JP2003261284A - Travel control system of self-traveling type portal crane - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a travel control system of a self-traveling type portal crane requiring no arrangement of a position index for indicating a travel course such as a magnetic reference point on a travel passage of the crane, and capable of automatically controlling stable rectilinear travel so far only performed by a skilled operator in the self-traveling type portal crane used in a container yard. <P>SOLUTION: This travel control system of the self-traveling type portal crane 1 has a position detecting device 21 for detecting a position by receiving a radio wave transmitted by an artificial satellite, and is constituted so as to perform rectilinear travel control, lateral directional rectilinear travel control, fixed position stopping control, and low attitude stopping control by controlling a rotating speed of a travel motor 8 of the self-traveling type portal crane 1 by position information acquired from a first position detecting device 21 by arranging the first position detecting device 21 in a right side part or a left side part to the main travel direction (x). <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 traveling control system for a self-propelled gate type crane such as a rubber tire type gate type crane used in a container yard or the like.

[0002]

2. Description of the Related Art As a device for moving a container in a container yard or the like, there are mobile tower cranes, transfer cranes, straddle carriers, yard trucks, yard trailers, etc. It is necessary to have one that excels in lifting ability rather than moving ability, and there is a self-propelled gantry crane called a rubber tire type gantry crane (transtainer), which is equipped with rubber tires on wheels for traveling and handles containers. It is used.

This self-propelled gate type crane is disclosed in Japanese Patent Laid-Open No. 59-
As introduced in Japanese Patent No. 167717, etc., it is a device for hoisting and transporting a container that is unloaded from a ship by a container crane in a container yard or the like and carried by a trailer to be stacked on the yard.

As shown in FIG. 1, the self-propelled gate type crane 1 elevates and lowers the container 10 to and from the trolley 3 traveling in the lateral direction (y direction) perpendicular to the main traveling direction (x direction). The hoisting device 2 is provided. The trolley 3 is provided with a rail (horizontal girder) 4 provided with rails 4a for traveling in a lateral direction y perpendicular to the main traveling direction x, leg portions 5 supporting the beam 4, and a track 6 supporting the leg portion 5. It consists of and.

The beam 4 and the legs 5, 5 form a gate shape, and the truck 6 of the leg 5 is provided with traveling wheels 7 having rubber tires 7a mounted thereon.
The driving wheels are moved by being rotationally driven by the left and right individual traveling motors 8, and the turning (steering) operation is performed by giving a traveling speed difference, that is, a difference in rotational speed to the traveling wheels 7 arranged on both sides. Is going.

In a conventional traveling control system for a self-propelled gate-type crane, a position index formed by a magnetic reference point, a magnetic reference line, a guide line, a white line, etc. is installed on the traveling path of the crane. Is detected by a position index detection device formed of a magnetic sensor array or the like to detect the traveling position, particularly the position in the left-right direction.

Based on the position information, a traveling deviation amount (a lateral deviation of the machine body), which is a deviation amount between the traveling course and the left and right, is calculated, and the traveling control signal is created to make the traveling deviation amount zero. The straight traveling control is performed while controlling the rotational speed of the traveling motor to give a traveling speed difference to the traveling wheels on both sides.

Further, there is also a traveling control system in which a traveling direction deviation angle θ with respect to a target traveling direction X is detected by a gyro compass, and straight traveling control is performed by using this traveling direction deviation angle θ as well.

[0009]

However, in the traveling control system of the prior art, some position index such as a magnetic reference point is installed on the traveling path of the self-propelled gate type crane, and this position index is detected by the sensor. However, since the position information is obtained, it is necessary to install a position index indicating the traveling course on the traveling path. Therefore, when a work area is wide like a container yard, there is a problem that it takes a lot of time and money to install and maintain the position index.

Further, the position index such as a magnetic reference point indicating the traveling course is damaged or peeled off due to the secular change of the traveling road, or the position index detecting sensor collides with the unevenness of the traveling road caused by the secular change. There is also a problem that the sensor for detecting the position index is damaged due to the vibration of the crane traveling on the uneven road.

In addition, in a self-propelled gate type crane used in a container yard, when loading and unloading a container, a spreader, which is a suspender for the container, is suspended rather than a position below the self-propelled gate type crane. It is necessary to accurately determine the position of the trolley. However, because of the influence of the bending of the crane and the influence of the manufacturing precision of the crane, even if the position of the lower part of the crane is accurately determined, an error will occur in the position of the trolley, so the position control of the trolley with respect to the traveling path will be accurate. There is a problem that you can not.

In other words, in this self-propelled gate type crane, the span between the left and right legs is as long as about 20 m, and since it is a large structure, the bending due to its own weight and the distortion due to manufacturing are relatively large. In addition, since it has a relatively low rigidity and a soft structure as a whole, it is easily bent. Therefore, even if the accuracy of position detection at a specific position in the lower part near the traveling path and the accuracy of traveling control for following the traveling course are high, the position of the trolley for lifting or suspending the container with respect to the traveling path is accurately obtained. I can't.

The present invention has been made to solve the above problems, and an object of the present invention is, in a self-propelled gate type crane used in a container yard or the like, to travel a magnetic reference point or the like on a traveling path of the crane. It is an object of the present invention to provide a traveling control system for a self-propelled gantry crane capable of automatically performing stable straight traveling control and the like, which only a skilled operator can do, without the need to install a position index indicating the course.

[0014]

The traveling control system of the self-propelled gate type crane according to the present invention for achieving the above object is constructed as follows.

1) A traveling control system for a self-propelled gate-type crane equipped with a position detecting device for detecting the position by receiving radio waves transmitted from an artificial satellite, which is a right side part or a left side part in the main traveling direction. A first position detecting device is arranged in the first position detecting device, and the rotational speed of the traveling motor of the self-propelled gate type crane is controlled by the position information obtained from the first position detecting device to perform straight traveling control. To be done.

This position detecting device is a GPS (Global Pos)
positioning system), DGPS (Differential GPS), and other devices that detect the position of oneself by receiving radio waves transmitted by artificial satellites. In recent years, the positioning accuracy has dramatically improved due to the development of various positioning systems. . In addition, the main traveling direction is the direction in which the vehicle normally travels, that is, the front-rear direction.
In the x direction. The straight-ahead traveling control refers to control for traveling in the main traveling direction such that the deviation from the preset traveling course becomes zero.

According to this structure, since the position is detected by the position detecting device which receives the radio wave transmitted from the artificial satellite and detects the position, the position index indicating the running course such as the magnetic reference point is set on the running path. There is no need to do it. for that reason,
It is possible to reduce the labor and cost for disposing and maintaining the traveling line.

Further, the traveling course can be easily changed, and the traveling route can be freely set by the operation on the program.

2) In the traveling control system for the self-propelled gate type crane described above, based on the position information obtained from the first position detecting device, in addition to the straight traveling control, a lateral straight traveling control or a constant traveling control is performed. It is configured to perform at least one control of the position stop control.

The lateral straight-ahead traveling control means straight-ahead traveling control in a direction perpendicular to the main traveling direction, that is, in the left-right direction (the y direction shown in FIG. 1). This straight traveling in the lateral direction is a control when the traveling wheels are moved in the lateral direction. Further, the fixed position stop control refers to control for stopping at a predetermined position.

According to this structure, in addition to the straight traveling control related to the movement of the container, the container is lifted,
Since it is possible to automatically perform the lateral straight traveling control and the fixed position stop control that are directly related to the cargo handling such as hanging, the cargo handling work by the crane can be performed safely and efficiently.

Moreover, since the antenna of the position detecting device is installed above the crane where the radio waves from the artificial satellite can be captured, the position detecting device is close to the position of the trolley on which the spreader, which is a suspension tool, is suspended. It is possible to reduce the effects of crane bending and crane manufacturing errors, and it is possible to detect the position of the trolley with high accuracy. Therefore, it is possible to perform accurate positioning, which is important for safe and efficient cargo handling of the crane.

3) Furthermore, in the traveling control system for the above self-propelled gate type crane, in addition to the straight traveling control, constant posture angle stop control is performed based on the posture angle information obtained from the first position detecting device. Configured to do.

The fixed position stop control is a control for stopping at a predetermined position, and the constant posture angle stop control is a predetermined posture angle (angle in the front-rear direction or the lateral direction of the crane with respect to the direction of the traveling course). ) Refers to control that stops.

According to this structure, not only the position information of the position detecting device is controlled by its own position information but also the direction information (attitude angle information) obtained by the position detecting device is used. An angle detecting means such as a gyro becomes unnecessary.

4) Alternatively, in the straight traveling control system for the rubber tire type gate crane described above, a portion opposite to the first position detecting device with respect to the main traveling direction of the self-propelled gate crane may also be provided. A second position detecting device for receiving a radio wave transmitted from an artificial satellite to detect a position is installed, and in addition to the straight-ahead traveling control, lateral straight-ahead traveling control is performed based on the position information obtained from the two position detecting devices. And at least one of a fixed position stop control and a fixed posture angle stop control.

According to this structure, since the second position detecting device is also provided on the opposite side of the first position detecting device, precise traveling control can be performed even when traveling laterally.

Further, since the lateral straight traveling control, the fixed position stop control and the fixed posture angle stop control can be automatically performed,
Cargo handling by crane can be performed safely and efficiently.

5) Alternatively, in the traveling control system for the self-propelled gate type crane described above, a portion of the self-propelled gate type crane at the opposite side of the first position detecting device with respect to the main traveling direction, A position index detecting device for detecting a position index disposed on the traveling path of the self-propelled gate type crane is arranged, and position information obtained from the position detecting device, and position information obtained from the position index detecting device, In addition to the straight-ahead traveling control, at least one of a lateral straight-ahead traveling control, a fixed position stop control, and a constant posture angle stop control is performed.

According to this structure, by combining the position detecting device and the position index detecting device, it is possible to prevent the crane from deviating from the traveling course when the position detecting device malfunctions. For example, if magnetic reference points are installed every 3 m as a position index on the traveling path and the magnetic sensor that is the position index detection device always passes over it, the position detection device malfunctions and the crane deviates from the traveling course. In this case, since the magnetic sensor cannot detect the magnetic reference point, an abnormality can be detected and the crane can be operated safely.

6) Another traveling control system for a self-propelled gate-type crane according to the present invention is a self-propelled gate-type crane equipped with a position detecting device for receiving a radio wave transmitted from an artificial satellite to detect the position. The traveling control system of claim 1, wherein the position detecting device is arranged at the center position of the self-propelled gate type crane with respect to the main traveling direction, and the straight traveling control is performed by the position information and the attitude angle information obtained from the position detecting device. In addition to the above, it is configured to perform at least one control of a lateral straight traveling control, a fixed position stop control, and a fixed posture angle stop control.

According to this structure, by installing the position detecting device at the center with respect to the traveling direction, it is possible to precisely perform traveling and stopping control in the lateral direction, such as lateral traveling control.

That is, when the position detecting device is installed at the end (right side part or left side part) of the main traveling direction of the crane, the side where the position detecting device is installed is laterally moved. Precise control is relatively easy when traveling in front, but when traveling in the opposite direction,
Precise control becomes difficult due to the effects of bending due to the crane's own weight and distortion during manufacturing, but this problem can be solved.

7) Further, another traveling control system for a self-propelled gate type crane according to the present invention is equipped with a position detecting device for detecting the position by receiving the radio wave transmitted from the artificial satellite, and intersects with the main traveling direction. A traveling control system for a self-propelled gate-type crane having a trolley that moves in a direction, in which the position detection device is arranged on the trolley, and position detection of the trolley is performed based on position information obtained from the position detection device. At the same time, the rotation speed of the traveling motor of the self-propelled gate type crane is controlled to perform one of straight traveling control, at least right-angle direction straight traveling control, fixed position stop control and fixed posture angle stop control. Is configured as follows.

According to this structure, since the position detecting device is mounted on the trolley on which the spreader which is the container hanging device is suspended, when detecting the relative position between the position of the trolley and the position detecting device. It is possible to eliminate the influence of the bending of the crane that occurs and the manufacturing error of the crane. Therefore, the trolley position can be precisely adjusted to the hoisting / hanging position of the container required for actual cargo handling.

[0036]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a traveling control system for a self-propelled gate type crane according to the present invention will be described below with reference to a rubber tire type gate type crane as an example. In addition, here, the coordinate system on the traveling path 12 is changed to XY.
The coordinate system is fixed to the crane 1, and the xy coordinate system is used.

First, the structure of this self-propelled gate type crane (rubber tire type gate type crane) will be described.

As shown in FIG. 1, the self-propelled gantry crane 1 includes a beam (horizontal girder) 4, legs 5 for supporting the beam 4,
It is composed of a track 6 that supports this leg 5,
The beam 4 and the legs 5, 5 form a gate shape.

The beam 4 is provided with rails 4a for the trolley 3 to travel, the trolley 3 is provided with a lifting device (spreader) 2 for raising and lowering the container 10, and the legs are also provided. A traveling wheel 7 having rubber tires 7a mounted thereon is arranged on the truck 6 of the section 5, and the driving wheels of the traveling wheel 7 are moved by being rotationally driven by individual traveling motors 8 on the right and left sides to turn (steering). The operation is performed on the traveling wheels 7 arranged on both sides by the traveling speed difference,
That is, it is performed by giving a difference in the number of rotations.

The traveling control device of the self-propelled gate type crane 1 is formed of a PLC (Programmable Logic Controller) or the like, and from a position detecting device 21 for receiving a radio wave transmitted from an artificial satellite to detect a position, By inputting position information and direction information (posture angle information), a deviation amount and a deviation angle from a predetermined traveling course, a predetermined stop position, and a predetermined stop attitude are calculated, and the deviation amount and the deviation angle are calculated. The number of rotations of the left, right, front and rear traveling motors 8 is controlled so as to be zero.

The position detecting device 21 is a GPS (Global
Positioning System) is a device that detects the position of itself by receiving radio waves transmitted by artificial satellites, but not only a single positioning system, but also a relative positioning system such as a DGPS (Differential GPS) system or an interference positioning system. With the development of the method, in the relative positioning method such as the kinematic positioning method of the interferometric positioning method, the positioning accuracy is improved until the measurement error becomes about 20 mm to 30 mm, and the direction information is also obtained.

[First Embodiment] In the traveling control system for a self-propelled gate type crane according to the first embodiment shown in FIGS. 2 and 3, the position is determined by receiving radio waves transmitted from an artificial satellite. The first position detecting device 21 for detecting is arranged at the right side portion or the left side portion (the right side portion in FIGS. 1 to 3) with respect to the main traveling direction (x direction).
Self-propelled gate type crane 1 based on the position information obtained from 1.
The straight traveling control is performed by controlling the number of rotations of the left and right traveling motors 8.

The position detecting device 21 detects the position information (X1, Y1) in the X and Y directions by the radio wave emitted by the artificial satellite. Crane 1
Is the direction of the traveling course provided on the traveling path 12 with respect to the main traveling direction (x direction), and the Y direction is a direction perpendicular to the X direction.

Then, the traveling course (X direction) shown in FIG.
In the straight traveling control to the position information (X1, Y
1) to the deviation amount (ΔY) from the traveling course (Y = Y0)
= Y1-Y0) is set to zero, the rotational speeds of the left and right traveling motors 8 are separately controlled. By this control, the vehicle travels straight on a predetermined traveling course.

In the lateral straight traveling control for the traveling course (Y direction) shown in FIG. 3, the traveling wheels 7 are set to 90 degrees.
It runs in the lateral direction (y direction) while being rotated once. In this case, the deviation amount (ΔX) from the traveling course (X = X0)
= X1-X0) is set to zero, the rotational speeds of the traveling motor 8 before and after the crane 1 are separately controlled. By this control, the vehicle travels straight on a predetermined traveling course in the lateral direction (Y direction).

In the fixed position stop control for stopping at a fixed position during straight traveling and lateral straight traveling, a traveling target position of the crane 1 to be loaded, for example, a predetermined position such as the center of the container 10 to be loaded ( (Xs, Ys) so that the position (xp, xp) of a specific part of the crane 1 can be adjusted and stopped, while controlling the number of rotations of the left and right or front and rear traveling motors 8. By this control, the position (xp, xp) of the specific portion of the crane 1 can be stopped so as to be immediately above the predetermined position (Xs, Ys) on the traveling path.

If the position (xp, xp) of this specific portion is set to the position (Xp, Yp) of the lifting device 2 of the trolley 3, the lifting device 2 is automatically stopped so as to come above the container 10 for cargo handling. Can be made.

Further, based on the attitude angle information calculated from the direction information obtained from the position detecting device 21, the angle in the front-rear direction (x direction) or the lateral direction (y direction) of the crane 1 with respect to the direction of the traveling course is set to a predetermined angle. It is configured to perform constant posture angle stop control for setting a predetermined posture angle. In this constant posture angle stop control, in the straight traveling control, the front-back direction (x direction) of the crane 1 is often aligned with the direction of the traveling course (X direction). [Second Embodiment] A traveling control system for a self-propelled gate type crane according to a second embodiment shown in Figs.
In addition to the configuration of the embodiment, the position on the opposite side of the first position detecting device 21 with respect to the main traveling direction (x direction) of the crane 1 is also determined by receiving the radio wave transmitted by the artificial satellite. A second position detecting device 22 for detecting is installed.

In this configuration, similarly to the first embodiment, the first position detecting device 21 is configured to perform the straight traveling control, the lateral straight traveling control, and the fixed position stop control, and the fixed posture stop is performed. Only in the control, the position detecting devices 21 and 22 on the left and right sides are used for the purpose of correcting the posture angle.

That is, since the crane 1 has a low rigidity, when only the first position detecting device 21 is used, the front and rear direction (x) of the crane 1 with respect to the direction of the traveling course (X direction).
Since it is difficult to stop the (direction) in parallel with high accuracy, the first position detecting device 21 and the second position detecting device 22
The left and right traveling motors 8 of the crane 1 are controlled so that the differences between the X coordinate positions Xm1 and Xm2 detected by both of them and the corresponding stop positions X01 and X02 are zero, and the crane 1 is set to the traveling course. Stop in parallel with.

The stop at the predetermined posture angle means that when the crane 1 holds the container 10 after the traveling is stopped, the container 10 is stopped.
This is to reduce the delicate alignment work that occurs when the center line of the vehicle and the center line of the crane 1 are misaligned.

Although the control becomes a little complicated, it is possible to reduce the influence of the error such as the bending of the crane by using the value obtained by averaging the position information of the two position detecting devices 21 and 22. The accuracy of traveling control can be further improved.

[Third Embodiment] A traveling control system for a self-propelled gate type crane according to a third embodiment shown in Figs. 6 and 7 is a crane in addition to the configuration of the first embodiment. 1
Position detection device 2 with respect to the main traveling direction (x direction) of the vehicle
A position index detection device 31 such as a magnetic detection device that detects a position index 32 such as a magnetic reference point disposed on the traveling path of the self-propelled gate-type crane 1 is arranged at a site opposite to the position index 1. The detection device 31 is used for attitude control.

As the magnetic reference points 32, magnetic plates and the like are arranged on the road surface of the traveling path, for example, at a constant interval of about 12 m at the passing portion and at a narrower interval near the stop position, for example, at a constant interval of 3 m. . In the area of a reefer container that has a cooling device and needs power supply, it may be arranged at irregular intervals due to the power supply facility in the yard. It is also buried in the stop position for fixed position stop control.

The magnetic detecting device 31 is arranged in the lateral direction (y
Tens of magnetic sensors (for example, about 80) can be formed by a magnetic sensor array arranged at a predetermined interval (for example, 5 mm interval) in the direction), and the magnetic sensor array of the first position detection device 21 can be formed. It is provided slightly above the traveling path 12 on the lower side of the opposite side portion.

With this configuration, as in the first embodiment,
The first position detecting device 21 is configured to perform straight traveling control, lateral straight traveling control, and fixed position stop control, and the position information obtained from the magnetic detecting device (position index detecting device) 31 is the first position detecting device. It is used for detecting an abnormality of the position detection device 21 and correcting the posture angle in the constant posture stop control.

Regarding the abnormality detection of the first position detecting device 21, a magnetic reference point 32 as a position index is installed on the traveling path 12, and the magnetic detecting device 31 is configured to always pass above it. With this configuration, when the crane 1 deviates from the traveling course due to the malfunction of the position detection device 21, the magnetic detection device 31 cannot detect the magnetic reference point 32, and thus the abnormality of the position detection device 21 can be detected. .

Regarding the fixed posture stop control including the correction of the posture angle, on the side where the first position detecting device 21 is arranged, the X coordinate position Xm detected by the first position detecting device 21.
1 and the stop position X01, the traveling motor 8 on the side of this part of the crane 1 is controlled so that the difference becomes zero, and on the side where the magnetic detection device 31 is arranged, the magnetic reference installed as the stop position reference point. When the magnetism detection device 31 detects magnetism on the point 32, the traveling motor 8 on this side is controlled to be stopped. Thereby, the crane 1 can be stopped at a predetermined position at a predetermined posture angle.

[Fourth Embodiment] A traveling control system for a self-propelled gate type crane according to a fourth embodiment shown in FIGS. 8 and 9 detects a position by receiving radio waves transmitted from an artificial satellite. The position detection device 23 is set to the main traveling direction (x
It is located at the center of the crane 1 with respect to the direction). The position detection device 23 does not move even if the trolley 3 moves, because it is fixed to the crane 1.

Then, the straight traveling control, the lateral straight traveling control, the fixed position stop control, and the fixed posture angle stop control are performed based on the position information and the posture angle information obtained from the position detecting device 23. The straight traveling control, the lateral straight traveling control, the fixed position stop control, and the fixed posture angle stop control are performed in the same manner as in the first embodiment.

According to this structure, particularly, straight running and stop control in the lateral direction can be accurately performed. Further, since the position detection device 23 is installed at the center of the crane 1 with respect to the main traveling direction, the trolley 3 and the position detection device 2
The distance of 3 is shortened as a whole, and the accuracy of the position control of the trolley 3 can be improved.

[Fifth Embodiment] A traveling control system for a self-propelled gate type crane according to a fifth embodiment shown in FIGS. 10 and 11 detects a position by receiving radio waves transmitted from an artificial satellite. The position detecting device 24 to be operated is arranged on the trolley 3.
The position detecting device 24 moves as the trolley 3 moves.

Then, the straight traveling control, the lateral straight traveling control, the fixed position stop control, and the fixed posture angle stop control are performed based on the position information and the posture angle information obtained from the position detection device 23. In this case, Direction (y direction), the relative position between the trolley 3 and the crane 1 is detected, and the straight traveling control and the lateral straight traveling are performed while correcting the positional information obtained from the position detection device 23 based on the relative position. Control, fixed position stop control, and fixed posture angle stop control are performed.

At the time of stopping, the trolley 3 is stopped at a predetermined position, for example, the center position of the container 10 for cargo handling. Further, when traveling straight in the lateral direction, the trolley 3 is moved forward in the traveling direction in order to perform stable control.

According to this configuration, since the position detecting device 24 is mounted on the trolley 3 on which the lifting device 2 is arranged, when detecting the relative position between the position of the trolley 3 and the position detecting device 24. It is possible to eliminate the influence of the bending of the crane that occurs and the manufacturing error of the crane. Therefore, the positions of the trolley 3 and the suspension device 2 can be precisely adjusted to the cargo handling position of the container 10 required for the actual cargo handling.

[0066]

As is apparent from the above description, the traveling control system for a self-propelled gantry crane according to the present invention has the following advantages.

Since the position is detected by the position detecting device which receives the radio wave transmitted from the artificial satellite and detects the position,
It is not necessary to install a position indicator such as a magnetic reference point indicating the traveling course on the traveling path. Therefore, it is possible to reduce the labor and cost for disposing and maintaining the traveling line, and not to be influenced by the secular change of the traveling path. In addition, it is easy to change the running course, and the running course can be set freely by operating the program.

In addition to the straight traveling control related to the movement of the container, the lateral straight traveling, the fixed position stop, and the fixed posture stop, which are directly related to the loading and unloading of the container, can be automatically performed. Therefore, the cargo handling work by the crane can be performed safely and efficiently.

Moreover, since the antenna of the position detecting device is installed above the crane where the radio waves from the artificial satellite can be captured, the position detecting device is close to the position of the trolley on which the spreader, which is a suspension tool, is suspended. It is possible to reduce the influence of crane deflection and crane manufacturing error. Therefore, it is possible to perform accurate positioning, which is important for safe and efficient cargo handling of the crane.

Particularly, when the position detecting device is mounted on the trolley on which the spreader which is a suspender is suspended, the bending of the crane and the manufacturing error of the crane which occur when the relative position between the position of the trolley and the position detecting device is detected. Can be eliminated, and the trolley position can be precisely adjusted to the container hoisting and hoisting positions required for actual cargo handling.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing a rubber tire type gate crane which is an example of a self-propelled gate type crane according to the present invention,
(A) is a perspective view and (b) is a front view.

FIG. 2 is a diagram showing the arrangement of the position detection device and the direction of straight traveling in the traveling control system for the self-propelled gate type crane according to the first embodiment of the present invention, FIG. It is a schematic diagram, (b) is a schematic diagram seen from the side.

FIG. 3 is a diagram showing an arrangement of position detection devices and a direction of lateral straight traveling in the traveling control system for the self-propelled gate type crane according to the first embodiment of the present invention, (a) from the top It is the schematic diagram seen, (b) is the schematic diagram seen from the side surface.

FIG. 4 is a diagram showing an arrangement of position detection devices and a direction of straight traveling in a traveling control system for a self-propelled gate type crane according to a second embodiment of the present invention, FIG. It is a schematic diagram, (b) is a schematic diagram seen from the side.

FIG. 5 is a diagram showing an arrangement of position detection devices and a direction of lateral straight traveling in a traveling control system for a self-propelled gate type crane according to a second embodiment of the present invention, (a) from the top. It is the schematic diagram seen, (b) is the schematic diagram seen from the side surface.

FIG. 6 is a diagram showing an arrangement of a position detection device and a position index detection device in a traveling control system for a self-propelled gate type crane according to a third embodiment of the present invention, and a straight traveling direction;
(A) is a schematic diagram seen from above, and (b) is a schematic diagram seen from a side surface.

FIG. 7 is a diagram showing an arrangement of a position detection device and a position index detection device in a traveling control system for a self-propelled gate type crane according to a third embodiment of the present invention, and a direction of lateral straight traveling; (a) is a schematic view seen from above, and (b) is a schematic view seen from a side surface.

FIG. 8 is a diagram showing an arrangement of a position detection device and a straight traveling direction in a traveling control system for a self-propelled gate type crane according to a fourth embodiment of the present invention, (a) viewed from above. It is a schematic diagram, (b) is a schematic diagram seen from the side.

FIG. 9 is a diagram showing an arrangement of position detecting devices and a lateral straight traveling direction in a traveling control system for a self-propelled gate type crane according to a fourth embodiment of the present invention, (a) from the top It is the schematic diagram seen, (b) is the schematic diagram seen from the side surface.

FIG. 10 is a diagram showing the arrangement of position detecting devices and the direction of straight traveling in the traveling control system for the self-propelled gate type crane according to the fifth embodiment of the present invention, FIG. It is a schematic diagram, (b) is a schematic diagram seen from the side.

FIG. 11 is a diagram showing an arrangement of position detecting devices and a direction of lateral straight traveling in a traveling control system for a self-propelled gate type crane according to a fifth embodiment of the present invention. It is the schematic diagram seen, (b) is the schematic diagram seen from the side surface.

[Explanation of symbols]

1 self-propelled gate type crane (rubber tire type gate type crane) 3 trolley 8 traveling motor 12 traveling paths 21, 22, 23, 24 position detection device 31 magnetic detection device (position index detection device) 32 magnetic reference point (position index) )

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Kinya Ichimura             Mitsui Shipbuilding, 3-1-1 Tamama, Tamano City, Okayama Prefecture             Tamano Works Co., Ltd. (72) Inventor Muneshi Sato             Mitsui Shipbuilding, 3-1-1 Tamama, Tamano City, Okayama Prefecture             Tamano Works Co., Ltd. (72) Inventor Kiyoshi Fujiwara             Mitsui Shipbuilding, 3-1-1 Tamama, Tamano City, Okayama Prefecture             Tamano Works Co., Ltd. F term (reference) 3F203 AA06 BA03 DA05                 3F204 AA03 CA01 CA07 DA02 DA08                       DB01 DC01 GA04

Claims (7)

[Claims] 1. A travel control system for a self-propelled gate-type crane equipped with a position detection device that receives a radio wave transmitted from a satellite to detect a position, the right side part or the left side part with respect to the main traveling direction. A first position detecting device is arranged in the vehicle, and the position information obtained from the first position detecting device is used to control the rotation speed of the traveling motor of the self-propelled gate type crane to perform straight traveling control. Gate-type crane traveling control system. 2. The position information obtained from the first position detecting device is used to perform at least one control of a lateral straight traveling control and a fixed position stop control in addition to the straight traveling control. Item 1. A traveling control system for a self-propelled gate crane according to Item 1. 3. The self-propelled vehicle according to claim 1, wherein constant attitude angle stop control is performed in addition to the straight running control based on the attitude angle information obtained from the first position detection device. Travel control system for a mobile gate type crane. 4. A second position detecting unit for detecting the position of a self-propelled gate type crane by receiving radio waves transmitted from an artificial satellite at a site on the opposite side of the first position detecting device with respect to the main traveling direction. A position detection device is installed, and based on the position information obtained from the two position detection devices, in addition to the straight traveling control, at least one of a lateral straight traveling control, a fixed position stop control, and a constant attitude angle stop control is used. Control is performed, It is characterized by the above-mentioned.
The traveling control system for the self-propelled gate type crane according to any one of 3 to 3. 5. A position index arranged on a traveling path of the self-propelled gate crane is detected at a site opposite to the first position detecting device with respect to a main traveling direction of the self-propelled gate crane. In addition to the straight-ahead traveling control, a lateral direction straight-ahead traveling control and a fixed-position stop control are provided by disposing a position-indicator detecting device, and using position information obtained from the position-detecting device and position information obtained from the position-indicator detecting device. And at least one of constant posture angle stop control is performed.
The traveling control system for the self-propelled gate crane according to any one of 3 above. 6. A travel control system for a self-propelled gate type crane equipped with a position detection device for detecting a position by receiving radio waves transmitted from an artificial satellite, the self-propelled gate type in a main traveling direction. Place the position detection device in the center position of the crane,
A self-propelled type that performs at least one control of a lateral straight traveling control, a fixed position stop control, and a constant posture angle stop control in addition to the straight traveling control based on the position information and the posture angle information obtained from the position detection device. Gate-type crane traveling control system. 7. A travel control system for a self-propelled gate-type crane, which comprises a position detection device that receives a radio wave transmitted from an artificial satellite to detect a position, and has a trolley that moves in a direction intersecting with a main traveling direction. Then, the position detection device is arranged on the trolley, and the position information of the trolley is detected by the position information obtained from the position detection device, and the rotation speed of the traveling motor of the self-propelled gate type crane is controlled. A traveling control system for a self-propelled gantry crane that performs straight traveling control, at least one of straight-ahead traveling control, fixed position stop control, and constant posture angle stop control.