JP2000169078A - Chassis position detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect a data for relative position computation against a container crane of a chassis on a container cargo handling device furnished with the container crane and the chassis. SOLUTION: A data for relative position computation is detected by providing a pair of laser scanners 10a, 10b on a lower end part of a guide 4 to guide a hoisting accessory of a trolley free to travel on a container crane 1 and respectively scanning a front target 8 and a rear target 9 for chassis position detection provided on a side surface of the chassis 7 by the laser scanners 10a, 10b.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for loading and unloading a container (loading and unloading containers) between a ship and a chassis using a container crane, and a chassis position for detecting a relative position of the chassis with respect to the container crane. It relates to a detection device.

[0002]

2. Description of the Related Art Heretofore, container loading and unloading between a ship and a chassis is performed exclusively by a container crane.

That is, in FIGS.
Denotes a container crane. This container crane 1 has a horizontal frame 1a and four vertical frames 1b, and each roller (not shown) at the lower end of each vertical frame is laid on the quay 20. It is mounted on a guide rail (not shown) and is configured to be movable in the lengthwise direction of the boat 6. Reference numeral 1c indicates a roller cover.

A trolley 2 is movably supported on a horizontal frame 1a of the container crane 1. The horizontal frame 1a is in the moving direction of the container crane 1 (captain direction).
The trolley 2 is supported so as to be able to travel in a direction (traversing direction) perpendicular to the trolley 2. A trolley 2 is provided with a suspending tool (comprising a winch, a wire, a hook, etc.) 3.

In FIGS. 13 and 14, reference numeral 5 denotes a container, and reference numeral 7 denotes a chassis (container transport vehicle). Loading and unloading of containers between the ship 6 and the chassis 7 by the above-described container crane 1 are performed in the following procedure.

That is, the loading and unloading of the container 5 on the ship 6 to and from the chassis 7 is performed by the trolley 2 of the container crane 1.
Is moved to a position directly above the target container 5 position. Next, the hanger 3 is lowered, the container 5 is gripped, and then the hanger 3 is hoisted to move the trolley 2 to a position directly above the chassis 7 position. Then, the hanging tool 3 is unwound, and the container 5 is loaded and unloaded on the chassis 7 in a series of operations.

[0007] The loading of the container 5 on the ship 6 is performed in the reverse order in a similar procedure. At this time, chassis 7
Needless to say, the player must correctly enter a predetermined position and stop. That is, the chassis 7 stops right below the container crane 1 in the traveling direction (the left-right direction in FIG. 14; the arrow B indicates the forward direction), and stops in a predetermined lane in the transverse direction (the left-right direction in FIG. 13). Must be. However, it is difficult to accurately stop the chassis 7 in a fixed position, and the trolley 2
In order to transfer the container 5 between the vehicle and the chassis 7, a correction movement is required in both the traveling direction and the traversing direction.

[0008]

The above-mentioned correction movement of the trolley is performed by moving the chassis 7 in the traveling direction by the driver of the chassis 7 in the traveling direction.
In the traversing direction, the operator of the container crane 1 moves the trolley 2 in the traversing direction.

In other words, conventionally, since the positioning of the trolley and the chassis is manually performed by the operator of the crane and the operator of the chassis, there is a problem that it is inefficient and burdens the operator. .

SUMMARY OF THE INVENTION The present invention is to solve such a problem, and to provide a chassis position detecting device for automatically detecting a relative position of a chassis to a crane in order to automate positioning of a trolley and a chassis. It is assumed that.

[0011]

According to the present invention, there is provided a container handling apparatus including a container crane and a chassis, wherein the chassis is provided with a chassis position detecting target, and the container crane is scanned with the chassis position detecting target. A laser scanner for detecting data for calculating the relative position of the chassis with respect to the container crane is provided as means for solving the problem.

Further, a means for automatically calculating a relative position of the chassis with respect to the container crane based on the data is provided as means for solving the problem.

Further, in the container cargo handling device provided with the container crane and the chassis, a sensor truck is disposed on the container crane so as to be movable in the transverse direction, and the chassis or the container loaded on the chassis is mounted on the sensor truck. A laser scanner for detecting the distance and direction by scanning the upper end of the side surface, and a traveling direction for detecting the distance and direction by scanning the upper end of the rear surface of the chassis or the container loaded on the chassis. A means for solving the problem is provided with an arithmetic unit which is equipped with a position detecting scanner and which automatically detects the relative position between the chassis and the container crane based on the detection values of both laser scanners.

According to the present invention, in a container handling apparatus comprising a container crane and a chassis, a chassis is provided with a target for detecting a chassis position, while the container crane scans the target for detecting a chassis position to detect a relative position of the chassis with respect to the container crane. Equipped with a laser scanner that detects the, based on the detection value of the laser scanner, i.e., the data for calculating the relative position of the chassis to the container crane, the horizontal position of the chassis, the height, the traveling direction position and the inclination in the front-back direction, that is, The relative position between the chassis and the container crane can be automatically calculated by a computer as an arithmetic unit.

Further, a sensor truck is provided on the container crane so as to be movable in the transverse direction. The sensor truck is mounted on the sensor truck, and scans the upper end of the side surface of the chassis or the container to detect a distance and a direction. Based on the values detected by the laser scanner and the laser scanner for detecting the distance and direction by scanning the upper end of the chassis or the rear surface of the container, the relative position between the chassis and the container crane is automatically calculated by the arithmetic unit. Can be detected.

[0016] Based on the calculated values, it is possible to automate the positioning of the trolley of the container crane and the chassis, and as a result, it is also possible to automate the transfer of the container between the trolley and the chassis.

[0017]

BRIEF DESCRIPTION OF THE DRAWINGS FIG.
FIG. 1 is a schematic front view of a container cargo handling device provided with the chassis position detecting device, FIG. 2 is a side view (partially omitted) of FIG. FIG. 4 is a plan view of the chassis, FIG. 4 is a side view of the chassis, FIG. 5 is a side view of the chassis position detection target, and FIGS.
In FIGS. 1 to 7, the same reference numerals as those in FIGS. 13 and 14 indicate substantially the same members.

The chassis position detecting device of the first embodiment is also applied to a container handling device similar to the conventional container handling device shown in FIGS. 13 and 14, as shown in FIGS.

That is, in the first embodiment, the container handling apparatus includes the container crane 1 and the chassis 7, the container crane 1 is movable in the captain direction of the ship 6, and the trolley 2 is connected to the container crane 1
Are arranged so as to be movable in a direction (horizontal direction) orthogonal to the moving direction.

As shown in FIG. 3 and FIG.
A front target 8 and a rear target 9 serving as chassis position detection targets are attached to front and rear sides of the chassis 7. The front target 8 and the rear target 9 have the same configuration. Each of the targets 8 and 9 has a horizontal target bar 11 and a tilt attached to the horizontal target bar 11 at an angle of 45 ° as shown in FIG. The target bar 12 is provided. Reference numeral 7a in FIGS.
Indicates a traveling wheel of the chassis 7, and an arrow B indicates a forward direction of the chassis 7 (a reverse direction is opposite to the arrow B).

On the other hand, the container crane 1
As shown in FIG. 1, a guide 4 for guiding the hanging tool 3 of the trolley 2 and the container 5 hung on the hanging tool 3 onto the chassis 7 is provided. A pair of laser scanners 10 are provided on the front and rear sides of the lower end of the guide 4 on the container crane 1 (the "front and rear" correspond to "forward and backward" of the chassis 7).
a and 10b are respectively attached.

The pair of laser scanners 10a and 10b
As shown in FIGS. 1 and 2, when the chassis 7 is stopped, the laser scanner 10a can detect the front target 8 and the laser scanner 10b can detect the rear target 9 just on the guide 4 of the container crane 1. It is installed at a position corresponding to the target 8 and the rear target 9. Reference numeral 21 indicates a chassis stop lane on the quay 20.

Next, the automatic transfer operation of the container 5 between the container crane 1 and the chassis 7 will be described. Since the scheduled stop position of the chassis 7 is known in advance, the trolley 2 is moved in advance so that the guide 4 comes to the corresponding position. When the chassis 7 stops at the entry stop planned position below the container crane 1, the laser scanner 10
a, the front target 8 is scanned in the vertical direction by the laser scanner 10b, and the rear target 9 is scanned in the vertical direction by the laser scanner 10b. The relative position of the chassis 7 with respect to the container crane 1, that is, the transverse position of the chassis 7 (the direction orthogonal to the arrow B, the container crane) 1), data for calculating the position in the traveling direction (the amount of deviation in the direction of arrow B), the height, and the inclination in the front-back direction are detected. Here, a method of calculating the relative position of the chassis 7 with respect to the container crane 1 will be described.

As the laser scanner 10a scans the front target 8, distances L1, L2 and directions θ1, θ2 between the laser scanner 10a and the horizontal target bar 11 and the inclined target bar 12 are detected as shown in FIG. You. At the same time, the laser scanner 10b
Are scanned, and similar detection values are obtained.

These detected values are inputted to a microcomputer (not shown) as an arithmetic unit provided in a control unit (not shown) of the container crane 1 and the transverse direction, the running direction, the height and the The relative position of the tilt with respect to the container crane 1 is calculated by the following calculation in the microcomputer.

(1) Horizontal position (laser scanner 10a
Horizontal offset amount between the horizontal target bar 11 with respect to (10b)) for calculating horizontal target bars 11 of X ₁ is parallel bars to the ground,
Even if the position of the chassis 7 in the running direction changes, the detection position does not change. Therefore, the horizontal position X can be obtained by the formula [1] from FIG.

X ₁ = L ₁ · sin θ ₁

(2) Calculation of Height H ₁ Similarly, the height H ₁ can be obtained from [Equation 2] from FIG.

[Formula 2] H₁= Z₀-Z₁  = Z₀-L₁・ Cos θ₁  (Z₀Is the mounting height of the laser scanner 10a from the ground
Sa)

(3) Calculation of the running direction position Y _{1 In} FIG. 7, since the tilt target bar 12 is set to make a 45 ° tilt with the ground, the detection height of the tilt target bar 12 and the horizontal target bar 11 (Z ₁ -Z ₂ ) is equal to the traveling direction position Y ₁ . Therefore, the traveling direction position Y is obtained by Expression 3.

[Equation 3] Y₁= Z₁-Z_Two  = L₁・ Cos θ₁-L_Two・ Cos θ_Two  In addition, similarly, the laser scanner 10b is
9 is scanned in the same manner, and the same
It goes without saying that various operations are performed simultaneously.

(4) Calculation of tilt in the front-back direction The difference between each position X in the traverse direction of the front target 8 and the rear target 9 obtained as described above is calculated as the tilt of the chassis 7 in the front-back direction. The traveling direction position calculated in this way is displayed on a display device (not shown) as a deviation amount from the reference value of the approach stop scheduled position, and the driver of the chassis 7 looks at this and moves the chassis 7 in the front-rear direction. To move the chassis 7 to correct the traveling direction. Alternatively, it is also possible to send the calculated traveling direction position to the control device of the container crane 1 and automatically correct the container crane 1 in the traveling direction.

On the other hand, the calculated values of the traverse position, the height, and the inclination in the front-rear direction are sent to the control device of the guide 4 of the container crane 1, and the traverse direction, the height,
The operation of correcting the front and rear inclination is automatically performed. And after that, the trolley 2 is moved to the calculated transverse position,
The hanging tool 3 and the suspended container 5 are rolled down along the guide 4, and the container 5 is automatically transferred to and from the chassis 7. The method of automatically transferring the container 5 between the container crane 1 and the chassis 7 using the calculated value of the relative position of the chassis 7 to the container crane 1 is as follows.
It goes without saying that the present invention can be applied to various known automatic delivery methods other than the method using the guide 4 described above.

As described above, according to the chassis position detecting device of the present embodiment, in the container handling apparatus including the container crane 1 and the chassis 7, the horizontal target bar 11 and the inclined target bar 12 And a pair of front and rear laser scanners for scanning the container crane 1 with the front and rear chassis position detection targets to detect the relative position of the chassis 7 with respect to the container crane 1. 10a and 10b, and based on the detection values of both laser scanners 10a and 10b, that is, data for calculating the relative position of the chassis 7 with respect to the container crane 1, the transverse position X ₁ ,
The height H _1, the inclination of the traveling direction position Y ₁ and the front-rear direction, that it is possible to automatically calculate the relative position of the chassis and the container crane in the computer. Then, based on the calculated value, the positioning of the trolley 2 of the container crane 1 and the chassis 7 can be automated, and as a result, the transfer of the container 5 between the trolley 2 and the chassis 7 can be automated.

The automation of the alignment between the chassis 7 and the trolley 2 reduces the load on the operator of the container crane 1 and the chassis 7, and also increases the container handling speed by automating the transfer of containers. It is possible to do.

Next, a second embodiment of the present invention will be described. FIG. 8 is a side view similar to FIG. 2, and FIG. 9 is a front view of FIG. Front view,
10 is a plan view of FIG. 9, and FIGS. 11 and 12 are explanatory diagrams of the principle of detecting the position of the chassis. In FIGS. 8 to 12, FIG.
7 and FIGS. 13 and 14 indicate substantially the same members and the same technical contents.

The chassis position detecting device of the second embodiment also includes a container crane 1 and a chassis 7 similar to those of the above-described first embodiment, and is applied to the container cargo handling device shown in FIGS. . Needless to say, the container crane 1 is provided with a trolley 2 provided with a hanging tool 3. In the second embodiment, a sensor truck equipped with a chassis position detecting sensor is provided.

That is, in FIGS. 8 to 10, reference numeral 27 denotes a sensor truck. The sensor truck 27 can move in the transverse direction so that the container crane 1 can be moved above the chassis 7.
It is supported by. Reference numeral 1d denotes a traveling support rail of the sensor truck 27 attached to the vertical frame 1b of the container crane 1. In addition to the above “traversing direction”, “traveling direction”, “forward (forward) / backward (forward)”,
“Height”, “back and forth inclination” and the like are all the same technical contents as in the first embodiment.

The sensor cart 27 is equipped with a laser scanner 28 for detecting the position of the chassis 7 on the front side in the transverse direction, a laser scanner 29 for detecting the position of the chassis 7 on the rear side in the transverse direction, and a laser scanner 30 for detecting the position of the chassis 7 in the running direction. I have. As shown in FIG. 10, when the chassis 7 stops, the chassis 7 is a 20 ft container chassis when the chassis 7 is stopped. Whether it is a chassis for a 40 ft container, or a chassis for a 45 ft container (not shown), the chassis 7 is installed at a position where the upper end of the front side and the rear side of the chassis 7 can be detected.

As shown in FIG. 8, when the chassis 7 is stopped, the laser scanner 30 for detecting the position in the traveling direction of the chassis 7 has the rear end of the 20 ft container chassis (solid line in FIG. 8) and the rear of the 40 ft container chassis. The container (length) is installed so as to be located near the center position with respect to the end (the dashed line in FIG. 8), and the container (length) is 20 ft, 40 ft,
Further, the upper end of the rear surface of the container can be detected at any of 45 ft (two-dot chain line in FIG. 8).

Next, the operation of automatically transferring the container 5 between the container crane 1 and the chassis 7 will be described with reference to FIGS. Since the entry stop position of the chassis 7 is known in advance to which position of which lane 21, the sensor cart 27 is moved to the corresponding lane position (lateral position) in advance (see FIG. 9). When the chassis 7 stops at the entry stop scheduled position below the container crane 1, the side surfaces of the chassis 7 (left and right side surfaces in FIG. 9; 5 (left and right side surfaces in FIG. 9) is scanned obliquely upward and downward to detect the relative position and height of the chassis 7 in the traversing direction with respect to the crane 1, and the degree of inclination of the chassis before and after. Further, the rear surface of the chassis 7 (the rear surface of the container 5 when the container 5 is loaded: the right side surface of FIG. 8) is scanned from above by a laser scanner 30 in the front-rear direction (the left-right direction of FIG. 8). 1 relative to the traveling direction (left-right direction in FIG. 8). The detected position in the traveling direction is displayed on a display device (not shown) as an amount of deviation from the reference value of the approach stop scheduled position, and the driver of the chassis 7 sees this, moves the chassis 7 in the front-rear direction, and moves in the traveling direction. Correction movement of. Alternatively, the detected traveling direction position can be sent to the control device of the container crane 1 so that the container crane 1 can be automatically corrected in the traveling direction.

The detected traversing position is sent to the control device of the trolley 2 of the container crane 1, and the trolley 2 is accurately moved to the detected traversing position. The detected value of the inclination of the front and rear of the chassis 7 is sent to the control device of the trolley 2 to move a sheave (not shown; a device on the trolley 2 that can move the hanger 3 independently of the front and rear). As a result, the inclination of the hanger 3 is adjusted to the front and rear inclination of the chassis 7. After aligning the hanger 3 with the horizontal positioning and the front and rear inclination of the chassis 7, the hanger 3 is lowered so that the container 5 can be automatically transferred between the container crane 1 and the chassis 7.

Note that the detected height (position) is used for positioning in the height direction when the hanging tool 3 is lowered. Various methods other than the above can be considered for the method of adjusting the hanging member 3 to the traverse positioning and the front and rear inclination of the chassis 7 described above. For example, a guide mechanism (not shown) that guides the hanging tool 3 of the trolley 2 and the suspended container 5 onto the chassis 7 is provided, and the guide mechanism of the guide mechanism is adjusted in accordance with the detected position in the transverse direction and the inclination of the chassis 7 in the front and rear directions. The container 5 can be automatically transferred between the container crane 1 and the chassis 7 by correcting the position and inclination in the traverse direction and lowering the hanging tool 3 and the suspended container 5 along the guide mechanism. It is possible.

Next, a method for detecting the relative position of the chassis 7 to the container crane 1 will be described. As described above, when the chassis 7 enters the chassis stop lane 21 below the container crane 1 and stops at the expected stop position, the side surfaces of the chassis 7 (the container 5) is scanned in the vertical direction to determine the position, height,
Detect front and rear inclination. In addition, the rear surface of the chassis 7 (the rear surface of the container 5 when the container 5 is loaded) is scanned in the front-rear direction by the laser scanner 30 to detect the position of the chassis 7 in the traveling direction.

The laser scanners 28 and 29 scan the side surface of the chassis 7 (or the side surface of the container 5 when the container 5 is loaded) in the up and down direction, as shown in FIG. The distances L ₃ and θ _{3 from the} upper end of the side surface 7 (or the upper end of the side surface of the container 5 (in FIG. 11, the case of the upper end of the side surface of the container 5 is shown)) are detected. In addition, the laser scanner 30 scans the rear surface of the chassis 7 (the rear surface of the container 5 when the container 5 is loaded) in the front-rear direction, as shown in FIG. Alternatively, the distances L ₄ and θ ₄ from the upper end of the rear surface of the container 40 (in FIG. 12, the case of the upper end of the side surface of the container 40 is shown) are detected. From these detected values, the transverse position, the front-back inclination, the height, and the traveling direction position of the chassis 7 are calculated by a microcomputer as a calculating device provided in a control unit (not shown) of the container crane 1 as described below. It is calculated by

(1) Horizontal position (Laser scanner 8
Transverse direction position X ₂ from the calculated 11 in the horizontal direction deflection amount) X ₂ of the rear surface of the container 5 (the upper end) with respect to (9) is calculated by [Expression 4] expression.

X ₂ = L ₃ · sin θ ₃

(2) Calculating the tilt in the front-rear direction The difference between the horizontal positions X ₂ obtained by [Equation 4] based on the detected values of the two laser scanners 28 and 29 is the chassis 7 (or container 5). ).

(3) Calculation of Ground Height H _{2 From} FIG. 11, the ground height [chassis 7 (or container 40
Ground height)] H ₂ is obtained by Equation 5 Equation.

[Mathematical formula-see original document] H_Two= Z₀-Z_Three  = Z₀-L_Three・ Cos θ_Three  (Z₀Is the laser scanner 28 or laser scanner 29
Height from the ground)

[0046] (4) running direction position [chassis 7 (or horizontal offset amount with respect to the laser scanner 30 at the rear end of the container 5) traveling direction Y ₂ from calculation 12 of Y ₂ in [6] where Desired.

[Equation 6] Y ₂ = L ₄ · sin θ ₄

As described above, in this embodiment, the laser scanner 28 for detecting the front side traverse direction and the laser scanner 29 for detecting the rear side traverse direction of the chassis 7 mounted on the sensor carriage 27 and the detection of the traveling direction position of the chassis 7 The horizontal position X ₂ , the inclination in the front-rear direction, the ground height H _2, and the traveling direction position Y ₂ are calculated by a microcomputer based on each measurement value of the laser scanner 30 for use.

The sensor cart 27 is supported by the container crane 1 so as to be movable in a direction (indicated by an arrow C in FIGS. 9 and 10) orthogonal to a traveling direction of the chassis 7 (a direction indicated by an arrow B in FIGS. 2 and 3). Therefore, as shown in FIG. 9, by moving the sensor cart 27, one sensor cart 27 can correspond to the chassis 7 that stops at a plurality of chassis stop zones 21.

The position of the trolley 2 of the container crane 1 and the chassis 7 can be automated on the basis of the numerical value on the relative position between the chassis and the container crane calculated as described above. It is also possible to automate the delivery of the container 5 between the container 5 and the chassis 7. Thereby, the load on the operator of the container crane and the chassis is reduced, and the container handling processing speed is increased.

[0050]

As described above, according to the chassis position detecting device of the present invention, the following effects can be obtained. (1) In a container handling apparatus having a container crane and a chassis, data for calculating a relative position of the chassis with respect to the container crane can be obtained with a simple configuration. (2) Since the relative position of the chassis with respect to the container crane can be automatically calculated based on the data,
This makes it possible to automate the alignment between the container crane and the chassis. (3) According to the above (2), the load on the operator (operator) of the container crane and the chassis can be reduced, and the processing speed of container handling can be increased.

[Brief description of the drawings]

FIG. 1 is a schematic front view of a container cargo handling device having a chassis position detecting device according to a first embodiment of the present invention.

FIG. 2 is a side view (partially omitted) of FIG.

FIG. 3 is a plan view of the chassis.

FIG. 4 is a side view of the chassis.

FIG. 5 is a side view of the chassis position detection target.

FIG. 6 is an explanatory view of the principle of detecting the position of the chassis in the transverse direction.

FIG. 7 is an explanatory diagram of a principle of detecting a traveling direction position of the chassis.

FIG. 8 is a side view similar to FIG. 2 of a chassis position detecting device according to a second embodiment of the present invention.

FIG. 9 is a front view of the same.

FIG. 10 is a plan view of the same.

FIG. 11 is an explanatory view of the principle of detecting the position of the chassis in the transverse direction.

FIG. 12 is an explanatory diagram of a principle of detecting a traveling direction position of the chassis.

FIG. 13 is a schematic front view of a conventional container cargo handling device.

FIG. 14 is a view (partially omitted) of FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Container crane 1a Horizontal frame 1b Vertical frame 2 Trolley 3 Hanger 4 Guide 5 Container 6 Ship 7 Chassis 8 Front target 9 Rear target 10a, 10b Laser scanner 11 Horizontal target bar 12 Inclined target bar 20 Wharf 21 Chassis stop lane 27 Sensor truck 28 Front side traverse position detection laser scanner 29 Back side traverse direction position detection laser scanner 30 Running direction position detection laser scanner

Continued on the front page (72) Inventor Shigeyuki Watanabe 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City In the Hiroshima Research Laboratory, Mitsubishi Heavy Industries, Ltd. Hiroshima Shioda Co., Ltd. (72) Inventor Hiroshi Shioda 4--22 Kannon Shinmachi, Nishi-ku, Hiroshima City Mitsubishi Heavy Industries, Ltd.Hiroshima Research Laboratories Co., Ltd. Hiroshima Laboratory Co., Ltd. F-term (reference) 3F204 AA02 BA04 CA01 CA07 DA02 DA08 DC06 GA04

Claims (3)

[Claims] 1. A container cargo handling apparatus comprising a container crane and a chassis, wherein the chassis is provided with a chassis position detection target, and the container crane is scanned with the chassis position detection target to scan the chassis with respect to the container crane. A chassis position detecting device provided with a laser scanner for detecting data for calculating a relative position. 2. A chassis position detecting device, further comprising: an arithmetic device for automatically calculating a relative position of the chassis with respect to the container crane based on the data. 3. A container cargo handling device having a container crane and a chassis, wherein a sensor truck is disposed movably in a transverse direction on the container crane, and the sensor truck includes a chassis or a container mounted on the chassis. A laser scanner for detecting the distance and direction by scanning the upper end of the side surface, and a traveling direction for detecting the distance and direction by scanning the upper end of the rear surface of the chassis or the container loaded on the chassis. A chassis equipped with a position detection laser scanner and an arithmetic unit for automatically detecting a relative position between the chassis and the container crane based on detection values of the two laser scanners. Position detection device.