second fastening member and the first fastening member are fastened based on the position data of the first fastening member and the position data of the second fastening member may include the step of determining that the second fastening member and the first fastening member are fastened if the difference value between the position data of the first fastening member and the position data of the second fastening member is less than or equal to a reference range.

[0012] The step of determining whether the second fastening member and the first fastening member are fastened together may include the step of extracting at least one of the area of ​​the second fastening member and the area of ​​the first fastening member within the image.

[0013] The step of determining whether the second fastening member and the first fastening member are fastened together may include the step of determining that the second fastening member and the first fastening member are fastened together if the area of ​​the first fastening member is smaller than a critical area.

[0014] The step of determining whether the second fastening member and the first fastening member are fastened may include the step of determining that the second fastening member and the first fastening member are fastened if the ratio of the area of ​​the second fastening member to the area of ​​the first fastening member falls within a threshold ratio range.

[0015] The step of determining whether the second fastening member and the first fastening member are fastened may include: a step of measuring the tension detected by a weight sensor provided in the first fastening member; and a step of determining that the second fastening member and the first fastening member are fastened if the tension is included in a reference weight range.

[0016] The step of controlling the movement of the first fastening member may include: a step of generating an optimal path based on position data of the first fastening member and position data of the second fastening member; and a step of controlling the movement of the first fastening member to move along the optimal path.

[0017] The step of generating the optimal path may include generating the optimal path of the first fastening member using an artificial intelligence model trained using movement path data of the first fastening member and position data of the second fastening member obtained during the process in which the first fastening member and the second fastening member are successfully fastened together as training data.

[0018] The step of generating an optimal path for the first fastening member using the artificial intelligence model may include the step of inputting location data of the first fastening member and location data of the second fastening member into the artificial intelligence model.

[0019] A computer program for performing remote operation of a scrap metal crane according to an embodiment of the present invention is a computer program stored on a computer-readable storage medium, wherein the computer program performs steps for performing remote operation of a scrap metal crane when executed on one or more processors of a computing device, the steps comprising: a step of acquiring position data of a chute from one or more sensors; a step of controlling the movement of the crane based on the position data of the chute; a step of acquiring position data of a first fastening member provided on the crane and a second fastening member provided on the chute, respectively, based on an image of the chute after the movement of the crane is completed; a step of controlling the movement of the first fastening member so that the second fastening member is fastened to the first fastening member based on the position data of the first fastening member and the position data of the second fastening member; and a step of determining whether the second fastening member provided on the chute and the first fastening member are fastened based on at least one of the image and the tension acting on the first fastening member. and a step of controlling the movement of the crane and the first fastening member so that the chute moves to a predetermined position when it is determined that the second fastening member and the first fastening member are fastened together; may be included.

[0020] The step of determining whether the second fastening member and the first fastening member are fastened together may include the step of determining whether the first fastening member is fastened based on the position data of the first fastening member and the position data of the second fastening member.

[0021] The step of determining whether the second fastening member and the first fastening member are fastened based on the position data of the first fastening member and the position data of the second fastening member may include the step of determining that the second fastening member and the first fastening member are fastened if the difference value between the position data of the first fastening member and the position data of the second fastening member is less than or equal to a reference range.

[0022] The step of determining whether the second fastening member and the first fastening member are fastened together may include the step of extracting at least one of the area of ​​the second fastening member and the area of ​​the first fastening member within the image.

[0023] The step of determining whether the second fastening member and the first fastening member are fastened together may include the step of determining that the second fastening member and the first fastening member are fastened together if the area of ​​the first fastening member is smaller than a critical area.

[0024] The step of determining whether the second fastening member and the first fastening member are fastened may include the step of determining that the second fastening member and the first fastening member are fastened if the ratio of the area of ​​the second fastening member to the area of ​​the first fastening member falls within a threshold ratio range.

[0025] The step of determining whether the second fastening member and the first fastening member are fastened may include: a step of measuring the tension detected by a weight sensor provided in the first fastening member; and a step of determining that the second fastening member and the first fastening member are fastened if the tension is included in a reference weight range.

[0026] According to the present invention, efficient operation can be performed by remotely controlling and automating a scrap metal crane even in a harsh operating environment.

[0027] According to the present invention, one worker can operate multiple cranes simultaneously, which can significantly improve productivity per person, and the overall process efficiency can be improved by efficiently monitoring and managing the working status of each crane.

[0028] According to the present invention, the risk of accidents that may occur during operation can be minimized through remote control.

[0029] FIG. 1 is a perspective view for explaining a scrap metal crane according to one embodiment.

[0030] FIG. 2 is a perspective view for explaining a suit according to one embodiment.

[0031] FIG. 3 is a flowchart illustrating a remote control method for a scrap metal crane according to one embodiment.

[0032] FIGS. 4 and FIGS. 5 are drawings for explaining position data of a suit according to one embodiment.

[0033] FIG. 6 is a drawing for explaining the movement of a crane according to one embodiment.

[0034] FIG. 7 is a drawing for explaining the state before the first fastening member and the second fastening member are fastened according to one embodiment.

[0035] FIG. 8 is a drawing for explaining the state in which a first fastening member and a second fastening member are fastened according to one embodiment.

[0036] FIG. 9 is a drawing for explaining the hoisting of a first fastening member according to one embodiment.

[0037] The embodiments described in this specification and the configurations illustrated in the drawings are merely preferred examples of the disclosed invention, and various modifications that may replace the embodiments and drawings of this specification may exist at the time of filing this application.

[0038] The terms used in this specification are for describing embodiments and are not intended to limit or restrict the disclosed invention.

[0039] For example, in this specification, singular expressions may include plural expressions unless the context clearly indicates otherwise.

[0040] Additionally, terms such as “include” or “have” are intended to express the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and do not exclude the additional existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0041] When it is said that a component is "connected," "combined," "supported," or "in contact" with another component, this includes not only cases where the components are directly connected, combined, supported, or in contact, but also cases where they are indirectly connected, combined, supported, or in contact through a third component.

[0042] When it is said that a component is located "on" another component, this includes not only cases where one component is in contact with the other, but also cases where another component exists between the two components.

[0043] Meanwhile, terms such as "front," "rear," "left," "right," "top," and "bottom" used in the following description are defined based on the drawings; however, the shape and position of each component are not limited by these terms. For example, the front side may be defined as the +X side and the rear side as the -X side. For example, based on the drawings, the right side may be defined as the +Y side and the left side as the -Y side. For example, based on the drawings, the top side may be defined as the +Z side and the bottom side as the -Z side.

[0044] In addition, terms including ordinal numbers, such as "first," "second," etc., are used to distinguish one component from another and do not limit the components.

[0045] In addition, terms such as "~part," "~unit," "~block," "~part," and "~module" may refer to a unit that processes at least one function or operation. For example, the terms may refer to at least one piece of hardware such as an FPGA (field-programmable gate array) or ASIC (application specific integrated circuit), at least one piece of software stored in memory, or at least one process processed by a processor.

[0046] An embodiment of the disclosed invention is described in detail below with reference to the attached drawings. Identical reference numbers or symbols in the attached drawings may indicate parts or components that perform substantially the same function.

[0047] The operating principle and embodiments of the present invention will be described below with reference to the attached drawings.

[0048] In the present invention, the scrap metal crane may be provided with a first fastening member that is fastened to a fastening member of a chute.

[0049] In the present invention, the first fastening member may include a main fastening member and an auxiliary fastening member. The scrap metal crane may include two main fastening members and one auxiliary fastening member.

[0050] In the present invention, the chute may be a movable passage facility for transporting scrap metal in a converter process.

[0051] In the present invention, the chute may be provided with a second fastening member for fastening with a first fastening member.

[0052] In the present invention, the second fastening member may include a trunnion and a rack.

[0053] In the present invention, one or more sensors may be a camera, 2D LiDAR, or 3D LiDAR.

[0054] FIG. 1 is a perspective view for explaining a scrap metal crane according to one embodiment.

[0055] Referring to FIG. 1, in the present invention, a scrap metal crane (10) can move a chute to a converter or move scrap metal generated in the converter process into a chute.

[0056] The scrap metal crane (10) may include a monitoring room (20), a first fastening member (30), and a camera (not shown). The scrap metal crane (10) may include a driving device (not shown) that controls the scrap metal crane (10) to move in the longitudinal direction, a traversing device (not shown) that controls the first fastening member (30) to move in the lateral direction, and a hoisting device (not shown) that controls the first fastening member (30) to move in the vertical direction. The scrap metal crane (10) may include various devices, so it is not limited to them.

[0057] The monitoring room (20) may be a space where a worker can monitor the work status through a computing device (not shown). A computing device (not shown) may be provided in the monitoring room (20).

[0058] In the present invention, the computing device may include a program for remotely controlling a scrap metal crane.

[0059] A program for remotely controlling a scrap metal crane can be stored on a recording medium readable by a computing device and can be executed by the processor of the computing device.

[0060] A computing device may include general-purpose processors such as CPUs, APs, and DSPs (Digital Signal Processors), graphics-dedicated processors such as GPUs and VPUs (Vision Processing Units), or artificial intelligence-dedicated processors such as NPUs.

[0061] Computing devices can communicate with external devices (e.g., user terminals, external computing devices) via wired or wireless networks.

[0062] The external device may include an external computing device (e.g., server device, cloud device) and / or a user terminal (e.g., smartphone) different from the computing device running the program to remotely operate the scrap metal crane.

[0063] Here, a wireless network refers to a connection structure that enables information exchange between nodes of a computing device and an external device, and includes, but is not limited to, 3GPP (3rd Generation Partnership Project) networks, LTE (Long Term Evolution) networks, WIMAX (World Interoperability for Microwave Access) networks, the Internet, LAN (Local Area Network), Wireless LAN (Wireless Local Area Network), WAN (Wide Area Network), and PAN (Personal Area Network).

[0064] To this end, the computing device may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a GNSS (global navigation satellite system) communication module) or a wired communication module (e.g., a LAN (local area network) communication module, or a power line communication module). The wireless communication module may communicate with a user terminal through a wide-area communication network (e.g., a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a LAN or WAN)).

[0065] At least one of the operations to be described below may be performed by a computing device and / or an operator.

[0066] A computing device may include a storage medium (e.g., memory) that stores at least one instruction for performing operations to be described below, at least one artificial intelligence model, etc.

[0067] However, at least one instruction and at least one artificial intelligence model may be stored in a separate device outside the computing device (e.g., a cloud computing device), and the operations described below may be performed by a processor included in the separate device outside the computing device (e.g., a cloud computing device).

[0068] A computing device may include an output device (e.g., a display) and / or an input device (e.g., a mouse, a touch panel, etc.) for performing operations to be described below.

[0069] The first fastening member (30) may include a main fastening member (31) and an auxiliary fastening member (32). The first fastening member (30) may include two main fastening members (31) and one auxiliary fastening member (32). The main fastening member (31) may be expressed as a main hook, main hook, main hook, etc., and the auxiliary fastening member (32) may be expressed as a sub-hook, auxiliary hook, sub-hook, etc.

[0070] FIG. 2 is a perspective view for explaining a suit according to one embodiment.

[0071] Referring to FIG. 2, the chute (40) may include a second fastening member (41). The second fastening member (41) may include a trunnion (42) and a rack (43). That is, the second fastening member (41) may include two trunnions (42) and one rack (43).

[0072] Each trunnion (42) can be connected to the main connecting member (31) of the scrap crane (10), and the rack (43) can be connected to the auxiliary connecting member (32) of the scrap crane (10).

[0073] FIG. 3 is a flowchart illustrating a remote control method for a scrap metal crane according to one embodiment. FIG. 4 and FIG. 5 are drawings illustrating position data of a chute according to one embodiment. FIG. 6 is a drawing illustrating the movement of a crane according to one embodiment. FIG. 7 is a drawing illustrating the state before the first fastening member and the second fastening member are fastened according to one embodiment. FIG. 8 is a drawing illustrating the state in which the first fastening member and the second fastening member are fastened according to one embodiment. FIG. 9 is a drawing illustrating the hoisting of the first fastening member according to one embodiment.

[0074] Referring to FIG. 3, the remote control method of a scrap metal crane may include an operation (S110 of FIG. 3) of acquiring position data of a chute (40).

[0075] Referring to FIG. 4, the computing device can obtain location data of the suit (40) from one or more sensors (50). One or more sensors (50) may be provided around the suit (40) (e.g., in front of the suit (40)). In other words, the computing device can obtain location data of the suit (40) from one or more sensors (50) provided around the suit (40).

[0076] Referring to FIG. 5, one or more sensors (50) can detect an object included within a detectable range. Here, the object may be a suit (40). In other words, one or more sensors (50) can detect distance information and angle information between the sensor (50) and the suit (40). The distance information and angle information may be 2D data. A computing device can obtain position data of the suit (40) by receiving 2D data including distance information and angle information from one or more sensors (50). In the present invention, one or more sensors (50) may be 2D LiDAR.

[0077] A remote control method for a scrap metal crane may include controlling the movement of the crane (10) based on position data of the chute (40) (S120 in FIG. 3). Referring to FIG. 6, a computing device may move the crane (10) in the direction of the chute (40) based on position data of the chute (40).

[0078] In the present invention, controlling the movement of the crane (10) may mean controlling the lateral movement (or horizontal movement) of the crane (10).

[0079] Since the computing device can determine the distance between the sensor (50) and the chute (40) based on data measured from one or more sensors (50), it can determine the relative distance between the chute (40) and the current position of the crane (10).

[0080] Accordingly, the computing device can move the crane (10) in the direction where the chute (40) is located based on the position data of the chute (40). The computing device can move the crane (10) in the horizontal direction and / or vertical direction.

[0081] The remote control method for the scrap metal crane may include the operation of acquiring position data of the first fastening member of the crane (10) and the second fastening member of the chute (40) respectively (S130 of FIG. 3) when the movement of the crane (10) is completed.

[0082] Referring to FIG. 6, when the crane (10) is moved to a location close to the chute (40), the computing device can acquire an image taken toward the chute (40) through a camera provided on the crane (10).

[0083] The computing device can recognize the respective areas of the first fastening member (30) provided on the crane (10) and the second fastening member (41) provided on the chute (40) based on the acquired image. In other words, the computing device can recognize the area of ​​the first fastening member (30) and the area of ​​the second fastening member (41).

[0084] The computing device can acquire location data for each of the area of ​​the recognized first fastening member (30) and the area of ​​the second fastening member (41). Here, the location data may be pixel coordinates within the image.

[0085] Referring to FIG. 7, for example, the computing device can obtain the upper right coordinate A (x1, y1) and the lower right coordinate B (x2, y2) in the area of ​​the main fastening member (31) of the recognized first fastening member (30). In the same way, the A and B coordinates can be obtained in the area of ​​the auxiliary fastening member (32) of the first fastening member (30), and the A and B coordinates in the area of ​​the second fastening member (41).

[0086] The computing device can further obtain center coordinates in the area of ​​the first fastening member (30) recognized based on coordinates A and B in the area of ​​the first fastening member (30). In other words, it can also obtain center coordinates in the area of ​​the main fastening member (31) based on coordinates A and B in the area of ​​the main fastening member (31). In the same way, the computing device can obtain center coordinates in the areas of the auxiliary fastening member (32), the trunnion (42), and the rack (43), respectively.

[0087] The remote control method of the scrap metal crane may include an operation to control the movement of the first fastening member (30) so that the second fastening member (41) is fastened to the first fastening member (30) (S140 in FIG. 3). In other words, the computing device can control the movement of the first fastening member (30) so that the second fastening member (41) is fastened to the first fastening member (30) based on the position data of the first fastening member (30) and the position data of the second fastening member (41).

[0088] Here, the movement of the first fastening member (30) may include moving the first fastening member (30) in a lateral direction (or horizontal direction, a direction intersecting with gravity) and moving the first fastening member (30) in a longitudinal direction (or vertical direction, a direction of gravity).

[0089] In one embodiment, moving the first fastening member (30) laterally may include controlling the movement of the crane (10).

[0090] In other words, controlling the movement of the first fastening member (30) may include controlling the movement of the crane (10) and simultaneously controlling the longitudinal movement of the first fastening member (30).

[0091] The computing device can generate an optimal path based on the position data of the first fastening member (30) and the position data of the second fastening member (41). The computing device can control the movement of the first fastening member (30) to move along the optimal path.

[0092] Specifically, the computing device can generate an optimal path for the first fastening member (30) using an artificial intelligence model trained using the movement path data of the first fastening member (30) and the position data of the second fastening member (41), which are obtained during the process of successfully fastening the first fastening member (30) and the second fastening member (41), as training data. The computing device can generate an optimal path by the artificial intelligence model by inputting the position data of the first fastening member (30) and the position data of the second fastening member (41) into the artificial intelligence model.

[0093] The movement path data of the first fastening member (30) and the location data of the second fastening member (41) obtained during the process of successfully fastening the first fastening member (30) and the second fastening member (41) can be labeled by the user and stored in a computing device as training data.

[0094] Movement path data can refer to coordinate change data (or position change data).

[0095] Additionally, the computing device can generate an optimal path for the crane (10) using an artificial intelligence model trained with the crane (10) movement path data obtained during the process of the crane (10) moving to the chute (40) as training data. In other words, the computing device can generate an optimal path for the crane (10) to move toward the chute (40) using an artificial intelligence model.

[0096] According to the present invention, since an artificial intelligence model is trained based on data obtained during the process in which the first fastening member (30) and the second fastening member (41), in which various variables exist, are successfully fastened, the artificial intelligence model can calculate the optimal movement path for fastening the first fastening member (30) and the second fastening member (41) robustly against various variables.

[0097] The computing device generates an optimal path based on the position data of the first fastening member (30) and the position data of the second fastening member (41) using a pre-trained artificial intelligence model, thereby allowing the position of the first fastening member (30) to move to a position for coupling with the second fastening member (41).

[0098] The remote control method of the scrap metal crane may include an operation to determine whether the second fastening member (41) and the first fastening member (30) are fastened (S150 of FIG. 3). In other words, the computing device can determine whether the second fastening member (41) and the first fastening member (30) provided in the chute (40) are fastened based on an image.

[0099] In one embodiment, the computing device can determine whether the first fastening member (30) is fastened based on the position data of the first fastening member (30) and the position data of the second fastening member (41). If the difference between the position data of the first fastening member (30) and the position data of the second fastening member (41) is less than or equal to a reference range, the computing device can determine that the second fastening member (41) and the first fastening member (30) are fastened. The reference range is not limited as it can be set through user input.

[0100] In other words, the computing device can determine that the second fastening member (41) and the first fastening member (30) are fastened when the position data of the first fastening member (30) and the second fastening member (41) are in close proximity.

[0101] The computing device may determine that the second fastening member (41) and the first fastening member (30) are fastened if the center coordinates of the first fastening member (30) and the center coordinates of the second fastening member (41) are below a reference range.

[0102] In one embodiment, when the second fastening member (41) and the first fastening member (30) are fastened, the computing device can extract at least one of the area of ​​the second fastening member (41) in the area of ​​the second fastening member (41) and the area of ​​the first fastening member (30) in the area of ​​the first fastening member (30) within the captured image.

[0103] Referring to FIG. 8, the computing device can extract the area of ​​the second fastening member (41) after fastening. Specifically, the computing device can extract the area of ​​the trunnion (42) and the main fastening member (31) after fastening, and extract the area of ​​the rack (43) and the auxiliary fastening member (32) after fastening. When comparing the area of ​​the main fastening member (31) before fastening shown in FIG. 7 with the area of ​​the main fastening member (31) after fastening shown in FIG. 8, the area of ​​the main fastening member (31) is reduced as the trunnion (42) and the main fastening member (31) are fastened. Therefore, if the area of ​​the main fastening member (31) is smaller than the critical area, the computing device can determine that the trunnion (42) and the main fastening member (31) are fastened. In this way, the computing device can determine whether the rack (43) and the auxiliary fastening member (32) are fastened. That is, the computing device can determine that the second fastening member (41) and the first fastening member (30) are fastened if the area of ​​the first fastening member (31) is smaller than the critical area. Since the critical area can be set through user input, it is not limited.

[0104] In one embodiment, when the first fastening member (30) is fastened to the second fastening member (41), the computing device may determine that the second fastening member (41) and the first fastening member (30) are properly fastened if the ratio of the area of ​​the second fastening member (41) to the area of ​​the first fastening member (30) falls within a threshold ratio range. Here, the threshold ratio range is not limited as it can be set through user input.

[0105] In one embodiment, when the first fastening member (30) is fastened to the second fastening member (41), the computing device can obtain the tension acting on the first fastening member (30) detected by a weight sensor (not shown) provided on the first fastening member (30). If the tension acting on the first fastening member (30) falls within a reference weight range, the computing device can determine that the second fastening member (41) and the first fastening member (30) are fastened. Here, the reference weight range is not limited as it can be set through user input.

[0106] When the first fastening member (30) is normally fastened to the second fastening member (41), the tension acting on the first fastening member (30) is within the reference weight range, so the computing device can determine that the second fastening member (41) and the first fastening member (30) are fastened. On the other hand, when the first fastening member (30) is abnormally fastened to the second fastening member (41), the tension acting on the first fastening member (30) may be lower than the reference weight range, so the computing device can determine that the second fastening member (41) and the first fastening member (30) are not fastened.

[0107] In this way, the computing device determines whether the second fastening member (41) and the first fastening member (30) are fastened based on the image, and by determining whether the second fastening member (41) and the first fastening member (30) are fastened using tension, it can accurately determine whether the second fastening member (41) and the first fastening member (30) are fastened.

[0108] The computing device can control the movement of the crane (10) and the first fastening member (30) so that the chute (40) moves to a predetermined position based on whether it is fastened. Here, the predetermined position may be a converter (60).

[0109] Referring to FIG. 9, when the computing device determines that the second fastening member (41) and the first fastening member (30) are fastened together, it can raise the first fastening member (30) to a predetermined height. Referring again to FIG. 6, the computing device can raise the first fastening member (30) to a predetermined height and move the crane (10) toward the furnace (60).

[0110] In this way, the computing device can improve efficiency by remotely operating the crane (10) to determine whether to fasten the chute (40) and move it to the converter (60).

[0111] Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium that stores instructions executable by a computer. The instructions may be stored in the form of program code and, when executed by a processor, may generate a program module to perform the operation of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

[0112] Computer-readable recording media include all types of recording media that store instructions that can be decoded by a computer. Examples include ROM (read-only memory), RAM (random access memory), magnetic tape, magnetic disk, flash memory, optical data storage devices, etc.

[0113] Additionally, computer-readable recording media may be provided in the form of non-transitory storage media. Here, 'non-transitory storage media' simply means that it is a tangible device and does not contain a signal (e.g., electromagnetic waves), and this term does not distinguish between cases where data is stored semi-permanently and cases where it is stored temporarily. For example, 'non-transitory storage media' may include a buffer in which data is stored temporarily.

[0114] According to one embodiment, the method according to the various embodiments disclosed herein may be provided as included in a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be distributed in the form of a device-readable recording medium (e.g., compact disc read-only memory (CD-ROM)), or distributed online (e.g., download or upload) through an application store (e.g., Play Store™) or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product (e.g., downloadable app) may be temporarily stored or temporarily created on a device-readable recording medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0115] As described above, the disclosed embodiments have been explained with reference to the attached drawings. Those skilled in the art will understand that the present invention may be practiced in forms different from the disclosed embodiments without changing the technical spirit or essential features of the invention. The disclosed embodiments are illustrative and should not be interpreted restrictively.

Claims

1. A step of acquiring position data of a chute from one or more sensors; A step of controlling the movement of the crane based on the position data of the above-mentioned chute; After the movement of the crane is completed, a step of obtaining position data for each of the first fastening member provided on the crane and the second fastening member provided on the chute based on the video captured by the chute; A step of controlling the movement of the first fastening member so that the second fastening member is fastened to the first fastening member based on the position data of the first fastening member and the position data of the second fastening member; A step of determining whether a second fastening member provided in the chute and the first fastening member are fastened based on at least one of the above image and the tension acting on the first fastening member; and A method for remote operation of a scrap metal crane comprising: a step of controlling the movement of the crane and the first fastening member so that the chute moves to a predetermined position when it is determined that the second fastening member and the first fastening member are fastened together.

2. In Paragraph 1, The step of determining whether the second fastening member and the first fastening member are fastened together is: A method for remote operation of a scrap metal crane comprising: a step of determining whether the first fastening member is fastened based on the position data of the first fastening member and the position data of the second fastening member.

3. In Paragraph 2, The step of determining whether the second fastening member and the first fastening member are fastened based on the position data of the first fastening member and the position data of the second fastening member is: A method for remote operation of a scrap metal crane comprising: a step of determining that the second fastening member and the first fastening member are fastened if the difference between the position data of the first fastening member and the position data of the second fastening member is less than or equal to a reference range.

4. In Paragraph 1, The step of determining whether the second fastening member and the first fastening member are fastened together is: A method for remote operation of a scrap metal crane comprising the step of extracting at least one of the area of ​​the second fastening member and the area of ​​the first fastening member within the above image.

5. In Paragraph 4, The step of determining whether the second fastening member and the first fastening member are fastened together is: A method for remote operation of a scrap metal crane comprising: a step of determining that the second fastening member and the first fastening member are fastened if the area of ​​the first fastening member is smaller than the critical area.

6. In Paragraph 4, The step of determining whether the second fastening member and the first fastening member are fastened together is: A method for remote operation of a scrap metal crane comprising: a step of determining that the second fastening member and the first fastening member are fastened when the ratio of the area of ​​the second fastening member and the area of ​​the first fastening member falls within a critical ratio range.

7. In Paragraph 1, The step of determining whether the second fastening member and the first fastening member are fastened together is: A step of obtaining the tension detected from a weight sensor provided in the first fastening member; and A method for remote operation of a scrap metal crane comprising the step of determining that the second fastening member and the first fastening member are fastened when the above tension is included in the reference weight range.

8. In Paragraph 1, The step of controlling the movement of the first fastening member is, A step of generating an optimal path based on the position data of the first fastening member and the position data of the second fastening member; and A method for remotely operating a scrap metal crane comprising the step of controlling the movement of the first fastening member to move along the optimal path.

9. In Paragraph 8, The step of generating the optimal path above is, A method for remote operation of a scrap metal crane comprising: a step of generating an optimal path for the first fastening member using an artificial intelligence model trained using movement path data of the first fastening member and position data of the second fastening member obtained during the process in which the first fastening member and the second fastening member are successfully fastened together, as training data.

10. In Paragraph 9, The step of generating an optimal path for the first fastening member using the artificial intelligence model above is: A method for remote operation of a scrap metal crane comprising the step of inputting position data of the first fastening member and position data of the second fastening member into the artificial intelligence model.

11. A computer program stored on a computer-readable storage medium, wherein the computer program performs steps for performing remote operation of a scrap metal crane when executed on one or more processors of a computing device, and The above steps are, A step of acquiring position data of the suit from one or more sensors; A step of controlling the movement of the crane based on the position data of the above chute; After the movement of the crane is completed, a step of obtaining position data for each of the first fastening member provided on the crane and the second fastening member provided on the chute based on the video captured by the chute; A step of controlling the movement of the first fastening member so that the second fastening member is fastened to the first fastening member based on the position data of the first fastening member and the position data of the second fastening member; A step of determining whether a second fastening member provided in the chute and the first fastening member are fastened based on at least one of the above image and the tension acting on the first fastening member; and A step of controlling the movement of the crane and the first fastening member so that the chute moves to a predetermined position when it is determined that the second fastening member and the first fastening member are fastened together; A computer program for remotely operating a scrap metal crane.

12. In Paragraph 11, The step of determining whether the second fastening member and the first fastening member are fastened together is: A computer program for performing remote operation of a scrap metal crane, comprising: a step of determining whether the first fastening member is fastened based on the position data of the first fastening member and the position data of the second fastening member.

13. In Paragraph 12, The step of determining whether the second fastening member and the first fastening member are fastened based on the position data of the first fastening member and the position data of the second fastening member is: A computer program for performing remote operation of a scrap metal crane, comprising: a step of determining that the second fastening member and the first fastening member are fastened if the difference between the position data of the first fastening member and the position data of the second fastening member is less than or equal to a reference range.

14. In Paragraph 11, The step of determining whether the second fastening member and the first fastening member are fastened together is: A computer program for performing remote operation of a scrap metal crane, comprising the step of extracting at least one of the area of ​​the second fastening member and the area of ​​the first fastening member within the above image.

15. In Paragraph 14, The step of determining whether the second fastening member and the first fastening member are fastened together is: A computer program for performing remote operation of a scrap metal crane, comprising the step of determining that the second fastening member and the first fastening member are fastened if the area of ​​the first fastening member is smaller than the critical area.

16. In Paragraph 14, The step of determining whether the second fastening member and the first fastening member are fastened together is: A computer program for performing remote operation of a scrap metal crane, comprising the step of determining that the second fastening member and the first fastening member are fastened when the ratio of the area of ​​the second fastening member and the area of ​​the first fastening member falls within a critical ratio range.

17. In Paragraph 11, The step of determining whether the second fastening member and the first fastening member are fastened together is: A step of obtaining the tension detected from a weight sensor provided in the first fastening member; and A computer program for performing remote operation of a scrap metal crane, comprising the step of determining that the second fastening member and the first fastening member are fastened when the above tension is included in the reference weight range.

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