JP2006256848A - Cargo handling support method and cargo handling support system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To accurately unloading a cargo at a prescribed position even if the held cargo is swung. <P>SOLUTION: In this cargo handling support method, the relative position of a holding device or a cargo to a prescribed position and the state of the swing of the holding device or the cargo are determined S108, S110 when the holding device or the cargo lowers to a prescribed height above the prescribed position (S106). A change in the horizontal position of the holding device or the cargo due to the swing while the holding device or the cargo is lowered from the prescribed height to the prescribed position is predicted (S112). Whether the holding device or the cargo is fixed stationarily is determined based on the change in the predicted position (S114, 116). When a hoist down lever is operated when the holding device or the cargo is determined to be allowed to fix stationarily (S118), a container is lowered to the ground by driving a hoist motor at a high speed (S120). <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a cargo handling support method, and more particularly, to a cargo handling support method and a cargo handling support system suitable for unloading a cargo suspended with a wire of a crane to a predetermined position.

At the container terminal, containers are loaded onto a container ship using a container crane or unloaded from the container ship. FIG. 10 shows an example of container handling at the container terminal.
In FIG. 10, a container crane 10 that is a cargo handling device can travel along a quay 12 in a direction perpendicular to the paper surface. The container crane 10 includes a girder 16 that extends in the horizontal direction above the leg portion 14. The girder 16 has such a length that the tip reaches the upper side of the container ship 18 berthed on the quay 12, and a cab 20 and a trolley 22 are provided at the lower part. The driver's cab 20 and the trolley 22 are guided by a rail (not shown) provided in the lower part of the girder 16 so that they can travel together.

  The trolley 22 includes a pulley that winds up or down a wire 28 that supports a spreader 26 that holds a container 24. The wire 28 is wound around a winder (not shown) installed in a machine room 30 provided at the rear end of the girder 16, and an operator (not shown) operates a lever or the like in the cab 20 to wind the wire 28. The take-up machine is driven so that the wire 28 is wound up and lowered, and the spreader 26 can be lifted and lowered.

  When the container 24 is loaded on the container ship 18, the container 24 is carried under the container crane 10 by a trailer chassis 32 or the like. Then, the trolley 22 is moved right above the container 24, the spreader 26 is lowered via the wire 28, and the spreader 26 holds the container 24. Thereafter, the wire 28 is wound up to raise the spreader 26, and the trolley 22 is moved to the front end side of the girder 16 as indicated by a two-dot chain line 34, and the container 24 is lowered to a predetermined position of the container ship 18.

  In recent years, the container ship 18 has been increased in size, the width of the hull has been increased so that 5000 to 8000 containers can be loaded, and the loading height of the container 24 has also increased. Therefore, the girder 16 of the container crane 10 has a longer length and a higher height from the ground. For this reason, the operator of the container crane 10 needs to align the bottom of the container 24 with the chassis 32 about 40 m below the cab 20 of the container crane 10 when the container 24 is landed. It has become.

  In addition, a quick cargo handling operation is required, and 30 to 40 containers 24 are loaded into the container ship 18 or landed from the container ship 18 in one hour. Therefore, the operator needs to operate the trolley 22 of the container crane 10 at high speed, and must place the container 24 with a precision of 5 cm with respect to the target position (predetermined position) for placing the container 24 where the remaining runout remains. In other words, it is necessary to finally lower the wire 28 at an optimal timing. For this reason, the operation of aligning the container 24 and the chassis 32 requires skill, is difficult except for highly skilled operators, and causes a high cost for container handling.

As described above, the container handling operation of the container 24 in which the container crane 10 is operated and the container 24 is gripped by the spreader 26 or the container 24 is unloaded and stacked at a predetermined position of the container ship 18 is carried out by using advanced technology. In short, it is a difficult task even for a skilled operator. Therefore, cameras are installed at the four corners of the spreader to photograph the target object that is a predetermined position for landing the container, and the control device drives the drive device so that the position of the target object and the suspended container coincides, An apparatus for landing a container has been developed (Patent Document 1). As a result, the operator can automatically operate the container crane only by instructing the target to the control device, and the burden on the operator can be greatly reduced.
JP 2002-241078 A

  However, as described above, it is necessary to operate the trolley 22 at high speed, and the container 24 must be lifted at a high place, so that the container 24 held by the spreader 26 shakes due to the influence of wind. . For this reason, even if the drive device is stopped when the position of the target and the container coincide with each other as in the device described in Patent Document 1, even if the wire is lowered, the wire 24 is moved because the container 24 is shaken. During the lowering, the position is shifted with respect to the target (predetermined position), and the container cannot be unloaded accurately at the target position. As a result, the container has to be raised again and the placement operation has to be performed again, and a quick cargo handling operation cannot be performed. Further, since automatic operation is performed by the control device, the control is complicated and expensive.

The present invention has been made to solve the above-described drawbacks of the prior art, and it is an object of the present invention to accurately unload a load to a predetermined position even if the held load is shaken.
Another object of the present invention is to enable a rapid cargo handling operation without requiring a skilled technique.
Another object of the present invention is to reduce the burden on the operator of the cargo handling device.

  In order to achieve the above object, a cargo handling support method according to the present invention is a cargo handling support method in which a holding tool of a cargo handling apparatus supported via a wire or a load held by the holding tool is placed at a predetermined position. When the holding tool or the baggage is lowered to a predetermined height above the predetermined position, the relative position between the holding tool or the baggage and the predetermined position and the state of deflection of the holding tool or the baggage are obtained. A change in the horizontal position of the holding tool or the load based on the deflection while the holding tool or the load is lowered from the predetermined height to the predetermined position, and based on the change in the predicted position. Then, the operator of the cargo handling apparatus is permitted to perform a stationary operation.

  A cargo handling support system for carrying out the cargo handling support method described above includes a cargo handling apparatus having a holding tool supported via a wire, and a load provided on the cargo handling apparatus and held by the holding tool or the holding tool. A three-dimensional measuring device for obtaining three-dimensional information on a predetermined position where the holder or the baggage is placed, and a relative position between the holder or the baggage and the predetermined position based on an output signal of the three-dimensional measuring device. A relative position calculation unit for determining a position, a shake calculation unit for determining a state of deflection of the holding tool or the baggage based on an output signal of the three-dimensional measuring device, and the holding tool obtained by the shake calculation unit or the A change in the horizontal position of the holding tool or the load is obtained based on the swing while the holding tool or the load is lowered to the predetermined position based on the swing state of the load. Based on the position prediction calculation unit, the relative position obtained by the relative position calculation unit, and the change in position obtained by the position prediction calculation unit, a permission signal for the holding operation of the holder or the luggage is output. It is characterized by having a stationary permission judging part and a notifying part provided in the cargo handling device and notifying the operator of the cargo handling equipment of the judgment result of the stationary permission judging unit.

  The relative position calculation unit and the shake calculation unit may obtain the relative position and the state of the shake when the holding tool or the load is lowered to a predetermined height above the predetermined position. The position prediction calculation unit obtains a change in the horizontal position as an angle between a predetermined part at the lower end of the holder or the load and a reference point at the predetermined position with respect to the detection unit of the three-dimensional measurement apparatus. You may do it. Further, when the holding permission determining unit determines that the holding tool or the load can be fixed at the predetermined position when the holding tool or the load being lowered is lowered to the predetermined height, Alternatively, when the load is lowered at a predetermined speed and it is determined that the load cannot be placed at the predetermined position, the lowering of the holding tool or the load by the cargo handling device can be decelerated or stopped. The luggage may be a container.

  The present invention as described above obtains the state of swing of the load held by the holding device of the cargo handling device or the load holding device, and predicts a change in position due to the swing of the holding device or the load while the load is lowered. . Therefore, even when the holding tool or baggage suspended by the wire of the cargo handling device is swung due to residual shake or wind, it is possible to perform the placement operation without improper timing to place the holder or the baggage. It is possible to accurately unload and place at the unloading position. In addition, since the stationary permission determining unit determines whether or not to perform the stationary operation and notifies the operator, it is possible to place the holding tool or the baggage at a predetermined position without requiring a skilled technique. In addition, the holding tool or the load can be accurately placed by a single placement operation, and the trouble of redoing can be eliminated, so that a quick cargo handling operation can be performed. Furthermore, since the operator of the cargo handling device can easily know the timing of the stationary operation that requires the most nerve, the burden on the operator can be greatly reduced. In addition, since the cargo handling operation is not automatically performed by controlling the drive unit of the cargo handling device, an inexpensive system can be constructed.

  When the holder or baggage is lowered to a predetermined height, the relative position between the holder or baggage and the predetermined position and the state of the swing of the holder or baggage need to be calculated. In addition, the control can be simplified. Further, when the change in the horizontal position due to the shake is obtained as an angle between the predetermined portion of the lower end of the holding tool or the load with respect to the detection unit of the three-dimensional measuring device and the reference point of the predetermined position, the wire unwinding amount Therefore, it is possible to easily obtain the change in the horizontal position due to the lowering.

  Further, when the holding tool or luggage being lowered is lowered to a predetermined height, and it is determined that the holding tool or luggage can be placed at a predetermined position, the descent speed is reduced when the holding tool or luggage is lowered at a predetermined speed. The variation in the arrival position due to the difference in the position can be prevented, and the holder or the load can be accurately lowered to a predetermined position. In addition, if the holding tool or baggage being lowered is lowered to a predetermined height and it is determined that it cannot be placed in a predetermined position, if the holding device or the baggage descending by the cargo handling device is decelerated or stopped, the swing will be considered. In addition to taking the timing of the stationary operation, it is possible to prevent the stationary operation from being re-executed due to the holder or the baggage being deviated from the stationary position.

Preferred embodiments of a cargo handling support method and a cargo handling support system according to the present invention will be described in detail with reference to the accompanying drawings. In addition, about the part corresponding to the part demonstrated in the said background art, the same code | symbol is attached | subjected and the description is abbreviate | omitted.
FIG. 1 is a block diagram of a main part of a cargo handling support system according to an embodiment of the present invention. In FIG. 1, the cargo handling support system 50 includes four three-dimensional measuring devices 52 (52 a to 52 d), a suspended load monitoring unit 54, a lowering lever unit 56, a winding motor control unit 58, and a winding motor 60. The three-dimensional measuring device 52 is composed of a visual sensor such as a three-dimensional laser radar or a high-speed camera. As will be described later, the spreader 26 or the container 24 supported by the wire 28 and the relative position between these and a predetermined position where they are placed. The distance can be obtained. As shown in FIG. 3, each three-dimensional measuring device 52 has detection units (image data acquisition units) 53 (53 a to 53 d) attached downward to the four corners of the spreader 26 having a rectangular shape in plan view. The spreader 26 is a holder that forms a part of the cargo handling apparatus, and can hold the container 24. The three-dimensional measuring device 52 can obtain three-dimensional information of the lower part of the spreader 26, the container 24b held by the spreader 26, and the container 24a in which the containers 24b are stacked. That is, the detection unit 53 of the three-dimensional measurement apparatus 52 is attached so that the lower part of the spreader 26 and the lower part of the container 24 are in the field of view, as indicated by the broken line 55 in FIGS.

  The suspended load monitoring unit 54 includes a mode selection / input unit 62, an unloading determination unit 64, and a display unit 66 serving as a notification unit. The mode selection / input unit 62 can start and stop the cargo handling support system 50 by a switch (not shown) and the operator of the container crane 10 automatically sets the cargo handling support mode by the suspended load monitoring unit 54 or You can select and enter semi-automatic operation that requires judgment. The mode selection signal input via the mode selection unit / input unit 62 is output to the unloading determination unit 64. Further, the mode selection / input unit 62 can input information on whether or not the spreader 26 holds the container 24, the size of the container 24, and the like.

  As will be described in detail later, the unloading determination unit 64 determines whether or not an operation of placing (loading) the container 24b illustrated in FIG. 3 on the container 24a may be performed, and a stationary operation permission signal. Is output to the display unit 66. The display unit 66 constitutes a notification unit and is provided in the cab 20 of the container crane 10. The display unit 66 displays the determination content of the unloading determination unit 64 on the screen and notifies the operator together with a buzzer sound and the like. Further, when the unloading determination unit 64 determines that the container 24b held by the spreader 26 cannot be placed on the container 24a when the automatic support mode is selected, the winding motor that winds or unwinds the wire 28. 60 drive is stopped.

  The unloading determination unit 64 is connected to the winding motor control unit 58 via the switch unit 70. The switch unit 70 is controlled to be switched by the mode selection / input unit 62. That is, the switch unit 70 is turned on when the automatic support mode is selected by the mode selection / input unit 62 and connects the unloading determination unit 64 of the suspended load monitoring unit 54 to the winding motor control unit 58. When semi-automatic is selected, the switch unit 70 is turned off so that no signal is input from the suspended load monitoring unit 54 to the winding motor control unit 58.

  The lowering lever unit 56 includes a lowering lever 72 and a lever operation amount output unit 74. The lowering lever 72 is provided in the cab 20 of the container crane 10 and lowers the spreader 26 by lowering the wire 28 of the container crane 10. The operation signal is output from the lever operation amount output unit 74 and the suspended load monitoring unit 54. Is input to the unloading determination unit 64. The lever operation amount output unit 74 outputs a signal having a magnitude corresponding to the operation amount of the lowering lever 72 and inputs the signal to the winding motor control unit 58.

  The winding motor control unit 58 includes a winding motor control unit 76 and a motor drive circuit 78. The winding motor control unit 76 receives the output signals of the lever operation amount output unit 74 of the lowering lever unit 56 and the unloading determination unit 64 of the suspended load monitoring unit 54, and an inverter according to the magnitude of the input signal. The number of rotations of the winding motor 60 is controlled via a motor drive circuit 78 composed of the above, and the speed of lowering the wire 28 is controlled and the lowering is stopped.

  The unloading determination unit 64 includes a support start determination unit 80, a relative position calculation unit 82, a shake calculation unit 84, a position prediction calculation unit 86, a stationary permission determination unit 88, and a stationary execution unit 90, as illustrated in FIG. It is configured. Output signals of the three-dimensional measuring devices 52a to 52d are input to the support start determination unit 80 and the relative position calculation unit 82. Based on the output signal of the three-dimensional measuring device 52, the support start determination unit 80 moves down the spreader 26 or the container 24 supported by the wire 28, and the distance between these lower ends and a predetermined position where these are placed is When the distance is less than or equal to a preset distance, a support start signal is output to the relative position calculation unit 82. The distance at which the support start determination unit 80 outputs the calculation start signal is, for example, 20 cm to 5 m above a predetermined position where the spreader 26 or the container 24 is placed (arrived), and can be arbitrarily set. .

  The relative position calculation unit 82 calculates the relative position (distance, horizontal position, etc.) between the lower end of the spreader 26 or the container 24 and a predetermined position based on the output signal of each three-dimensional measurement device 52, and the shake calculation unit 84. And the position prediction calculation unit 86. Based on the output signal of the relative position calculation unit 82, the shake calculation unit 84 calculates and determines the shake state such as the amplitude, period, and shake direction of the spreader 26 or the container 24 supported by the wire 28, The calculation result is sent to the position prediction calculation unit 86.

  Based on the output signals from the relative position calculation unit 82 and the shake calculation unit 84, the position prediction determination unit 86 considers the shake state of the spreader 26 or the container 24, and the relative position calculation unit 82, the shake calculation unit 84, Calculates the horizontal position with respect to the target position when the spreader 26 or the container 24 is loaded at a predetermined lowering speed from the position (height) from which the calculation result is output, and outputs it to the placement permission determination unit 88. . Based on the calculation result 88 of the position prediction calculation unit 86, the stationary permission determination unit 88 outputs a stationary operation permission signal to the display unit 66 to notify the operator in the case of the semi-automatic support mode. In addition, in the automatic support mode, the stationary permission determining unit 88 displays on the display unit 66 whether the stationary operation is being performed or that the stationary operation is possible, and outputs an execution command to the stationary execution unit 90. When the command signal is input from the stationary permission determining unit 88, the stationary execution unit 90 sends a signal for driving the winding motor 60 at a predetermined rotational speed to the winding motor control unit 58.

  The operation of the cargo handling support system 10 according to the embodiment as described above is as follows. In the description of this operation, as shown in FIG. 3, the description will focus on the case where the container 24b held by the spreader 26 is placed on another container 24a. In this embodiment, as shown in FIG. 3, three-dimensional orthogonal coordinates are set with reference to the container 24a on which the container 24b is stacked, the height direction of the container 24a is the Z axis, and the height of the container 24a is One side 94 orthogonal to the vertical direction (Z axis) is the X axis, and the side orthogonal to the X axis and the Z axis is the Y axis.

  As shown in FIG. 3, when the container 24 a held by the wire 28 of the container crane 10 through the spreader 26 is loaded on the container 24 a loaded on the container ship 18, for example, the operator holds the trolley 22. The cab 20 is moved together with the cab 20 above the container ship 18. Further, the operator moves the container crane 10 along the quay 12 and causes the trolley 22 to travel along the girder 16 and visually moves the trolley 22 above the container 24a on which the containers 24b are stacked. Thereafter, the operator operates the lowering lever 72 of the lowering lever unit 56 shown in FIG. 1 to turn on the winding motor 60 for lowering and winding the wire 28. At this time, if the operator selects the automatic support mode by the mode selection / input unit 62 of the suspended load monitoring unit 54 shown in FIG. 1, the switch unit 70 is turned on and the unloading determination unit 64 turns the winding motor control unit 58. Is connected to the winding motor control section 76, and cargo handling support is performed according to the flowchart shown in FIG.

  First, as described above, when the operator operates (turns on) the lowering lever 72 of the lowering lever unit 56 (step 100, step 100), the on signal is unloaded from the lever operation amount output unit 74 and the suspended load monitoring unit 54. Input to the determination unit 64. The lever operation amount output unit 74 outputs a signal having a magnitude corresponding to the operation amount of the lowering lever 72 to the winding motor control unit 76 of the winding motor control unit 58. The winding motor control unit 76 controls the output of the motor drive circuit 78 formed of an inverter according to the magnitude of the output signal of the lever operation amount output unit 74, turns on the winding motor 60, and sets the operation amount of the lowering lever 72. The winding motor 60 is driven at the corresponding rotation speed (step 102 in FIG. 4). As a result, the wire 28 is wound down, and the container 24 b supported by the wire 28 is lowered integrally with the spreader 26.

When the unloading determination unit 64 of the suspended load monitoring unit 54 receives an operation signal from the lowering lever 72, the support start determination unit 80 shown in FIG. 2 reads the output signal of each three-dimensional measuring device 52 (step 104). Then, it is determined whether or not the lower end of the container 24b has been lowered to the support area (step 106). That is, the support start determination unit 80, for example, the position O of the detection unit 53 output from the three-dimensional measurement device 52b corresponding to the detection unit 53b illustrated in FIG. 3 and the distance z _B to the lower end B of the container 24b, and the position O And the distance z _C to the inner upper end C of the stacking cone 92 of the container 24a and the difference (distance) Δz are obtained.

  When the support start determination unit 80 determines in step 106 that the lower end of the container 24b has not been lowered to the support region (for example, Δz = 5 m), the process returns to step 102 and the driving of the winding motor 60 is continued and the wire 28 is continued. Is rolled down. Then, the support start determination unit 80 inputs a support start signal to the relative position calculation unit 82 as entering the support region when the container 24b is lowered and Δz becomes equal to or less than a preset value. As a result, the relative position calculation unit 82 calculates the relative position of the container 24b with respect to the container 24a as shown in step 108 of FIG. 4 and inputs the relative position to the shake calculation unit 84 and the position prediction calculation unit 86.

をＸ方向のずれ量として求める。また、相対位置演算部８２は、コンテナ２４ａに対するコンテナｂの高さ情報として、

を演算する。 The relative position calculation unit 82 obtains horizontal positional deviation information that is the relative position of the container 24b with respect to the container 24a as follows. For example, in the case of the output signal of the three-dimensional measuring device 52b shown in FIG. 3, the corner, which is a predetermined portion at the lower end of the container 24b, is B, the outer upper end of the stacking cone 92 of the container 24a is D, and the stacking cone 92 is inside. When the upper end is C, the angle BOD that the corner B and the upper end D stretch to the detection unit 53B is θ _BD , and the angle COD that the corner B and the upper end C stretches to the detection unit 53B is θ _CD Then

As the amount of deviation in the X direction. Further, the relative position calculation unit 82 obtains the height information of the container b with respect to the container 24a as

Is calculated.

Then, the relative position calculation unit 82 obtains the deviation amount (deviation angle) Δθ and the height Δz between the X direction and the Y direction based on the output signal of the three-dimensional measurement device 52b. The relative position calculation unit 82 obtains the horizontal shift angle Δθ and the relative height Δz between the X direction and the Y direction based on the output signals of the three-dimensional measuring devices 52a to 52d. That is, the relative position calculation unit 82 obtains 16 state quantities of Δθ ₁ , Δz ₁ , Δθ ₂ , Δz ₂ ,..., Δθ ₈ , Δz _{8 from time} to time, and Δz _i (i = 1, 2). , calculates the average value Delta] z _AV of ......... 8). Then, the relative position calculation unit 82 outputs the deviation angle Δθ _i (i = 1, 2,..., 8) obtained as described above to the shake calculation unit 84. Each detection unit 53 is attached such that a part of two adjacent sides of the lower container 24a is within the field of view 97, as shown in FIG.

Based on the shift angle Δθ _i output from the relative position calculation unit 82, the shake calculation unit 84 determines the shake state of the container 24b, that is, the angular velocity (dΔθ _i / dt) based on the shift angle Δθ _i and the shake direction of the container 24b. Ask for. The shake calculation unit 84 outputs the calculated angular velocity (dΔθ _i / dt) of the deviation angle and the shake direction to the position prediction calculation unit 86 (step 110).

Further, the relative height (distance between the container 24a and the container 24b) Δz _i (i = 1, 2,..., 8) is input to the position prediction calculation unit 86 from the relative position calculation unit 82. Based on the input relative height Δz _i , the position prediction calculation unit 86 calculates the lowering speed (dΔz _i / dt) of the container 24b due to the lowering of the wire 28 and calculates the average value of the lowering speeds. Further, when the container 24b descends as it is, the position prediction calculation unit 86 calculates a horizontal shift amount (shift angle) Δθ _f of the container 24b with respect to the container 24a after t seconds (step 112). The position prediction calculation unit 86 inputs the calculated predicted relative position Δθ _f after t seconds between the container 24 a and the container 24 b to the stationary permission determination unit 88.

を満足するか否かを判断する。数式３が満足されていないときは、ステップ１０８に戻ってステップ１０８〜ステップ１１４を繰り返し、コンテナ２４ｂを定置（着荷）させてもよい高さまで下降させる。 The stationary permission determination unit 88 receives the average value Δz _AV of the relative height Δz _i input from the relative position calculation unit 82, compares the average value Δz _AV with the reference value z _r, and the container 24b reaches the stationary execution height. It is determined whether or not it has been lowered (step 114). That is, the stationary permission judging unit 88

Judge whether to satisfy. When Equation 3 is not satisfied, the process returns to Step 108 and Steps 108 to 114 are repeated, and the container 24b is lowered to a height at which it can be placed (arrived).

When the container 24b is lowered to a height at which the stationary operation can be performed in step 114, the stationary permission determining unit 88 determines whether the stationary condition is satisfied as shown in step 116. That is, the stationary permission determination unit 88 compares Δθ _f obtained by the position prediction calculation unit 86 with a reference value θ _r given in advance, and determines the following Expression 4.

Note that the reference value θ _r is an allowable error (for example, set in advance with respect to a predetermined position where the container 24 b is placed when the swinging container 24 b is lowered from the height z _{r at a} predetermined speed. This is the amount of horizontal displacement (deviation angle) that can be received within 5 cm).

  When Expression 4 is satisfied, the stationary permission determining unit 88 displays on the display unit 66 whether the stationary operation is possible or indicates that the stationary operation is being performed, and outputs a stationary execution command signal to the stationary execution unit 90. The stationary execution unit 90 outputs a signal for winding the wire 28 at a predetermined speed to the winding motor control unit 76 via the switch unit 70. The winding motor control unit 76 gives priority to the signal from the unloading determination unit 64 over the signal from the lever operation amount output unit 74. Then, when a signal is input from the stationary execution unit 90 of the unloading determination unit 64, the winding motor control unit 76 determines whether the lowering lever 72 is operated based on the input signal from the operation amount output unit 74. (Step 118). When the lowering lever 72 is operated by the operator, the winding motor control unit 76 controls the rotation speed of the winding motor 60 to rotate at a predetermined high speed regardless of the operation amount of the lowering lever 72, and the wire 28. Is rapidly unwound to load the container 24b onto the container 24a (step 120). However, if the winding motor control unit 76 determines in step 118 that the lowering lever 72 has not been operated, the winding motor 60 stops driving the winding motor 60 as shown in step 122.

  If the container 24b is lowered to a height at which the stationary operation can be performed, the stationary permission determining unit 88 does not satisfy Formula 4 because the timing of the shake does not match (Step 116). As shown, the stationary execution unit 90 outputs a signal for decelerating or stopping the winding motor 60. Thereafter, the processing returns to step 108 and the processing from step 108 to step 116 is repeated. Then, the stationary permission determining unit 88 outputs a stationary execution command signal to the stationary execution unit 90 when the timing of the shake of the container 24b is met and Expression 4 is satisfied in step 116.

  When the container 24b is placed on the container 24a, the stationary permission determining unit 88 causes the stationary execution unit 90 to output a winding motor stop signal and displays on the display unit 66 that the stationary operation has been completed. Further, the unloading determination unit 64 of the suspended load monitoring unit 54 may be configured to output the position correction amount of the trolley 22 when the position of the trolley 22 with respect to the container 24a is shifted.

  As described above, in the cargo handling support system 50 of the embodiment, when the operator selects the automatic support mode by the mode selection / input unit 62, the operator simply operates the lowering lever 72, and the suspended load monitoring unit 54 is operated. Since the unloading determination unit 64 determines whether or not the container 24b can be placed and automatically places the container 24b, the container 24b can be easily placed on the container 24a without the skill of the operator. The operator's burden can be greatly reduced. Further, since the placement operation is performed by predicting the position when the container 24b is shaken based on the shake state of the container 24b, the container 24b can be placed by a single operation, and the cargo handling operation of the container 24 is performed quickly. be able to. And since the drive part of the container crane 10 is not automatically controlled, complicated control is not required and a system can be comprised at low cost.

  When the semi-automatic mode is selected by the mode selection / input unit 62, the switch unit 70 shown in FIG. 1 is turned off. When the operator operates the lowering lever 72, when the container 24b is lowered to a predetermined height, the support start determination unit 80 of the unloading determination unit 64 outputs a support operation start signal. Further, the relative position calculation unit 82 obtains the relative position between the container 24a and the container 24b, and the shake calculation unit 84 obtains the shake state of the container 24b. Further, the position prediction calculation unit 86 predicts the relative position between the container 24a and the container 24b after t seconds in the same manner as described above, and inputs it to the stationary permission determination unit 88.

  As described above, the stationary permission determining unit 88 determines whether the stationary condition is satisfied based on the output signals from the relative position calculating unit 82 and the position prediction calculating unit 86, and the stationary condition is satisfied. Sometimes, the display unit 66 displays that the stationary operation is possible, and notifies by a buzzer or the like. However, when the semiautomatic support mode is selected, the stationary permission determining unit 88 only displays the fact on the display unit 66 even when the stationary condition is satisfied, and the stationary execution unit 90 Does not output the execution command signal. Then, the operator quickly lowers the container 24b via the lowering lever 72 by notification of the content displayed on the display unit 66, a buzzer, and the like, and places (loads) the container 24b on the container 24a.

  As described above, in the cargo handling support system 50 according to the embodiment, the unloading determination unit 64 is also installed in the semi-automatic support mode in the same manner as described above except that the operator makes a final determination as to whether or not to perform the stationary operation. The operation timing is notified to the operator, and almost the same effect as in the automatic support mode can be obtained.

  In the above embodiment, the case where the container 24b held by the spreader 26 is placed on the container 24a has been described. However, as shown in FIG. 6, when the spreader 26 is placed on the container 24, the container 24b is placed. Can also be applied. That is, in the same manner as described above, the spreader 26 and the container 24 are aligned by obtaining the relative position between the lower end of the spreader 26 and the upper end of the container 24 and the swing state of the spreader 26. Can be lowered.

  FIG. 7 shows an example in which the container 24 held by the spreader 26 is placed on the chassis 32. As shown in FIG. 7, guides 96 are provided on both sides of the chassis 32, and the container 24 is placed inside these guides 96. When the container 24 is placed on the chassis 32, it is performed as follows.

First, calculation processing for obtaining the position of a target point (reference point) for placing the container 24 is performed. For example, as shown in FIG. 8, the center of the screen of the display unit 22 is set at the origin O, the horizontal direction on the screen is set as the X axis, the vertical direction of the screen is set as the Y axis, and the vertical direction perpendicular thereto is set as the Z axis. To do. Then, as shown in step 130 of FIG. 9, the three-dimensional position (x, y, z) of each point on the distance screen is obtained based on the output signal of the three-dimensional measuring device. Further, as shown in step 132, two ridgelines 98 and 99 are extracted from the chassis 32. Further, after obtaining the intersection C ′ of the ridge lines 98 and 99, the upper end C (x ₀ , y ₀ , z) of the inner corner of the saddle-shaped guide 96 provided at the corner of the chassis 32 serving as the target point (reference point). ₀ ) is calculated (step 134). Thereafter, it is determined whether the calculation for obtaining the position (coordinates) of the upper end C has been completed (step 136), and the processing from step 130 to step 136 is repeated until the C coordinate is obtained. When the coordinates of C are obtained, the process for obtaining the position of the target point is terminated, and the position of the corner Q (x, y, z) at the lower end of the next container 24 is obtained. Thereafter, as described above, the relative position between C ′ and Q and the state of deflection of the container 24 are calculated, and the container 24 is loaded inside the guide 96.

1 is a block diagram of a cargo handling support system according to an embodiment of the present invention. It is a block diagram of the unloading determination part which concerns on embodiment. It is a figure explaining the effect | action of the cargo handling assistance system concerning another embodiment on another container on a container. It is a flowchart explaining the effect | action of the cargo handling assistance system which concerns on embodiment. It is the perspective view which showed typically the attachment state of the detection part of the three-dimensional sensor which concerns on embodiment. It is a figure which shows the example which fixes the spreader which concerns on embodiment to a container. It is a figure which shows the example which fixes the container hold | maintained at the spreader which concerns on embodiment to a chassis. It is a figure explaining the method to fix the container which concerns on embodiment to a chassis. It is a flowchart explaining how to obtain a target point for placing a container according to an embodiment on a chassis. It is a figure explaining an example of container handling work.

Explanation of symbols

  10, 28, 60 ......... Handling device (container crane, wire, winding motor), 20 ......... operating room, 22 ......... trolley, 24 ......... luggage (container), 24a, 32 ......... predetermined position (Container, chassis), 26... Holder (spreader), 50... Cargo handling support system, 52 a to 52 d, ... three-dimensional measuring device, 53, 53 a, 53 b,. Suspended load monitoring unit 56... Lowering lever unit 58... Winding motor control unit 64... Unloading determining unit 82... Relative position calculating unit 84 84. ..... Position prediction calculation unit, 88 ....... Stationary permission determination unit.

Claims (6)

A cargo handling support method for placing a holding device of a cargo handling device supported via a wire or a load held by the holder in a predetermined position,
When the holding tool or the baggage is lowered to a predetermined height above the predetermined position, the relative position between the holding tool or the baggage and the predetermined position, and the state of deflection of the holding tool or the baggage are obtained,
Predicting a change in the horizontal position of the holder or the load based on the deflection while lowering the holder or the load from the predetermined height to the predetermined position;
Based on the predicted change in position, the operator of the cargo handling device is given permission for stationary operation,
A cargo handling support method characterized by that. A cargo handling device having a holder supported via a wire;
A three-dimensional measuring device that is provided in the cargo handling device and obtains three-dimensional information of the holding tool or a load held by the holding tool and a predetermined position where the holding tool or the load is placed;
Based on the output signal of the three-dimensional measuring device, a relative position calculation unit for obtaining a relative position between the holder or the load and the predetermined position;
Based on an output signal of the three-dimensional measuring device, a shake calculation unit for obtaining a shake state of the holder or the luggage,
Based on the shake state of the holding tool or the baggage obtained by the shake calculating unit, the holding tool or the baggage is horizontally moved based on the shake while the holding tool or the baggage is lowered to the predetermined position. A position prediction calculation unit for obtaining a change in direction position;
Based on the relative position obtained by the relative position computation unit and the change in position obtained by the position prediction computation unit, a stationary permission determination unit that outputs a permission signal for a stationary operation of the holder or the luggage;
Provided in the cargo handling device, a notification unit for notifying the operator of the cargo handling device of the determination result of the stationary permission determination unit;
A cargo handling support system characterized by comprising: In the cargo handling support system according to claim 2,
The relative position calculation unit and the shake calculation unit obtain the relative position and the state of the shake when the holding tool or the load is lowered to a predetermined height above the predetermined position. Cargo handling support system. In the cargo handling support system according to claim 2 or 3,
The position prediction calculation unit obtains a change in the horizontal position as an angle between a predetermined part at the lower end of the holder or the load and a reference point of the predetermined position with respect to the detection unit of the three-dimensional measurement apparatus. A cargo handling support system. In the cargo handling support system according to claim 3 or 4,
When the holder or the load being lowered is lowered to the predetermined height, the fixing permission determining unit determines that the holder or the load can be fixed at the predetermined position. A cargo handling support system characterized by decelerating or stopping the descent of the holding tool or the cargo by the cargo handling device when it is judged that the cargo is lowered at a predetermined speed and cannot be placed at the predetermined position. In the cargo handling support system according to any one of claims 2 to 5,
The cargo handling support system, wherein the cargo is a container.

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