CN104379489B - Container crane - Google Patents
Container crane Download PDFInfo
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- CN104379489B CN104379489B CN201380032493.0A CN201380032493A CN104379489B CN 104379489 B CN104379489 B CN 104379489B CN 201380032493 A CN201380032493 A CN 201380032493A CN 104379489 B CN104379489 B CN 104379489B
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- Prior art keywords
- container
- suspender
- laser scanner
- crane
- coordinate
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
- B66C19/007—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries for containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
Abstract
The present invention provides a kind of container crane。The container crane of the present invention possesses: running gear；Girder, is supported on running gear, and horizontally extending；Dolly, it is possible to walk along girder；Suspender (10), is lifted on dolly, and can engage disengaging with container；Elevating mechanism, makes suspender (10) lift；Laser scanner (22), is arranged at suspender (10), and launch laser obtain object the coordinate of luminous point；And crane controller, according to laser scanner (22) obtain the coordinate of luminous point, drive and control dolly and suspender (10)。
Description
Technical field
The present invention relates to a kind of container crane, particularly relate to a kind of content sensing this container。The application advocates that its content is applied at this based on the January 28th, 2013 of the priority at the Japanese patent application 2013-013468 of Japanese publication。
Background technology
About the container terminal of container ship or external chassis etc. are carried out container loading or unloading etc., advance unmanned, saving manpower from the viewpoint of reduced cost etc.。
Especially, stacking when depositing container, sometimes due to the impact of wind and container deformation etc., there is the situation of the position deviation of the container deposited。Therefore, should avoid coming in contact between hanging container and the container deposited in carrying, and the position hanging container peripheral obstacle need to be sensed to avoid the interference of barrier。
Therefore, patent documentation 1 proposes there is the technology using the laser scanner being configured at dolly mensuration target location and Obstacle Position to deposit hanging container。
Further, patent documentation 2 proposes to have and ccd video camera is installed on suspender and detects the content of hanging container and the respective edge of targeted containers by imaging the image procossing of image。
And, patent documentation 3 records the position measured in advance with targeted containers adjacent lines (Row) to evaluate the technology of the envelope of adjacent lines。
Further, patent documentation 4 records the content at the barrier of hanging container lower end of the infrared light beam sensor detection by being arranged at suspender。
Conventional art document
Patent documentation
Patent documentation 1: Japan Patent public affairs table 2002-527317 publication
Patent documentation 2: Japanese Patent Publication 2002-205891 publication
Patent documentation 3: Japanese Patent Publication 2003-034490 publication
Patent documentation 4: Japanese Patent Publication 2006-232496 publication
Summary of the invention
The technical task that invention to solve
But, there is following problem in technology described in above-mentioned patent documentation 1, i.e. owing to laser scanner is arranged at dolly, when therefore especially when suspender declines, and produces unmeasured region because suspender hinders。Further, there is following problem, i.e. due to mounting hanging container targeted containers and with distant from above-mentioned laser scanner of targeted containers adjacent lines, therefore, it is difficult to improve the degree of accuracy of detection。
And, technology described in patent documentation 1～4 needs to be respectively provided with the hanging container at detection hanging container and the respective edge of targeted containers and lands and prevent with multiple sensors such as sensors with the collision of sensor and the position measuring adjacent lines。Accordingly, there exist the problem because the increase of assembly number of packages or the complication etc. of control system cause cost to increase。
The present invention completes in view of the foregoing, its object is to provide a kind of and can accurately detect out barrier etc. and the container crane that the cost produced because of the increasing or controlling the complication etc. of system of assembly number of packages can be suppressed to increase in wider scope。
For solving the means of technical task
According to the 1st aspect of the present invention, container crane possesses: running gear；Girder, is supported on described running gear, and horizontally extending；Dolly, it is possible to walk along described girder；Suspender, is lifted on described dolly, and can engage disengaging with container；Elevating mechanism, makes described sling lifting；Laser scanner, is arranged at described suspender, and launch laser obtain object the coordinate of luminous point；And crane controller, according to described laser scanner obtain the coordinate of luminous point, drive and control described dolly and described suspender。
By such composition, laser scanner and suspender together move up and down, therefore, it is possible to prevent from producing, because suspender hinders, the region cannot being measured by laser scanner。Further, it is possible to shorten laser scanner and targeted containers and and targeted containers adjacent lines between distance。And, without being respectively arranged to make sensor that the hanging container engaged with suspender lands and only using the laser scanner being disposed in suspender for preventing the sensor collided, just can detect the position of hanging container and targeted containers, and the position of adjacent lines can be measured。
According to the 2nd aspect of the present invention, it is possible to make above-mentioned laser scanner be arranged at the sidepiece of width of described suspender。
By such composition, it is possible to accurately detect out the gap between adjacent container。
According to the 3rd aspect of the present invention, above-mentioned crane controller can possess bias leading-out portion, this bias leading-out portion is by making described laser scanner be scanned in the scope of the horizontal direction of the lower section of described suspender, and according to described laser scanner obtain the coordinate of luminous point obtain the hanging container engaged with described suspender and the envelope being placed in by this hanging container between target vanning above, and obtain the positional offset amount between hanging container and targeted containers according to this envelope。
By structure as above, it is possible to obtain the positional offset amount between hanging container and targeted containers according to the testing result of laser scanner。
According to the 4th aspect of the present invention, described crane controller can possess: obstacle distance detection unit, according to described laser scanner obtain the coordinate of luminous point judge the distance between peripheral obstacle and described laser scanner；And the restriction control portion that declines, the down maneuver of suspender according to the distance limit between described peripheral obstacle and described laser scanner。
By such composition, according to the distance between laser scanner and barrier, it is possible to limited the down maneuver of suspender with barrier before hanging container collides。
According to the 5th aspect of the present invention, it is possible to possess storage described the storage part of coordinate of luminous point。
By such composition, it is possible to be stored in what multiple little truck position detected the coordinate of luminous point。Its result, including the position cannot detected in current little truck position the coordinate of luminous point interior, drive in the way of making hanging container be not subjected to barrier interference and control laser scanner。
Invention effect
Container crane involved by the mode of the invention described above, it is possible to accurately detect out barrier etc. in wider scope, and the cost produced because of the increase of assembly number of packages or the complication controlling system etc. can be suppressed to increase。
Accompanying drawing explanation
Fig. 1 is the axonometric chart of the container crane in embodiments of the present invention。
Fig. 2 is above-mentioned container crane and the front view of section (lane)。
Fig. 3 is the top view of the suspender that above-mentioned container crane has。
Fig. 4 is for carrying out functional block diagram in the crane controller of above-mentioned container crane, that hanging container puts off the control in the targeted containers piling up hanging container。
Fig. 5 indicates that the axonometric chart of above-mentioned hanging container and targeted containers and the sweep limits of laser scanner。
Fig. 6 is the explanation figure of above-mentioned hanging container and the envelope of targeted containers。
The functional block diagram of the Fig. 7 control for carrying out in above-mentioned crane controller, preventing hanging container from colliding with barrier。
Fig. 8 is the explanation figure of the envelope between above-mentioned hanging container and the container of adjacent lines。
Fig. 9 for obtaining in above-mentioned crane controller, the functional block diagram of the container stacking shape of each (Bay) of section。
Figure 10 indicates that the front view of an example of the configuration of the laser scanner detecting light coordinate in above-mentioned container crane。
Figure 11 indicates that in above-mentioned container crane the front view of a different configuration of example with the above-mentioned Figure 10 of the laser scanner detecting light coordinate。
Figure 12 indicates that the explanation figure of the container stacking shape judged in the configuration of the laser scanner of Figure 10。
Figure 13 indicates that the explanation figure of the container stacking shape judged in the configuration of the laser scanner of Figure 11。
Figure 14 be in above-mentioned container crane the explanation figure of method of obtaining of light coordinate。
Detailed description of the invention
Then, with reference to the accompanying drawings the container crane in embodiments of the present invention is illustrated。Container crane 1 in this embodiment is arranged at the Container Yard of the container terminal that the container ship of landing pier such as carries out the unloading of container C and the loading etc. of container C。
Fig. 1, Fig. 2 indicate that the figure of the schematic configuration of the container crane 1 of this embodiment。
As shown in Figure 1 and Figure 2, container crane 1 is disposed in multiple sections 2 that are arranged at Container Yard respectively, carries out the handling of container C。Container 1 is set to walk voluntarily by having the running gear 4 of the wheel with tire。Container 1 is formed as possessing the two pairs of foots 5 being supported on running gear 4 and connects the substantially door shape of the upper end of these foots 5 crane girder 6 each other。Further, container crane 1 possesses dolly 7 that can be traversing on crane girder 6。Dolly 7 possesses winding plant 8 (with reference to Fig. 1), and suspender 10 is liftably lifted on this winding plant 8 by lifting rope 9。
Wherein, the container of the container etc. that container C is ISO specification of above-mentioned section 2 is deposited in。The rectangular shape of the specific length that it is representative with 20 feet and 40 feet that container C is formed as。It is set with for each section 2 on its long side direction using as unit length multiple of a long limit size of container C。Further, it is set with the short side dimension of container C multiple row 12 as unit length at each。These row 12 can stacking be deposited multi-deck container C。In each section 2, according to position, the position of row 12 and row 12 the number of plies, it is possible to specify the position of container C。Deposit density as far as possible the interval between adjacent lines 12 is set to narrower to improve。
And, the walking path 14 of the conveying trolleys 13 such as AGV (AutomatedGuidedVehicle) it is equipped with between the foot 5 of container crane 1, above-mentioned container crane 1 receives carries, by conveying trolley 13, the container C come, and by the deposit position of the regulation of the described container C section of being stored in 2。On the other hand, the container C in the section of depositing in 2 is transferred on conveying trolley 13 by above-mentioned container crane 1, thus container C is taken out of the outside to section 2。
As it is shown on figure 3, suspender 10 is the device for lifting container C, it possesses suspender main body 15, engaging releasing mechanism 16 and slide mechanism 17。
Suspender main body 15 is made up of the horizontal frame 15a and vertical frame 15b of the skeleton forming suspender 10, and top is configured with around the pulley 18 (with reference to Fig. 1) hanging with above-mentioned lifting rope 9 at its center。
Engaging releasing mechanism 16 possesses the corner, top being formed at container C and relative to hooking sheets (not shown) such as connecting hole (not shown) engaging disengagings, so-called twistlock。Engaging releasing mechanism 16 can be configured at the position relative with the connecting hole of container C。More specifically, engaging releasing mechanism 16 is disposed in the end of supporting frame 19 that is parallel with horizontal frame 15a and that extend respectively。
Slide mechanism 17 possesses the guide rod 20 that the long side direction along container C extends。
Slide mechanism 17 is along guide rod 20 and together makes to engage releasing mechanism 16 with supporting frame 19 and moves。That is, owing to being adjusted the position of engaging releasing mechanism 16 by slide mechanism 17, even the container C that therefore length is different, it is also possible to sling by a suspender 10。
Further, suspender 10 possesses sensor stand 21 that is almost parallel towards suspender main body 15 side and above-mentioned guide rod 20 from each end of supporting frame 19 and that extend。It is separately installed with laser scanner 22 in the end of these sensor stands 21。
That is, laser scanner 22 is configured at the outside (sidepiece) of the width hanging the container (hereinafter referred to as hanging container C1) at suspender 10。Wherein, the width of container C refers to the horizontal direction orthogonal with the long side direction of container C。
Laser scanner 22 is able to use laser to obtain the device of the three-dimensional coordinate data of measuring object。More specifically, laser scanner 22 is calculated the distance from measuring object according to laser by the time till measuring object return。Further, the coordinate (hereinafter referred to as light coordinate) of luminous point is obtained according to the irradiating angle of the distance from measuring object and laser。The crane controller 23 that this information is driven controlling to above-mentioned winding plant 8, dolly 7, deflection device (not shown) etc. is exported。
As shown in Figure 4, crane controller 23 possesses sensing data reading part 24, envelope determination processing unit 25, bias leading-out portion 26 and controlled quentity controlled variable calculating part 27。These sensing data reading parts 24, envelope determination processing unit 25, bias leading-out portion 26 and controlled quentity controlled variable calculating part 27 refer to following control block, namely according to the testing result of laser scanner 22, hanging container C1 is put off on the ground object of the section of being pre-set in 2 or when stacking herein above in the targeted containers (hereinafter referred to as targeted containers C2) of (mounting) hanging container C1, carry out a series of control。
Sensing data reading part 24 is the interface reading the testing result based on each laser scanner 22。Be read into sensing data reading part 24 the data of light coordinate export to envelope determination processing unit 25。
Envelope determination processing unit 25 according to read by sensing data reading part 24 light coordinate obtain hanging container C1 and targeted containers C2 envelope 28。Wherein, this envelope 28 is substantially uniform with the profile of the lateral surface of the width of hanging container C1 and targeted containers C2。As it is shown in figure 5, the laser scanner 22 of this embodiment from below vertical to bearing of trend (the traversing direction of dolly 7) approximate horizontal position carry out laser scanning to obtain envelope 28。
The relative depature amount L1 of hanging container C1 and targeted containers C2 derived by the bias leading-out portion 26 envelope 28 calculated by envelope determination processing unit 25。Such as, when hanging the deviation that container C1 and targeted containers C2 produce horizontal direction, as shown in Figure 6, from laser the distance of luminous point there is obvious difference of height。Therefore, the layer near laser scanner 22 side luminous point arrange in a generally horizontal direction such that it is able to by obtaining the bias L1 deriving hanging container C1 and targeted containers C2 in these cross-directional length of envelopes 28 position that luminous point arranges。
Controlled quentity controlled variable calculating part 27 obtains the controlled quentity controlled variable for making suspender 10 move to the bias L1 direction reduced according to the bias L1 that bias leading-out portion 26 is derived。More specifically, deriving the controlled quentity controlled variable based on deflection device (not shown) etc., described deflection device controls the inclination of winding plant 8, dolly 7 and suspender 10。The information of the controlled quentity controlled variable that crane controller 23 is derived according to controlled quentity controlled variable calculating part 27 carries out the driving of winding plant 8, dolly 7 and suspender 10 and controls。
As it is shown in fig. 7, crane controller 23 is further equipped with obstacle distance detection unit 29, the lower speed limit amount calculating part 30 of volume。These obstacle distance detection units 29 and the lower speed limit amount calculating part 30 of volume carry out preventing a series of control that hanging container C1 and barrier collide from processing。
Obstacle distance detection unit 29 envelope 28a, 28b calculated by envelope determination processing unit 25 judges hanging container C1 (hanging thing) and adjacent to the distance between the container C (peripheral obstacle) of the row 12 of targeted containers C2。More specifically, as shown in Figure 8, envelope 28 calculated by envelope determination processing unit 25 includes envelope 28a, envelope 28b, described envelope 28a extends on the side of hanging container C1 and targeted containers C2, and described envelope 28b is the envelope depositing in the container C with targeted containers C2 adjacent lines 12 (hereinafter referred to as adjacent lines 12a)。Obstacle distance detection unit 29 obtains the distance between the container C of hanging container C1 and adjacent lines 12a according to above-mentioned distance between envelope 28a, 28b, and by lower for this information output to volume speed limit amount calculating part 30。
The lower speed limit amount calculating part 30 of volume judges that whether the distance between the container C of hanging container C1 and adjacent lines 12a is less than predetermined distance set in advance。And, if it is determined that the distance between the container C of hanging container C1 and adjacent lines 12a is less than predetermined distance set in advance, then judge that hanging container C1 likely collides with the container C of adjacent lines 12a, thus the speed that unclasps to the decline of the suspender 10 based on winding plant 8, by lifting rope 9 is set to the action of falling of " 0 " etc. and limits。Action is fallen to shorten the distance between the container C hanging container C1 and adjacent lines 12a furthermore it is possible to be set as slowing down。
As it is shown in figure 9, crane controller 23 is further equipped with light coordinate calculating part 31, luminous point data store 32 and container stacking shape decision portion 33。These light coordinate calculating part 31, luminous point data store 32 and container stacking shape decision portion 33 carry out for the section of obtaining 2 each between the control of container stacking shape process。Wherein, container stacking shape and on the traversing direction of dolly 7, all container C deposited between are assumed to one time its cross-section profile shape roughly equal。In a section 2, obtain this container stacking shape for each。And the testing result of the distance between suspender 10 and barrier is independently, by obtaining above-mentioned container stacking shape, when carrying hanging container C1 in the horizontal direction, can make that hanging container C1's is highly mobile to appropriate location, thus carrying quickly and effectively。
Sensing data reading part 24 except obtain based on above-mentioned laser scanner 22 except light coordinate, the position of the position of suspender 10, i.e. laser scanner 22 should be obtained, and read detection data from the encoder 34 and runout sensor 35 that are arranged at dolly 7 etc.。Wherein, encoder 34 detects the traversing position of dolly 7 and the walking position of the container crane 1 based on running gear 4。Further, runout sensor 35 detects the oscillation capacity of the suspender 10 of the hanging relative to dolly 7。It addition, the walking position of container crane 1 can be obtained by signals such as receptions GPS (GlobalPositioningSystem)。
As shown in Figure 10, Figure 11, light coordinate calculating part 31 such as medium in the carrying of hanging container C1, detect light coordinate by laser scanner 22。The positional information of each data and laser scanner 22 of light coordinate is set up and is associated and export to luminous point data store 32。It addition, at Figure 10, Tu11Zhong, by the sweep limits of the fan-shaped region representation laser scanner 22 surrounded of double dot dash line。
Luminous point data store 32 and possess the stocking mechanisms such as memorizer, and light coordinate calculating part 31 is inputted the data of light coordinate set up with the positional information of laser scanner 22 and associate and it is stored。Further, in same light coordinate when changing, luminous point data store 32 and carry out deleting old light coordinate and be updated to up-to-date the process of light coordinate。
Container stacking shape decision portion 33 according to be stored in luminous point data store 32 the positional information of light coordinate data and laser scanner 22, it is determined that the container stacking shape between object。
The piling height of container on each row 12 can be known by this container stacking shape。
At this, such as when position shown in Fig. 10 has suspender 10, the row 12 surrounded with single dotted broken line in Fig. 10 is (in Figure 10, the 2nd row in left side) the container C of the superiors covered by the container C of adjacent lines 12a, the laser launched from laser scanner 22 cannot arrive at container C。Now, the container stacking shape that container stacking shape decision portion 33 judgement represents with thick line in Figure 12。At this, in Figure 12, the container stacking shape of the highest position being shaped as each row 12 being represented by dashed line, about the container C of the row 12 that laser as above cannot arrive at, replaces light coordinate to use the coordinate of highest position of this row 12 to be used as default value。
On the other hand, for instance if suspender 10 moves to the position shown in Figure 11 from the position shown in Figure 10, then can arrive at the container C that laser in the position of Figure 10 fails to arrive at from the laser of laser scanner 22。Thus, light coordinate calculating part 31 detection make new advances light coordinate。Consequently, it is possible to for be stored in luminous point data store 32 the data of light coordinate, as the position again detected light coordinate, data are added renewal。Further, as shown in figure 13, by container stacking shape decision portion 33, be calculated obtaining the container C that additional laser can arrive at the container stacking shape of light coordinate (representing with thick line in Figure 13)。
At this, as shown in figure 14, light coordinate (Xt, Yt) with the centre coordinate (Xs, Ys) of suspender 10 as benchmark。More specifically, if traversing direction " W " being set to from the center of suspender 10 to the distance of laser scanner 22, " L " will be set to the distance of luminous point from laser scanner 22, laser scanner 22 is set to " θ " compared to the angle of vertical, then can be obtained light coordinate by below formula (1) and formula (2)。
Xt=Xs+W+L sin θ ... (1)
Yt=Ys-L cos θ ... (2)
Each angle that laser scanner 22 scans by light coordinate calculating part 31 and implement above-mentioned the calculating of light coordinate。Further, calculated light coordinate is arrived luminous point data store 32 by storage successively。
Therefore, the container crane 1 according to above-mentioned embodiment, owing to laser scanner 22 together can move up and down with suspender 10, therefore, it is possible to prevent from producing the unmeasured region of laser scanner 22 because of the obstruction of suspender 10。Further, it is possible to the distance shortened between laser scanner 22 and the container C of targeted containers C2 and adjacent lines 12a。
And, the laser scanner 22 being disposed in suspender 10 is only used just to be capable of detecting when the position of hanging container C1 and targeted containers C2, and the position of the container C of adjacent lines 12a can be measured, without being respectively arranged to make the hanging container C1 being sticked in suspender 10 sensor landed and for preventing the sensor of collision。
It as a result, it is possible to detect barrier etc. in wider scope, and is capable of the reduction of assembly number of packages and the simplification of control, it is suppressed that cost increases。
And, owing to the gap between each adjacent row 12 can be accurately detected out, even if therefore when container crane 1 is set to unmanned, save manpower, it is also possible to make the gap between container C become minimum improve container C deposit density。
It is additionally, since the positional offset amount that can obtain hanging container C1 and targeted containers C2 according to the testing result of laser scanner 22, therefore, it is possible to make hanging container C1 correctly land relative to targeted containers C2。
Further, due to according to and the barrier such as container C of adjacent lines 12a between distance can before hanging container C1 collides with barrier the down maneuver of restriction suspender 10, therefore, it is possible to prevent hanging container C1 impaired。
It is additionally, since what the traversing position being stored in various dolly 7 detected light coordinate, therefore, it is possible to what the traversing position being stored in current dolly 7 cannot be detected light coordinate is correctly detected out the container stacking shape between target further。Control so that hanging container C1 is not subjected to the interference of barrier therefore, it is possible to carry out driving of suspender 10。Its result, due to can according to the height of the pre-adjusted suspender 10 of the situation of Container Yard, therefore with movable hanger 10 after the distance of inspection ranged obstacle with compared with the situation of avoiding obstacles, it is possible to shorten the handling time of hanging container C1。
It addition, this invention is not limited to the structure of above-mentioned embodiment, in scope without departing from the spirit, design can be modified。
Such as, in the above-described embodiment, the situation of the container C between being deposited in by laser scanner 22 detection is illustrated, but the object as detection object is not limited to container C, it is also possible to for the object beyond container C。
Such as, as shown in figure 14, it is also possible to be set to detect the conveying trolley 13 walked between container crane 1。Furthermore, it is also possible to set the state of the detection conveying trolley 13 state or sky as loading container C。Set if so, then can omit the sensor special for detecting conveying trolley 13, it is possible to reduce assembly number of packages further。
Further, in the above-described embodiment, to according only to based on laser scanner 22 light coordinate judge that the situation of the container stacking shape between target is illustrated, but be not limited to this。
Such as, can set that as follows: when capturing, by suspender 10, the container C deposited or during stacking container C, height and position according to detected suspenders 10 such as encoders judges the coordinate being stacked in the container C of this row 12, and this result of determination is stored to luminous point data store 32。
And, in the above-described embodiment, the container crane of door shape is illustrated as an example, but the shape of container crane is not limited to a shape, and, also it is not limited to possess the running gear 4 with the wheel with tire。And, can also be suitable for when not being equipped with walking road 14 between foot 5。Further, in the above-described embodiment, to making hanging container C1 situation about dropping on targeted containers C2 be illustrated but it also may drop in the region of ground row 12。Further, when row 12 does not have container C, it is possible to obtain ground light coordinate。
Industrial applicability
According to this container crane, it is possible to accurately detect out barrier etc. in wider scope, and the cost produced because of the increase of assembly number of packages and the complication etc. of control system can be suppressed to increase。
Symbol description
4-running gear, 6-crane girder (girder), 7-dolly, 10-suspender, 8-winding plant (elevating mechanism), 22-laser scanner, 23-crane controller, C1-hangs container, C2-targeted containers, 26-bias leading-out portion, 29-obstacle distance detection unit, the lower speed limit amount calculating part of 30-volume (decline restriction control portion), 32-luminous point data store (storage part)。
Claims (3)
1. a container crane, it possesses:
Running gear；
Girder, is supported on described running gear, and horizontally extending；
Dolly, it is possible to walk along described girder；
Suspender, is lifted on described dolly, and can engage disengaging with container；
Elevating mechanism, makes described sling lifting；
Laser scanner, is arranged at described suspender, and launch laser obtain object the coordinate of luminous point；And
Crane controller, according to described laser scanner obtain the coordinate of luminous point, drive and control described dolly and described suspender,
Described laser scanner is arranged at the sidepiece of the width of described suspender,
Described crane controller possesses bias leading-out portion, this bias leading-out portion makes described laser scanner be scanned in the scope in the horizontal direction of the lower section of described suspender, and according to described laser scanner obtain the coordinate of luminous point obtain the hanging container engaged with described suspender and the envelope that this hanging container is placed in targeted containers above, and obtain the positional offset amount between hanging container and targeted containers according to this envelope。
2. container crane according to claim 1, wherein, described crane controller possesses:
Obstacle distance detection unit, according to described laser scanner obtain the coordinate of luminous point judge the distance between peripheral obstacle and described laser scanner；And
Decline restriction control portion, the down maneuver of suspender according to the distance limit between described peripheral obstacle and described laser scanner。
3. container crane according to claim 1 and 2, wherein, described container crane possess storage described the storage part of light point coordinates。
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013013468A JP2014144836A (en) | 2013-01-28 | 2013-01-28 | Container crane |
| JP2013-013468 | 2013-01-28 | ||
| PCT/JP2013/068731 WO2014115354A1 (en) | 2013-01-28 | 2013-07-09 | Container crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104379489A CN104379489A (en) | 2015-02-25 |
| CN104379489B true CN104379489B (en) | 2016-06-22 |
Family
ID=51227163
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380032493.0A Active CN104379489B (en) | 2013-01-28 | 2013-07-09 | Container crane |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JP2014144836A (en) |
| CN (1) | CN104379489B (en) |
| HK (1) | HK1205995A1 (en) |
| SG (1) | SG11201408467QA (en) |
| WO (1) | WO2014115354A1 (en) |
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- 2013-07-09 CN CN201380032493.0A patent/CN104379489B/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2014115354A1 (en) | 2014-07-31 |
| SG11201408467QA (en) | 2015-02-27 |
| CN104379489A (en) | 2015-02-25 |
| HK1205995A1 (en) | 2015-12-31 |
| JP2014144836A (en) | 2014-08-14 |
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