JPH08251724A - Apparatus for preventing and controlling skid of moving machine - Google Patents
Apparatus for preventing and controlling skid of moving machineInfo
- Publication number
- JPH08251724A JPH08251724A JP7047149A JP4714995A JPH08251724A JP H08251724 A JPH08251724 A JP H08251724A JP 7047149 A JP7047149 A JP 7047149A JP 4714995 A JP4714995 A JP 4714995A JP H08251724 A JPH08251724 A JP H08251724A
- Authority
- JP
- Japan
- Prior art keywords
- wheel
- speed
- signal
- rotation speed
- detecting means
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Coke Industry (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、自動走行を行うコーク
ス炉にて使用する移動機滑走防止制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile machine skid prevention control device used in a coke oven that runs automatically.
【０００２】[0002]
【従来の技術】従来の走行制御は、車輪の回転軸にセン
サが接続され、回転により検出される回転数信号が現在
位置検出手段に入力される。そして、目的位置設定手段
を用い、オペレータ等により設定された移動機の行き先
に基づいた目的位置データが残距離演算手段に入力され
る。残距離演算手段では現在位置検出手段と目的位置設
定手段からのデータに基づき目的位置までの残距離を演
算し速度パターン（様式）発生手段に入力する。一方セ
ンサ（検出器）からの回転数信号は速度検出手段に入力
され、速度パターン発生手段では速度検出手段からの移
動機の現在速度信号と残距離演算手段からの走行残距離
を参照しながら、残距離に見合った走行速度指令を走行
電動機制御装置へ入力し、走行電動機制御装置は速度指
令に応じた速度で走行電動機を駆動し、減速機を介して
車輪を回転させ、移動機を目的位置まで走行させ停止さ
せる。しかし、走行電動機制御装置だけでは制動力が不
足する場合、移動機を停止させる事が出来ないので、ブ
レーキ制御装置に指令を与えて走行電動機に接続された
機械ブレーキを作用させて移動機を停止させている。2. Description of the Related Art In conventional travel control, a sensor is connected to a rotating shaft of a wheel, and a rotation speed signal detected by the rotation is input to a current position detecting means. Then, the target position data based on the destination of the mobile device set by the operator or the like using the target position setting means is input to the remaining distance calculating means. The remaining distance calculating means calculates the remaining distance to the target position based on the data from the current position detecting means and the target position setting means and inputs it to the speed pattern (style) generating means. On the other hand, the rotation speed signal from the sensor (detector) is input to the speed detecting means, and the speed pattern generating means refers to the current speed signal of the mobile unit from the speed detecting means and the remaining running distance from the remaining distance calculating means, Input a traveling speed command corresponding to the remaining distance to the traveling electric motor control device, the traveling electric motor control device drives the traveling electric motor at a speed according to the speed command, rotates the wheels through the reduction gear, and sets the mobile device to the target position. Run until and stop. However, if the traveling electric motor control device alone does not provide sufficient braking force, the mobile device cannot be stopped.Therefore, a command is sent to the brake control device to apply the mechanical brake connected to the traveling electric motor to stop the mobile device. I am letting you.
【０００３】[0003]
【発明が解決しようとする課題】しかし、上述の制御方
法では移動機の制動時の、走行電動機制御装置からのブ
レーキ指令出力のみでは車輪がロック（鎖錠）する可能
性があり、その状態を検知する手段が皆無である為、移
動機が滑走する危険性があった。本発明はこの問題点を
解決するためのものである。However, in the above control method, the wheels may be locked (locked) only by the brake command output from the traveling electric motor control device during braking of the mobile unit. Since there is no means to detect, there was a risk that the mobile device would slip. The present invention is intended to solve this problem.
【０００４】本発明は上記の目的を達成するために、遊
輪式のタッチローラ（接触回転）型センサを車体に設置
し、そのセンサから得られる移動機の実測度データ及び
車輪回転数データより車輪のロックを検知可能な手段を
有し、車輪ロック時にブレーキ緩めを行いロックを解除
し再粘着を行うことにより滑走を防止し、停止させるこ
とのできる移動機滑走防止制御装置を提供することを目
的としている。In order to achieve the above-mentioned object, the present invention installs a freewheel type touch roller (contact rotation) type sensor on a vehicle body, and uses the actual measurement data and wheel rotation speed data of the mobile device obtained from the sensor to measure the wheels. It is an object of the present invention to provide a mobile unit skid prevention control device that has a means capable of detecting the lock of a vehicle and that prevents the skiing by stopping the brake when the wheels are locked, releasing the lock, and re-adhesion I am trying.
【０００５】[0005]
【課題を解決するための手段】本発明の移動機滑走防止
制御装置は、レール上を走行電動機によって走行駆動さ
れる移動機と、移動機の車体に取り付けられ移動機の走
行に伴って回転数信号を出力する遊輪式タッチローラ型
センサと、回転数信号から現在位置データを演算する現
在位置検出手段と、回転数信号から移動機の現在速度信
号を演算する速度検出手段と、移動機の行き先に基づい
た目的位置データを予め設定する目的位置設定手段と、
目的位置データと現在位置データとから行き先までの走
行残距離を演算する残距離演算手段と、走行残距離と現
在速度信号とから走行速度指令を演算する速度パターン
発生手段と、走行電動機の回転軸に取り付けられ回転角
度信号を出力する回転軸取付センサと、回転角度信号に
よって車輪回転数を検出する車輪回転数検出手段と、車
輪回転数と現在速度信号とから車輪の拘束状態を検知し
車輪ロック検知信号を出力する車輪ロック検知手段と、
ロック検知信号と前記走行速度指令とから判断してブレ
ーキ制御装置と走行電動機に動作指令を出力する走行電
動機制御装置と、動作指令によって走行電動機の制動を
行い移動機の滑走を防止する機械ブレーキとを備えたこ
とを特徴としている。SUMMARY OF THE INVENTION A mobile unit skid prevention control device of the present invention comprises a mobile unit which is driven on a rail by a traveling electric motor, and a rotational speed which is attached to a vehicle body of the mobile unit as the mobile unit travels. A free wheel type touch roller type sensor that outputs a signal, a current position detection unit that calculates current position data from a rotation speed signal, a speed detection unit that calculates a current speed signal of the mobile device from the rotation speed signal, and a destination of the mobile device. A target position setting means for presetting target position data based on
Remaining distance calculating means for calculating the remaining running distance to the destination from the target position data and the current position data, speed pattern generating means for calculating the running speed command from the remaining running distance and the current speed signal, and the rotating shaft of the running motor. Mounted on the wheel, a rotation shaft mounting sensor that outputs a rotation angle signal, a wheel rotation number detection unit that detects the wheel rotation number based on the rotation angle signal, and a wheel lock state by detecting the wheel restraint state from the wheel rotation number and the current speed signal. Wheel lock detection means for outputting a detection signal,
A traveling electric motor control device that outputs an operation command to a brake control device and a traveling electric motor based on a lock detection signal and the traveling speed command, and a mechanical brake that brakes the traveling electric motor according to the operation command to prevent sliding of the mobile device. It is characterized by having.
【０００６】[0006]
【作用】本発明の移動機滑走防止制御装置は、レール上
移動機を走行電動機によって走行駆動し、移動機の車体
に遊輪式タッチローラ型センサを取り付けて移動機の走
行に伴なう回転数信号を出力し、回転数信号から現在位
置データを演算し、回転数信号から移動機の現在速度信
号を演算し、移動機の行き先に基づいた目的位置データ
を予め設定し、目的位置データと現在位置データとから
行き先までの走行残距離を演算し、走行残距離と現在速
度信号とから走行速度指令を演算し、走行電動機の回転
軸に回転軸取付センサを取り付けて回転角度信号を出力
し、回転角度信号によって車輪回転数を検出し、車輪回
転数と現在速度信号とから車輪の拘束状態を検知し、車
輪ロック検知信号を出力し、ロック検知信号と走行速度
指令とから判断してブレーキ制御装置と走行電動機に動
作指令を出力し、動作指令によって走行電動機の制動を
行い、移動機の滑走を防止することを特徴としている。In the mobile unit slip prevention control device of the present invention, the on-rail mobile unit is driven and driven by the traveling electric motor, and a freewheel type touch roller type sensor is attached to the vehicle body of the mobile unit to rotate the mobile unit. The signal is output, the current position data is calculated from the rotation speed signal, the current speed signal of the mobile device is calculated from the rotation speed signal, and the target position data based on the destination of the mobile device is set in advance. The remaining travel distance from the position data to the destination is calculated, the traveling speed command is calculated from the remaining travel distance and the current speed signal, and a rotation axis mounting sensor is attached to the rotation shaft of the traveling motor to output a rotation angle signal, The wheel rotation speed is detected by the rotation angle signal, the wheel restraint state is detected from the wheel rotation speed and the current speed signal, the wheel lock detection signal is output, and the judgment is made from the lock detection signal and the traveling speed command. Outputs an operation command to the brake control device and the traveling motor, performs a braking of the traveling motor by the operation instruction, is characterized by preventing the sliding of the mobile station.
【０００７】[0007]
【実施例】次に本発明の移動機滑走防止制御装置の一実
施例を説明する。図１において、移動機20はレール21の
上を走行電動機８によって走行駆動される。走行電動機
８の駆動力は減速機９を介して車輪10に伝達される。遊
輪式タッチローラ型センサ13は移動機20の車体に取り付
けられた移動機20の走行に伴って回転数信号を出力する
検出器である。現在位置検出手段２は遊輪式タッチロー
ラ型センサ13に接続され、遊輪式タッチローラ型センサ
13から出力された回転数信号によって現在位置データを
演算する演算回路である。速度検出手段５は現在位置検
出手段２と共に遊輪式タッチローラ型センサ13に接続さ
れ、遊輪式タッチローラ型センサ13から出力された回転
数信号によって移動機20の現在速度信号を演算する演算
回路である。目的位置設定手段３は移動機20の行き先に
基づいた目的位置データを予め設定する設定回路であ
る。残距離演算手段４は目的位置設定手段３および現在
位置検出手段２に接続され、目的位置設定手段３から出
力された目的位置データと現在位置検出手段２から出力
された現在位置データとから行き先までの走行残距離を
演算する演算回路である。速度パターン発生手段６は残
距離演算手段４と速度検出手段５に接続され、残距離演
算手段４から出力された走行残距離と速度検出手段５か
ら出力された現在速度信号とによって走行速度指令を演
算する演算回路である。回転軸取付のセンサ１は走行電
動機８の回転軸に取り付けられ回転角度信号を出力する
検出器である。車輪回転数検出手段14は回転軸取付のセ
ンサ１に接続され、回転軸取付のセンサ１から出力され
た回転角度信号によって車輪回転数を検出する演算回路
である。車輪ロック検知手段15は車輪回転数検出手段14
および速度検出手段５に接続され、車輪回転数検出手段
14から出力された車輪回転数と速度検出手段５から出力
された現在速度信号とによって車輪10の拘束状態を検知
し車輪ロック検知信号を出力する検出器である。走行電
動機制御装置７は車輪ロック検知手段15と速度パターン
発生手段６に接続され、車輪ロック検知手段15から出力
されたロック検知信号と速度パターン発生手段６から出
力された走行速度指令とによって判断してブレーキ制御
装置11および走行電動機８に動作指令を出力する制御回
路である。機械ブレーキ12はブレーキ制御装置11から出
力された動作指令によって走行電動機８の制動を行い移
動機20の滑走を防止している。DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the mobile unit skid prevention control device of the present invention will be described below. In FIG. 1, the mobile unit 20 is driven to travel on the rail 21 by the traveling electric motor 8. The driving force of the traveling electric motor 8 is transmitted to the wheels 10 via the speed reducer 9. The idle wheel touch roller type sensor 13 is a detector that is attached to the vehicle body of the mobile unit 20 and outputs a rotation speed signal as the mobile unit 20 travels. The current position detecting means 2 is connected to a freewheel type touch roller type sensor 13 and is used as a freewheel type touch roller type sensor.
This is an arithmetic circuit that calculates the current position data based on the rotation speed signal output from 13. The speed detecting means 5 is connected to the idle wheel touch roller type sensor 13 together with the current position detecting means 2 and is an arithmetic circuit for calculating the current speed signal of the mobile unit 20 based on the rotation speed signal output from the idle wheel touch roller type sensor 13. is there. The target position setting means 3 is a setting circuit that presets target position data based on the destination of the mobile device 20. The remaining distance calculating means 4 is connected to the target position setting means 3 and the current position detecting means 2, and from the target position data output from the target position setting means 3 and the current position data output from the current position detecting means 2 to the destination. 2 is an arithmetic circuit for calculating the remaining running distance of the vehicle. The speed pattern generating means 6 is connected to the remaining distance calculating means 4 and the speed detecting means 5, and outputs a running speed command based on the remaining running distance output from the remaining distance calculating means 4 and the current speed signal output from the speed detecting means 5. This is an arithmetic circuit for performing arithmetic operations. The rotary shaft-mounted sensor 1 is a detector that is mounted on the rotary shaft of the traveling motor 8 and outputs a rotation angle signal. The wheel rotation speed detecting means 14 is an arithmetic circuit that is connected to the rotary shaft-mounted sensor 1 and detects the wheel rotation speed based on the rotation angle signal output from the rotary shaft-mounted sensor 1. The wheel lock detecting means 15 is the wheel rotation speed detecting means 14
And wheel speed detecting means connected to the speed detecting means 5.
It is a detector that detects the restrained state of the wheel 10 based on the wheel rotation speed output from 14 and the current speed signal output from the speed detection means 5 and outputs a wheel lock detection signal. The traveling motor control device 7 is connected to the wheel lock detecting means 15 and the speed pattern generating means 6, and judges by the lock detecting signal output from the wheel lock detecting means 15 and the traveling speed command output from the speed pattern generating means 6. Is a control circuit that outputs an operation command to the brake control device 11 and the traveling electric motor 8. The mechanical brake 12 brakes the traveling electric motor 8 according to an operation command output from the brake control device 11 to prevent the mobile device 20 from sliding.
【０００８】即ち、図１において、13は車体に設置され
た遊輪式タッチローラ型センサであり、移動機の走行に
伴う回転により検出される回転数信号が現在位置検出手
段２に入力される。３は目的位置設定手段であり、オペ
レータ等により設定された移動器の行き先に基づいた目
的位置データが残距離演算手段４に入力される。残距離
演算手段４では現在位置検出手段２と目的位置設定手段
３からのデータに基づき目的位置までの残距離を演算し
速度パターン発生手段６に入力する。一方、センサ１か
らの回転角度信号は速度検出手段５に入力される。速度
パターン発生手段６では速度検出手段５からの移動機の
現在速度信号と残距離演算手段４からの走行残距離を参
照しながら、残距離に見合った走行速度指令を走行電動
機制御装置７へ入力する。走行電動機制御装置７は速度
指令に応じた速度で走行電動機８を駆動し、減速機９を
介して車輪10を回転させ移動機を目的位置まで走行させ
停止させる。走行電動機制御装置７だけでは制動力が不
足する場合、移動機を停止させる事が出来ないので、ブ
レーキ制御装置11に指令を与えて走行電動機８に接続さ
れた機械ブレーキ12を作用させて移動機を停止させる。That is, in FIG. 1, reference numeral 13 is a freewheel type touch roller type sensor installed on the vehicle body, and a rotation speed signal detected by the rotation accompanying the traveling of the mobile unit is inputted to the present position detecting means 2. 3 is a target position setting means, and target position data based on the destination of the mobile device set by an operator or the like is input to the remaining distance calculating means 4. The remaining distance calculating means 4 calculates the remaining distance to the target position based on the data from the current position detecting means 2 and the target position setting means 3 and inputs it to the speed pattern generating means 6. On the other hand, the rotation angle signal from the sensor 1 is input to the speed detecting means 5. The speed pattern generating means 6 inputs a traveling speed command corresponding to the remaining distance to the traveling motor control device 7 while referring to the current speed signal of the mobile device from the speed detecting means 5 and the remaining traveling distance from the remaining distance calculating means 4. To do. The traveling electric motor control device 7 drives the traveling electric motor 8 at a speed according to the speed command, and rotates the wheels 10 through the speed reducer 9 to cause the mobile device to travel to a target position and stop. If the traveling electric motor control device 7 alone does not provide sufficient braking force, the moving device cannot be stopped. Therefore, the brake control device 11 is instructed to actuate the mechanical brake 12 connected to the traveling electric motor 8 to move the moving device. To stop.
【０００９】ここで、車輪の回転軸に接続されたセンサ
１からの回転数信号は車輪回転数検出手段14に入力さ
れ、車輪回転数検出手段14からの車輪回転数信号と速度
検出手段５からの現在速度信号が車輪ロック検知手段15
に入力される。車輪ロック発生時、車輪ロック検知手段
15により走行電動機制御装置７へ車輪ロック検知信号が
入力され、走行制御装置７からブレーキ緩め指令が走行
電動機８に対して出力される。これにより車輪ロックが
解除される。ロック解除後、走行電動機制御装置７は再
度速度パターン発生手段６からの速度指令を参照しなが
ら、回生ブレーキ指令を走行電動機８に対して出力し、
移動機の制動を行う。Here, the rotation speed signal from the sensor 1 connected to the rotation shaft of the wheel is input to the wheel rotation speed detecting means 14, and the wheel rotation speed signal from the wheel rotation speed detecting means 14 and the speed detecting means 5 are inputted. The current speed signal of the wheel lock detection means 15
Is input to Wheel lock detection means when wheel lock occurs
A wheel lock detection signal is input to the traveling electric motor control device 7 by 15, and a brake loosening command is output from the traveling control device 7 to the traveling electric motor 8. This releases the wheel lock. After unlocking, the traveling electric motor control device 7 outputs the regenerative braking command to the traveling electric motor 8 while referring to the speed command from the speed pattern generating means 6 again,
Brakes the mobile unit.
【００１０】[0010]
【発明の効果】本発明によれば遊輪式タッチローラ型セ
ンサ、車輪ロック検知手段を付加することにより、制動
時における移動機の滑走を防止することが出来る。According to the present invention, by adding a free wheel type touch roller type sensor and a wheel lock detecting means, it is possible to prevent the mobile unit from sliding during braking.
【図１】本発明の一実施例を示す移動機滑走防止制御装
置構成図である。FIG. 1 is a block diagram of a mobile unit skid prevention control device showing an embodiment of the present invention.
２…現在位置検出手段 ３…目的位置設定手段 ４…残距離演算手段 ５…速度検出手段 ６…速度パターン発生手段 ７…走行電動機制御装置 13…遊輪式タッチローラー型センサ 14…車輪回転数検出手段 15…車輪ロック検知手段 2 ... Current position detecting means 3 ... Target position setting means 4 ... Remaining distance calculating means 5 ... Speed detecting means 6 ... Speed pattern generating means 7 ... Traveling motor control device 13 ... Idle wheel touch roller type sensor 14 ... Wheel rotation speed detecting means 15 ... Wheel lock detection means
Claims (1)
される移動機と、この移動機の車体に取り付けられ前記
移動機の走行に伴って回転数信号を出力する遊輪式タッ
チローラ型センサと、前記回転数信号から現在位置デー
タを演算する現在位置検出手段と、前記回転数信号から
前記移動機の現在速度信号を演算する速度検出手段と、
前記移動機の行き先に基づいた目的位置データを予め設
定する目的位置設定手段と、前記目的位置データと前記
現在位置データとから前記行き先までの走行残距離を演
算する残距離演算手段と、前記走行残距離と前記現在速
度信号とから走行速度指令を演算する速度パターン発生
手段と、前記走行電動機の回転軸に取り付けられ回転角
度信号を出力する回転軸取付センサと、前記回転角度信
号によって車輪回転数を検出する車輪回転数検出手段
と、前記車輪回転数と前記現在速度信号とから前記車輪
の拘束状態を検知し車輪ロック検知信号を出力する車輪
ロック検知手段と、前記ロック検知信号と前記走行速度
指令とから判断してブレーキ制御装置と前記走行電動機
に動作指令を出力する走行電動機制御装置と、前記動作
指令によって前記走行電動機の制動を行い前記移動機の
滑走を防止する機械ブレーキと、を具備してなる移動機
滑走防止制御装置。1. A mobile machine driven and driven by a travel electric motor on a rail, a free wheel type touch roller type sensor mounted on a vehicle body of the mobile machine and outputting a rotation speed signal as the mobile machine travels, Current position detection means for calculating current position data from a rotation speed signal, speed detection means for calculating a current speed signal of the mobile unit from the rotation speed signal,
Destination position setting means for presetting destination position data based on the destination of the mobile device; remaining distance calculation means for calculating a remaining travel distance from the destination position data and the current position data to the destination; Speed pattern generating means for calculating a running speed command from the remaining distance and the current speed signal, a rotary shaft mounting sensor mounted on the rotary shaft of the traveling electric motor to output a rotary angle signal, and a wheel rotation speed based on the rotary angle signal. Wheel rotation speed detection means for detecting the wheel rotation speed, wheel lock detection means for detecting the locked state of the wheel from the wheel rotation speed and the current speed signal and outputting a wheel lock detection signal, the lock detection signal and the traveling speed. A brake control device based on a command, and a travel motor control device that outputs an operation command to the travel motor; Formed by comprising: a mechanical brake for preventing sliding of the mobile station performs the braking of the motor, the mobile skid prevention control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7047149A JPH08251724A (en) | 1995-03-07 | 1995-03-07 | Apparatus for preventing and controlling skid of moving machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7047149A JPH08251724A (en) | 1995-03-07 | 1995-03-07 | Apparatus for preventing and controlling skid of moving machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH08251724A true JPH08251724A (en) | 1996-09-27 |
Family
ID=12767051
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7047149A Pending JPH08251724A (en) | 1995-03-07 | 1995-03-07 | Apparatus for preventing and controlling skid of moving machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH08251724A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009506741A (en) * | 2005-08-23 | 2009-02-12 | ゼネラル・エレクトリック・カンパニイ | How to determine the locomotive speed |
| CN103342102A (en) * | 2013-05-22 | 2013-10-09 | 南京航空航天大学 | Control method of dual closed-loop combined type anti-skid differential system of electric-wheel automobile |
| KR20150046971A (en) * | 2013-10-23 | 2015-05-04 | 주식회사 포스코 | Control system for auto-introduction of coke dry quenching equipment |
-
1995
- 1995-03-07 JP JP7047149A patent/JPH08251724A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009506741A (en) * | 2005-08-23 | 2009-02-12 | ゼネラル・エレクトリック・カンパニイ | How to determine the locomotive speed |
| CN103342102A (en) * | 2013-05-22 | 2013-10-09 | 南京航空航天大学 | Control method of dual closed-loop combined type anti-skid differential system of electric-wheel automobile |
| KR20150046971A (en) * | 2013-10-23 | 2015-05-04 | 주식회사 포스코 | Control system for auto-introduction of coke dry quenching equipment |
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