JP2003238071A - Position detector for container - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position detector for a container capable of measuring the container in a target position with more surely and accurately than before. <P>SOLUTION: This position detector is provided with a laser-type range finder 30 attached to a side part of a lifting tool 9 of a container crane and a beam scan mechanism 40 provided to the range finder 30. The beam scan mechanism 40 is provided with a wedge prism 33 or a transmission diffraction grating which deflects the laser beam 35 emitted from the range finder 30 by a fixed angle and a rotation drive means. The laser beam 35 draws a circular orbit by rotating the wedge prism or the transmission diffraction grating with the rotation drive means. The range finder 30 is attached at a corner part of a diagonal line or on the four sides of the lifting tool. The rotation drive means transmits torque of an electric motor 34 to the wedge prism or the transmission diffraction grating through a belt 42. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a container position detecting device, and is useful when applied to a case where a container is transported from a landside quay to a container ship or a case where the container is transported from the container ship to a landside.

[0002]

2. Description of the Related Art In recent years,
Since the amount of container cargo handled in each port tends to increase, it is possible to reduce the loss time when transporting containers from the land side quay to the container ship and when transporting containers from the container ship to the land side quay to improve cargo handling efficiency. It is required to improve. For this reason, there is a demand for a technique for accurately installing (implanting) a container at a target position in a short time. First, the configuration of a conventional container crane and a specific example of the transfer work by the crane operator using this crane operator will be described below.

FIG. 7 is a block diagram showing an example of a conventional container crane. The container crane 101 shown in FIG. 7 is a container crane 110 between a container ship 110 and a landside quay 104.
It has a function of carrying 11 sheets.

Specifically, as shown in FIG. 7, the container crane 101 has a sea-side leg 102 and a land-side leg 103 provided on a rail 105 installed on a land-side quay 104, and a traveling drive (not shown). The device allows the vehicle to travel along the rails 105 in a direction orthogonal to the paper surface of FIG. 7. A girder 106 is installed above the sea-side leg 102 and the land-side leg 103, and the trolley 107 and a cab 108 on which a crane operator is mounted can travel along the girder 106 (hereinafter, this The traveling of the trolley 107 along the garter 106 is called traverse movement). Further, the trolley 107 is provided with a winding device (not shown) that winds and unwinds the wire rope 121. The winding device winds and lowers the suspending tool 109 attached to the wire rope 121. Is able to.

The operation of transporting the container 111 by the container crane 101 is all manually performed by a crane operator who is in the cab 108. By the way, when carrying the container 111, the container 111 is transferred from the landside quay 104 to the container ship 1.
Although there is a work of loading on the container ship 10 and a work of unloading from the container ship 110 to the land side quay 104, the work of loading on the container ship 110 from the land side quay 104 will be described as an example here. When the container 111 is loaded on the container ship 110 from the land side quay 104, the container 111 is transported as shown by a dotted arrow H in FIG. 7.

More specifically, the crane operator who has boarded the operator's cab 108 first moves and moves the container crane 101 to perform the traveling positioning work of the container crane 101 with respect to the container ship 110 berthed on the landside quay 104. After that, the trolley 107 is laterally moved to the land side, and the lateral movement work is performed to stop the trolley 107 above the containers 111 stacked on the trailer (chassis) 120 on the land side quay 104.

Next, the crane operator uses the lifting device 10
A handling operation for lowering the container 9 to about 1 m above the container 111 is performed, and after the completion of the lowering operation, the suspending tool 109 and the container 111 are accurately positioned visually and the container 111 is gripped by the suspending tool 109. Carry out the work. After the completion of this handling work, the crane operator, together with the hoisting tool 109, moves the container 111.
Is carried out, and after completion of this winding work, the trolley 107 is laterally moved to the sea side, thereby traversing to the sky above the target position 113 on the container ship 110 (the container 111A on the container ship 110). Carry out transverse movement work.

After the traverse movement work is completed, the crane operator carries out a hoisting work of hoisting the container 111 together with the hoisting tool 109 to a height of about 1 mm above the target position 113, and after the hoisting work is completed, the hoisting tool 109 and the target position are lowered. 113 (container 111A on the container ship 110)
Relative to the hanging container 11
1 together with the hoisting device 109 to lower the target position 113
The container 111 is installed (landed) on the upper surface of the container 111A on the container ship 110, and the handling work of separating the container 111 from the suspending tool 109 is performed.

The above is an example of the loading operation by the container crane 101. Thus, conventionally, the container 1
All 11 loading operations were manually operated by the crane operator.

However, as described above, since the amount of container cargo handled has been increasing in recent years, improvement of cargo handling efficiency by reducing loss time is required. Also,
There is also a strong demand for reducing the heavy work load on crane operators. In other words, it is difficult for the crane operator to manually install the container accurately at the target position, and the crane operator must be skilled and time-consuming to finely adjust the container installation position.

Therefore, the container crane 101 has been conventionally used.
Is being attempted to be semi-automatic. This is because the container loading information such as the container loading position information on the container ship 110 is input to the computer in the central command room in advance, and the crane operator operates the container crane 101.
After the completion of the traveling positioning work of the trolley 1 other than the handling work of the container 111 based on the command of the central command room
This is to automatically perform the traverse work 07 and the hoisting and lowering work of the suspending tool 109.

Due to this semi-automatic operation, the crane operator only has to perform the traveling positioning and the handling work of the container 111 on the container ship 110 and the land side quay 104 by manual operation. The burden on the crane operator can be greatly reduced.

At present, in order to improve the cargo handling efficiency by further reducing the loss time and reduce the load on the crane operator, in order to realize the semi-automatic operation or the fully automatic operation, the container position detection is performed. Several methods have been proposed as described below.

Japanese Unexamined Patent Publication (Kokai) No. 5-71914 discloses a method for accurately ascertaining relative position information between a container crane and a trailer in order to improve container handling efficiency. This method is based on the assumption that the container is loaded on the trailer.Using multiple cameras installed on the legs of the container crane, the multiple light emitters previously installed on the side of the trailer chassis can be used. The position information of the chassis is obtained by stereoscopic viewing, and this information is fed back to the trailer driver's seat to ensure an accurate cargo handling position.

However, this method is extremely effective when the light emitter can be attached to the target position of the chassis, but in many cases, the light emitter cannot be attached to the chassis, so that its application is limited.

The method disclosed in Japanese Patent Laid-Open No. 2000-169079 also aims at semi-automatic operation of the container crane. The method will be described below by taking an example of loading a container from the landside quay to a container ship. That is, a one-dimensional scanning lightwave rangefinder is installed above the sea-side leg of the container crane, and a normal lightwave rangefinder is installed on the side of the trolley. The one-dimensionally scanning lightwave rangefinder measures the horizontal distance to the container on the container ship by scanning the lightwave in the vertical direction. On the other hand, a normal lightwave rangefinder on the side of the trolley measures the distance to the container in the vertical direction. Further, a trolley traverse position measuring device is installed in the trolley to output the trolley traverse position. Then, by performing arithmetic processing on these three measured values to calculate the loading / unloading position of the container, semi-automatic operation is realized.

However, this method has a problem that an area where measurement by a one-dimensionally scannable lightwave distance meter is impossible occurs depending on the load condition of the container. Also,
Since the container suspended by the suspending device vibrates during transportation, the relative position between the trolley side and the container is constantly changing. Therefore, even if the calculation is performed using the measurement value of the lightwave distance meter attached to the side portion of the trolley, there is a limit to the improvement of the accuracy of the loading position of the container.

The methods disclosed in Japanese Patent Laid-Open Nos. 2001-97670 and 2001-220087 also aim at semi-automatic operation of the container crane. This method uses C at the four corners of the container crane hanger.
It is characterized in that a CD camera is installed and image signals of these cameras are subjected to image processing to detect the position of a corner metal fitting on the upper surface of the container, and the container position is detected based on the position detection signal. The conventional manual operation by a crane operator aims at semi-automatic operation of connecting work between a lifting device and a container, which requires a heavy work load for fine adjustment work.

However, this method is effective in reducing the work load of the fine adjustment work of the crane operator, but has a problem that it is affected by weather and dirt such as container corner fittings.

Therefore, in view of the above circumstances, it is an object of the present invention to provide a container position detecting device capable of more reliably and accurately measuring a container at a target position than ever before.

[0021]

[Means for Solving the Problems] First to solve the above problems
The container position detecting device of the invention has a laser range finder attached to a side part of a hanging device of a container crane and a beam scanning mechanism provided in the range finder, and the beam scanning mechanism emits from the range finder. A prism for deflecting the generated laser beam at a constant angle and a rotation driving unit are provided, and the laser beam draws a circular orbit by rotating the prism by the rotation driving unit. And

Further, the container position detecting device of the second invention has a laser type distance meter attached to the side of the hanging device of the container crane and a beam scanning mechanism provided in this distance meter. The mechanism includes a transmission type diffraction grating for deflecting the laser beam emitted from the rangefinder at a constant angle and a rotation driving means, and the rotation driving means rotates the transmission type diffraction grating so that the laser beam is circular. It is characterized in that it is configured to draw a trajectory.

Further, the container position detecting device of the third invention is the container position detecting device of the first or second invention, wherein the rotation driving means causes the rotational force of the electric motor to pass through the belt to the prism or the transmission type. It is characterized in that it is configured to be transmitted to the diffraction grating.

Further, a container position detecting device of a fourth invention is the container position detecting device of the first, second or third invention, wherein the range finder provided with the beam scanning mechanism is suspended in a rectangular shape in plan view. It is characterized in that it is attached to the corner of the ingredient.

The container position detecting device of the fifth aspect of the invention is the container position detecting device of the fourth aspect of the invention, wherein the range finder having the beam scanning mechanism is attached to each diagonal corner of the suspender. Is characterized by.

Further, a container position detecting device of a sixth invention is the container position detecting device of the first, second or third invention, wherein the rangefinder provided with the beam scanning mechanism is a suspending tool having a rectangular plan view. Is provided on each of the four sides.

[0027]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a block diagram of a container crane equipped with a container position detecting device according to an embodiment of the present invention, and FIG.
2A is a configuration diagram of the container position detecting device, FIG.
FIG. 2B is a view taken along the line AA of FIG. 3A and 3B are views showing a mounting state of a range finder in the container position measuring device, FIG. 3A being a side view and FIG. 3B being a plan view. FIG. 4 is a view showing another mounting state of the range finder in the container position measuring device,
4A shows a side view and FIG. 4B shows a plan view.
FIG. 5 is an explanatory view showing a measurement state when the range finder is attached as shown in FIG. FIG. 6A is a diagram showing another configuration of the container position detecting device according to the embodiment of the present invention,
FIG.6 (b) is a EE line arrow line view of FIG.6 (a).

The container crane 1 shown in FIG. 1 is intended for semi-automatic operation. The overall configuration of this container crane 1 is the same as the conventional one (see FIG. 6).
That is, as shown in FIG. 1, the container crane 1 has a sea-side leg 2
The land-side legs 3 and the land-side legs 3 are provided on a rail 5 installed on the land-side quay 4, and a traveling drive device (not shown) can travel along the rail 5 in a direction orthogonal to the plane of FIG. It is like this. A girder 6 is installed above the sea side leg 2 and the land side leg 3, and a trolley 7 is installed along the girder 6.
And a cab 8 on which a crane operator rides can travel (hereinafter, traveling of the trolley 7 along the garter 6 is referred to as traverse movement). Further, a winding device (not shown) for winding and unwinding the wire rope 21 is installed on the trolley 7, and the hanging device 9 attached to the wire rope 21 is wound up and down by this winding device. Is able to.

The operation of transporting the container 11 by the container crane 1 can be carried out manually by a crane operator who is in the cab 8 as in the conventional case, and a container position detecting device including a distance meter 30 (details will be described later). ) Can be performed by semi-automatic operation.

The transportation work of the container 11 includes a work of loading the container 11 from the land side quay 4 to the container ship 10 and a work of unloading the container 11 from the land side quay 4, but here, the land side The operation of loading the container ship 10 from the quay 4 will be described as an example. When the container 11 is loaded onto the container ship 10 from the land side quay 4, the container 11 is transported as shown by a dotted arrow H in FIG. However, the present invention is not limited to the work of loading from the land side quay 4 to the container ship 10, but can be applied to the work of unloading from the container ship 10 to the land side quay 4.

In this embodiment, when the container 11 suspended by the suspender 9 is installed at the target position 13 (on the upper surface of the container 11A on the container ship 10), the container installation position is accurately measured. Therefore, the container position detecting device including the range finder 30 and the like is provided in the hanging tool 9.

Here, the construction of the container position detecting device will be described with reference to FIGS. As shown in Figure 1,
A laser range finder 30 is attached to a side portion of the hanging tool 9 (a specific attaching position will be described later). The measurement data of the range finder 30 is sent to the arithmetic unit 14 installed in the driver's cab 8 and is used by the arithmetic unit 14 to obtain the fine adjustment data necessary for accurately moving the container 11 to the target position 113. To be done.

As shown in FIG. 2A, the container position detecting device has a range finder 30 and a beam scanning mechanism 40 provided in the range finder 30. The range finder 30 has a laser emitting section 31 and a laser receiving section 37. The laser beam 35 emitted from the laser emitting section 31 is irradiated onto an object (container in this case) to be reflected, and this reflected light is emitted from the laser. By receiving the light at the light receiving unit 37, the distance to the object can be measured. The data measured by the range finder 30 is sent to the arithmetic unit 14 via a signal cable (not shown).

A beam scanning mechanism 40 is attached below the rangefinder 30. The beam scanning mechanism 40 includes a wedge prism 23 and an electric motor 34.
And so on. Lower surface 30a of rangefinder 30
The cover 41 of the beam scanning mechanism 40 is fixed from the side to the side surface 30b. The electric motor 34 is located on the side of the laser emitting portion 31, the main body portion 34a is supported by the cover 41, and the rotating shaft 34b is arranged to face downward in the cover 41. A pulley 43 for winding the belt 42 is attached to the tip (lower end) of the rotating shaft 34b.

On the other hand, the wedge prism 33 is arranged below the laser emitting portion 31 and is rotatable. That is, below the laser emitting portion 31, the cylindrical member 44 is rotatably supported by the cover 41 via the bearing 32. Then, the wedge prism 33 is fitted on the inner surface of the cylindrical member 44 so as to rotate together with the cylindrical member 44. Further, the cylindrical member 44 has a configuration for detecting a rotation angle (not shown) described later. The laser beam 35 emitted from the laser emission unit 31 is incident on the wedge prism 33 from the central portion of the upper surface thereof, passes through the wedge prism 33, and is emitted from the lower surface of the wedge prism 33. At this time, the laser beam 35 is deflected by the wedge prism 33. That is, the wedge prism 33 is a glass prism having a trapezoidal cross section,
Laser beam 35 transmitted through this wedge prism 33
Is refracted (deflected) at a constant angle (declination).

The belt 42 is also wound around the outer peripheral surface of the cylindrical member 44. That is, as shown in FIG. 2B, the pulley 43 on the electric motor side and the cylindrical member 44 on the wedge prism side are connected by the belt 42.
Therefore, as shown in FIG. 2A, when the electric motor 34 operates to rotate the pulley 43 together with the rotary shaft 34b around the vertical axis as shown by the arrow B, this rotational force is applied to the cylindrical member 44 via the belt 42. The wedge prism 33 is transmitted along with the cylindrical member 44, and rotates around the vertical axis as indicated by arrow C. As a result, the laser beam 35 emitted from the wedge prism 33 draws a circular orbit as shown by arrow D.

As shown in FIGS. 3 (a) and 3 (b), the range finder 30 is provided at diagonal corners 9a and 9b of the suspender 9 having a rectangular plan view. Therefore, when the suspending tool 9 is located above the target position 13 as shown in FIGS. 1 and 2A, the laser beam is emitted from the laser emitting portion 31 of the rangefinder 30 as shown in FIG. 2A. Three
When 5 is emitted and the wedge prism 33 is rotated by the electric motor 34, the laser beam 35 draws a circular orbit. As a result, for example, FIG. 2 (a) and FIG. 3 (b)
A part of the laser beam 35 that draws a circular orbit as shown in
Irradiation is performed on the corner 11b of the upper surface 11a of the container 11A at the target position 13.

Therefore, the laser beam 35 radiated to each position near the corner 11b of the container upper surface 11a is
The light is reflected and scattered at each irradiation position, and a part of this scattered light reaches the laser light receiving unit 37 and is received. as a result,
The distance to each irradiation position near the corner 11b of the container upper surface 11a irradiated with the laser beam 35 is measured. The measurement data of the distance meter 30 and the rotation angle data of the cylindrical member 44 are sent to the arithmetic unit 14.

The arithmetic unit 14 analyzes the measurement data from the rangefinder 30 and the rotation angle data of the cylindrical member 44 to determine the vertical distance to the container upper surface 11a and the edge (side) 11c of the container 11A. , 11d in the horizontal direction, and this data is used as fine adjustment data necessary for accurately moving the container 11 suspended by the suspending tool 9 to the target position 13 in a suspension container control device (not shown). To be done.

The vertical distance to the container upper surface 11a and the horizontal positions of the container edges 11c and 11d are as follows: 1 near the container corner measured by the distance meter 30.
Distance to each irradiation position of 1b and rotation angle of the laser beam 35 at each irradiation position (rotation angle of circular orbit D)
And can be determined based on. The rotation angle of the laser beam 35 is the rotation angle of the wedge prism 33,
Alternatively, it can be obtained by measuring the rotation angle of the rotating shaft 34b of the electric motor 34 equivalent to this by a rotation angle measuring means such as a rotary encoder. Arithmetic unit 1
4, based on the rotation angle of the laser beam 35 and the distance measurement data of the range finder 30 obtained corresponding to this rotation angle, the distance in the vertical direction to the container upper surface 11a and the container edges 11c and 11d. Find the horizontal position.

In FIG. 1, the container 1 at the target position 13
1A and the container 11B adjacent to the container 11A appear to be in contact with each other, but in reality, the adjacent containers 11A and 11B are relatively open. Therefore,
When the rangefinder 30 detects the container edge of the container 11A while scanning the laser beam 35 with the beam scanning mechanism 40, the adjacent container 11B does not interfere with the measurement.

In the above description, the distance meter 30 is provided at the diagonal corners 9a, 9a of the suspender 9 as shown in FIG. 3, but the present invention is not limited to this, and the suspender 9 as shown in FIG. A distance meter 30 may be provided on each of the four sides (side surfaces) 9c, 9d, 9e, 9f.

When the distance meter 30 is provided on the four sides 9c to 9f of the suspender 9 as described above, for example, as shown in FIGS.
As shown in FIG. 11, a part of the laser beam 35 emitted from the distance meter 30 on the side 9c of the suspender 9 and drawing a circular orbit is near the edge 11e of the upper surface 11a of the container 11A at the target position 13.
Further, a part of the laser beam 35, which is emitted from the distance meter 30 on the side 9f of the suspender 9 and draws a circular orbit, is emitted to the edge 11f near the edge of the upper surface 11a of the container 11A.

For this reason, the laser beam 35 irradiated to each position near the edge 11e of the container upper surface 11a is reflected and scattered at each irradiation position, and a part of this scattered light is on the side 9c of the suspender 9. The laser light receiving portion 37 of the distance meter 30 is reached and received. As a result, the distance to each irradiation position near the edge 11e of the container upper surface 11a irradiated with the laser beam 35 is measured. The measurement data of the range finder 30 is sent to the arithmetic unit 14. Also, the container top surface 1
The laser beam 35 irradiated to each position 11f near the edge of 1a is also reflected and scattered at each irradiation position, and a part of this scattered light is the laser light receiving portion 37 of the distance meter 30 on the side 9f of the hanging device 9. It reaches and is received. As a result, the distance to each irradiation position near the edge 11f of the container upper surface 11a irradiated with the laser beam 35 is measured. The measurement data of this rangefinder 30 is also sent to the arithmetic unit 14.

In the arithmetic unit 14, the sides 9c, 9 of the suspender 9 are
By analyzing the measurement data from the rangefinder 30 of f and the data of the rotation angle of the cylindrical member 44, the container upper surface 1
The vertical distance to 1a and the horizontal positions of the edges (sides) 11c and 11d of the container 11A are obtained, and this data is stored in a hanging container control device (not shown).
It is used as fine adjustment data necessary for accurately moving the container 11 suspended by the suspenders 9 to the target position 13.

The vertical distance to the container upper surface 11a and the horizontal positions of the container edges 11c and 11d can be obtained in the same manner as described above. That is, near the container edge 11 measured by each distance meter 30
It can be determined based on the distances to the irradiation positions of e and 11f and the rotation angle of the laser beam 35 (the rotation angle of the circular orbit D) at each irradiation position. The rotation angle of the laser beam 35 is the rotation angle of the wedge prism 33,
Alternatively, it can be obtained by measuring the rotation angle of the rotating shaft 34b of the electric motor 34 equivalent to this by a rotation angle measuring means such as a rotary encoder. In the arithmetic unit 14, based on the rotation angle of each laser beam 35 and the distance measurement data of each rangefinder 30 obtained corresponding to this rotation angle, the vertical distance to the container upper surface 11a and the container The horizontal positions of the edges 11c and 11d are obtained.

Further, although the wedge prism 33 is used in the above, the wedge prism 33 is not necessarily limited to this, and a wedge prism 33 having a triangular cross section as long as the angle is small and the refraction angle is small. Can be used instead of.

Further, instead of the wedge prism 33, a transmission type diffraction grating 51 as shown in FIG. 6 may be used. That is, in FIG. 6, the transmission diffraction grating 51 is formed on the inner surface of the cylindrical member 44.
And the transmission type diffraction grating 51 is attached to the electric motor 34.
As a result, via the belt 42, it rotates together with the cylindrical member 44 around the vertical axis as indicated by arrow C. Transmission type diffraction grating 5
Reference numeral 1 is a transparent or semi-transparent material in which fine grooves are processed at equal intervals, and has a function of deflecting a laser beam 35 transmitted through the transmission type diffraction grating 51 at a constant angle.

Therefore, when the transmission type diffraction grating 51 is rotated by the electric motor 34, the laser beam 35 emitted from the wedge prism 33 draws a circular orbit as shown by an arrow D. The transmissive diffraction grating 51 is lighter than the wedge prism 33.

Since the construction of the container position detecting device, the arrangement of the range finder, the structure of the container crane, the position detecting method by the container position detecting device, etc. are the same as those in the case of using the wedge prism 33, The description here is omitted (see the above description and FIGS. 1 to 5).

As described above, according to the container position detecting device of the present embodiment, the laser range finder 30 attached to the side part of the lifting tool 9 of the container crane 1 and the beam provided to the range finder 30. The beam scanning mechanism 40 includes a prism such as a wedge prism 33 for deflecting the laser beam 35 emitted from the rangefinder 30 at a constant angle or a transmission type diffraction grating 51 and an electric motor 34. Since the laser beam 35 draws a circular orbit by rotating the prism such as the wedge prism 33 or the transmission type diffraction grating 51 by the rotation driving means, the container position By using the detection device, the position of the container 11A at the target position 13 ( Vertical distance and containers edges 11c to container top 11a, the horizontal position of 11d) can be measured. Therefore, compared to the conventional method, more accurate and quick container installation is possible.

Further, since the rangefinder 30 provided with the beam scanning mechanism 40 is provided at the corner portions 9a and 9b of the suspender 9, one rangefinder 30 is used and two sides 11c of the container 11A at the target position 13 are used. , 11d can be measured at the same time. Further, the rangefinder 30 equipped with the beam scanning mechanism 40 is mounted on the diagonal corner portion 9 of the suspender 9.
By providing the positions a and 9b, the target position 13 can be more reliably obtained.
The position of the container 11A can be measured.

Further, in FIG. 4, the range finder 30 equipped with the beam scanning mechanism 40 is attached to the four sides 9c to 9f of the suspender 9, but the present invention is not necessarily limited to this. For example, to the two sides 9c and 9f. May be attached. However, when the distance meter 30 is attached to the four sides 9c to 9f, the two sides 9c
It is possible to more reliably measure the position of the container 11A at the target position 13 as compared with the case where the distance meter 30 is attached only to c and 9f.

Further, when the transmission type diffraction grating 51 is used, the weight of the container position detecting device can be further reduced as compared with the case where the wedge prism 33 is used.

By the way, as a device for scanning a laser beam emitted from a laser range finder, a device generally called a beam scanner has been conventionally used. This beam scanner has a structure in which the polygon mirror is rotated at high speed to simultaneously scan the laser beam emitted from the rangefinder and the field of view of the light receiving unit.The inside is composed of multiple mirrors, and it is large and heavy. heavy. Therefore, this conventional beam scanner is vulnerable to vibrations and shocks, and it is practically impossible to install and use it on the side part of the hanging device.

Therefore, in the present invention, the scanning function of the laser beam is realized by a simple mechanism in which the wedge prism is rotated by the electric motor. In this method, the laser beam can be scanned only in a circular orbit, but even with this, the necessary and sufficient container position data can be obtained for the fine adjustment of the container installation position which is the object of the present invention. Moreover, the container position detecting device of the present invention is small in weight and extremely light in weight of the beam scanning mechanism portion as compared with the conventional beam scanner, and thus is strong against vibration and impact.

[0058]

As described above in detail with the embodiments of the invention, according to the container position detecting device of the first invention, a laser range finder attached to the side part of the lifting device of the container crane is used. A beam scanning mechanism provided in the rangefinder, the beam scanning mechanism comprising a prism for deflecting the laser beam emitted from the rangefinder at a constant angle and a rotation driving means, and the rotation driving means. Since the laser beam draws a circular orbit by rotating the prism, by using this container position detection device, the position of the container at the target position can be more reliably and accurately compared with the conventional one. Can be measured. Therefore, compared to the conventional method, more accurate and quick container installation is possible. Moreover, because it is smaller and extremely light compared to conventional beam scanners,
Resistant to vibration and shock.

Further, according to the container position detecting apparatus of the second invention, it has a laser range finder attached to the side of the hanging device of the container crane and a beam scanning mechanism provided in this range finder. The beam scanning mechanism includes a transmission type diffraction grating for deflecting the laser beam emitted from the rangefinder at a constant angle and a rotation driving means, and the rotation driving means rotates the transmission type diffraction grating to rotate the laser beam. Since it is configured to draw a circular trajectory, by using this container position detecting device, it is possible to measure the position of the container at the target position more reliably and more accurately than before. Therefore, compared to the conventional method, more accurate and quick container installation is possible. Moreover, by using the transmission type diffraction grating, the weight of the container position detecting device can be further reduced as compared with the case of using the prism.

According to the container position detecting device of the third aspect of the invention, in the container position detecting device of the first or second aspect of the invention, the rotation driving means applies the rotational force of the electric motor to the prism or the belt. Since the structure is configured to transmit to the transmission type diffraction grating, the structure of the rotation drive means is simple and lightweight.

Further, according to the container position detecting apparatus of the fourth invention, in the container position detecting apparatus of the first, second or third invention, the range finder provided with the beam scanning mechanism is rectangular in plan view. Since it is attached to the corner of the hanging device, the position of two sides of the container at the target position can be measured at the same time using one distance meter.

Further, according to the container position detecting apparatus of the fifth invention, in the container position detecting apparatus of the fourth invention, the range finder having the beam scanning mechanism is attached to each diagonal corner of the suspender. By doing so, it is possible to more reliably measure the position of the container at the target position.

Further, according to the container position detecting device of the sixth invention, in the container position detecting device of the first, second or third invention, the range finder provided with the beam scanning mechanism has a rectangular plan view. By providing them on each of the four sides of the hanging device, it is possible to more reliably measure the container at the target position, as compared with the case where the distance meter is attached to only two sides of the hanging device.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a container crane including a container position detection device according to an embodiment of the present invention.

FIG. 2A is a block diagram of the container position detecting device,
(B) is a line AA arrow view of (a).

3A and 3B are diagrams showing a mounting state of a range finder in the container position measuring device, wherein FIG. 3A is a side view and FIG.
Is a plan view.

FIG. 4 is a view showing another mounting state of the range finder in the container position measuring device, wherein (a) is a side view,
(B) is a plan view.

FIG. 5 is an explanatory diagram showing a measurement state when a range finder is attached as shown in FIG.

FIG. 6A is a diagram showing another configuration of the container position detecting device according to the embodiment of the present invention, and FIG. 6B is an E-of FIG.
It is an E line arrow line view.

FIG. 7 is a configuration diagram showing an example of a conventional container crane.

[Explanation of symbols]

1 container crane 2 Sea side leg 3 land side leg 4 Landside Quay 5 rails 6 girder 7 Trolley 8 cab 9 suspenders 9a, 9b Corner part 9c-9f sides 10 container ships 11,11A, 11B container 11a upper surface Near corner 11b 11c, 11d edge 11e, 11f Edge vicinity 13 Target position 14 Arithmetic device 20 Trailer (chassis) 21 wire rope 30 rangefinder 31 Laser emission part 32 bearings 33 wedge prism 34 Electric motor 34a main body 34b rotating shaft 35 laser beam 37 Laser receiver 40 beam scanning mechanism 41 cover 42 belt 43 pulley 44 Cylindrical member 51 Transmission type diffraction grating

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Koji Uchida             4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture               Inside Mitsubishi Heavy Industries Hiroshima Works F term (reference) 2F065 AA04 BB05 CC00 DD02 DD14                       FF09 FF66 GG04 HH04 JJ01                       LL42 LL47 LL65 MM16 NN20                       PP04 PP22                 3F204 AA02 BA04 CA01 DA02 DA08                       DB05 DB06 DB09 DC06

Claims (6)

[Claims] 1. A laser-type rangefinder attached to a side part of a hanging device of a container crane, and a beam scanning mechanism provided in the rangefinder. The beam scanning mechanism is a laser emitted from the rangefinder. A container comprising a prism for deflecting the beam at a constant angle and a rotation driving means, and the laser beam draws a circular orbit by rotating the prism by the rotation driving means. Position detection device. 2. A laser-type rangefinder attached to a side part of a hanging device of a container crane, and a beam scanning mechanism provided in the rangefinder, and the beam scanning mechanism is a laser emitted from the rangefinder. A transmission diffraction grating for deflecting the beam at a constant angle and a rotation driving means are provided, and the rotation driving means rotates the transmission diffraction grating so that the laser beam draws a circular orbit. A container position detecting device characterized by the above. 3. The container position detecting device according to claim 1 or 2, wherein the rotation driving means is configured to transmit the rotational force of the electric motor to the prism or the transmission diffraction grating via a belt. A container position detecting device characterized in that 4. The container position detecting device according to claim 1, 2, or 3, wherein the range finder having the beam scanning mechanism is attached to a corner portion of a hanging device having a rectangular plan view. And container position detector. 5. The container position detecting device according to claim 4, wherein the rangefinder having the beam scanning mechanism is attached to each diagonal corner of the suspender. . 6. The container position detecting device according to claim 1, 2, or 3, wherein the range finder having the beam scanning mechanism is provided on each of four sides of a hanging device having a rectangular plan view. And container position detector.