JP2004189460A - Yard crane, method for acquiring position information, and method for instructing cargo handling thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a yard crane to enhance the cargo handling efficiency by automating the cargo handling, and a method for acquiring position information thereof. <P>SOLUTION: The method for acquiring position information of the yard crane comprises a step of setting a first reference point 21a to any one of a plurality of containers, and arranging and positioning a tip of a boom 6 vertically above the first reference point 21a, a step of calculating the distance in the horizontal direction from a turning center O to the first reference point 21a of the boom 6, a step of setting a second reference point on the plurality of containers separately from the first reference point 21a, a step of calculating the distance in the horizontal direction from the turning point O to the second reference point of the boom 6, and a step of specifying the relative position between a yard crane body 14 and the plurality of containers based on the known array of the plurality of containers, two calculated distances, and the turning angle of the boom 6. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

となる。式（１）、（３）より、
【数２】

よって、ヤードクレーン本体１４と複数の貨物２１の既知の配列とのなす角δ、および旋回中心Ｏの位置（ｘ_０，ｙ_０）は、式（１）、（２）より、
【数３】

となる。
【００３７】
上記のようにヤードクレーン１の旋回中心Ｏの位置が設定された後、ある特定した貨物２１を所定の位置から別の所定の位置へ荷役する場合には、後述する荷役操作システムを用いて、所定の位置及び別の所定の位置の座標が設定されるとともに、その設定に基づいてヤードクレーン１によって貨物２１が荷役されることとなる。
【００３８】
すなわち、上述したヤードクレーンの位置情報取得方法によって得られたヤードクレーン本体と複数の貨物との相対位置が特定され、ヤードクレーン本体の旋回中心を原点とした座標が得られる（相対位置特定工程）。
その後、ヤードクレーンが荷役すべき目標貨物を指定して（目標貨物指定工程）、相対位置特定工程により得られたヤードクレーン本体と複数の貨物との相対位置により得られたヤードクレーン本体の旋回中心を原点とした座標に基づいて、ヤードクレーン本体と目標貨物との相対位置を決定する（目標貨物位置決定工程）。
【００３９】
そして、その相対位置特定工程により得られたヤードクレーン本体と複数の貨物との相対位置により得られたヤードクレーン本体の旋回中心を原点とした座標に基づいて、ヤードクレーン本体と目標貨物が荷役される行先との相対位置が決定される（行先指定工程）。
ここで、目標貨物位置決定工程及び行先指定工程は、相対位置特定工程により得られたヤードクレーン本体と複数の貨物との相対位置によって、ヤードクレーン本体の旋回中心を原点とした座標が得られるため、その原点から目標貨物位置及び目標貨物の行先の座標が決定されることとなる。
【００４０】
この場合、複数の貨物２１の既知の配列として導出される第１基準点２１ａの位置（ｘ_ａ，ｙ_ａ）および第２基準点２１ｂの位置（ｘ_ｂ，ｙ_ｂ）と、ブーム６の旋回中心Ｏから第１基準点２１ａ、第２基準点２１ｂまでの水平方向の距離Ｌ_１，Ｌ_２と、ブーム６の旋回角θ_１，θ_２とに基づいて、ブーム６の旋回中心Ｏの位置（ｘ_０，ｙ_０）およびヤードクレーン本体１４と複数の貨物２１の既知の配列とのなす角δを導出して、ヤードクレーン本体１４と複数の貨物２１との相対位置を特定することにより、荷役すべき複数の貨物２１の位置決めが容易となる。このことは、ヤードクレーン１による貨物２１の荷役の自動化につながる。
【００４１】
上記の構成によれば、荷役すべき複数の貨物２１の位置決めが容易となり、このことは、ヤードクレーン１による貨物２１の荷役の自動化につながるので、ヤードクレーン１が取扱う貨物２１の荷役効率を向上させることが可能である。
【００４２】
図４は、この発明における第２の実施の形態を示す図であって、この発明を適用したヤードクレーンおよび船舶の一部の概略を示す図である。
図４においては、上記第１の実施の形態における図１及び図２と同一構成要素には同一符号を付し、その説明を省略する。
旋回中心Ｏには、位置検出手段としてＧＰＳ１７が設けられている。また、先端部６ｂには、位置検出手段としてＧＰＳ１５が設けられている。
【００４３】
このヤードクレーン１に備えられたヤードクレーン本体１４と岸壁Ｗに接岸する船舶２０に搭載された複数の貨物２１との相対位置の情報を取得する場合には、ＧＰＳ１５、１７を使って取得されたブーム６の先端部６ｂおよび旋回中心Ｏの各位置と、ブーム６の旋回角θ_１と、複数の貨物２１の既知の配列方向とに基づいて、ヤードクレーン１と複数の貨物２１との相対位置を特定する。
【００４４】
すなわち、複数の貨物２１に基準点２１ａを設定し、基準点２１ａの鉛直上方にブーム６の先端部６ｂを配置して位置決めし、その位置決めされたブーム６の先端部６ｂ、およびブーム６の旋回中心Ｏの各位置に設けられたＧＰＳ１５、１７を使って取得する。そのＧＰＳ１５、１７を使って取得されたブーム６の先端部６ｂの位置（ｘ_ａ，ｙ_ａ）および旋回中心Ｏの位置（ｘ_０，ｙ_０）を、岸壁Ｗと平行な方向をＸ軸とし、その直交方向をＹ軸とした絶対座標で認識する。
また、基準点２１ａに対して先端部６ｂを位置決めされたブーム６の起伏角およびブーム６の長さに基づいて、ブーム６の旋回角θ_１を算出する。
【００４５】
そして、そのＧＰＳ１５、１７を使って取得されたブーム６の先端部６ｂおよび旋回中心Ｏの各位置と、ブーム６の旋回角θ_１と、複数の貨物２１の既知の配列方向とに基づいて、ヤードクレーン本体１４と複数の貨物２１の既知の配列とのなす角δを、算出手段１６によって以下のように導出して、ヤードクレーン１と複数の貨物２１との相対位置を特定する。
すなわち、複数の貨物２１の既知の配列とブーム６とのなす角αは、
【数４】

となる。したがって、ヤードクレーン本体１４と複数の貨物２１の既知の配列とのなす角δは、
【数５】

となる。
【００４６】
この場合、ＧＰＳ１５、１７を使って取得されたブーム６の先端部６ｂおよび旋回中心Ｏの各位置と、ブーム６の旋回角θ_１と、複数の貨物２１の既知の配列方向とに基づいて、ヤードクレーン１と複数の貨物２１との相対位置を特定することにより、荷役すべき複数の貨物２１の位置決めが容易となる。このことは、ヤードクレーン１による貨物２１の荷役の自動化につながる。
【００４７】
このように、この第２の実施の形態においても、荷役すべき複数の貨物２１の位置決めが容易となり、このことは、ヤードクレーン１による貨物２１の荷役の自動化につながるので、上記第１の実施の形態と同様の効果を得ることができる。
【００４８】
図５は、この発明における第３の実施の形態を示す図であって、この発明を適用したヤードクレーンおよび船舶の一部の概略を示す図である。
図５においては、上記第１の実施の形態における図１及び図２と同一構成要素には同一符号を付し、その説明を省略する。
ヤードクレーン本体１４の側部１４ａには、レーザによってその側部１４ａと船舶２０の側壁部２０ａとの相対距離を検出する２個の距離検出器１８が設けられている。
【００４９】
このヤードクレーン１に備えられたヤードクレーン本体１４と岸壁Ｗに接岸する船舶２０に搭載された複数の貨物２１との相対位置の情報を取得する場合には、ブーム６の旋回中心Ｏから基準点２１ａまでの水平方向の距離Ｌ_１と、複数の貨物２１の配列方向と、ブーム６の旋回角θ_１とに基づいて、ヤードクレーン１と複数の貨物２１との相対位置を特定する。
【００５０】
すなわち、複数の貨物２１に基準点２１ａを設定し、基準点２１ａの鉛直上方にブーム６の先端部６ｂを配置して位置決めし、基準点２１ａに対して先端部６ｂを位置決めされたブーム６の起伏角およびブーム６の長さに基づいて、ブーム６の旋回中心Ｏから基準点２１ａまでの水平方向の距離Ｌ_１を算出するするとともに、基準点２１ａの位置（ｘ_ａ，ｙ_ａ）を認識する。
【００５１】
そして、ヤードクレーン１に対する複数の貨物２１の配列方向を検出する。すなわち、２個の距離検出器１８によって、それぞれのヤードクレーン本体１４の側部１４ａと船舶２０の側壁部２０ａとの距離を検出し、２個の距離検出器１８のそれぞれから検出された距離の差と、２個の距離検出器１８間の距離とから導出されるヤードクレーン本体１４と複数の貨物２１の既知の配列とのなす角δを認識する。
【００５２】
ブーム６の旋回中心Ｏから基準点２１ａまでの水平方向の距離と、複数の貨物２１の配列方向と、ブーム６の旋回角とに基づいて、ブーム６の旋回中心（ｘ_０，ｙ_０）を、算出手段１６によって以下のように導出して、ヤードクレーン本体１４と複数の貨物２１との相対位置を特定する。すなわち、ブーム６の旋回中心Ｏ（ｘ_０，ｙ_０）は、
【数６】

となる。
【００５３】
この場合、ブーム６の旋回中心Ｏから基準点２１ａまでの水平方向の距離Ｌ_１と、複数の貨物２１の配列方向と、ブーム６の旋回角θ_１とに基づいて、ヤードクレーン本体１４と複数の貨物２１との相対位置を特定することにより、荷役すべき複数の貨物２１の位置決めが容易となる。このことは、ヤードクレーン１による貨物２１の荷役の自動化につながる。
【００５４】
このように、この第３の実施の形態においても、荷役すべき複数の貨物２１の位置決めが容易となり、このことは、ヤードクレーン１による貨物２１の荷役の自動化につながるので、上記第１の実施の形態と同様の効果を得ることができる。
【００５５】
なお、上記の各実施の形態において、位置検出手段１５は、船舶２０に搭載された貨物２１の任意の位置が検出可能であれば、第２の実施の形態に示すＧＰＳに限らず、センサ等、どの手段を用いることとしても問題ない。
【００５６】
また、上記の各実施の形態において、ヤードクレーン１によって荷役を操作する際には、荷役操作システムを用いる。以下にその荷役操作システムについて説明する。
図６は、上記ヤードクレーンを操作する荷役操作システムを示すブロック図である。
荷役操作システム１１０は、ヤード上を走行し、蔵置された複数のコンテナを荷役するヤードクレーン１の操作を制御する制御部１１と、その制御部１１に対して情報を送受信する荷役操作端末１２０とを備えている。
【００５７】
制御部１１は、ヤードクレーン１に設けられた各構成要素、例えば、ヤードクレーン１の基端部から外方に延在するブーム６を支持するシリンダ６ａ、そのブーム６の先端部に取付けられ、貨物の吊上げ及び吊下げを行う吊具１２をロープ８，８’を介して操作するウインチ９に備えられたエンコーダ９ａ、及びヤードクレーン１を駆動させる駆動部１９に制御可能に接続されている。
【００５８】
荷役操作端末１２０は、制御部１１からの情報を処理し、あるいは制御部１１に情報を伝達するＣＰＵ３０と、そのＣＰＵ３０が処理した情報を記憶し、かつ、ＣＰＵ３０に対して必要に応じてその記憶した情報を提供するメモリ３１とを備えている。また、荷役操作端末１２０は、ＣＰＵ３０によって処理された情報を画面表示する表示手段４０と、荷役するコンテナを入力によって指定する貨物指定手段５０と、ＣＰＵ３０に対して情報を入力して伝達する入力手段６０とを備えている。
【００５９】
図７は、荷役操作端末１２０の画面構成を示す図である。この荷役操作端末１２０は、画面表示された各構成要素に対して画面に直接触れることで設定を可能とするタッチパネルによって構成されている。
なお、この図は、岸壁に接岸されたコンテナ船に蔵置されたコンテナを、その岸壁を有するヤードに荷役する場合の荷役操作端末１２０について示すものである。
【００６０】
荷役操作端末１２０は、表示手段４０として、コンテナ船に蔵置された各コンテナの長手方向が左右に延在する状態で、これらコンテナを行列表示するコンテナ表示部(Sea Side View)４１と、コンテナのサイズを表示するコンテナサイズ表示部(Container Size)４２と、コンテナの蔵置間隔を表示するコンテナ間隔表示部(Container Dev.)４３とを備え、かつ、コンテナのドアの向きを表示するコンテナ方向表示部(Box Door Side)４４と、コンテナとモバイルハーバクレーン１の中心位置との関係がわかるように、コンテナの行列表示にモバイルハーバクレーン１の中心位置の延長線を記号で表示するクレーン位置表示部４５と、コンテナ船からヤードに荷役するコンテナの位置及び向きを表示するコンテナ荷役位置表示部(Land Side View)４６とを備えている。
【００６１】
コンテナ表示部４１は、荷役操作端末１２０の略中央に設けられている。このコンテナ表示部４１は、行列表示されたコンテナのうち、荷役を行うコンテナを入力によって指定する貨物指定手段５０としての機能を有している。
コンテナ表示部４１の下側には、コンテナサイズ表示部４２が複数設けられ、コンテナサイズ表示部４２の下側には、コンテナ間隔表示部４３が複数設けられている。また、コンテナ表示部４１の右側にも、コンテナ間隔表示部４３が設けられている。
コンテナ表示部４１の左上側には、コンテナ方向表示部４４が設けられ、コンテナ表示部４１上には、クレーン位置表示部４５が移動可能に設けられている。
【００６２】
クレーン位置表示部４５は、上面視して概略長方形であるモバイルハーバクレーン１の旋回中心Ｏを通り、そのモバイルハーバクレーン１の短辺に平行な直線が、どのコンテナの位置を通るかを記号で表示されている。したがって、モバイルハーバクレーン１と配置されているコンテナとの位置関係が視覚的に容易に把握される。
ここで、このコンテナ表示部４１によって行列表示される貨物の範囲について、コンテナ表示部４１に表示されている上下方向及び左右方向の表示に関しては、モバイルハーバクレーン１が停止したその位置からコンテナを荷役できる最遠方までの範囲とされる。
【００６３】
また、荷役操作端末１２０は、コンテナ船からヤードにコンテナの荷役時におけるコンテナの巻き高さを表示するコンテナ巻き高さ表示部(Last Pass Height)４７と、与えられたコマンドを表示するコマンド表示部(Setting Command View)４８と、コマンドエラー等、モバイルハーバクレーン１を操作するオペレータに対するメッセージを表示するメッセージ表示部(Message Window)４９とを備えている。
コンテナ巻き高さ表示部４７は、荷役操作端末１２０の右上側に設けられている。コンテナ巻き高さ表示部４７の下側には、コマンド表示部４８が設けられている。
また、メッセージ表示部４９は、荷役操作端末１２０の右下側に設けられている。
【００６４】
荷役操作端末１２０は、入力手段６０として、任意に指定した第１のコンテナＡの位置を入力するコンテナＡ設定入力部(Sea Side Preset A)６１と、任意に指定した第１のコンテナＡとは異なる第２のコンテナＢの位置を入力するコンテナＢ設定入力部(Sea Side Preset B)６２と、設定入力したコンテナの設定を解除するコンテナ設定解除入力部(CLR Preset)６３とを備え、かつ、コンテナ表示部４１を表示画面の左右方向にスクロールするコンテナスクロール入力部６４と、コンテナ荷役位置表示部４６に表示された荷役位置をスクロールするコンテナ荷役位置スクロール入力部６５と、コマンド表示部４８に表示されたコマンドを解除するコマンド解除入力部６６(Land Side Preset)とを備えている。
【００６５】
コンテナＡ設定入力部６１、コンテナＢ設定入力部６２、およびコンテナ設定解除入力部６３は、荷役操作端末１２０の下側に並列して設けられている。
コンテナスクロール入力部６４は、コンテナ表示部４１の上側に設けられている。コンテナ荷役位置表示部４６の下側には、コンテナ荷役位置スクロール入力部６５が設けられ、コンテナ荷役位置スクロール入力部６５の下側には、コマンド解除入力部６６が設けられている。
【００６６】
荷役操作端末１２０は、コマンド表示部４８に表示されたコマンドを解除するコマンド解除部６７(Command Cancel)と、メッセージ表示部４９に表示されたメッセージを選択するメッセージ選択入力部６８(Msg_Select)とを備え、かつ、荷役操作端末１２０をＣＰＵ３０に情報を転送するように指示する情報転送入力部６９(Target Set)と、荷役操作端末１２０に表示された画面をトップメニューに切り替えるメニュー入力部(Top Menu)７０とを備えている。
【００６７】
コマンド解除部６７は、コマンド表示部４８の下側に設けられている。メッセージ選択入力部６８は、メッセージ表示部４９の上側に設けられている。
情報転送入力部６９は、コンテナ表示部４１の右上側に設けられている。メニュー入力部７０は、荷役操作端末１２０の右上側に設けられている。
【００６８】
ここで、コンテナサイズ表示部４２は、コンテナのサイズを選択して入力する機能を有している。コンテナ間隔表示部４３は、コンテナの蔵置間隔を選択して入力する機能を有している。コンテナ方向表示部４４は、コンテナのドアの向きを選択して入力する機能を有している。また、コンテナ荷役位置表示部４６は、コンテナ船からヤードに荷役するコンテナの位置及び向きを選択して入力する機能を有している。
【００６９】
上記の構成において、コンテナサイズ表示部４２は、そのコンテナサイズ表示部４２に触れることによって、例えば、コンテナの長さが２０ｆｔ、４０ｆｔ、４５ｆｔのいずれかに選択されるようになっている。
また、コンテナ間隔表示部４３は、そのコンテナ間隔表示部４３に触れることによって、例えば、コンテナの間隔が０ｍｍ、１００ｍｍ、２００ｍｍ、３００ｍｍ、４００ｍｍのいずれかに選択されるようになっている。
【００７０】
コンテナ方向表示部４４は、そのコンテナ方向表示部４４に触れることによって、例えば、コンテナの方向、すなわちコンテナに取付けられたドアの向きが左側あるいは右側に選択されるようになっている。
また、コンテナ荷役位置表示部４６は、そのコンテナ荷役位置表示部４６に触れることによって、例えば、コンテナの方向、すなわちコンテナに取付けられたドアの向きが左側あるいは右側に選択されるようになっている。
【００７１】
また、上記の各実施の形態において、荷役操作システム１１０によって設定されたコンテナの所定の位置は、以下のように船上座標に変換される。
すなわち、縦横に配列されたコンテナの所定の位置の列番号（BayNo）及び行番号（RowNo）より求められる船上座標（ｘ_ａ,ｙ_ａ）は、コンテナの長手方向の長さをＣsizeL、コンテナの短手方向の長さをＣsizeW、複数のコンテナ間の長手方向の隙間をＣdevL、複数のコンテナ間の短手方向の隙間をＣdevWとすると、
【数７】

となる。
【００７２】
また、コンテナの所定の位置の船上座標は、以下のようにクレーン座標に変換される。
すなわち、ブーム６を水平面に投影した長さＬ_ｔ、ブーム６の旋回角φ_ｔ、及びブーム６の起伏角ν_ｔは、
【数８】

ここで、Ｌboomはブーム６の長さ、ａはブーム６の取り付け部の旋回半径を示す。
また、ブーム６の旋回角度の換算は、象限により計算式が変わる。すなわち、
【数９】

となる。
したがって、荷役操作システム１１０によって設定されたコンテナの所定の位置は、これらの式に基づいて、座標が設定されることとなる。
【００７３】
また、上記の各実施の形態において、コンテナ船２０に載置された貨物２１をヤードＹに荷役することとしているが、ヤードＹに載置された貨物２１をコンテナ船２０に荷役する場合にも適用することができる。
【００７４】
【発明の効果】
以上説明したこの発明のヤードクレーン及びその位置情報取得方法においては、以下の効果を奏する。
請求項１に係る発明によれば、ブームの旋回中心から第１基準点および第２基準点までの水平方向の距離（Ｌ_１，Ｌ_２）を算出し、複数の貨物の既知の配列と、その算出された２つの距離（Ｌ_１，Ｌ_２）と、ブームの旋回角とに基づいて、ヤードクレーン本体と複数の貨物との相対位置を特定することにより、荷役すべき複数の貨物の位置決めが容易となり、このことは、ヤードクレーンによる貨物の荷役の自動化につながるので、ヤードクレーンが取扱う貨物の荷役効率を向上させることが可能である。
【００７５】
請求項２に係る発明によれば、ブームの先端、およびそのブームの旋回中心の各位置をＧＰＳ（Global Positioning System）を使って取得し、その位置と、ブームの旋回角と、複数の貨物の既知の配列方向とに基づいて、ヤードクレーン本体と複数の貨物との相対位置を特定することにより、荷役すべき複数の貨物の位置決めが容易となり、このことは、ヤードクレーンによる貨物の荷役の自動化につながるので、ヤードクレーンが取扱う貨物の荷役効率を向上させることが可能である。
【００７６】
請求項３に係る発明によれば、ブームの旋回中心から基準点までの水平方向の距離を算出し、ヤードクレーンに対する複数の貨物の配列方向を検出し、ブームの旋回中心から基準点までの水平方向の距離と、複数の貨物の配列方向と、ブームの旋回角とに基づいてヤードクレーン本体と複数の貨物との相対位置を特定することにより、荷役すべき複数の貨物の位置決めが容易となり、このことは、ヤードクレーンによる貨物の荷役の自動化につながるので、ヤードクレーンが取扱う貨物の荷役効率を向上させることが可能である。
【００７７】
請求項４に係る発明によれば、ブームの旋回中心から第１基準点および第２基準点までの水平方向の距離（Ｌ_１，Ｌ_２）を算出し、複数の貨物の既知の配列と、その算出された２つの距離（Ｌ_１，Ｌ_２）と、ブームの旋回角とに基づいて、ヤードクレーン本体と複数の貨物との相対位置を特定する算出手段を備えることにより、荷役すべき複数の貨物の位置についても算出手段によって容易に特定されることとなり、このことは、ヤードクレーンによる貨物の荷役の自動化につながるので、ヤードクレーンが取扱う貨物の荷役効率を向上させることが可能である。
【００７８】
請求項５に係る発明によれば、ブームの先端、およびそのブームの旋回中心の各位置をＧＰＳ（Global Positioning System）を使って取得し、その位置と、ブームの旋回角と、複数の貨物の既知の配列方向とに基づいて、ヤードクレーン本体と複数の貨物との相対位置を特定する算出手段を備えることにより、荷役すべき複数の貨物の位置についても算出手段によって容易に特定されることとなり、このことは、ヤードクレーンによる貨物の荷役の自動化につながるので、ヤードクレーンが取扱う貨物の荷役効率を向上させることが可能である。
【００７９】
請求項６に係る発明によれば、ブームの旋回中心から基準点までの水平方向の距離を算出し、ヤードクレーンに対する複数の貨物の配列方向を検出し、ブームの旋回中心から基準点までの水平方向の距離と、複数の貨物の配列方向と、ブームの旋回角とに基づいてヤードクレーン本体と複数の貨物との相対位置を特定する算出手段を備えることにより、荷役すべき複数の貨物の位置についても算出手段によって容易に特定されることとなり、このことは、ヤードクレーンによる貨物の荷役の自動化につながるので、ヤードクレーンが取扱う貨物の荷役効率を向上させることが可能である。
【００８０】
請求項７に係る発明によれば、ヤードクレーンの位置情報取得方法によって得られたヤードクレーン本体と複数の貨物との相対位置を特定する相対位置特定工程と、目標貨物を指定する目標貨物指定工程と、相対位置特定工程により得られた相対位置に基づいてヤードクレーン本体と目標貨物との相対位置を決定する目標貨物位置決定工程と、相対位置特定工程により得られた相対位置に基づいてヤードクレーン本体と目標貨物が荷役される行先との相対位置を決定する行先指定工程とを備えることにより、相対位置特定工程によって設定されたヤードクレーンの旋回中心を原点とした座標により、目標貨物の位置及び目標貨物が荷役される行先の座標が確定することとなるので、ヤードクレーン本体を基準とした目標貨物の位置を容易に把握することができる。
【図面の簡単な説明】
【図１】この発明における第１の実施の形態に係るヤードクレーンの正面図である。
【図２】この発明における第１の実施の形態に係るヤードクレーンおよび船舶の一部の平面図である。
【図３】この発明における第１の実施の形態に係るヤードクレーンおよび船舶の一部の平面図である。
【図４】この発明における第２の実施の形態に係るヤードクレーンおよび船舶の一部の平面図である。
【図５】この発明における第３の実施の形態に係るヤードクレーンおよび船舶の一部の平面図である。
【図６】この発明における第１から第３の実施の形態に係る荷役操作端末の部分拡大図である。
【図７】この発明における第１から第３の実施の形態に係るヤードクレーンの概略平面図である。
【符号の説明】
１ ヤードクレーン
６ ブーム
１６ 算出手段
２０ 船舶
２１ 貨物[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a yard crane provided with a swivelable boom in a yard crane body, a yard crane position information acquisition method for acquiring relative position information between the yard crane body and any of a plurality of cargoes, and a cargo handling with the yard crane body. The present invention relates to a method for instructing cargo handling of a yard crane for acquiring relative position information with a plurality of cargoes to be handled.
[0002]
[Prior art]
In general, in a yard crane having a swivelable boom, in particular, in a yard crane that performs cargo handling by traveling on a yard having a quay, rails laid on the yard in a direction parallel to a direction in which the quay extends. In addition to traveling rail-type yard cranes, tire-type yard cranes that run on yards where rails are not installed using wheels as rubber tires are used.Particularly, tire-type yard cranes are parallel to the direction in which the quay extends. There is proposed a vehicle that travels on a yard or a vehicle that travels in a free direction on a yard.
[0003]
In a conventional yard crane, as a method of acquiring information on the cargo handling position of the yard crane, for example, a rail-type yard crane, a reference point is set for each of a ship berthing on a quay and a truck for transporting cargo. There is a method of calculating the position of the cargo from the reference point (see Patent Document 1).
[0004]
[Patent Document 1]
JP-A-2000-136088 (pages 3-4, FIGS. 3 and 4)
[0005]
[Problems to be solved by the invention]
By the way, in the conventional method for acquiring position information of a yard crane, in the case of a yard crane traveling in a direction parallel to the direction in which the quay extends, regarding the positioning of the yard crane, one position in the direction perpendicular to the direction in which the quay extends. By setting only the shaft, the position where the yard crane stops can be easily set, and therefore, it was easy to automate the cargo handling by the yard crane. However, in the case of a yard crane that travels in the free direction on the yard, the yard crane itself travels in the free direction on the yard by rubber tires, so it is mounted on the ship where the yard crane stops and on the berth It is difficult to automatically set the relative position with respect to the position of the cargo, and the cargo handling by the yard crane is performed manually without being automated, which reduces the cargo handling efficiency. there were.
[0006]
The present invention has been made in view of such circumstances, and it is an object of the present invention to provide a yard crane in which cargo handling efficiency is improved by automation of cargo handling, and a method of acquiring position information thereof.
[0007]
[Means for Solving the Problems]
The present invention employs the following means in order to solve the above problems.
The invention according to claim 1 is a position of a yard crane that obtains relative position information between a plurality of cargoes to be unloaded by a yard crane having a swivelable boom and a yard crane body supporting the boom and the yard crane body. An information obtaining method, wherein a first reference point is set on any of the plurality of cargoes, and a tip of the boom is positioned and positioned vertically above the first reference point; The horizontal distance (L) from the center of rotation of the boom to the first reference point based on the elevation angle of the boom and the length of the boom positioned at the tip with respect to ₁ ), And setting a second reference point separated from the first reference point to any of the plurality of cargoes, and positioning the tip of the boom vertically above the second reference point. And a horizontal distance (L) from the center of rotation of the boom to the second reference point based on an elevation angle and a length of the boom, the tip of which is positioned with respect to the second reference point. ₂ ), A known arrangement of the plurality of cargoes, and two calculated distances (L ₁ , L ₂ ) And a step of specifying a relative position between the yard crane main body and the plurality of cargoes based on a turning angle of the boom.
[0008]
According to the present invention, the horizontal distance (L) from the turning center of the boom to the first reference point and the second reference point. ₁ , L ₂ ) Is calculated, and a known arrangement of a plurality of cargoes and the calculated two distances (L ₁ , L ₂ ) And the swivel angle of the boom, the relative position between the yard crane main body and the plurality of cargoes is specified, so that the positioning of the plurality of cargoes to be unloaded becomes easy. This leads to automation of cargo handling by the yard crane. Since the actual cargo is used as the reference point, there is no need to specially provide members dedicated to the reference point.Therefore, the types of ships and vehicles are not limited. Versatile and simple.
Further, by using the same device for detecting the first reference point and the second reference point, the number of parts of the detection means is reduced.
[0009]
The invention according to claim 2 is a position of a yard crane that acquires relative position information between a plurality of cargoes to be unloaded by a yard crane having a swivelable boom and a yard crane body supporting the boom and the yard crane body. An information acquisition method, wherein a reference point is set on any of the plurality of cargoes, and a step of arranging and positioning a tip of the boom vertically above the reference point, and a tip of the positioned boom, and A step of acquiring each position of a turning center of the boom by using GPS; a position of a tip and a turning center of the boom acquired by using the GPS; a turning angle of the boom; Specifying a relative position between the yard crane main body and the plurality of cargoes based on a known arrangement direction.
[0010]
According to the present invention, the position of the tip of the boom and the center of rotation of the boom are acquired using the GPS, and based on the position, the rotation angle of the boom, and the known arrangement direction of the plurality of cargoes, By specifying the relative position between the yard crane main body and the plurality of cargoes, the positioning of the plurality of cargoes to be unloaded becomes easy. This leads to automation of cargo handling by the yard crane.
In addition, since only one reference point is set, it does not take much effort to obtain the relative positions of the yard crane and a plurality of cargoes.
Further, since the position is acquired using the GPS, the positioning accuracy is increased.
[0011]
The invention according to claim 3 is a position of a yard crane that obtains relative position information between a plurality of cargoes to be unloaded by a yard crane having a swivelable boom and a yard crane body supporting the boom and the yard crane body. An information acquisition method, comprising: setting a reference point on any of the plurality of cargoes, positioning the tip of the boom vertically above the reference point, and positioning the tip relative to the reference point. Calculating a horizontal distance from the center of rotation of the boom to the reference point based on the boom angle and the length of the boom, and detecting an arrangement direction of the plurality of cargoes with respect to the yard crane. And a horizontal distance from the turning center of the boom to the reference point, an arrangement direction of the plurality of cargoes, and a turning angle of the boom. There are characterized by comprising a step of identifying the relative position of the plurality of the cargo and the yard crane body.
[0012]
According to this invention, the horizontal distance from the turning center of the boom to the reference point is calculated, the arrangement direction of a plurality of cargoes with respect to the yard crane is detected, and the horizontal distance from the turning center of the boom to the reference point is calculated. By specifying the relative position between the yard crane main body and the plurality of cargoes based on the arrangement direction of the plurality of cargoes and the turning angle of the boom, the positioning of the plurality of cargoes to be unloaded becomes easy. This leads to automation of cargo handling by the yard crane.
In addition, since only one reference point is set, it does not take much effort to obtain the relative positions of the yard crane and a plurality of cargoes.
Further, the arrangement direction of a plurality of cargoes with respect to the yard crane can be easily detected by using, for example, a range finder using a laser.
[0013]
The invention according to claim 4 is a yard crane provided with a swivelable boom and a yard crane main body supporting the boom, wherein a yard crane is provided with respect to a first reference point set to any of a plurality of cargoes to be unloaded. A horizontal distance (L) from the center of rotation of the boom to the first reference point based on the elevation angle of the boom with its tip positioned and the length of the boom. ₁ ) Is calculated, based on the elevation angle of the boom and the length of the boom whose tip is positioned with respect to a second reference point set on any of the plurality of cargoes separated from the first reference point. , The horizontal distance from the center of rotation of the boom to the second reference point (L ₂ ), And a known arrangement of the plurality of cargoes and two calculated distances (L ₁ , L ₂ ) And calculating means for specifying a relative position between the yard crane main body and the plurality of cargoes based on the boom turning angle.
[0014]
According to the present invention, the horizontal distance (L) from the turning center of the boom to the first reference point and the second reference point. ₁ , L ₂ ) Is calculated, and a known arrangement of a plurality of cargoes and the calculated two distances (L ₁ , L ₂ ) And calculating means for specifying a relative position between the yard crane and the plurality of cargoes based on the boom turning angle, whereby the positions of the plurality of cargoes to be unloaded are easily specified by the calculating means. It will be. This leads to automation of cargo handling by the yard crane.
[0015]
The invention according to claim 5 is a yard crane including a swivelable boom and a yard crane body that supports the boom, and is positioned with respect to a reference point set to any of a plurality of cargoes to be unloaded. The position of the tip of the boom, and the respective positions of the center of rotation of the boom are acquired using GPS, the respective positions of the tip of the boom and the center of rotation acquired using the GPS, the rotation angle of the boom, It is characterized by comprising calculating means for specifying a relative position between the yard crane main body and the plurality of cargoes based on the known arrangement direction of the plurality of cargos.
[0016]
According to the present invention, the position of the tip of the boom and the center of rotation of the boom are acquired using the GPS, and based on the position, the rotation angle of the boom, and the known arrangement direction of the plurality of cargoes, By providing the calculating means for specifying the relative positions of the yard crane and the plurality of cargoes, the positions of the plurality of cargoes to be unloaded can be easily specified by the calculating means. This leads to automation of cargo handling by the yard crane.
[0017]
The invention according to claim 6 is a yard crane including a swivelable boom and a yard crane main body that supports the boom, and a tip of the yard crane is set with respect to a reference point set to one of a plurality of cargoes to be unloaded. A horizontal distance from the center of rotation of the boom to the reference point is calculated based on the position of the boom and the length of the boom, and an arrangement direction of the plurality of cargoes with respect to the yard crane body is detected. And a relative position between the yard crane body and the plurality of cargoes based on a horizontal distance from a center of rotation of the boom to the reference point, an arrangement direction of the plurality of cargoes, and a swing angle of the boom. It is characterized by comprising calculation means for specifying
[0018]
According to this invention, the horizontal distance from the turning center of the boom to the reference point is calculated, the arrangement direction of a plurality of cargoes with respect to the yard crane is detected, and the horizontal distance from the turning center of the boom to the reference point is calculated. By providing calculation means for specifying the relative position between the yard crane and the plurality of cargoes based on the arrangement direction of the plurality of cargoes and the turning angle of the boom, the calculation means also calculates the positions of the plurality of cargoes to be unloaded. It will be easily identified. This leads to automation of cargo handling by the yard crane.
[0019]
The invention according to claim 7 is a method for instructing loading of a yard crane that loads a target cargo to be unloaded by the yard crane, and is obtained by the method for acquiring position information of a yard crane according to any one of claims 1 to 3. A relative position specifying step of specifying a relative position between the yard crane body and the plurality of goods, a target goods specifying step of specifying the target goods, and the relative position obtained in the relative position specifying step. A target cargo position determining step of determining a relative position between the yard crane body and the target cargo, and a destination where the yard crane body and the target cargo are unloaded based on the relative position obtained in the relative position specifying step. And a destination designation step of determining a relative position with respect to.
[0020]
According to the present invention, a relative position specifying step of specifying a relative position between the yard crane main body and a plurality of cargo obtained by the yard crane position information obtaining method, a target cargo specifying step of specifying a target cargo, and a relative position A target cargo position determining step of determining a relative position between the yard crane main body and the target cargo based on the relative position obtained by the specific step, and a yard crane main body and the target cargo based on the relative position obtained by the relative position specifying step. And a destination designation step for determining a relative position with respect to the destination where the cargo is to be unloaded, so that the coordinates of the origin set at the turning center of the yard crane set in the relative position identification step allow the position of the target cargo and the target cargo to be unloaded. The coordinates of the destination are determined.
[0021]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a view showing a first embodiment of the present invention, and is a schematic view of a yard crane to which the present invention is applied. Here, the yard crane is, for example, a yard crane that can travel on a yard in an arbitrary direction, a so-called mobile herba crane.
[0022]
In FIG. 1, reference numeral 1 denotes a mobile harbor crane (yard crane) suitable for use as a port facility. The mobile harbor crane 1 mainly includes a carrier frame 3 having a plurality of outriggers 2, a turning frame 4 and a main body frame 5 mounted on the carrier frame 3, and a boom 6 attached to the main body frame 5. .
[0023]
The carrier frame 3 extends each outrigger 2 in a direction perpendicular to the longitudinal direction from the substantially both ends to secure the stability of the mobile harbor crane 1.
When the outrigger 2 is stored in the carrier frame 3, it can be moved on the premises of the harbor by running tires or the like (not shown).
[0024]
An annular slewing bearing (not shown) is provided substantially at the center of the carrier frame 3, and the slewing frame 4 is mounted via the slewing bearing. A rack-shaped tooth is formed on the periphery of the slewing bearing, and a pinion (not shown) attached to a slewing drive (not shown) is engaged. The turning drive is mounted on the turning frame 4 side.
[0025]
Therefore, the turning frame 4 can be rotated 360 degrees at the center of the turning bearing by the rotation of the pinion. The center of the slewing bearing refers to the center of slewing O, which means the center of the working radius in carrying out the cargo handling work with the crane.
In the vicinity of the turning center O of the turning frame 4, turning detecting devices 7a for detecting the turning direction of the turning frame 4 with respect to the carrier frame 3 are provided, and are connected to the control unit 11 by a cable indicated by a dotted line. .
[0026]
A body frame 5 that rotatably supports the base end of the boom 6 and a winch that winds up two ropes 8 and 8 ′ (also referred to as “wires”) connected to the hanging tool 10 a are provided on the revolving frame 4. 9, 9 '(not shown), a cylinder 6a for raising and lowering the boom 6, and an operator cab (not shown) in which an operator appears and operates the crane are provided.
The rope 8 'is provided in parallel with the rope 8, and the winch 9' is provided in parallel with the winch 9 in the depth direction of the drawing. Further, the winches 9 and 9 'are provided with encoders 9a and 9a' for detecting the extended state of the rope 8 and the rope 8 '.
[0027]
The main body frame 5 is formed as a truss structure in which a plurality of rod-shaped members are combined. A base end (left side in the figure) of the boom 6 is attached to a position substantially at the middle of the main body frame 5 via a boom foot pin (not shown).
The boom 6 is formed in an elongated shape of the truss structure, and a base end, which is one end, is rotatably supported by the main body frame 5 as described above. Further, a rod-side end of the cylinder 6a is rotatably mounted via a pin (not shown) below the base located slightly distal from the base end of the boom 6 to support the boom 6. . The bottom end of the cylinder 6a is rotatably attached to the front of the revolving frame 4 via a pin (not shown).
The boom 6 is raised and lowered around the boom foot pin by the expansion and contraction operation of the cylinder 6a, and the work radius of the cargo handling work at the boom tip H is defined.
[0028]
One end of the ropes 8 and 8 ′ is fixed to the hanging tool 12, and the other ends thereof are wound by winches 9 and 9 ′ installed on the revolving frame 6, respectively. As described above, the ropes 8 and 8 'are respectively wound by the winches 9 and 9', so that the hanging tool 12 moves upward. In addition, the hanging tool 12 is moved downward by the reverse rotation operation of the winch 9. In addition, with the vertical movement of the hanging tool 12, the spreader 13 and the container C (cargo) suspended below the hanging tool 12 via the rope 8a also move vertically.
[0029]
The spreader 13 is attached to the distal end of the boom 6 via a wire so as to be able to be wound up and extended. The spreader 13 is not hung directly from the lower end of the wire, but is hung by a swivel hook. The direction of the container C thus set can be rotated. The spreader 13 is rectangular when viewed from the top, but the length of the long side can be expanded or contracted so as to match the size of the container to be held.
In addition, the container C has only several types of sizes determined by the standard, and is a rectangular parallelepiped, so that two surfaces having an area smaller than the other surface are opposed to each other, but a door is provided on one of the surfaces. I have.
[0030]
FIG. 2 is a plan view schematically showing a part of a yard crane and a ship to which the present invention is applied.
A yard crane 1 running on the yard Y is disposed on the yard Y having the quay W, and a marine vessel 20 carrying a plurality of cargoes 21 is berthed on the quay W.
[0031]
The yard crane 1 includes the swing frame 4 and the body frame 5 as described above, and has a yard crane body 14 having a swing center O, and is supported by the yard crane body 14 and extends outward from the yard crane body 14. And a boom 6 that is provided to
The yard crane body 14 is provided with calculation means 16 for calculating a relative position between the yard crane body 14 and the cargo 21 based on the position of the cargo 21 detected by the position detection means 15. That is, the calculating means 16 recognizes the data of the position detected by the position detecting means 15 and calculates the data to determine the turning center of the yard crane 1 and the angle δ between the yard crane body 14 and the ship 20. Has the function of setting
[0032]
The boom 6 is provided so as to be able to turn around a turning center O. A spreader (not shown) is provided via a rope at a tip end 6b of the boom 6 extending from the center of rotation O so that the cargo 21 mounted on the vessel 20 can be held. Is provided with a position detecting means 15 for detecting the position of.
[0033]
When acquiring information on the relative position between the yard crane body 14 provided in the yard crane 1 and the plurality of cargoes 21 mounted on the ship 20 berthing to the quay W, a known arrangement of the plurality of cargoes 21 is used. , Two distances L calculated based on the positioning of the first reference point 21a and the second reference point 21b set for the plurality of cargoes 21. ₁ , L ₂ And the turning angle θ of the boom 6 ₁ Based on the above, the relative position between the yard crane 1 and the plurality of cargoes 21 is specified.
[0034]
That is, as shown in FIG. 2, a first reference point 21a is set on the plurality of cargoes 21, and the tip 6b of the boom 6 is positioned and positioned vertically above the first reference point 21a. The calculation means 16 calculates the horizontal distance L from the turning center O of the boom 6 to the first reference point 21a based on the elevation angle of the boom 6 and the length of the boom 6 whose tip 6b is positioned relative to the first reference point 21a. ₁ And the turning angle θ of the boom 6 ₁ Is calculated, and the position of the first reference point 21a (x _a , Y _a ) Recognize.
[0035]
Thereafter, as shown in FIG. 3, a second reference point 21b is set on the plurality of cargoes 21 at a distance from the first reference point 21a, and the distal end 6b of the boom 6 is disposed vertically above the second reference point 21b. The calculating means 16 calculates the second reference point from the turning center O of the boom 6 on the basis of the elevation angle of the boom 6 and the length of the boom 6 whose tip 6b is positioned with respect to the second reference point 21b. Horizontal distance L to 21b ₂ And the turning angle θ of the boom 6 ₂ Is calculated, and the position of the second reference point 21b (x _b , Y _b ) Recognize.
[0036]
Then, the position of the first reference point 21a (x _a , Y _a ) And the position of the second reference point 21b (x _b , Y _b ) And a horizontal distance L from the turning center O of the boom 6 to the first reference point 21a and the second reference point 21b. ₁ , L ₂ And the turning angle θ of the boom 6 ₁ , Θ ₂ And the position of the turning center O of the boom 6 (x ₀ , Y ₀ ) And an angle δ between the yard crane body 14 and the known arrangement of the plurality of cargoes 21 is derived by the calculating means 16 as follows, and the relative position between the yard crane body 14 and the plurality of cargoes 21 is specified. .
That is, from the positional relationship of each point,
(Equation 1)

It becomes. From equations (1) and (3),
(Equation 2)

Therefore, the angle δ between the yard crane main body 14 and the known arrangement of the plurality of cargoes 21 and the position of the turning center O (x ₀ , Y ₀ ) Is obtained from equations (1) and (2).
[Equation 3]

It becomes.
[0037]
After the position of the turning center O of the yard crane 1 is set as described above, when a specified cargo 21 is to be unloaded from a predetermined position to another predetermined position, a cargo handling operation system described below is used. The coordinates of a predetermined position and another predetermined position are set, and the cargo 21 is unloaded by the yard crane 1 based on the settings.
[0038]
That is, the relative position between the yard crane main body and the plurality of cargoes obtained by the above-described yard crane position information obtaining method is specified, and coordinates with the origin at the turning center of the yard crane main body are obtained (relative position specifying step). .
Thereafter, the target cargo to be unloaded by the yard crane is designated (target cargo designation process), and the turning center of the yard crane body obtained from the relative positions of the yard crane body obtained by the relative position specifying process and the plurality of cargoes is obtained. The relative position between the yard crane main body and the target cargo is determined based on the coordinates having the origin as the origin (target cargo position determination step).
[0039]
Then, the yard crane body and the target cargo are unloaded based on coordinates based on the turning center of the yard crane body obtained from the relative positions of the yard crane body and the plurality of cargoes obtained in the relative position specifying step. Is determined (destination designating step).
Here, in the target cargo position determination step and the destination designation step, since the coordinates with the origin of the turning center of the yard crane main body can be obtained by the relative position between the yard crane main body and the plurality of cargos obtained in the relative position specifying step. The coordinates of the target cargo position and the destination of the target cargo are determined from the origin.
[0040]
In this case, the position of the first reference point 21a (x _a , Y _a ) And the position of the second reference point 21b (x _b , Y _b ) And a horizontal distance L from the turning center O of the boom 6 to the first reference point 21a and the second reference point 21b. ₁ , L ₂ And the turning angle θ of the boom 6 ₁ , Θ ₂ And the position of the turning center O of the boom 6 (x ₀ , Y ₀ ) And the angle δ between the yard crane main body 14 and the known arrangement of the plurality of cargoes 21 is derived, and the relative position between the yard crane main body 14 and the plurality of cargoes 21 is specified, whereby the plurality of cargoes to be unloaded is determined. 21 can be easily positioned. This leads to automation of cargo handling of the cargo 21 by the yard crane 1.
[0041]
According to the above configuration, positioning of a plurality of cargoes 21 to be unloaded becomes easy, which leads to automation of loading and unloading of the cargos 21 by the yard crane 1, thereby improving the loading efficiency of the cargo 21 handled by the yard crane 1. It is possible to do.
[0042]
FIG. 4 is a view showing a second embodiment of the present invention, and is a view schematically showing a part of a yard crane and a ship to which the present invention is applied.
In FIG. 4, the same components as those in FIGS. 1 and 2 in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.
At the turning center O, a GPS 17 is provided as position detecting means. In addition, a GPS 15 is provided at the tip end 6b as position detecting means.
[0043]
When acquiring information on the relative positions of the yard crane body 14 provided in the yard crane 1 and a plurality of cargoes 21 mounted on a ship 20 berthing on the quay W, the information is acquired using the GPS 15 and 17. Each position of the tip 6b of the boom 6 and the turning center O, and the turning angle θ of the boom 6 ₁ Then, the relative position between the yard crane 1 and the plurality of cargoes 21 is specified based on the known arrangement direction of the plurality of cargoes 21.
[0044]
That is, a reference point 21a is set for a plurality of cargoes 21, the tip 6b of the boom 6 is positioned and positioned vertically above the reference point 21a, and the tip 6b of the positioned boom 6 and the turning of the boom 6 are set. It is acquired using the GPS 15 and 17 provided at each position of the center O. The position (x) of the tip 6b of the boom 6 obtained using the GPSs 15 and 17 _a , Y _a ) And the position of the turning center O (x ₀ , Y ₀ ) Is recognized in absolute coordinates with the direction parallel to the quay W as the X axis and the direction orthogonal to the X axis as the Y axis.
In addition, the turning angle θ of the boom 6 is determined based on the elevation angle of the boom 6 and the length of the boom 6 whose tip 6b is positioned with respect to the reference point 21a. ₁ Is calculated.
[0045]
Then, the positions of the tip 6b and the turning center O of the boom 6 obtained using the GPS 15, 17 and the turning angle θ of the boom 6 ₁ The angle δ between the yard crane main body 14 and the known arrangement of the plurality of cargoes 21 is derived by the calculating means 16 based on the known arrangement direction of the plurality of cargoes 21 and The relative position between one and a plurality of cargoes 21 is specified.
That is, the angle α between the known arrangement of the plurality of cargoes 21 and the boom 6 is:
(Equation 4)

It becomes. Therefore, the angle δ between the yard crane body 14 and the known arrangement of the plurality of cargoes 21 is
(Equation 5)

It becomes.
[0046]
In this case, the positions of the tip 6b and the turning center O of the boom 6 obtained using the GPS 15 and 17 and the turning angle θ of the boom 6 ₁ By specifying the relative position between the yard crane 1 and the plurality of cargoes 21 on the basis of the known arrangement direction of the plurality of cargoes 21, positioning of the plurality of cargoes 21 to be unloaded becomes easy. This leads to automation of cargo handling of the cargo 21 by the yard crane 1.
[0047]
As described above, also in the second embodiment, the positioning of a plurality of cargoes 21 to be unloaded becomes easy, which leads to the automation of loading and unloading of the cargos 21 by the yard crane 1. The same effect as in the embodiment can be obtained.
[0048]
FIG. 5 is a view showing a third embodiment of the present invention, and is a view schematically showing a part of a yard crane and a ship to which the present invention is applied.
5, the same components as those in FIGS. 1 and 2 in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.
On the side portion 14a of the yard crane main body 14, two distance detectors 18 are provided for detecting the relative distance between the side portion 14a and the side wall portion 20a of the boat 20 by laser.
[0049]
When acquiring information on the relative position between the yard crane body 14 provided in the yard crane 1 and a plurality of cargoes 21 mounted on a ship 20 berthing to the quay W, a reference point is set from the turning center O of the boom 6. Horizontal distance L to 21a ₁ And the arrangement direction of the plurality of cargoes 21 and the turning angle θ of the boom 6 ₁ Based on the above, the relative position between the yard crane 1 and the plurality of cargoes 21 is specified.
[0050]
That is, a reference point 21a is set for a plurality of cargoes 21, the tip 6b of the boom 6 is positioned and positioned vertically above the reference point 21a, and the boom 6 having the tip 6b positioned with respect to the reference point 21a is positioned. Based on the undulation angle and the length of the boom 6, the horizontal distance L from the turning center O of the boom 6 to the reference point 21a is determined. ₁ Is calculated, and the position of the reference point 21a (x _a , Y _a ) Recognize.
[0051]
Then, the arrangement direction of the plurality of cargoes 21 with respect to the yard crane 1 is detected. That is, the distance between the side part 14a of each yard crane main body 14 and the side wall part 20a of the marine vessel 20 is detected by the two distance detectors 18, and the distance detected from each of the two distance detectors 18 is determined. The angle δ between the yard crane main body 14 and the known arrangement of the plurality of cargoes 21 derived from the difference and the distance between the two distance detectors 18 is recognized.
[0052]
Based on the horizontal distance from the turning center O of the boom 6 to the reference point 21a, the arrangement direction of the plurality of cargoes 21, and the turning angle of the boom 6, the turning center (x ₀ , Y ₀ Is derived by the calculating means 16 as follows, and the relative position between the yard crane main body 14 and the plurality of cargoes 21 is specified. That is, the turning center O (x) of the boom 6 ₀ , Y ₀ )
(Equation 6)

It becomes.
[0053]
In this case, the horizontal distance L from the turning center O of the boom 6 to the reference point 21a ₁ And the arrangement direction of the plurality of cargoes 21 and the turning angle θ of the boom 6 ₁ By specifying the relative position between the yard crane main body 14 and the plurality of cargoes 21 based on the above, the positioning of the plurality of cargoes 21 to be unloaded becomes easy. This leads to automation of cargo handling of the cargo 21 by the yard crane 1.
[0054]
As described above, also in the third embodiment, the positioning of the plurality of cargoes 21 to be unloaded becomes easy, and this leads to the automation of the loading and unloading of the cargos 21 by the yard crane 1. The same effect as in the embodiment can be obtained.
[0055]
In each of the above embodiments, the position detection means 15 is not limited to the GPS shown in the second embodiment, but may be a sensor or the like as long as an arbitrary position of the cargo 21 mounted on the vessel 20 can be detected. There is no problem in using any means.
[0056]
Further, in each of the above embodiments, when the yard crane 1 operates the cargo handling, a cargo handling operation system is used. The cargo handling operation system will be described below.
FIG. 6 is a block diagram showing a cargo handling operation system for operating the yard crane.
The cargo handling operation system 110 includes a control unit 11 that runs on the yard and controls the operation of the yard crane 1 that handles a plurality of stored containers and a cargo handling operation terminal 120 that transmits and receives information to and from the control unit 11. It has.
[0057]
The control unit 11 is attached to each component provided in the yard crane 1, for example, a cylinder 6a that supports a boom 6 that extends outward from a base end of the yard crane 1, and is attached to a distal end of the boom 6. A hoist 12 for lifting and hanging the cargo is controllably connected to an encoder 9a provided on a winch 9 for operating via ropes 8 and 8 ', and a drive unit 19 for driving the yard crane 1.
[0058]
The cargo handling terminal 120 processes the information from the control unit 11 or transmits the information to the control unit 11, stores the information processed by the CPU 30, and stores the information in the CPU 30 as necessary. And a memory 31 for providing the obtained information. The cargo handling terminal 120 includes a display means 40 for displaying information processed by the CPU 30 on a screen, a cargo designation means 50 for designating a container to be handled by input, and an input means for inputting and transmitting information to the CPU 30. 60.
[0059]
FIG. 7 is a diagram illustrating a screen configuration of the cargo handling operation terminal 120. The cargo handling operation terminal 120 is configured by a touch panel that enables setting by directly touching the screen for each component displayed on the screen.
This figure shows the cargo handling operation terminal 120 when a container stored in a container ship berthed on the quay is loaded into a yard having the quay.
[0060]
The loading / unloading operation terminal 120 includes a container display unit (Sea Side View) 41 that displays the containers in a matrix in a state where the longitudinal direction of each container stored in the container ship extends left and right as the display means 40, A container size display (Container Size) 42 for displaying the size, a container interval display (Container Dev.) 43 for displaying the storage interval of the containers, and a container direction display for displaying the direction of the door of the container. (Box Door Side) 44 and a crane position display part 45 for displaying a line extending from the center position of the mobile harbor crane 1 in a matrix display of the containers so that the relationship between the container 44 and the center position of the mobile harbor crane 1 can be understood. And a container cargo handling position display section (Land Side View) 46 for displaying the position and orientation of the container cargo handling from the container ship to the yard.
[0061]
The container display section 41 is provided substantially at the center of the cargo handling operation terminal 120. The container display unit 41 has a function as a cargo designation unit 50 that designates, by inputting, a container to be unloaded among the containers displayed in a queue.
A plurality of container size display units 42 are provided below the container display unit 41, and a plurality of container interval display units 43 are provided below the container size display unit 42. Further, a container interval display section 43 is provided on the right side of the container display section 41.
A container direction display unit 44 is provided on the upper left side of the container display unit 41, and a crane position display unit 45 is movably provided on the container display unit 41.
[0062]
The crane position display section 45 uses a symbol to indicate which container position a straight line parallel to the short side of the mobile herba crane 1 passes through the turning center O of the mobile herba crane 1 which is substantially rectangular when viewed from above. Is displayed. Therefore, the positional relationship between the mobile harbor crane 1 and the arranged container can be easily grasped visually.
Here, regarding the range of the cargo displayed in a matrix by the container display unit 41, regarding the display in the vertical direction and the left and right direction displayed on the container display unit 41, the container is unloaded from the position where the mobile harbor crane 1 is stopped. The range is the farthest possible.
[0063]
In addition, the cargo handling terminal 120 includes a container winding height display unit (Last Pass Height) 47 for displaying the container winding height during container handling from the container ship to the yard, and a command display unit for displaying a given command. (Setting Command View) 48 and a message display unit (Message Window) 49 for displaying a message to the operator who operates the mobile harbor crane 1 such as a command error.
The container winding height display 47 is provided on the upper right side of the cargo handling operation terminal 120. Below the container winding height display 47, a command display 48 is provided.
The message display unit 49 is provided on the lower right side of the cargo handling operation terminal 120.
[0064]
The cargo handling terminal 120 includes, as input means 60, a container A setting input unit (Sea Side Preset A) 61 for inputting the position of the arbitrarily designated first container A, and the arbitrarily designated first container A. A container B setting input unit (Sea Side Preset B) 62 for inputting the position of a different second container B, a container setting cancel input unit (CLR Preset) 63 for canceling the setting of the input container, and A container scroll input unit 64 for scrolling the container display unit 41 in the left-right direction of the display screen, a container cargo position scroll input unit 65 for scrolling the cargo position displayed on the container cargo position display unit 46, and a command display unit 48 And a command release input section 66 (Land Side Preset) for releasing the input command.
[0065]
The container A setting input unit 61, the container B setting input unit 62, and the container setting release input unit 63 are provided in parallel below the cargo handling operation terminal 120.
The container scroll input unit 64 is provided above the container display unit 41. A container loading / unloading position scroll input unit 65 is provided below the container loading / unloading position display unit 46, and a command release input unit 66 is provided below the container loading / unloading position scroll input unit 65.
[0066]
The cargo handling terminal 120 includes a command release unit 67 (Command Cancel) for releasing the command displayed on the command display unit 48 and a message selection input unit 68 (Msg_Select) for selecting a message displayed on the message display unit 49. An information transfer input unit 69 (Target Set) for instructing the cargo handling terminal 120 to transfer information to the CPU 30; and a menu input unit (Top Menu) for switching a screen displayed on the cargo handling terminal 120 to a top menu. 70.
[0067]
The command release section 67 is provided below the command display section 48. The message selection input unit 68 is provided above the message display unit 49.
The information transfer input unit 69 is provided on the upper right side of the container display unit 41. The menu input unit 70 is provided on the upper right side of the cargo handling terminal 120.
[0068]
Here, the container size display section 42 has a function of selecting and inputting the size of the container. The container interval display section 43 has a function of selecting and inputting a storage interval of containers. The container direction display section 44 has a function of selecting and inputting the direction of the container door. Further, the container cargo handling position display section 46 has a function of selecting and inputting the position and the direction of the container cargo handling from the container ship to the yard.
[0069]
In the above configuration, by touching the container size display section 42, the container length is selected to be, for example, any of 20 ft, 40 ft, and 45 ft.
Further, by touching the container interval display unit 43, the container interval display unit 43 selects, for example, any of the container intervals of 0 mm, 100 mm, 200 mm, 300 mm, and 400 mm.
[0070]
By touching the container direction display unit 44, for example, the direction of the container, that is, the direction of the door attached to the container is selected to the left or right.
Further, by touching the container loading / unloading position display section 46, for example, the direction of the container, that is, the direction of the door attached to the container is selected to the left or right. .
[0071]
Further, in each of the above embodiments, the predetermined position of the container set by the cargo handling operation system 110 is converted into the onboard coordinates as follows.
That is, the onboard coordinates (x) obtained from the column number (BayNo) and row number (RowNo) at predetermined positions of the containers arranged vertically and horizontally. _a , y _a ) Indicates that the longitudinal length of the container is CsizeL, the lateral length of the container is CsizeW, the longitudinal gap between the containers is CdevL, and the lateral gap between the containers is CdevW. ,
(Equation 7)

It becomes.
[0072]
The onboard coordinates of a predetermined position of the container are converted into crane coordinates as follows.
That is, the length L of the boom 6 projected on the horizontal plane _t , The turning angle φ of the boom 6 _t , And the elevation angle ν of the boom 6 _t Is
(Equation 8)

Here, Lboom indicates the length of the boom 6, and a indicates the turning radius of the mounting portion of the boom 6.
The calculation formula for converting the turning angle of the boom 6 changes depending on the quadrant. That is,
(Equation 9)

It becomes.
Therefore, the coordinates of the predetermined position of the container set by the cargo handling operation system 110 are set based on these equations.
[0073]
Further, in each of the above-described embodiments, the cargo 21 placed in the container ship 20 is handled in the yard Y. However, the cargo 21 placed in the yard Y is also handled in the container ship 20. Can be applied.
[0074]
【The invention's effect】
The yard crane and the position information acquiring method of the present invention described above have the following advantages.
According to the invention according to claim 1, the horizontal distance (L) from the turning center of the boom to the first reference point and the second reference point. ₁ , L ₂ ) Is calculated, and a known arrangement of a plurality of cargoes and the calculated two distances (L ₁ , L ₂ ) And the swivel angle of the boom, the relative position between the yard crane body and the plurality of cargoes can be specified, thereby facilitating the positioning of the plurality of cargoes to be unloaded. Since this leads to automation of cargo handling, it is possible to improve the cargo handling efficiency of cargo handled by the yard crane.
[0075]
According to the invention according to claim 2, each position of the tip of the boom and the center of turning of the boom is acquired using a GPS (Global Positioning System), and the position, the turning angle of the boom, and a plurality of cargoes are obtained. By specifying the relative position between the yard crane body and the plurality of cargoes based on the known arrangement direction, the positioning of the plurality of cargoes to be unloaded is facilitated, which means that the yard crane automates the loading and unloading of the cargo. Therefore, it is possible to improve the cargo handling efficiency of the cargo handled by the yard crane.
[0076]
According to the invention according to claim 3, the horizontal distance from the turning center of the boom to the reference point is calculated, the arrangement direction of a plurality of cargoes with respect to the yard crane is detected, and the horizontal distance from the turning center of the boom to the reference point is detected. By specifying the relative position between the yard crane body and the plurality of cargoes based on the distance in the direction, the arrangement direction of the plurality of cargoes, and the swing angle of the boom, the positioning of the plurality of cargoes to be unloaded becomes easy, This leads to automation of cargo handling by the yard crane, so that the cargo handling efficiency of the cargo handled by the yard crane can be improved.
[0077]
According to the fourth aspect of the present invention, the horizontal distance (L) from the turning center of the boom to the first reference point and the second reference point. ₁ , L ₂ ) Is calculated, and a known arrangement of a plurality of cargoes and the calculated two distances (L ₁ , L ₂ ) And calculating means for specifying a relative position between the yard crane main body and the plurality of cargoes based on the boom turning angle, whereby the positions of the plurality of cargoes to be unloaded are easily specified by the calculating means. This leads to automation of cargo handling by the yard crane, so that the cargo handling efficiency of the cargo handled by the yard crane can be improved.
[0078]
According to the invention according to claim 5, each position of the tip of the boom and the center of turning of the boom is acquired by using a GPS (Global Positioning System), and the position, the turning angle of the boom, and a plurality of cargoes are obtained. By providing calculation means for specifying the relative position between the yard crane main body and the plurality of cargoes based on the known arrangement direction, the positions of the plurality of cargoes to be unloaded can be easily specified by the calculation means. Since this leads to automation of cargo handling by the yard crane, the cargo handling efficiency of the cargo handled by the yard crane can be improved.
[0079]
According to the invention according to claim 6, the horizontal distance from the turning center of the boom to the reference point is calculated, the arrangement direction of the plurality of cargoes with respect to the yard crane is detected, and the horizontal distance from the turning center of the boom to the reference point is calculated. By providing calculation means for specifying the relative position between the yard crane main body and the plurality of cargoes based on the distance in the direction, the arrangement direction of the plurality of cargoes, and the turning angle of the boom, the positions of the plurality of cargoes to be unloaded are provided. Is also easily specified by the calculation means, and this leads to automation of cargo handling by the yard crane, so that the cargo handling efficiency of the cargo handled by the yard crane can be improved.
[0080]
According to the invention according to claim 7, a relative position specifying step of specifying a relative position between the yard crane main body and a plurality of goods obtained by the yard crane position information obtaining method, and a target cargo specifying step of specifying a target goods A target cargo position determining step of determining a relative position between the yard crane body and the target cargo based on the relative position obtained by the relative position specifying step; and a yard crane based on the relative position obtained by the relative position specifying step. By providing a destination designation step for determining the relative position between the main body and the destination where the target cargo is unloaded, the position of the target cargo and the coordinates of the origin of the yard crane turning center set in the relative position identification step Since the coordinates of the destination where the target cargo is to be unloaded are determined, the position of the target cargo relative to the yard crane body can be easily grasped. It can be.
[Brief description of the drawings]
FIG. 1 is a front view of a yard crane according to a first embodiment of the present invention.
FIG. 2 is a plan view of a part of the yard crane and the marine vessel according to the first embodiment of the present invention.
FIG. 3 is a plan view of a part of the yard crane and the marine vessel according to the first embodiment of the present invention.
FIG. 4 is a plan view of a part of a yard crane and a ship according to a second embodiment of the present invention.
FIG. 5 is a plan view of a part of a yard crane and a ship according to a third embodiment of the present invention.
FIG. 6 is a partially enlarged view of the cargo handling operation terminal according to the first to third embodiments of the present invention.
FIG. 7 is a schematic plan view of a yard crane according to first to third embodiments of the present invention.
[Explanation of symbols]
1 yard crane
6 Boom
16 Calculation means
20 ships
21 Freight

Claims (7)

A yard crane position information acquisition method for acquiring relative position information between a plurality of cargoes to be unloaded by a yard crane having a swivelable boom and a yard crane body supporting the boom and the yard crane body,
Setting a first reference point on any of the plurality of cargoes, and positioning and positioning the tip of the boom vertically above the first reference point;
A horizontal distance (L ₁ ) from the center of rotation of the boom to the first reference point is calculated based on the elevation angle of the boom and the length of the boom whose tip is positioned with respect to the first reference point. The process of
Setting a second reference point apart from the first reference point on any of the plurality of cargoes, and positioning and positioning the tip of the boom vertically above the second reference point;
A horizontal distance (L ₂ ) from the center of rotation of the boom to the second reference point is calculated based on an elevation angle of the boom whose tip is positioned with respect to the second reference point and a length of the boom. The process of
A relative position between the yard crane main body and the plurality of cargoes is specified based on the known arrangement of the plurality of cargoes, the calculated two distances (L ₁ , L ₂ ), and the turning angle of the boom. And a method for acquiring position information of a yard crane. A yard crane position information acquisition method for acquiring relative position information between a plurality of cargoes to be unloaded by a yard crane having a swivelable boom and a yard crane body supporting the boom and the yard crane body,
Setting a reference point on any of the plurality of cargoes, locating and positioning the tip of the boom vertically above the reference point,
Obtaining the position of the positioned tip of the boom and the respective positions of the center of rotation of the boom using GPS;
The yard crane body and the plurality of cargoes based on the positions of the tip and the turning center of the boom acquired using the GPS, the swing angle of the boom, and the known arrangement direction of the plurality of cargoes. Specifying a relative position of the yard crane. A yard crane position information acquisition method for acquiring relative position information between a plurality of cargoes to be unloaded by a yard crane having a swivelable boom and a yard crane body supporting the boom and the yard crane body,
Setting a reference point on any of the plurality of cargoes, locating and positioning the tip of the boom vertically above the reference point,
Calculating a horizontal distance from the turning center of the boom to the reference point based on the elevation angle of the boom and the length of the boom positioned at the tip with respect to the reference point,
Detecting an arrangement direction of the plurality of cargoes with respect to the yard crane;
A relative position between the yard crane main body and the plurality of cargoes is specified based on a horizontal distance from a turning center of the boom to the reference point, an arrangement direction of the plurality of cargoes, and a swing angle of the boom. And a yard crane position information acquiring method. A yard crane comprising a swivelable boom and a yard crane body supporting the boom,
The first reference point is set from the center of rotation of the boom based on the elevation angle of the boom and the length of the boom, the tip of which is positioned with respect to a first reference point set to any of a plurality of cargoes to be unloaded. Calculate the horizontal distance (L ₁ ) to the point,
Swiveling of the boom based on an elevation angle and a boom length of the boom whose tip is positioned with respect to a second reference point set on any of the plurality of cargoes separated from the first reference point. Calculating a horizontal distance (L ₂ ) from the center to the second reference point;
A relative position between the yard crane main body and the plurality of cargoes is specified based on the known arrangement of the plurality of cargoes, the calculated two distances (L ₁ , L ₂ ), and the turning angle of the boom. A yard crane comprising a calculating means for performing the calculation. A yard crane comprising a swivelable boom and a yard crane body supporting the boom,
Using a GPS to obtain the tip of the boom positioned with respect to a reference point set to any of a plurality of cargoes to be unloaded, and the respective positions of the center of rotation of the boom,
The yard crane main body and the plurality of cargoes based on the positions of the tip and the turning center of the boom acquired by using the GPS, the turning angle of the boom, and the known arrangement direction of the plurality of cargoes. A yard crane comprising a calculating means for specifying a relative position with respect to the yard crane. A yard crane comprising a swivelable boom and a yard crane body supporting the boom,
A horizontal direction from the center of rotation of the boom to the reference point based on the elevation angle of the boom and the length of the boom, the tip of which is positioned with respect to a reference point set to any of a plurality of cargoes to be unloaded. Calculate the distance of
Detecting an arrangement direction of the plurality of cargoes with respect to the yard crane body,
A relative position between the yard crane main body and the plurality of cargoes is specified based on a horizontal distance from a turning center of the boom to the reference point, an arrangement direction of the plurality of cargoes, and a swing angle of the boom. A yard crane comprising a calculating means for performing the calculation. A method for instructing cargo handling of a yard crane that handles a target cargo to be unloaded by a yard crane,
A relative position specifying step of specifying a relative position between the yard crane main body and the plurality of cargoes obtained by the yard crane position information obtaining method according to any one of claims 1 to 3,
A target cargo designation step of designating the target cargo,
A target cargo position determining step of determining a relative position between the yard crane body and the target cargo based on the relative position obtained in the relative position specifying step,
A destination designation step of determining a relative position between the yard crane main body and a destination where the target cargo is unloaded based on the relative position obtained in the relative position identification step;
A cargo handling instruction method for a yard crane, comprising:

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