JP2007320737A - Control device for cargo work crane - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control device for a cargo work crane capable of outstandingly enhancing cargo handling efficiency by suitably controlling a rolling up amount in the cargo work of a container or the like and the direction of a support means of a spreader or the like. <P>SOLUTION: The control device for the cargo work crane is provided with a plurality of GPS antennas 22a and 22b for a hull installed in a vessel; a GPS antenna 14 for a crane provided on the crane 5 for loading/unloading the baggage between the vessel and a land; a support means provided on the crane 5 and supporting the baggage from a predetermined direction; and an operation means 21 for operating obstacle height at lateral advancement of the baggage lower surface height of the laterally advanced baggage based on respective position data detected by the GPS antenna for the hull and the GPS antenna 14 for the crane and operating inclination of the baggage based on respective position data detected by the plurality of GPS antennas 22a and 22b for the hull. A rolling up amount of the crane and inclination of the support means are controlled based on the operation result of the operation means 21. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a control device that controls a cargo handling crane such as a container crane used in a container crane terminal.

  In general, the container handling operation is performed according to the following procedure. That is, when the container loaded on the ship is lowered to the land side, first, the crane is run according to the container row loaded with the target container, and the spreader is wound up to a position where it does not interfere with the hull and the loaded container. After the spreader is disposed at a predetermined height, the spreader is traversed to above the target container, and the spreader is lowered at such a position to grip the target container. Then, after the container is wound up to a height that does not interfere with the hull and other loaded containers, the container is caused to traverse to the land side, and is unwound on the loading platform of the trailer waiting on the ground. This operation is repeated as one cycle until all predetermined containers have been lowered. On the other hand, when a container loaded on the land side is loaded on the ship, the container grasped on the land side is lowered at a target position on the ship, contrary to the above-described operation.

  And conventionally, in the container handling operation as described above, the winding traverse trajectory for safely handling is operated by the sense of the driver if it is manual, but in an automated cargo handling crane, The mainstream is to wind up to the upper limit of regular use without colliding with an interfering object such as a loading container. It should be noted that the hoisting to the upper limit position as described above has been carried out on all ships, including small ships with low loading containers.

  In the container handling operation, when the container is held by the spreader, it is necessary to match the direction of the spreader with the direction of the container. For this reason, when gripping the container, the driver sets the deviation of the spreader relative to the container (the inclination of the container in the longitudinal direction, the inclination of the container in the short direction, the rotation in the horizontal direction) below the allowable value by the driver. The amount of spreader inclination on the ship side was adjusted. In an automated cargo handling crane, the slope of the spreader on the land side and the ship side is stored according to the crane specifications, and when the trolley is moved from the land side to the ship side and from the ship side to the land side, A device that automatically controls the spreader to be stored is also put into practical use.

  In addition, as a prior art of a cargo handling apparatus that performs a cargo handling operation, a portable GPS detector that detects the position of the bay in the extending direction of the traveling rail, and a fixed GPS that detects the position of the gantry crane in the extending direction of the traveling rail. By providing a detector and determining a traveling target position of the gantry crane in the extending direction of the traveling rail based on the detection values from the fixed GPS detector and the portable GPS detector, and A gantry crane has been proposed that can accurately and promptly travel to a bay position and can also quickly respond to changes in the position of a ship due to a tide level, a tide or the like (see, for example, Patent Document 1).

  As another conventional technique, a mobile station side GPS receiving antenna is installed at the suspension position at the tip of the crane arm, and a plurality of transported objects loaded at predetermined positions in the transportation means while measuring the suspension position coordinates. When moving the crane, the crane suspension position is initially aligned with a reference point in the transportation means, and then the relative position of each transported object is calculated from the reference point to obtain the coordinates of the transportation means. There has been proposed one that converts the position of a crane arm to a hanging position coordinate and determines the hanging position of each individual transported object (see, for example, Patent Document 2).

JP 2004-244209 A JP 2000-136088 A

  In the conventional container handling operation, the container gripped by the spreader is wound up to the upper limit of normal use where it does not collide with other loaded containers. It was a factor to make it worse. In particular, the deterioration of cargo handling efficiency was noticeable on small ships.

  In addition, a stopped ship moves in the center of gravity of the ship due to container loading and unloading, etc., and moves in all directions due to the influence of the tide, that is, horizontal inclination, vertical inclination, horizontal rotation, height difference, etc. Frequently occurs. For this reason, even if the spreader is controlled to be stored in advance while the trolley is moving, there may be a deviation between the actual state and the stored value, and it is necessary to manually adjust the spreader direction, thereby improving the handling efficiency. It was a factor to make it worse.

  In addition, the thing of patent document 1 is for adjusting the position of the gantry crane in the extension direction of a traveling rail to the position of an inboard bay, and the said problem was not able to be solved. Moreover, the thing of patent document 2 needed the initial alignment again when the ship moved by the influence of the tide etc., and could not improve cargo handling efficiency.

  The present invention has been made to solve the above-described problems. The purpose of the present invention is to make it possible to significantly improve the cargo handling efficiency by appropriately controlling the amount of winding in the cargo handling operation of the container or the like. It is to provide a crane control device.

  Another object of the present invention is to provide a crane control device for a cargo handling crane that can significantly improve the cargo handling efficiency by appropriately controlling the amount of winding and the direction of the support means such as a spreader in cargo handling operations such as containers. It is to be.

  A cargo handling crane control device according to the present invention includes a hull GPS antenna installed on a ship, a crane GPS antenna provided on a crane for loading and unloading a load between the ship and the land, a hull GPS antenna, Based on the position data detected by the crane GPS antenna, the calculation means for calculating the obstacle height when the load is traversing and the lower surface height of the traversing load, and the calculation result of the calculation means, the crane And a drive control means for controlling the amount of hoisting.

  In addition, a cargo handling crane control device according to the present invention includes a plurality of hull GPS antennas installed on a ship, a crane GPS antenna provided on a crane for loading and unloading cargo between a ship and land, and a crane. Based on the support means for supporting the load from a predetermined direction and the position data detected by the GPS antenna for the hull and the GPS antenna for the crane, The calculation means for calculating the inclination of the load based on the position data detected by a plurality of GPS antennas for the hull, the amount of crane lift and the support based on the calculation result of the calculation means Drive control means for controlling the inclination of the means.

  In addition, the cargo handling crane control device according to the present invention is installed in a ship and provided in a ship hull GPS antenna having a function of detecting a two-dimensional inclination and a crane for loading and unloading cargo between the ship and the land. Obstacles when traversing the cargo based on the GPS antenna for the crane, the supporting means provided on the crane and supporting the cargo from a predetermined direction, and each position data detected by the GPS antenna for the hull and the GPS antenna for the crane The calculation means for calculating the height and the lower surface height of the traversing luggage, the crane hoisting amount is controlled based on the calculation result of the calculation means, and the support means is calculated based on the inclination data detected by the hull GPS antenna. Drive control means for controlling the inclination.

  The present invention is detected by a hull GPS antenna installed on a ship, a crane GPS antenna provided on a crane that loads and unloads a load between the ship and the land, a hull GPS antenna, and a crane GPS antenna. Based on each position data, the calculation means for calculating the height of the obstacle when the load is traversed and the lower surface height of the traversed load, and the drive control for controlling the lifting amount of the crane based on the calculation result of the calculation means With the configuration including the means, it is possible to significantly improve the cargo handling efficiency by appropriately controlling the amount of winding in the cargo handling operation of the container or the like.

  The present invention also provides a plurality of hull GPS antennas installed on a ship, a crane GPS antenna provided on a crane that loads and unloads cargo between the ship and the land, a crane, Based on the support means for supporting from the direction, and each position data detected by the GPS antenna for the hull and the GPS antenna for the crane, the height of the obstacle when the load is traversed and the lower surface height of the traversed load are calculated, Based on the position data detected by a plurality of hull GPS antennas, a calculation means for calculating the inclination of the load, and a drive control for controlling the amount of crane lifting and the inclination of the support means based on the calculation result of the calculation means By properly controlling the amount of winding and the direction of the support means such as the spreader in the cargo handling work such as containers, the cargo handling effect can be achieved. It is possible to greatly improve.

  The present invention also relates to a GPS antenna for a hull installed on a ship and having a function of detecting a two-dimensional inclination, a GPS antenna for a crane provided on a crane for loading and unloading a load between the ship and the land, and a crane. Based on the support means that is provided and supports the load from a predetermined direction, and the position data detected by the GPS antenna for the hull and the GPS antenna for the crane, Calculating means for calculating the height of the lower surface; drive control means for controlling the amount of crane lifting based on the calculation result of the calculating means; and controlling the inclination of the support means based on the inclination data detected by the hull GPS antenna; By properly controlling the amount of winding and the direction of the support means such as the spreader in the cargo handling work such as containers, It is possible to greatly improve.

  In order to explain the present invention in more detail, it will be described with reference to the accompanying drawings. In addition, in each figure, the same code | symbol is attached | subjected to the part which is the same or it corresponds, The duplication description is simplified or abbreviate | omitted suitably.

Embodiment 1 FIG.
1A and 1B are diagrams showing a container terminal according to Embodiment 1 of the present invention. FIG. 1A is a side view, FIG. 1B is a plan view, and FIG. 1C is a front view. FIG. 2 is a block configuration diagram showing the cargo handling crane control apparatus according to Embodiment 1 of the present invention. 1 and 2, 1 is a quay, 2 is a hull of a ship docked at the quay 1 and anchored, 3 is a container loaded on the hull 2, 4 is a traveling rail laid along the quay 1, 5 Is a crane (container crane, gantry crane, etc.) for loading and unloading cargo such as the container 3 between the hull 2 and the land, and 6 is a trailer that is stopped on the quay 1 and the container 3 is loaded and unloaded.

  Here, the crane 5 is provided horizontally at a predetermined height of the crane main body 7 so as to be orthogonal to the crane main body 7 traveling on the traveling rail 4 and the plan view traveling rail 4, and one end of the crane 5. A girder 8 projecting upward, a machine room 9 provided on a trolley (not shown) that runs on the girder 8, and a wire rope 10 suspended from the trolley, and the upper four corners of the container 3 are set at predetermined points. And a spreader 11 (supporting means) that holds and supports from a direction. The spreader 11 is moved up and down (wound up and down) by a hoisting device (not shown) around which the wire rope 10 is wound, and is inclined in the longitudinal direction and in the short direction within a predetermined angle. The rotation in the horizontal direction can be controlled. Further, a drive device 12 for driving the crane 5 such as a hoisting device, a motor, a brake, etc., and a drive control means 13 for controlling the drive device 12 are housed in the machine room 9.

  14 is a crane GPS antenna provided at the top of the crane 5 that is provided on the crane 5 and easily receives radio waves from GPS satellites, and 15 is a position data transmission that outputs position data detected by the crane GPS antenna 14. The device 16 is installed in the hull 2 and is a portable hull GPS antenna placed on the cargo handling lane of the container 3 loaded on the hull 2, and 17 outputs position data detected by the hull GPS antenna 16. The position data transmitting device 18 is provided in the machine room 9 and is a position data receiving device that receives each position data output from the position data transmitting devices 15 and 17.

  Reference numeral 19 denotes a data storage unit that stores various predetermined information such as the crane 5, the hull 2, and the container 3, 20 denotes a rope unwinding amount detection device that detects the unwinding amount of the wire rope 10, and 21 denotes a position data receiving device 18. The container 3 grasped by the spreader 11 is based on the position data input from, various data stored in advance in the data storage unit 19, and the unwinding amount of the wire rope 10 input from the rope unwinding amount detection device 20. It is a computing means for computing the height of an object that can become an obstacle when traversing (hereinafter simply referred to as “obstacle”) and the lower surface height of the traversing container 3. The calculation method of the calculation means 21 will be described later. The drive control means 13 appropriately drives and controls the drive device 12 and controls the hoisting amount of the crane 5 based on the calculation result of the calculation means 21.

Next, the operation of the cargo handling crane control apparatus having the above-described configuration will be described.
First, at the start of the cargo handling operation, the portable hull GPS antenna 16 is brought into the hull 2 and installed at a position where it is easy to receive radio waves on the cargo handling symmetrical lane. The hull GPS antenna 16 is preferably installed at a position where it is easy to receive radio waves on the cargo handling lane as described above. However, the height of the container 3 in the cargo handling lane is the position detected by the hull GPS antenna 16. Since it can be calculated by the calculation means 21 based on the hull data stored in the data and the data storage unit 19, any position may be used as long as it is easy to receive radio waves. The position data transmitting device 17 is usually integrated with the hull GPS antenna 16 and installed in the hull 2 together with the hull GPS antenna 16.

  After the hull GPS antenna 16 is installed, the position data detected by the crane GPS antenna 14 and the hull GPS antenna 16 are input to the position data receiving device 18 via the position data transmitting devices 15 and 17. First, the computing means 21 computes the mechanical position of the girder 8 based on the position data detected by the crane GPS antenna 14. Further, the rope length (distance between the girder 8 and the spreader 11) is calculated based on the rope unwinding amount input from the rope unwinding amount detection device 20. Based on the calculated height of the girder 8, the rope length, the spreader height stored in the data storage unit 19 and the standardized container height, the height of the lower surface of the container 3 held by the spreader 11 is determined. Calculate the length. That is, the height of the lower surface of the container 3 gripped by the spreader 11 is calculated by subtracting the rope length, the spreader height, and the container height from the height of the girder 8. In addition, the calculation result regarding the height of the lower surface of the container 3 is sequentially updated every minute predetermined time.

  On the other hand, the calculation means 21 calculates the height of the hull 2 and the container 3 loaded on the hull 2, that is, the height of the obstacle, based on the position data detected by the hull GPS antenna 16. Note that the calculation result relating to the height of the obstacle is sequentially updated every minute predetermined time.

  Then, the drive control unit 13 appropriately controls the drive unit 12 based on the height of the lower surface of the container 3 and the height of the obstacle grasped by the spreader 11 calculated by the calculation unit 21. That is, the height obtained by adding a predetermined safety height to the height of the obstacle is set as a limit value, and the height of the lower surface of the container 3 gripped by the spreader 11 is equal to or higher than the limit value. Winding and traversing will be carried out.

  According to the first embodiment of the present invention, the winding amount of the container 3 gripped by the spreader 11 can be set according to the height of the obstacle, preventing excessive winding and reducing the time required for the cargo handling operation. Thus, cargo handling efficiency can be greatly improved.

  Also, the height of the lower surface of the container 3 and the height of the obstacles grasped by the spreader 11 calculated by the calculation means 21 are updated sequentially every very small predetermined time, and are always based on the latest calculation results. The drive device 12 is controlled. Therefore, even when the ship's center of gravity moves due to the loading / unloading of the container 3 and the hull 2 tilts or when the hull 2 moves up and down due to the influence of the tide, a sufficient amount of hoisting is secured in accordance with the displacement of the hull 2. It is possible to prevent the container 3 from coming into contact with an obstacle, and it is possible to prevent excessive hoisting and improve cargo handling efficiency.

Embodiment 2. FIG.
3A and 3B are views showing a container terminal according to Embodiment 2 of the present invention, in which FIG. 3A is a side view, FIG. 3B is a plan view, and FIG. 3C is a front view. 3, reference numerals 22a and 22b denote a plurality of (two in the second embodiment) GPS antennas for the hull installed at different locations on the hull 2, and the GPS antenna 16 for the hull in the first embodiment. It has the same configuration. That is, the GPS antennas 22a and 22b for the hull are integrally provided with a position data transmitting device (not shown), and the position data transmitted by the position data transmitting device is transmitted to the position data receiving device 18. Is output. Further, the calculation means 21 calculates the inclination θ of the container 3 based on the position data detected by the two ship hull GPS antennas 22a and 22b. The calculation method of the calculation means 21 will be described later. Other configurations are the same as those in the first embodiment.

  In the cargo handling crane control apparatus having the above-described configuration, first, when the cargo handling operation is started, the portable hull GPS antennas 22a and 22b are brought into the hull 2 and are placed at different positions on the top surface of the loading container 3 where the radio waves are easily received. Installed. For example, in order to arrange the hull GPS antennas 22a and 22b as far as possible, the hull GPS antennas 22a and 22b are installed diagonally to a group of three containers loaded in a substantially rectangular parallelepiped shape. After the hull GPS antennas 22 a and 22 b are installed, the position data detected by the crane GPS antenna 14 and the hull GPS antennas 22 a and 22 b are input to the position data receiving device 18.

  As in the first embodiment, the computing means 21 computes the height of the lower surface of the container 3 and the height of the obstacle gripped by the spreader 11 based on each position data received by the position data receiving device 18. . Then, the drive control means 13 controls the drive device 12 so as to prevent excessive hoisting and improve the cargo handling efficiency based on the calculation result of the calculating means 21, and performs appropriate hoisting and traversing. To do.

  The calculation means 21 calculates the inclination θ of the container 3 loaded on the hull 2 based on the position data detected by the hull GPS antennas 22a and 22b and the hull data stored in the data storage unit 19. . FIG. 4 is a diagram for explaining the operation of the cargo handling crane control apparatus according to the second embodiment of the present invention, and is a diagram for explaining the method of calculating the inclination θ. 3 and 4, the inclination θ is expressed by the following equation.

[Equation 1]
θ = tan ⁻¹ (H1 / W1) + θ0
Here, H1 is the difference in the height components of the position data detected by the hull GPS antennas 22a and 22b, that is, the height difference between the hull GPS antennas 22a and 22b, and W1 is between the installation of the hull GPS antennas 22a and 22b. The distance, θ0, is the structural inclination between the hull floor and the deck surface of the hull 2. The inclination θ when the hull 2 is viewed from the front is calculated by substituting the distance between the installation of the hull GPS antennas 22a and 22b in the width direction of the hull 2 (x in FIG. 3) into W1 of Equation 1. Then, the inclination θ when the hull 2 is viewed from the side is calculated by substituting the distance between the installation (y in FIG. 3) of the hull GPS antennas 22a and 22b in the horizontal (length) direction of the hull 2. . In addition, the calculation result regarding the inclination θ is sequentially updated every minute predetermined time.

  The drive control unit 13 appropriately controls the drive device 12 based on the inclination θ calculated by the calculation unit 21. That is, when the spreader 11 grips the container 3, the spreader 11 is controlled so that the inclination of the spreader 11 coincides with each inclination θ obtained by substituting x and y into Equation (1).

  According to the second embodiment of the present invention, the orientation of the spreader 11 when gripping the container 3 loaded on the hull 2 is set in accordance with the calculated inclination θ, so that the orientation of the spreader 11 is manually adjusted. Is no longer necessary, and the cargo handling efficiency can be greatly improved.

  Further, the inclination θ calculated by the calculation means 21 is sequentially updated every very small predetermined time, and the drive device 12 is controlled based on the latest calculation result at all times. Therefore, even when the ship's center of gravity moves due to loading / unloading of the container 3 and the hull 2 tilts or when the hull 2 moves up and down due to the influence of the tide, the direction of the spreader 11 is made to follow the displacement of the hull 2. Can do. In addition, when the trolley is traversed from the land side to the ship side, the control time for adjusting the inclination of the spreader 11 to the inclination θ can be started, so that the adjustment time for grasping the container 3 on the ship can be shortened. Furthermore, cargo handling efficiency can be improved. Other effects are the same as those of the first embodiment.

2. Form of implementation
5A and 5B are diagrams showing a container terminal according to Embodiment 3 of the present invention. FIG. 5A is a side view, FIG. 5B is a plan view, and FIG. 5C is a front view. In FIG. 5, reference numerals 23a and 23b denote a plurality of (two in the third embodiment) GPS antennas for cranes provided at different locations of the crane 5, and have the same configuration as the crane GPS antenna 14 in the first embodiment. have. That is, the crane GPS antennas 23a and 23b are each integrally provided with a position data transmitting device (not shown), and the position data transmitting device transmits the detected position data to the position data receiving device 18. Is output. The computing means 21 computes the inclination θc of the crane 5 based on the position data detected by the two crane GPS antennas 23a and 23b. The calculation method of the calculation means 21 will be described later. Other configurations are the same as those in the first and second embodiments.

  In the cargo handling crane control apparatus having the above-described configuration, the portable ship hull GPS antennas 22a and 22b are first installed at different positions on the upper surface of the loading container 3 at which the radio waves are easily received when the cargo handling operation is started. Then, after the hull GPS antennas 22 a and 22 b are installed, the position data detected by the crane GPS antennas 23 a and 23 b and the hull GPS antennas 22 a and 22 b are input to the position data receiving device 18.

  As in the first embodiment, the calculation means 21 calculates the height of the lower surface of the container 3 held by the spreader 11 and the height of the obstacle based on each position data received by the position data receiving device 18. . Then, the drive control means 13 controls the drive device 12 so as to prevent excessive hoisting and improve the cargo handling efficiency based on the calculation result of the calculating means 21, and performs appropriate hoisting and traversing. To do.

  Similarly to the second embodiment, the calculation means 21 calculates the inclination θ based on the position data detected by the hull GPS antennas 22a and 22b and the hull data stored in the data storage unit 19. . Further, the inclination θc of the crane 5 is calculated based on the position data input from the crane GPS antennas 23a and 23b. FIG. 6 is a diagram for explaining the operation of the crane control apparatus for cargo handling according to Embodiment 3 of the present invention, and is a diagram for explaining a method of calculating the inclination θc. 5 and 6, the inclination θc is expressed by the following equation.

[Equation 2]
^{θc = tan -1 {(H2-} p) / W2}
Here, H2 is the difference in height components of the position data detected by the crane GPS antennas 23a and 23b, that is, the height difference between the crane GPS antennas 23a and 23b, and W2 is between the installation of the crane GPS antennas 23a and 23b. The distance, p, is the mechanical height difference between the crane GPS antennas 23a and 23b and the installation time. By substituting the distance between the installations of the crane GPS antennas 23a and 23b in the trolley travel direction (xc in FIG. 5) into the W2 of Equation 2, the inclination θc when the crane 5 is viewed from the front is calculated. By substituting the distance between the installation of the crane GPS antennas 23a and 23b in the longitudinal direction of the traveling rail 4 (yc in FIG. 5), the inclination θc when the crane 5 is viewed from the side is calculated. In addition, the calculation result regarding the inclination θc is sequentially updated every minute predetermined time.

  The drive control unit 13 appropriately controls the drive device 12 based on the inclination θ and the inclination θc calculated by the calculation unit 21. That is, when the spreader 11 grips the container 3, control is performed so that the inclination of the spreader 11 coincides with (θ−θc).

  According to the third embodiment of the present invention, since the orientation of the spreader 11 when gripping the container 3 loaded on the hull 2 is set in accordance with the inclination θ and the inclination θc, more accurate setting is possible. . In addition, when the trolley is traversed from the land side to the ship side, control is started so that the direction of the spreader 11 coincides with the inclination (θ−θc), thereby shortening the adjustment time for grasping the container 3 on the ship. And the cargo handling efficiency can be further improved. Other effects are the same as those of the first and second embodiments.

Embodiment 4 FIG.
The cargo handling crane control apparatus according to the fourth embodiment is basically the same as that shown in FIGS. Here, the hull GPS antenna 16 has a function (sensor) for detecting a tilt in a two-dimensional direction, and includes position data, tilt data in the width direction of the hull 2 and tilt data in the lateral (length) direction. Is output to the position data receiving device 18 via the position data transmitting device 17. Further, the drive control means 13 controls the amount of the crane 5 wound up based on the calculation result of the calculation means 21 and also controls the inclination of the spreader 11 based on each inclination data detected by the hull GPS antenna 16. . Other configurations are the same as those of the embodiment 1.

  By having such a configuration, the function and effect of the second embodiment can be achieved by one hull GPS antenna 16. That is, the inclination θ of the container 3 can be obtained directly by the hull GPS antenna 16, and the orientation of the spreader 11 can be easily set according to the inclination θ. Other effects are the same as those of the first and second embodiments.

Embodiment 5 FIG.
The cargo handling crane control apparatus according to the fifth embodiment is basically the same as that shown in FIGS. Here, the crane GPS antenna 14 and the hull GPS antenna 16 have a function (sensor) for detecting a tilt in a two-dimensional direction. Then, the crane GPS antenna 14 outputs the position data, the inclination data of the crane 5 in the trolley traveling direction, and the inclination data of the traveling rail 4 in the longitudinal direction to the position data receiving device 18 via the position data transmitting device 15. The hull GPS antenna 16 sends the position data, the inclination data in the width direction of the hull 2 and the inclination data in the lateral (length) direction to the position data receiving device 18 via the position data transmitting device 17. Output. Further, the drive control means 13 controls the inclination of the spreader 11 based on the inclination data detected by the crane GPS antenna 14 and the hull GPS antenna 16. Other configurations are the same as those in the first embodiment.

  By having such a configuration, the functions and effects of the third embodiment can be achieved with one crane GPS antenna 14 and one hull GPS antenna 16. That is, the inclination θc of the crane 5 can be obtained directly by the crane GPS antenna 14, and the orientation of the spreader 11 can be easily set in accordance with (θ−θc). Other effects are the same as those of the first to third embodiments.

  In addition, the position detection accuracy by the GPS antenna has been put into practical use that can be detected in the cm class, and the method is not limited. As a method for obtaining a detection accuracy of the cm level at present, a deviation correction amount between a value calculated based on a signal from a GPS satellite by a GPS antenna provided at a domestic reference point and a reference position is used for a telephone (cell phone or the like). (Including wireless means) and an internet network (including wireless LAN), etc., to correct the field calculation value. Such a system is also appropriately adopted for the crane GPS antenna and the hull GPS antenna in the first to fifth embodiments.

It is a figure which shows the container terminal in Embodiment 1 of this invention, (a) is a side view, (b) is a top view, (c) is a front view. It is a block block diagram which shows the control apparatus of the crane for cargo handling in Embodiment 1 of this invention. It is a figure which shows the container terminal in Embodiment 2 of this invention, (a) is a side view, (b) is a top view, (c) is a front view. It is a figure for demonstrating operation | movement of the control apparatus of the crane for cargo handling in Embodiment 2 of this invention. It is a figure which shows the container terminal in Embodiment 3 of this invention, (a) is a side view, (b) is a top view, (c) is a front view. It is a figure for demonstrating operation | movement of the control apparatus of the crane for cargo handling in Embodiment 3 of this invention.

Explanation of symbols

1 quay, 2 hull, 3 container, 4 traveling rail, 5 crane,
6 Trailer, 7 Crane body, 8 Girder, 9 Machine room,
10 wire rope, 11 spreader, 12 drive unit,
13 Drive control means, 14 GPS antenna for crane,
15 position data transmission device, 16 GPS antenna for ship hull,
17 position data transmission device, 18 position data reception device, 19 data storage unit,
20 rope unwinding amount detecting device, 21 calculating means,
22a GPS antenna for ship hulls, 22b GPS antenna for ship hulls,
23a GPS antenna for crane, 23b GPS antenna for crane

Claims (6)

A hull GPS antenna installed on the ship;
A crane GPS antenna provided on a crane for loading and unloading cargo between the ship and the land;
Based on the position data detected by the GPS antenna for the hull and the GPS antenna for the crane, calculation means for calculating an obstacle height when the load is traversed and a lower surface height of the traversed load,
Drive control means for controlling the hoisting amount of the crane based on the calculation result of the calculation means;
A crane control apparatus for cargo handling, comprising: A plurality of hull GPS antennas installed on the ship;
A crane GPS antenna provided on a crane for loading and unloading cargo between the ship and the land;
A support means provided on the crane and supporting the load from a predetermined direction;
Based on the position data detected by the GPS antenna for the hull and the GPS antenna for the crane, the height of the obstacle when the load is traversed and the lower surface height of the traversed load are calculated, and the plurality of hulls are calculated. Calculation means for calculating the inclination of the load based on each position data detected by the GPS antenna for use;
Drive control means for controlling the amount of hoisting of the crane and the inclination of the support means based on the calculation result of the calculation means;
A crane control apparatus for cargo handling, comprising: A plurality of crane GPS antennas are provided on the crane,
3. The cargo handling crane control apparatus according to claim 2, wherein the calculation means calculates the inclination of the crane based on each position data detected by the plurality of crane GPS antennas. A hull GPS antenna installed on a ship and having a function of detecting a two-dimensional inclination;
A crane GPS antenna provided on a crane for loading and unloading cargo between the ship and the land;
A support means provided on the crane and supporting the load from a predetermined direction;
Based on the position data detected by the GPS antenna for the hull and the GPS antenna for the crane, calculation means for calculating an obstacle height when the load is traversed and a lower surface height of the traversed load,
Drive control means for controlling the amount of crane lift based on the calculation result of the calculation means, and controlling the inclination of the support means based on inclination data detected by the hull GPS antenna;
A crane control apparatus for cargo handling, comprising: The crane GPS antenna has a function of detecting a two-dimensional inclination,
5. The crane control apparatus for a cargo handling crane according to claim 4, wherein the drive control means controls the inclination of the support means on the basis of the inclination data detected by the hull GPS antenna and the crane GPS antenna. .   6. The cargo handling crane control apparatus according to claim 2, wherein the drive control means starts control of the inclination of the support means when the support means is traversing.

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