JP2005138952A - Method for operating yard crane, and operating system for the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve efficiency of a container handling work in a container yard by reducing burden on an operator. <P>SOLUTION: In the container yard, work of moving the container C disposed above an empty chassis S downward to be placed on the chassis S, and work of moving a spreader 15 disposed above the container C placed on the chassis S downward to grasp the container C are conducted by manual operation by the operator, and other work is conducted by automatic operation of the yard crane 10. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an operation method and an operation system for a yard crane that performs container handling with respect to a chassis (trailer for container transportation) in a container yard.

For example, when a certain container stored in the storage area is mounted on the chassis, the yard crane is placed so as to straddle the mountain of the container that contains the container, and the chassis is entered into the chassis travel lane. Stop just below the yard crane. Then, move the trolley directly above the container, grab the container with the spreader lowered, lift the container with the spreader raised, and directly above the chassis where the trolley that lifted the container was stopped in the chassis travel lane And move the container where the spreader is lowered onto the chassis.
In addition, when the container mounted on the chassis is lowered to a position in the storage area, the yard crane is self-propelled and placed so as to straddle the position where the container should be lowered, and the chassis loaded with the container enters the chassis lane. And stop just below the yard crane. Then, move the trolley directly above the chassis, lower the spreader to grab the container, lift the spreader to lift the container, move the trolley that lifted the container to a position just above where the container should be lowered, and To lower the container to a certain position.
JP2001-220087

  Patent Document 1 discloses a technique in which a camera is attached to a spreader, and a container crane is automatically or manually operated to hold the container on the spreader while referring to a container image projected by the camera.

  Conventionally, since the operator manually operates the yard crane, the operator is not only required to have high skill and skill, but also has a heavy physical burden during work. In order to reduce the burden on the operator, the technique disclosed in Patent Document 1 has been proposed. However, it is difficult to grasp the distance between the spreader and the container because the image of the camera attached to the spreader and keeping the container in the field of view is captured. It is difficult to operate with only the video, and it is difficult to say that the burden on the operator is reduced.

  The present invention has been made in view of the above circumstances, and has an object to reduce the burden on an operator and increase the efficiency of container handling work in a container yard.

As a means for solving the above problems, the operation method and operation system of the yard crane having the following configuration are adopted.
That is, the operation method of the yard crane of the present invention is an operation method of the yard crane that performs the cargo handling work of the container in the container yard,
The operation of lowering the container placed above the chassis and placing it on the chassis, and the work of lowering the spreader placed above the container placed on the chassis and gripping the container by manual operation of an operator It is characterized by carrying out and other work by automatic operation.

  In the present invention, there are many uncertain factors among the cargo handling operations of the container for the chassis, which requires careful operation, that is, the operation of lowering the container placed above the chassis and placing it on the chassis, and the chassis The operator can reduce the amount of work by lowering the spreader placed above the placed container and grasping the container by manual operation of the operator and performing other operations by automatic operation.

  The operation method of the yard crane of the present invention is an operation method of the yard crane in which the operator operates the yard crane while watching the image displayed on the monitor and handles the container with respect to the chassis. An image of a spreader that grasps a container, an image of the container, and an image of the chassis are selectively displayed.

  In the present invention, by displaying selectively the video of the spreader that holds the container, the video of the container, and the video of the chassis on the monitor, it is possible to inform the operator of the progress of the work in detail. The operator can proceed while referring to various images displayed on the monitor, so that the situation at the site can be easily grasped.

  In the present invention, it is preferable that the entire image of the spreader is displayed on the monitor before the container held and lifted by the spreader is lowered toward the chassis. The operator can confirm whether or not the spreader, the container, and the chassis are ready to perform the cargo handling operation by viewing this video.

  In the present invention, it is preferable that an image of a position where the chassis should stop is displayed on the monitor before the container lifted by being held by the spreader is lowered toward the chassis. The operator can confirm whether or not the chassis on which the container is to be placed is at a predetermined position by viewing this video.

  In the present invention, in the process of lowering the container held and lifted by the spreader toward the chassis, the monitor displays an image in which the container and the chassis are stored in a single field of view from obliquely above. Is preferred. The operator can check how high the container is with respect to the chassis by viewing this video.

  In the present invention, when placing the container held and lifted by the spreader on the chassis, it is preferable to display an image of the container and the chassis in one field of view from the side on the monitor. The operator can perform an operation so as to place the container on an appropriate position of the chassis while viewing this video.

  In the present invention, it is preferable that when the container placed on the chassis is gripped by the spreader, an image of a connection portion between the container and the spreader is displayed on the monitor. The operator can confirm whether or not the spreader has grasped the container without any trouble by viewing this video.

  In the present invention, it is preferable that when the container gripped by the spreader is lifted, an image in which the container and the chassis are stored in one field of view from the side is displayed on the monitor. The operator can check whether or not the container has been grasped by the spreader without any trouble and separated from the chassis by viewing this video.

  A yard crane operation system according to the present invention is a yard crane operation system in which an operator operates a yard crane while watching an image projected on a monitor and handles a container with respect to a chassis, and the spreader grips the container. And a monitor for selectively displaying the container image and the chassis image.

  In the present invention, by displaying selectively the video of the spreader that holds the container, the video of the container, and the video of the chassis on the monitor, it is possible to inform the operator of the progress of the work in detail. The operator can proceed while referring to various images displayed on the monitor, so that the situation at the site can be easily grasped.

  In the present invention, it is preferable to include a first camera that captures the entire spreader in the field of view, and to display the entire image of the spreader captured by the first camera on the monitor. The operator can confirm whether or not the spreader, the container, and the chassis are ready to perform the cargo handling operation by viewing this video.

  In the present invention, it is preferable to include a second camera that captures a position where the chassis should stop in a field of view, and to display an image of the stop position of the chassis captured by the second camera on the monitor. The operator can confirm whether or not the chassis on which the container is to be placed is at a predetermined position by viewing this video.

  In the present invention, a third camera for accommodating the container and the chassis in one field of view from above obliquely, and displaying the spreader captured by the third camera and the image of the container on the monitor. preferable. The operator can check how high the container is with respect to the chassis by viewing this video.

  In the present invention, a fourth camera that holds the container and the chassis in one field of view from the side may be provided, and the container and the chassis image captured by the fourth camera may be displayed on the monitor. preferable. The operator can check whether or not the container is mounted at the correct position with respect to the chassis by checking this video, and whether or not the container is gripped by the spreader without any trouble and separated from the chassis. Can do.

  In this invention, it is preferable to provide the 5th camera which accommodates the connection part of the said container and the said spreader in a visual field, and to display the image | video of the said container and the said spreader which this 5th camera caught. By viewing this video, the operator can confirm whether or not the spreader has grabbed the container without any trouble, and can confirm whether or not the spreader has released the container without any trouble.

According to the present invention, there are many uncertain factors in the container handling work for the chassis that require careful operation, that is, the work of lowering the container placed above the chassis and placing it on the chassis, as well as the chassis. The operator can reduce the amount of work by lowering the spreader placed above the container placed on the container and grasping the container by manual operation of the operator and other operations by automatic operation. .
Further, according to the present invention, when the container is handled with respect to the chassis, the images necessary for the monitor are displayed at each scene of the work. That's fine.
Therefore, it is possible to reduce the burden on the operator and increase the efficiency of container handling work in the container yard.

An embodiment of the present invention will be described with reference to FIGS.
The container yard shown in FIG. 1 is provided with a storage area 1 in which containers C are actually stacked and stored, and a chassis travel lane 2 for traveling a manned chassis S along the storage area 1. A yard crane 10 is disposed so as to straddle the storage area 1 and the chassis traveling lane 2. The storage area 1 and the chassis traveling lane 2 extend in parallel with each other, and the yard crane 10 is remotely operated by an operator in an operation room (not shown) provided separately. While self-propelled in the direction in which the chassis travel lane 2 extends, the container C is unloaded between the chassis S stopped in the chassis travel lane 2 and the storage area 1.

  As shown in FIG. 2, the yard crane 10 is provided so as to be movable on a portal-shaped main body 11, a plurality of traveling wheels 12 provided on both leg portions 11 a and 11 b of the main body, and an upper beam 11 b of the main body 11. A trolley 13 and a spreader 15 suspended from the trolley 13 via a wire 14. The traveling wheel 12 is rotationally driven by a driving device (not shown) and causes the yard crane 10 to travel forward and backward. The trolley 13 moves along the upper beam 11b, and moves the spreader 15 in a direction orthogonal to the direction in which the storage area 1 and the chassis traveling lane 2 extend. The spreader 15 moves in the vertical direction by winding or feeding the wire 14 from the trolley 13. Further, as shown in FIG. 3, the spreader 15 inserts hook pins 15a provided at the four corners of the spreader 15 into the locking holes Ca provided at the four corners of the upper surface of the container C, respectively. The container C is gripped by rotating and locking the hook pin 15a in the locking hole Ca. Moreover, the spreader 15 can respond | correspond to the container of each size of 20 feet, 40 feet, and 45 feet of full length by expanding-contracting the front-back boom 15b.

  The yard crane 10 is placed on the chassis S that is stopped on the chassis traveling lane 2 as well as the work of lowering the container C disposed immediately above the empty chassis S stopped on the chassis traveling lane 2 and placing it on the chassis S. The operation of lowering the spreader 15 arranged immediately above the container C and gripping the container C is performed by manual operation of the operator. Other work, for example, the work of transporting the container C stored in the storage area 1 to the position immediately above the empty chassis S stopped on the chassis travel lane 2 to place it on the chassis S, or the container C gripped by the spreader 15 The operation of transporting and storing somewhere in the storage area 1 is performed by automatic operation without an operator. Since the automatic operation is performed on the storage area 1 and the manual operation is performed on the chassis traveling lane 2, the space below the gate-shaped main body 11 is the automatic operation area above the storage area 1 and above the chassis traveling lane 2. Is recognized as a manual operation region.

Further, as shown in FIG. 1, the trolley 13 of the yard crane 10 has a camera (first camera) 21 for viewing the entire spreader 15 from above and a chassis traveling lane (chassis) just below the main body 11 from above. A camera (second camera) 22 is installed so that S is a position at which S should stop.
On one leg 11a of the yard crane 10, a camera (third camera) 25 is installed at a substantially intermediate height so that the container C and the chassis S that are in the process of descending can be accommodated in one field of view from obliquely above. . The legs 11a are provided with cameras (fourth cameras) 26a and 26b that can accommodate the container C and the chassis S in one field of view from the side at a height substantially equal to the lower end where the traveling wheels 12 are provided. Has been. The cameras 26a and 26b are respectively provided toward the front and rear of the chassis S. One camera 26a has the front end of the chassis S in the field of view, and the other camera 26b has the rear end of the chassis S in the field of view. ing.

  The spreader 15 is provided with cameras (fifth cameras) 27a to 27d that can view the connection portion between the container C and the spreader 15 in the field of view at the tip of the beam 15b. The cameras 27a to 27d are respectively provided toward the four corners of the upper surface of the container C. When the spreader 15 grips the container C, the camera 27a has the front left corner of the spreader 15 and the front left corner of the upper and lower ends of the container C. The camera 27b has the front right corner of the spreader 15, the upper surface of the container C and the front right corner of the lower end in one field of view, and the camera 27c has the rear left corner of the spreader 15 and the upper surface of the container C. The rear left corner of the lower end is stored in one field of view, and the camera 27d is configured to store the rear right corner of the spreader 15, the upper surface of the container C, and the rear right corner of the lower end in one field of view. In addition, front and rear, right and left follow the display of the direction described in FIG. 2 (and so on).

  FIG. 4 shows an operating device 30 for remotely operating the yard crane 10. The operation device 30 includes two monitors 31 and 32 for displaying images captured by cameras installed in various places of the yard crane 10 and a sub-monitor for displaying the real-time arrangement of the container C, the chassis S, and the yard crane 10 in an animated manner. 33 and operation sticks 34 and 35 for operating the yard crane 10 are provided. The monitors 31 and 32 divide the screen and display a plurality of images at the same time, or display one image on the entire surface, and capture images of various states of the container C, the chassis S, and the spreader 15. , To be displayed selectively.

Subsequently, container handling work by the operation system of the yard crane configured as described above will be described.
When an instruction to place a container C stored in the storage area 1 on the chassis 1 (referred to as a “job”) is instructed, the yard crane 10 should first drive the traveling wheels 12 to self-propel and handle the cargo. The container C is moved to a target position where the container C is placed directly below the gate-shaped main body 11. While moving to the target position, the yard crane 10 moves the trolley 13 to the target position directly above the container C to be handled. In the state where the spreader 15 is not holding the container C, the wire 14 is all wound up and is lifted to the highest position.

  When the yard crane 10 moves to the target position and stops, the chassis S with an empty loading platform enters the chassis traveling lane 2 along the storage area 1 in which the container C to be loaded is stored, and immediately below the portal-shaped main body 11. To stop.

When the chassis S stops just below the main body 11, the yard crane 10 sends out the wire 14, lowers the spreader 15 to grasp the container C to be loaded, and then raises the spreader 15 to lift the container C. Next, the yard crane 10 moves the trolley 13 that lifts the container C directly above the chassis S stopped in the chassis travel lane 12.
Up to this point, all operations of the yard crane 10 are performed automatically.

  When the trolley 13 that lifts the container C is disposed immediately above the chassis traveling lane 12, the automatic operation of the yard crane 10 is switched to the manual operation by the operator. The operator who has taken over the cargo handling operation operates the operation sticks 34 and 35 while referring to various images displayed on the monitors 31 and 32 and the animation displayed on the sub-monitor 33, and mounts the container C on the loading platform of the chassis S. Work to do.

  When the container C lifted from the trolley 13 is in the highest position after all the wires 14 are wound up, the monitor 31 holds the entire spreader 15 holding the container C in the field of view as shown in FIG. The image of the camera 21 is displayed on the full screen. Further, the screen of the monitor 32 is divided into four parts, top, bottom, left, and right. The upper left screen displays an image of the camera 26a that captures the front end of the chassis S, and the upper right screen displays the rear end of the chassis S. Is displayed in the field of view. The lower left screen of the monitor 32 displays an image of the camera 27b that captures the connection portion between the front right corner of the upper surface of the container C and the spreader 15, and the lower right screen displays the rear of the upper surface of the container C. An image of the camera 27d that displays the connection portion between the right corner and the spreader 15 in the field of view is displayed.

  The operator looks at the video displayed on the monitor 31 and confirms whether or not the spreader 15, the container C, and the chassis S are in a state where the cargo handling operation can be performed. Further, the two images displayed on the upper stage of the monitor 32 are viewed to confirm whether or not the empty chassis S on which the container C is to be placed is stopped at a predetermined position.

  When it is confirmed that the spreader 15, the container C, and the chassis S are in a state where work can be performed, the operator operates the operation sticks 34 and 35 to send out the wire 14 and lower the container C. When the container C starts to descend, the images on the monitors 31 and 32 are automatically switched. When the image is switched, the screen of the monitor 31 is also divided into four parts in the upper, lower, left and right directions as shown in FIG. 6, and the image of the camera 21 that captures the entire spreader 15 holding the container C is displayed on the upper left screen. On the upper right screen, an image of the camera 25 that displays the container C and the chassis S in one field of view from diagonally above is displayed. Further, the lower left screen of the monitor 31 displays an image of the camera 26a that allows the front end of the chassis S to be viewed from the side, and the lower right screen displays the rear end of the chassis S from the side. The image of the camera 26b is displayed.

  The screen of the monitor 32 is subsequently divided into four parts, top, bottom, left, and right, and the upper left screen displays the image of the camera 27b that fits the front right corner of the spreader 15 and the top right and bottom front right corners of the container C into one field of view. In the upper right screen, an image of the camera 27d that displays the rear right corner of the spreader 15, the upper surface of the container C, and the rear right corner of the lower end in one field of view is displayed. The lower left screen of the monitor 32 displays an image of the camera 27a that fits the front left corner of the spreader 15 and the upper and lower left corners of the container C into one field of view. The lower right screen displays the spreader. The image of the camera 27c that displays the rear left corner 15 and the upper left and rear left corners of the container C in one field of view is displayed.

The operator continues the operation of lowering the container C while viewing the screen on the upper right side of the monitor 31 and checking how high the container C is with respect to the chassis S.
When the container C approaches the chassis S, the bottom end of the container C approaching the front end of the chassis S enters the field of view of the camera 26a, and the screen on the lower left side of the monitor 31 shows the bottom of the front end of the container C approaching the front end of the chassis S. Begin to see. At the same time, the bottom end of the container C approaching the rear end of the chassis S enters the field of view of the camera 26b, and the bottom end of the container C approaching the rear end of the chassis S begins to appear on the screen on the lower right side of the monitor 31. . Therefore, the operator fits the chassis pin Sp standing on the loading platform of the chassis S into the pin hole Cb formed on the bottom surface of the container C as shown in FIG. Then, an operation for finely adjusting the position of the container C is performed so that the container C is placed on an appropriate position of the chassis S.

When the container C is placed at an appropriate position on the chassis S, the operator performs an operation of separating the container C from the spreader 15 while viewing the four screens of the monitor 32, and whether or not the spreader 15 is separated from the container C without any trouble. Confirm.
When the spreader 15 is separated from the container C without any trouble, the manual operation by the operator is switched to the automatic operation of the yard crane 10, and the yard crane 10 starts to execute the next job.

  In the manual operation of the yard crane according to the above-mentioned job, the operator can display the entire image of the spreader 15 on the monitor 31 before the container C lifted by the spreader 15 is lowered toward the chassis S. By viewing the video, it is possible to confirm whether or not the spreader 15, the container C, and the chassis S are in a state where the cargo handling operation can be performed. Further, by displaying a video of the position where the chassis S should stop on the monitor 32, the operator can see this video and confirm whether or not the chassis S where the container C is to be placed is at a predetermined position. it can. Thereby, cargo handling work can be performed safely.

  In the process of lowering the container C toward the chassis S, an image in which the container C and the chassis S are stored in one field of view from diagonally above is displayed on the monitor 32. It is possible to confirm how high the is at the height relative to the chassis S. In this video, the container C and the chassis S are captured obliquely from above and it is easy to grasp the distance between them, so that the burden on the operator can be reduced.

  When the container C is placed on the chassis S, an image in which the container C and the chassis S are stored in one field of view from the side is displayed on the monitor 31, so that the operator views the image and the container C is placed in the chassis S. The operation can be performed so as to be placed at an appropriate position. This image captures the container C and chassis S from the side, shows the chassis pin Sp that is hidden in the container C when viewed from above, and reveals the position adjustment target of the container C. Can be reduced.

  Next, when an instruction is given to lower the container C mounted on the chassis S to a position where the storage area 1 is located, the yard crane 10 first drives the traveling wheels 12 to self-propel and the container C to be handled. Is moved to a target position arranged directly under the gate-shaped main body 11. While moving to the target position, the yard crane 10 moves the trolley 13 to a position where the trolley 13 is arranged immediately above the chassis travel lane 2. In the state where the spreader 15 is not holding the container C, the wire 14 is all wound up and is lifted to the highest position.

When the yard crane 10 moves to the target position and stops, the chassis S on which the container C is placed enters the chassis traveling lane 2 along the storage area 1 and stops just below the portal-shaped main body 11.
Up to this point, all operations of the yard crane 10 are performed automatically.

  When the chassis S stops just below the main body 11, the automatic operation of the yard crane 10 is switched to the manual operation by the operator. The operator who has taken over the cargo handling operation operates the operation sticks 34 and 35 while referring to various images displayed on the monitors 31 and 32 and animation displayed on the sub-monitor 33, and the container placed on the loading platform of the chassis S. Work to lift C.

  When the spreader 15 suspended from the trolley 13 is in the highest position after all the wires 14 are wound up, as shown in FIG. 8, the monitor 31 has an image of the camera 21 that keeps the entire spreader 15 in the field of view. Is displayed in full screen. Further, the screen of the monitor 32 is divided into four parts, top, bottom, left and right, and the upper left screen displays an image of the camera 26a that views the front end of the container C placed on the chassis S, and the upper right screen displays Then, an image of the camera 26b that displays the rear end of the container C placed on the chassis S in the field of view is displayed. In addition, on the lower left screen of the monitor 32, an image of the camera 27b that displays the front right corner of the spreader 15 connected to the container C (hidden on the screen but has the hook pin 15a) is displayed. In this screen, an image of the camera 27d that displays the rear right corner of the spreader 15 connected to the container C (similarly, the hook pin 15a exists) in the field of view is displayed.

  The operator looks at the video displayed on the monitor 31 and confirms whether or not the spreader 15, the container C, and the chassis S are in a state where the cargo handling operation can be performed. Furthermore, it is confirmed whether or not the chassis S on which the container C is placed is stopped at a predetermined position by looking at the two images displayed on the upper stage of the monitor 32.

  When it is confirmed that the spreader 15, the container C and the chassis S are ready for work, the operator operates the operation sticks 34 and 35 to send out the wire 14 and lower the spreader 15. When the spreader 15 starts to descend, the images on the monitors 31 and 32 are automatically switched. When the video is switched, as shown in FIG. 9, the screen of the monitor 31 is also divided into four parts, top, bottom, left, and right, and the upper left screen displays the video of the camera 21 that takes the entire spreader 15 into view, and the upper right screen. The image of the camera 25 that displays the spreader 15 and the container C placed on the chassis S in a single field of view from obliquely above is displayed. The lower left screen of the monitor 31 displays an image of the camera 26a that allows the front end of the container C placed on the chassis S to be viewed from the side, and the lower right screen displays the image on the chassis S. An image of the camera 26b that displays the rear end of the container C from the side is displayed.

  The screen of the monitor 32 is subsequently divided into four parts, top, bottom, left, and right, and the upper left screen displays the video of the camera 27b that keeps the front right corner of the spreader 15 (hidden on the screen but has the hook pin 15a) in view. On the upper right screen, an image of the camera 27d that displays the rear right corner of the spreader 15 (similarly, the hook pin 15a exists) is displayed. Further, the lower left screen of the monitor 32 displays an image of the camera 27a that captures the front left corner of the spreader 15 (similarly, the hook pin 15a is present), and the lower right screen displays the rear left corner of the spreader 15. An image of the camera 27c that keeps the field of view in the same manner (the hook pin 15a is also present) is displayed.

The operator continues the operation of lowering the spreader 15 while viewing the screen on the upper right side of the monitor 31 and confirming how high the spreader 15 is with respect to the container C on the chassis S.
When the spreader 15 approaches the container C, the screen on the upper left side of the monitor 32 shows that the front right corner of the upper surface of the container C approaches the front right corner of the spreader 15. It can be seen that the rear right corner of the upper surface of the container C approaches the rear right corner of the spreader 15, and the front left corner of the upper surface of the container C approaches the front left corner of the spreader 15 on the lower left screen of the monitor 32. In the lower right screen of the monitor 32, it can be seen that the rear left corner of the upper surface of the container C approaches the rear left corner of the spreader 15. Therefore, the operator locks the hook pins 15a provided in the spreader 15 in the locking holes Ca provided in the four corners of the upper surface of the container C while looking at the four screens of the monitor 31, and the container C Do the operation to grab.

After grasping the container C with the spreader 15, the operator confirms whether the container C has been grasped by the spreader 15 without any trouble and separated from the chassis S while looking at the two lower screens of the monitor 31.
When the container C is separated from the chassis S, the manual operation by the operator is switched to the automatic operation of the yard crane 10, and the yard crane 10 starts to execute the next job.

  In the manual operation of the yard crane according to the above job, when the container C placed on the chassis S is gripped by the spreader 15, an image of a connection portion between the container C and the spreader 15 is displayed on the monitor 32. By viewing this video, it can be confirmed whether or not the spreader 15 has grasped the container C without any trouble. Further, when the container C gripped by the spreader 15 is lifted, an image in which the container C and the chassis S are stored in one field of view from the side is displayed on the monitor 31 so that the operator can see the image and It can be confirmed whether or not C is gripped by the spreader 15 without any trouble and separated from the chassis S.

  In the present embodiment, two cameras 26a for photographing the front end of the chassis S are provided in accordance with the size of the chassis S, one for 20 feet and one for 40 feet. Similarly, a camera 26b for photographing the rear end of the chassis S is provided. , 20 feet and 40 feet may be provided. If you shoot containers with these sizes that differ greatly with one camera, the appearance of the subject will vary greatly, but if you prepare a camera for each size, the appearance of the subject will not change much and it will be easy for the operator to understand the situation. .

  In addition, a camera that keeps in mind the container number of the container C mounted on the chassis S stopped in the chassis travel lane 2 immediately below the main body 11 (a number assigned to the container C), and the container C mounted on the chassis S. You may provide the camera which accommodates the chassis ID of the chassis S (identification code separately attached to the chassis S that entered the container yard) together with the container number in one field of view. The operator can check the correctness / incorrectness of the container or chassis that is going to be used for cargo handling work from the images of these two cameras.

  Further, for example, a speaker may be provided on the leg portion 11a for an operator to communicate his / her will to the driver of the chassis S. For example, when the chassis S deviates from the target position and stops, or when the work has been completed and the container C has been confirmed to be cut off, the operator can speak smoothly to the driver so that the operation can proceed smoothly. .

It is an elevation view of a part of a container yard showing an embodiment of the present invention. It is a perspective view of a yard crane. It is a perspective view which shows the structure of the part which connects a spreader to a container. It is an elevation view which shows the operating device of a yard crane. It is state explanatory drawing which shows the image | video displayed on a monitor when performing the operation | work which mounts the lifted container on an empty chassis. Similarly, it is a state explanatory view showing an image displayed on a monitor when performing an operation of placing a suspended container on an empty chassis. It is a perspective view which shows the structure of the part which aligns a chassis and a container. It is a state explanatory drawing which shows the image | video displayed on a monitor when performing the operation | work which lifts the container mounted on the chassis with a spreader. Similarly, it is a state explanatory view showing an image displayed on the monitor when the container placed on the chassis is gripped with a spreader and lifted.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Storage area 2 Chassis driving lane 10 Yard crane 13 Trolley 15 Spreader 15a Hook pin 15b Beam 21 Camera (1st camera)
22 Camera (second camera)
25 cameras (third camera)
26a, 26b Camera (fourth camera)
27a to 27d camera (fifth camera)
31, 32 Monitor S Chassis Sp Chassis pin C Container Ca Locking hole Cb Pin hole

Claims (14)

A method of operating a yard crane that performs container handling work in a container yard,
The operation of lowering the container placed above the chassis and placing it on the chassis, and the work of lowering the spreader placed above the container placed on the chassis and gripping the container are performed by manual operation of the operator. ,
A method for operating a yard crane, wherein other operations are carried out by automatic operation. An operation method of a yard crane in which an operator operates a yard crane while watching an image projected on a monitor and loads a container to a chassis.
A method of operating a yard crane, wherein an image of a spreader holding the container, an image of the container, and an image of the chassis are selectively displayed on the monitor.   3. The method of operating a yard crane according to claim 2, wherein an entire image of the spreader is displayed on the monitor before the container lifted by being gripped by the spreader is lowered toward the chassis.   3. The operation of the yard crane according to claim 2, wherein an image of a position where the chassis should stop is displayed on the monitor before the container lifted by being grasped by the spreader is lowered toward the chassis. Method.   The video image in which the container and the chassis are stored in one field of view from obliquely above is displayed on the monitor in the process of lowering the container held and lifted by the spreader toward the chassis. Item 3. A method for operating a yard crane according to Item 2.   The video image of the container and the chassis in a single field of view from the side is displayed on the monitor when the container gripped and lifted by the spreader is placed on the chassis. How to drive a yard crane.   The method for operating a yard crane according to claim 2, wherein when the container placed on the chassis is gripped by the spreader, an image of a connection portion between the container and the spreader is displayed on the monitor.   The operation of the yard crane according to claim 2, wherein when the container gripped by the spreader is lifted, an image in which the container and the chassis are stored in a single field of view from the side is displayed on the monitor. Method. An operation system for a yard crane in which an operator operates a yard crane while watching an image projected on a monitor and handles a container with respect to a chassis.
An operation system for a yard crane, comprising a monitor that selectively displays an image of a spreader that grasps the container, an image of the container, and an image of the chassis.   The yard crane operating system according to claim 9, further comprising a first camera that includes the entire spreader in a field of view, and displaying an entire image of the spreader captured by the first camera on the monitor.   The yard according to claim 9, further comprising a second camera that captures a position where the chassis should stop in a field of view, and displaying an image of the stop position of the chassis captured by the second camera on the monitor. Crane driving system.   3. A third camera that accommodates the container and the chassis in a single field of view from obliquely above, and displays the spreader and the container image captured by the third camera on the monitor. The operation system of the yard crane of 9.   4. A fourth camera for accommodating the container and the chassis from one side in one field of view, and displaying images of the container and the chassis captured by the fourth camera on the monitor. The operation system of the yard crane of 9.   The yard crane according to claim 9, further comprising a fifth camera that captures a connection portion between the container and the spreader, and displaying an image of the container and the spreader captured by the fifth camera. Driving system.

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