JP2000153988A - Trackless road surface traveling body and container terminal - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automate cargo handling work through unmanned operation and automatic travel of a tire type traveling crane by controlling a driving means on the basis of detected information of a discrepancy angle, discrepancy quantity and moving distance in the proceeding direction of a trackless road surface traveling body to a guide line to change moving speed by each wheel. SOLUTION: Travel direction moving distance computed from the data of lateral wheel rotation angle detecting sensors 22A, 22B is corrected when mark plates 20A, 20B are detected by mark plate detecting sensors 21A-21D. The steering control input computed from the discrepancy quantity and discrepancy angle based on the discrepancy quantity of two right front and right rear fixed points of a traveling crane detected by detecting the discrepancy quantity in a right-angled direction to the travel direction from the mark plates by the mark plate detecting sensors shows 0 or positive and negative values respectively showing discrepancy in the left direction and the right direction. The respective speed commands of right side and left side traveling motors 13B, 13A are therefore computed and inputted to the motors 13A, 13B to move the traveling crane respectively in the right and left directions.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a trackless road vehicle and a container terminal.

[0002]

2. Description of the Related Art As a traveling body traveling on a trackless road surface,
Tire-type traveling cranes are exemplified. FIG. 13 shows an example of a tire-type traveling crane. In the figure, a tire-type traveling crane 1 traveling on a container yard travels when a driver in a driver's seat 2 operates a traveling speed operation rod and a steering operation rod (both not shown),
The vehicle travels straight and stops at the target position while visually observing the guideline 3 drawn on the ground. Alternatively, wheels 4C, 4 from Guideline 3 installed on the ground
The vehicle travels straight ahead while reading the deviation amount of D (or 4A, 4B) with a sensor, and stops at the target position by the driver's judgment.

[0003]

FIG. 1 shows a container terminal in which cargo handling is performed by a tire-type traveling crane.
It is shown in FIG. In the container terminal shown in the figure,
There is a need for automation and high efficiency, and there is a need for an unmanned operation technique and an automatic traveling technique of a traveling body traveling in a container terminal such as the tire traveling crane 1 and the chassis 5.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to enable unmanned operation and automatic traveling of a tire-type traveling crane to automate cargo handling work in a container terminal and improve efficiency. .

[0005]

As means for solving the above-mentioned problems, a trackless road running body and a container terminal having the following configurations are employed. That is, the trackless road surface traveling body according to claim 1 of the present invention moves along a guide line provided on a road surface in a predetermined direction, and is provided apart from each other in a direction intersecting the guide line, and each of the predetermined direction is provided. Independently traveling wheels, driving means for individually driving the wheels, a deviation angle detecting means for detecting a deviation angle of the traveling direction of the trackless road surface traveling body with respect to the guide line, and the trackless Displacement amount detecting means for detecting the displacement amount of the road surface traveling body, moving distance detecting means for detecting the traveling distance of the trackless road traveling body from the start of movement, the displacement amount detecting means, displacement angle detecting means, and moving distance detection By controlling the driving means from the information obtained by the means and changing the moving speed of each wheel, the guideline of the trackless road surface traveling body can be obtained. Cormorants straight running, and a control device for positioning control.

A container terminal according to a second aspect of the present invention is provided with a guide line provided on a road surface of a container yard in a predetermined direction, and separated from each other in a direction intersecting the guide line and independently provided in the predetermined direction. A wheel that can travel and drive means for individually driving the wheels;
A deviation angle detecting means for detecting a deviation angle of the trackless road surface traveling body with respect to the guideline in a traveling direction, a deviation amount detecting means for detecting a deviation amount of the trackless road surface traveling body from the guideline, and Moving distance detecting means for detecting a moving distance from the start of movement, and controlling the driving means from information obtained by the shift amount detecting means, the shift angle detecting means and the moving distance detecting means to change the moving speed of each wheel. And a control device that controls the straight running and positioning of the trackless road running body in accordance with the guideline.

In the trackless road surface traveling object and the container terminal according to the present invention, the trackless road surface traveling object is caused to travel in accordance with the guideline, and during traveling, a deviation angle of the traveling direction of the trackless road surface traveling object with respect to the guideline is detected. Detects the amount of deviation of the trackless road running object from the vehicle, controls the driving means based on each detection result, changes the rotation speed of the wheels, and rotates one wheel slower or faster than the other The traveling direction of the road vehicle is corrected as needed to meet the guidelines.
Further, at the same time that the traveling direction is corrected, the travel distance from the movement start of the trackless road traveling body is detected, and when the current position reaches the final target position, the operation of the driving means is stopped to move the trackless road traveling body at the target position. Stop.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of a trackless road vehicle and a container terminal according to the present invention will be described with reference to FIGS. The tire type traveling crane (trackless road surface traveling body) shown in FIG. 1 has a leg structure 1 serving as a left leg.
Leg structures 10C, 10D that form the right leg with 0A, 10B
Are connected at the top by connecting members 11A and 11B. At the lower ends of the leg structures 10A to 10D,
Wheels 12A to 12D are respectively mounted. These wheels 12A to 12D are individually driven by a left traveling motor 13A and a right traveling motor 13B (driving means) provided on the left and right, respectively.

A trolley 14 that can move to the left and right is installed on the connecting members 11A and 11B, and a suspender 16 is suspended from the trolley 14 via a wire rope 15, and a load is placed under the suspender 16. By moving the trolley 14 by suspending the (container) 17, the load 38 is conveyed in a direction perpendicular to the traveling direction.

The four fixed points below the left and right leg structures 10A to 10D (or any of the left leg structures 10A and 10B or the right leg structures 10C and 10D) have two fixed points below the road surface. As a guideline, mark plate detection sensors 21A to 21D are provided for reading the amount of deviation in a direction perpendicular to the traveling direction from the mark plates 20A and 20B installed at a constant pitch.

Wheel rotation angle detection sensors 22A and 22B for detecting the rotation angles of the respective wheels are provided on the left and right wheel shafts so that the traveling distance of the tire-type traveling crane can be detected.

In the electric room 24 provided in the right leg structures 10A and 10B, the left traveling motor is provided based on the deviation amount of the tire traveling crane from the detected guide line and the moving distance of the tire traveling crane. A straight traveling / positioning control system 23 for calculating, instructing, and controlling speed commands to 13A and the right traveling motor 13B is provided. In the electric room 24, a gyro (deviation angle detecting means) 25 for detecting a rotation angle of the tire type traveling crane is installed.

Next, FIG. 2 shows a schematic block diagram of the straight traveling / positioning control system 23. As shown in FIG. Setting of the initial stop position and target position of the tire type traveling crane, traveling distance information of the tire type traveling crane from traveling distance detector (moving distance detecting means) 31, and traveling displacement amount detector (deviation amount detecting means) 32 The deviation amount information in the direction perpendicular to the traveling direction of the tire-type traveling crane from the vehicle is taken into a straight traveling / positioning control device (hereinafter, referred to as a control device) 33, and inside the control device 33, the left traveling motor 13A and the right traveling A speed command to the driving motor 13B is calculated, and a speed command is given to the left and right traveling speed control devices 34A and 34B, so that the left traveling motor 13A and the right traveling motor 13B
Are controlled respectively.

Next, the flow of positioning control in the straight traveling direction in the tire-type traveling crane constructed as described above will be described with reference to FIGS. Control device 43
The initial setting that the target position at the time of n = 1 and n = 0 is equal to the stop position before the start of travel, and further, the initial stop position (stop position before the start of travel) and the final target position ( After inputting the stop position after the movement), the control device 43 operates at the same time as the operation of the tire-type traveling crane is started.

The control device 43 calculates a deviation between the initial stop position and the final stop position (step A1), and generates a traveling speed pattern based on the calculated deviation (step A2).

The amount of time integration of the speed pattern generated for each fixed control cycle is calculated, and the target position for each control cycle, that is, the target position of the n (= 1) cycle is calculated (step A3).

The wheel rotation angle detected by the wheel rotation angle detection sensor attached to each of the left and right wheel axles is multiplied by the wheel radius to calculate the travel distance in the traveling direction from the start of traveling for each of the left and right wheels (step). A4).

It is determined whether or not a mark plate is detected by the mark plate detection sensor (step A5). If no mark plate is detected by the mark plate detection sensor, the traveling direction from the start of traveling of each of the left and right wheels. The sum of the moving distance is divided by 2 to obtain a current position for each control cycle (step A
6).

A reference speed command for each control cycle is obtained by multiplying the deviation between the target position and the current position for each control cycle by a control constant (step A7).

The displacement angle is detected by the gyro (step A8), and the displacement angle is differentiated with time to calculate the displacement angular velocity (step A9). Note that the shift angle is defined as shown in FIG.

The shift amount and the shift speed are calculated based on the shift angle one control cycle before and the travel direction movement amount in one control cycle (step A10), and the steering operation amount is calculated based on the shift amount and the shift speed. (Step A11). Here, A, B, C, and D are all control constants, and Δt is a control cycle time. Note that the shift amount is defined as shown in FIG.

Returning to (Step A5), if a mark plate is detected by the mark plate detection sensor, the traveling distance of the left and right wheels in the traveling direction is corrected (Step A12). Since the wheels are deformed, there is an error in the travel distance of the tire-type traveling crane calculated from the wheel rotation angle and the wheel radius, but every time a mark plate installed on the ground at a constant pitch is detected, the travel distance Is corrected, the error is reduced.

A value obtained by dividing the sum of the corrected moving distances of the left and right wheels in the traveling direction from the start of travel by two is set as the current position in each control cycle (step A13).

A reference speed command for each control cycle is obtained by multiplying the deviation between the target position and the current position for each control cycle by a control constant (step A14).

Since the mark plate detection sensor detects the amount of deviation from the mark plate in the direction perpendicular to the traveling direction, the amount of deviation between the right front and right rear of the tire type traveling crane is detected (step A15). Therefore, based on the detected shift amount between the two fixed points, the shift amount and the shift angle, and the shift speed and the shift angular speed, which are the respective time differential amounts, are calculated (step A).
16) Returning to (Step A11), the steering operation amount is calculated based on the shift speed and the shift angular speed.

As described above, the detection error can be reduced by correcting the moving amount in the traveling direction of the tire-type traveling crane and the deviation amount in the direction perpendicular to the traveling direction every time the mark plate is detected.

It is determined whether the steering operation amount is positive or negative (step A17). If the steering operation amount is 0 or a positive value, the tire-type traveling crane is shifted to the left, and the crane is moved to the right. Need to move. Therefore, the speed command of the right driving motor 13B is calculated by subtracting the steering operation amount from the reference speed command, and the reference speed command is calculated as the speed command of the left driving motor 13A (step A18). The command is input to each of the left and right traveling motors (step A19). Thereby, the left traveling motor 13A
Relative to the right-side traveling motor 13B increases, and the tire-type traveling crane moves rightward.

Returning to (Step A17), if the steering operation amount is a negative value, the tire type traveling crane has shifted to the right, and it is necessary to move the crane to the left. Thus, the speed command of the left driving motor 13A is calculated by subtracting the steering operation amount from the reference speed command, and the reference speed command is calculated as the speed command of the right driving motor 13B (step A2).
0), and input the calculated speed commands to the left and right traveling motors, respectively (step A19). As a result, the relative speed of the right traveling motor 13B with respect to the left traveling motor 13A increases, and the tire-type traveling crane moves to the left.

After the positioning control is performed in the straight traveling direction of the tire-type traveling crane in (Step A19), it is determined whether or not the current position of the tire-type traveling crane has reached the final target position (Step A21). If the target position has not been reached, 1 is added to n (step A).
Return to 3) and perform control again. If the current position of the tire type traveling crane has reached the final target position, the reference speed command becomes 0, and the crane stops.

As described above, it is possible to automatically control the straight traveling of the tire type traveling crane and to position the tire traveling crane automatically, which helps to automate the container terminal.

FIGS. 9 to 12 show a trackless road vehicle and a container terminal according to a second embodiment of the present invention.
And will be described. In the first embodiment, the straight-moving direction and the positioning control in the tire type traveling crane in which the mark plate detection sensors are installed below the left and right leg structures and the wheel rotation angle detection sensors are installed on the left and right wheel shafts. However, the mark plate detection sensor and the wheel rotation angle detection sensor do not necessarily need to be installed on the left and right sides of the crane, and if they are installed on either the left or right side, it is possible to obtain the information necessary for control It is. Therefore, in the present embodiment, a tire-type traveling crane in which a mark plate detection sensor is installed at two fixed points before and after the lower part of the right leg structure of the tire-type traveling crane, and a wheel rotation angle detection sensor is installed on the right wheel shaft. Will be described with reference to FIGS. 9 to 12.

Initially, the controller 43 sets that the target position at the time of n = 1 and n = 0 is equal to the stop position before the start of travel, and further sets the initial stop position of the tire type traveling crane (the stop position before the start of travel). ) And the final target position (stop position after moving), the control device 43 is activated at the same time as the operation of the tire-type traveling crane is started.

The control device 43 calculates a deviation between the initial stop position and the final stop position (step B1), and generates a traveling speed pattern based on the calculated deviation (step B2).

The time integral of the speed pattern generated for each fixed control cycle is calculated, and the target position for each control cycle, that is, the target position of the n (= 1) cycle is calculated (step A3).

The wheel rotation angle detected by the wheel rotation angle detection sensor attached to the right wheel axle is multiplied by the wheel radius to calculate the travel distance of the right wheel from the start of travel (step B4). ).

It is determined whether or not a mark plate is detected by the mark plate detection sensor (step B5). If no mark plate is detected by the mark plate detection sensor, the target position and the current position for each control cycle are determined. The deviation multiplied by the control constant is used as a reference speed command for each control cycle (step B
6).

The shift angle is detected by the gyro (step B7), and the shift angle is further differentiated with time to calculate the shift angular velocity (step B8).

The shift amount and the shift speed are calculated based on the shift angle one control cycle before and the travel direction movement amount in one control cycle (step B9), and the steering operation amount is calculated based on the shift amount and the shift speed. (Step B10).

Returning to (Step B5), if the mark plate is detected by the mark plate detection sensor, the reduced position of the tire-type traveling crane is corrected (Step B11). Since the wheels are deformed, there is an error in the travel distance of the tire-type traveling crane calculated from the wheel rotation angle and the wheel radius, but every time a mark plate installed on the ground at a constant pitch is detected, the travel distance Is corrected, the error is reduced.

A value obtained by multiplying the deviation between the target position and the current position in each control cycle by a control constant is set as a reference speed command in each control cycle (step B12).

Since the displacement of the mark plate detection sensor in the direction perpendicular to the traveling direction from the mark plate is detected, the displacement between two fixed points of the right front and the rear right of the tire type traveling crane is detected (step B13). Therefore, based on the detected shift amount between the two fixed points, the shift amount, the shift angle, and the shift speed and the shift angular speed, which are the respective time differential amounts, are calculated (step B).
14) Returning to (Step B10), the steering operation amount is calculated based on the shift speed and the shift angular speed.

As described above, the detection error can be reduced by correcting the moving amount in the traveling direction of the tire-type traveling crane and the deviation amount in the direction perpendicular to the traveling direction each time the mark plate is detected.

It is determined whether the steering operation amount is positive or negative (step B15). If the steering operation amount is 0 or a positive value, the tire type traveling crane is deviated to the left, and the crane is moved to the right. Need to move. Therefore, the speed command of the right driving motor 13B is calculated by subtracting the steering operation amount from the reference speed command, and the reference speed command is calculated as the speed command of the left driving motor 13A (step B16). The command is input to each of the left and right traveling motors (step B17). Thereby, the left traveling motor 13A
Relative to the right-side traveling motor 13B increases, and the tire-type traveling crane moves rightward.

Returning to (Step B15), if the steering operation amount is a negative value, the tire type traveling crane has shifted to the right, and it is necessary to move the crane to the left. Therefore, the speed command of the left driving motor 13A is calculated by subtracting the steering operation amount from the reference speed command, and the reference speed command is calculated as the speed command of the right driving motor 13B (step B1).
8) The calculated speed commands are input to the left and right traveling motors respectively (step B17). As a result, the relative speed of the right traveling motor 13B with respect to the left traveling motor 13A increases, and the tire-type traveling crane moves to the left.

After the positioning control is performed in the straight traveling direction of the tire type traveling crane in (Step B17), it is determined whether or not the current position of the tire type traveling crane has reached the final target position (Step B19). If the target position has not been reached, 1 is added to n (step B).
Return to 3) and perform control again. If the current position of the tire type traveling crane has reached the final target position, the reference speed command becomes 0, and the crane stops.

As described above, the tire-type traveling crane can be automatically controlled to travel straight and positioned automatically, which contributes to automation of the container terminal. Note that the mark plate detection sensor and the wheel rotation angle detection sensor may of course be installed on the left side.

[0047]

As described above, according to the trackless road surface traveling body and the container terminal of the present invention, the trackless road surface traveling body is caused to travel along the guideline, and the traveling direction of the trackless road surface traveling body with respect to the guideline during traveling. Detects the deviation angle of the trackless road surface traveling body from the guideline, and controls the drive means based on each detection result to change the rotation speed of the wheel, and compares one wheel with the other. By rotating slowly or fast, the traveling direction of the trackless road surface traveling body is corrected at any time so as to follow the guidelines, and control is performed so that straight traveling is performed.At the same time, the travel distance from the start of the trackless road surface traveling body is detected, and When the position reaches the final target position, the driving means is stopped and positioning control is performed, so that the container Allowing unattended operation and automatic traveling in the null. Thereby, the cargo handling work in the container terminal can be automated and the efficiency can be improved.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a first embodiment of a tire type traveling crane according to the present invention.

FIG. 2 is a schematic block diagram showing a straight traveling and positioning control system provided in the tire type traveling crane.

FIG. 3 is a flowchart showing a flow of positioning control in a straight traveling direction in a tire type traveling crane.

FIG. 4 is a flowchart showing the flow of positioning control in the straight traveling direction in the tire-type traveling crane, following FIG. 3;

FIG. 5 is a flowchart showing the flow of positioning control in the straight traveling direction in the tire-type traveling crane, following FIG. 4;

FIG. 6 is a flowchart following FIG. 5 and showing a flow of positioning control in the straight traveling direction in the tire-type traveling crane.

FIG. 7 is an explanatory view of a deviation angle with respect to a guideline of a tire type traveling crane.

FIG. 8 is an explanatory diagram of a shift amount with respect to a guideline of a tire-type traveling crane.

FIG. 9 is a view showing a second embodiment of the tire type traveling crane according to the present invention, and is a flow chart showing a flow of positioning control in a straight traveling direction in the tire type traveling crane.

FIG. 10 is a flowchart following FIG. 9 showing the flow of positioning control in the straight traveling direction in the tire-type traveling crane.

FIG. 11 is a flowchart showing the flow of positioning control in the straight traveling direction in the tire-type traveling crane, following FIG.

12 is a flowchart showing the flow of positioning control in the straight traveling direction in the tire-type traveling crane, following FIG.

FIG. 13 is a perspective view of a conventional tire-type traveling crane.

FIG. 14 is a perspective view showing the whole view of a conventional container terminal.

[Explanation of symbols]

 10A to 10D Leg structure 11A, 11B Connecting member 12A to 12D Wheel 13A Left running motor (driving means) 13B Right running motor (driving means) 14 Trolley 15 Wire rope 16 Hanging tool 17 Load (Container) 20A, 20B Mark Plates 21A to 21D Mark plate detection sensors 22A and 22B Wheel rotation angle detection sensors 23 Straight running and positioning control system 24 Electrical room 25 Gyro (displacement angle detecting means) 31 Traveling distance detector (moving distance detecting means) 32 Traveling deviation amount Detector (deviation detecting means) 33 Straight running, positioning control device

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Takashi Senzo 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima-shi, Hiroshima Mitsubishi Heavy Industries, Ltd. Hiroshima Laboratory (72) Inventor Motoyuki Fujii Kannon-Shimmachi, Nishi-ku, Hiroshima-shi, Hiroshima 4-6-22 Mitsubishi Heavy Industries, Ltd. Hiroshima Research Laboratory (72) Inventor Koji Uchida 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture Mitsubishi Heavy Industries, Ltd. Hiroshima Research Laboratory F-term (reference) 3F202 AA04 BA02 3F204 AA03 BA04 CA01 DA02 DA08 DB02 DC03 DC06 DD02 DD14

Claims (2)

[Claims] 1. A trackless road surface traveling body that moves along a guide line provided in a predetermined direction on a road surface, and is separated from each other in a direction intersecting the guide line and travels independently in the predetermined direction. Possible wheels, driving means for individually driving the wheels, deviation angle detecting means for detecting a deviation angle in the traveling direction of the trackless road vehicle with respect to the guideline, and deviation of the trackless road surface vehicle from the guideline A shift amount detecting means for detecting an amount, a moving distance detecting means for detecting a moving distance of the trackless road surface traveling body from the start of movement, and a shift amount detecting means, a shift angle detecting means and a moving distance detecting means. By controlling the driving means from the information and changing the moving speed of each of the wheels, the straight running and position of the trackless road surface traveling body according to the guidelines are controlled. Trackless road traveling body characterized in that a control device for performing decided control. 2. A guide line provided on a road surface of a container yard in a predetermined direction, wheels provided separately in a direction intersecting with the guide line and capable of running independently in the predetermined direction, and Driving means for individually driving, deviation angle detecting means for detecting a deviation angle of the trackless road surface traveling body with respect to the guide line, and deviation amount detecting means for detecting a deviation amount of the trackless road surface traveling body from the guide line And moving distance detecting means for detecting the moving distance of the trackless road surface traveling body from the start of movement, and controlling the driving means from information obtained by the shift amount detecting means, the shift angle detecting means and the moving distance detecting means. A control device that performs straight running and positioning control of the trackless road surface traveling body in accordance with the guideline by changing a traveling speed of each wheel. Container terminal, characterized in that it comprises a trackless road traveling body comprising and.