JP2013006641A - Crane apparatus and crane control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To surely perform desired necessary lane terminal treatment at desired timing by correctly recognizing whether a crane apparatus is presently positioned at a predetermined position of the lane terminal nor not.SOLUTION: The crane device is determined to be positioned at the lane terminal by detecting magnetic plates provided at predetermined positions of the lane terminals in both side lanes respectively by a magnetic sensor during traveling of the crane apparatus, to perform the predetermined necessary lane terminal treatment.

Description

  The present invention relates to a gate-type crane apparatus and a crane control method for loading and unloading a container with electric power fed through a bus bar extending along a lane of a container yard.

  Conventionally, in a container yard that handles loading and unloading of containers on ships and trailers using a gate-type crane device, power is supplied from the ground power facility to the crane device via a bus bar extending along the lane. There is a so-called electrified container yard (see, for example, Patent Document 1).

  For example, as shown in FIG. 11, the container yard 70 is provided facing the port wharf 7A, and the container 9 is loaded and unloaded from the ship 7B by a container crane 7C disposed on the wharf 7A. The container yard 70 is provided with a plurality of lanes 71 each having a rectangular area in plan view extending along the longitudinal direction of the container 9 as a placement place of the container 9. When the crane apparatus 10 travels in the longitudinal direction X, the containers 9 placed in the lane 71 are efficiently sorted.

  Each lane 71 is provided with a transformer 7 (power supply device) that supplies electric power to the crane apparatus 10, and is connected to the lane 71 via a bus bar 8 that extends along the lane 71. Electric power is supplied to the crane apparatus 10. The bus bar 8 is composed of a trolley wire installed on a support column, and the crane apparatus 10 collects electric power from the transformer 7 by bringing the current collector mounted on the crane apparatus 10 into electrical contact with the bus bar 8. It is made to do.

The container yard 70 is provided with a gate 73 on the road 72 side, and the trailer 75 passes the gate 73 to carry in / out the container 9.
The lane 71 is provided with a passage for the trailer 75, and the crane 9 loads and unloads the container 9 on the trailer 75 stopped in the passage.
Although the crane apparatus 10 may be arranged in association with each lane 71, the lane change is performed via the turn lane 74 and the cargo can be efficiently handled by moving to another lane 71. In such a case, in the turn lane 74 provided adjacent to the end of the lane 71, the crane device 10 is moved at a right angle in a right angle direction Y orthogonal to the longitudinal direction X.

JP 2009-023817 A

  By the way, in the container yard 70 having such a configuration, when the lane is changed, the crane apparatus 10 may leave the lane 71, or after changing the lane in the turn lane, the lane 71 may newly enter the adjacent lane 71 and exit. In some cases, switching from bus bar power feeding via the bus bar 8 to engine power feeding by the engine generator at a predetermined position at the lane edge or when entering, stopping the engine power feeding at a predetermined position at the lane edge after entering the lane. A predetermined lane edge necessary processing such as

  However, since it was not possible to accurately recognize whether or not the crane device is currently located at a predetermined position at the lane end, there was a problem that the lane end required processing was not in time for the crane device. It was.

  The present invention is to solve such a problem, and an object of the present invention is to provide a crane apparatus that can reliably execute the lane end necessary processing of the crane apparatus at a desired timing.

  In order to achieve such an object, in the crane apparatus according to the present invention, the main winding motor is driven to raise and lower the container in the lane in the container terminal and to be supplied through the bus bar of the lane. Gate that self-travels in the container terminal by driving the traveling motor based on electric power, and self-runs in the container terminal by driving the traveling motor based on electric power from the engine generator when it is off the lane Type of crane device, wherein magnetic plates provided at predetermined positions on both lane ends on both sides of the lane are respectively detected at a predetermined position of the crane device for detecting the self-propelled crane device, and the crane device The crane device is at the lane edge by detecting the magnetic plate with a magnetic sensor during self-running. Discriminated, and a control unit for performing predetermined lane edge necessary processing.

  The control unit may determine whether the crane device is in the direction of exiting the lane or the direction of entering the lane based on the order of detecting the S pole and the N pole of the magnetic plate by the magnetic sensor. .

  When the control unit determines that the crane device is in the direction of exiting the lane, the detection unit detects the power generation state of the engine generator when the presence of the magnetic plate is recognized, and the detection result of the detection unit is the engine power generation. If the power generation state of the machine satisfies a predetermined output voltage level, a switching unit that switches the power from the power supply device to the power from the engine generator may be provided as the lane end necessary processing.

  If the power generation state of the engine generator does not satisfy the predetermined voltage level, the switching unit maintains the power supply from the bus bar without switching to the power from the engine generator as a lane end required process. Also good.

  When it is determined that the crane device is in the direction of entering the lane, the control unit may stop the engine generator when recognizing the presence of the magnetic plate as the lane edge necessary process.

  In addition, the crane control method according to the present invention drives the main motor to drive and lower the container in the lane in the container terminal and drives the traveling motor based on the electric power supplied through the bus bar of the lane. Crane control used in a gate-type crane device that self-propels in the container terminal by driving the traveling motor based on the electric power from the engine generator when it is off the lane A method of detecting a magnetic plate provided at a predetermined position of each lane edge on both sides of the lane during a self-propelling operation of the crane device by a magnetic sensor disposed at a predetermined position of the crane device; During self-running, the control unit detects the magnetic plate using the magnetic sensor and Over down device is determined to be in the lane edge, and to have a control step of performing predetermined lane edge necessary processing.

  According to the present invention, it is possible to determine that the self-propelled crane device is at the lane end and perform a predetermined lane end required process, so that the lane end required process can be executed reliably and at a desired timing. A crane apparatus and a crane control method can be realized.

It is a front view which shows the structure of the crane apparatus concerning one Embodiment. It is a side view showing composition (1) of a crane device concerning one embodiment. It is a side view which shows the structure (2) of the crane apparatus concerning one Embodiment. It is a front view which shows the structure of the bus-bar and magnetic plate concerning one Embodiment. It is a side view which shows the structure of the bus-bar and magnetic plate concerning one Embodiment. It is a top view which shows the structural example of the container yard concerning one Embodiment. It is a block diagram which shows the circuit structure of the crane apparatus concerning one Embodiment. It is a flowchart with which it uses for description of the lane edge required process of the crane apparatus concerning one Embodiment. It is a flowchart with which it uses for description of the lane end required process of the leaving direction of the crane apparatus concerning one Embodiment. It is a flowchart made today for description of the lane edge required process of the approach direction of the crane apparatus concerning one Embodiment. It is a top view which shows the structural example of the conventional container yard.

Next, embodiments of the present invention will be described with reference to the drawings.
[Configuration of crane device]
First, with reference to FIGS. 1-5, the structure of the crane apparatus concerning one embodiment of this invention is demonstrated.

  As shown in FIGS. 1 to 3, the crane apparatus 10 is configured by a gantry 6 made of a gate-shaped frame as a whole. The gantry 6 includes an upper beam 6A, legs 6BR and 6BL that support both ends of the beam 6A, bases 6CR and 6CL that support the legs 6BR and 6BL, and a connection for connecting the legs 6BRF and 6BRR. It is comprised by the connection part 6FL for connecting between the part 6FR and the leg parts 6BLF and 6BLR.

  Under the bases 6CR and 6CL, tires 6ER and 6EL are provided via carts 6DR and 6DL. The tires 6ER and 6EL are supported by the carts 6DR and 6DL so that the traveling direction can be changed to the longitudinal direction X (FIGS. 2 and 3) of the lane or the perpendicular direction Y (FIG. 1) orthogonal to the longitudinal direction X. .

  In addition, a device unit 6G that houses an electrical device such as a power feeding device to be described later is provided on the upper portion of the base 6CR sandwiched between the leg portions 6BRF and 6BLRR (FIGS. 2 and 3).

  A trolley 6H is provided on the beam 6A on the upper portion of the gantry 6. By driving a traverse motor (described later) mounted on the trolley 6H, the trolley 6H moves on the rail of the beam 6A in the direction perpendicular to the beam Y. Drive to.

  In addition, a spreader 6I for suspending the upper portion of the container 9 is suspended from the trolley 6H via a cable 6J. The traverse motor mounted on the trolley 6H is driven to wind and lower the cable 6J. As a result, the spreader 6I moves up and down. In addition, the trolley 6H is provided with electric devices such as a driver's cab 6K in which an operator is boarded and a controller.

  Furthermore, current collectors 6NR and 6NL are attached via support portions 6MR and 6ML at positions below the bases 6CR and 6CL and at positions facing the bus bar 8 installed on the ground G via support columns 8P. . In this crane device 10, the left and right current collectors 6 NR and 6 NL are shown to be electrically connected to the left and right bus bars 8, but only one bus bar 8 is provided in one lane. Therefore, in actuality, only one of the left and right bus bars 8 is electrically connected.

  In the crane device 10, the current collectors 6 NR and 6 NL are rotatably attached within a range of about 90 degrees with respect to the support shafts 6 JR and 6 JL (FIGS. 2 and 3), and are electrically connected to the bus bar 8. The current collector 6NR or 6NL that is not connected can be folded and stored to a position substantially parallel to the bases 6CR and 6CL. In this case, the electrical connection between the current collector 6NR or 6NL accommodated in the folded state and the bus bar 8 is canceled.

  Further, as shown in FIGS. 4 and 5, the crane device 10 is opposed to the magnetic plate 8 </ b> MG attached in a state of facing downward with respect to the arm 8 </ b> M extending from the column 8 </ b> P of the bus bar 8 to the crane device 10 side. As described above, a magnetic sensor 6JS made of, for example, a magnetic proximity switch for detecting the magnetic plate 8MG is attached to predetermined positions on the support portions 6MR and 6ML. The magnetic plate 8MG and the magnetic sensor 6JS are set such that the magnetic sensor 6JS has a positional relationship, for example, about 10 mm to 20 mm away from which the magnetic plate 8MG can be detected.

[Composition of container yard]
Next, the structure of the container yard where the crane apparatus 10 self-propels is demonstrated.

  As described above, the container yard 70 (FIG. 11) is a facility that is provided facing the port wharf 7 </ b> A and performs loading and unloading operations such as loading and unloading of the container 9 with respect to the ship and the trailer 75. A plurality of lanes 71 each having a rectangular area in plan view extending along the longitudinal direction of the container 9 are provided.

  Here, as shown in FIG. 6, the following description will be given focusing on two lanes 71 </ b> A and 71 </ b> B in the container yard 70. The lanes 71A and 71B are provided with transformers (power supply devices) 7A and 7B for supplying electric power to the crane device 10, and via bus bars 8 extending along the lanes 71A and 71B, respectively. Thus, the electric power from the transformers 7A and 7B is supplied to the crane device 10 (hereinafter referred to as bus bar power supply).

  The bus bar 8 is composed of a trolley wire installed on a support column 8P (FIGS. 1, 4, and 5). The current collectors 6NR and 6NL (FIGS. 1 to 3 and 5) of the crane device 10 and the bus bar 8 , The crane device 10 collects electric power from either the transformer 7A or 7B.

  As a result, the crane device 10 drives the main winding motor with the electric power fed by the ground feeding method using the bus bar 8 to raise and lower the container 9 in the desired lane in the container yard 70 and Drives to self-propell in the container yard 70.

  By the way, in lane 71A, bus bar 8 is provided on the land side, whereas in lane 71B, bus bar 8 is provided on the sea side of wharf 7A. Therefore, when the crane device 10 enters the lane 71A, the current collector 6NL and the bus bar 8 on the land side are electrically connected. On the other hand, when the crane device 10 enters the lane 71B, the crane device 10NR Electrical connection is made with the bus bar 8 on the sea side.

  Incidentally, as shown in FIG. 4, the arm 8M and the magnetic plate 8MG are not attached to all the columns 8P of the bus bar 8, but the arm 8M and the magnetic plate are only attached to the columns 8P at both ends. 8MG is attached.

  The magnetic plates 8MG attached to the pillars 8P at both ends are disposed at a position of about 10 m from the end of the bus bar 8 toward the inside. The reason is that when the crane apparatus 10 is traveling in the exit direction of the lane 71A, the traveling of the crane apparatus 10 is stopped even when a stop command is issued from this position while the bus bar power supply is continued. This is because the position can be controlled.

  Therefore, from a point closer to the end of the bus bar 8 than this position, after the crane apparatus 10 issues a stop command, the crane apparatus 10 does not stop within the bus bar power supply range, and the crane apparatus 10 is out of the bus bar power supply range. It becomes out of control. In order to avoid such a situation, the magnetic plate 8MG is disposed so as to be located approximately 10 m from the end of the bus bar 8 inside.

[Circuit device circuit configuration]
Then, the circuit structure of the crane apparatus 10 is demonstrated using FIG.

  This crane device 10 drives various motors by using electric power from transformers (power supply devices) 7A and 7B fed through bus bars 8 extending along lanes 71A and 71B of a container yard 70, respectively. Various crane operations such as 9 loading and unloading and running are performed.

  The crane device 10 includes, as main components, a power feeding device 1A, an engine generator 1B, a power feeding switching device 1S, current collectors 6NR and 6NL, a main winding motor 30, a traveling motor 31, a traversing motor 32, an inverter (INV) 41, 42 and 43, a magnetic sensor 6JS, and a controller 5 are provided.

  The power feeding apparatus 1A converts, for example, three-phase alternating current power supplied from transformers 7A and 7B provided for each of the lanes 71A and 71B into three-phase alternating current having a predetermined voltage using an AC / AC converter. And output to the power feeding switch 1S.

  The current collectors 6NR and 6NL are attached to the outer leg portions 6BR and 6BL of the crane device 10, and are electrically contacted with the bus bar 8 made of a trolley wire installed on the support column 8P. The AC power is collected and output to the power feeding apparatus 1A.

  The engine generator 1B can collect the AC power from the transformers 7A and 7B via the bus bar 8 when the crane device 10 switches lanes using the turn lane 74 (FIG. 6). In this case, AC power is generated by driving a generator with a diesel engine (not shown) and is output to the power feeding switch 1S (hereinafter referred to as engine power feeding). The power feeding switch 1S selects either AC power from the power feeding device 1A or AC power from the engine generator 1B and supplies it to the common bus B in response to a power feeding switching command from the controller 5. ing.

  The common bus B is a wiring for supplying the AC power output from the power supply switching unit 1S to each part in the crane apparatus 10. The main winding motor 30 is an AC motor for moving the container 9 up and down. The traveling motor 31 is an AC motor for traveling the gantry 6. The traverse motor 32 is an AC motor for traversing the gantry 6.

The inverter 41 converts AC power on the common bus B supplied via the power supply switching unit 1S into AC power having a frequency corresponding to the rotation speed and supplies the AC power to the main winding motor 30 and the traveling motor 31. It is a vessel.
The inverter 42 is an AC / AC converter that converts AC power on the common bus B supplied via the power supply switching unit 1S into AC power having a frequency corresponding to the rotation speed and supplies the AC power to the traverse motor 32.
The inverter 43 includes a control device such as a lighting device, an air conditioner, or a controller 5 by converting AC power on the common bus B supplied via the power supply switching unit 1S into AC power having a frequency corresponding to the rotation speed. It is an AC / AC converter supplied as a power source for various auxiliary equipment.

  The controller 5 has a microprocessor such as a CPU (Central processing Unit) and its peripheral circuits, and reads the program from the microprocessor or a memory provided in the peripheral circuit and executes the program to cooperate the program and hardware. And has various functions for controlling the crane apparatus 10 as a whole.

  The main function of the controller 5 is to control the inverters 41 to 43 by exchanging various commands based on the command input of the operator detected via the operation lever or the operation switch, and to move the container 9 up and down, When the crane operation function for controlling the driving such as traveling, traversing, right-angle traveling, etc. and the crane device 10 changes the lane between the lane 71A and the lane 71B through the turn lane 74 (FIG. 4), the bus bar 8A In order to travel with the electric power from the engine generator 1B during the period in which the crane device 10 is disconnected from the power supply, a power supply switching control function for controlling the power supply switching device 1S by the power supply switching command and switching to the power from the engine generator 1B; have.

  Further, when the magnetic plate 8MG attached to the arm 8M of the support column 8P and the magnetic sensor 6JS attached to the support portions 6MR and 6ML of the crane apparatus 10 face each other, the controller 5 changes the magnetic field of the magnetic plate 8MG to the magnetic sensor. By detecting by 6JS, it can be determined that the crane apparatus 10 is present at the lane end of the lane 71A.

  At this time, the controller 5 determines whether the crane apparatus 10 is about to leave the lane 71A or has entered the lane 71A based on the order of detecting the south pole and the north pole of the magnetic plate 8MG. The predetermined lane edge necessary processing corresponding to the exit direction or the approach direction is executed.

[Crane equipment lane edge required processing]
Subsequently, as shown in FIG. 8, the controller 5 of the crane apparatus 10 enters from the start step of the routine RT1, moves to the next step 100, performs automatic traveling in the exit direction or the approach direction by the bus bar power feeding, and Move to step 101.

  In step 101, the controller 5 determines whether or not the magnetic plate 8MG provided at the lane end of the bus bar 8 is detected by the magnetic sensor 6JS during the bus bar power feeding. If a negative result is obtained here, this means that if it is in the exit direction, it is traveling near the center of the lane 71A and has not yet reached the lane end of the bus bar 8 with the magnetic plate 8MG. On the other hand, in the approach direction, it indicates that the bus bar power supply has just started and has not yet reached the lane end of the bus bar 8 with the magnetic plate 8MG. At this time, the process returns to step 101 to return to the magnetic plate. Repeat until 8 MG is detected.

  On the other hand, if an affirmative result is obtained in step 101, this indicates that the magnetic plate 8MG at the lane edge has been detected by the magnetic sensor 6JS in the exit direction or the entry direction. At this time, the controller 5 performs the next step. Move to 102 and perform the lane edge necessary processing in the exit direction or the approach direction. Since the lane edge necessary processing differs depending on the exit direction and the approach direction, description will be given separately for the subroutines of FIGS.

  As shown in FIG. 9, the controller 5 enters the lane edge necessary process in the exit direction of step 102, and proceeds to the next step 200. In step 200, the controller 5 continues the driving by the bus bar power supply, and in response to a lane change command from the host, for example, in a state where the engine generator 1 </ b> B is activated in advance from about 2 or 3 minutes in advance, Since the plate 8MG is detected, the power generation state of the engine generator 1B is confirmed, and the process proceeds to the next step 201.

  In step 201, the controller 5 determines whether or not the output voltage level of the engine generator 1B exceeds a predetermined threshold value. If a positive result is obtained here, this means that the engine generator 1B can run the crane device 10 as usual even when the warm-up operation of the engine generator 1B is finished and the bus bar power supply is switched to the engine power supply. At this time, the controller 5 proceeds to the next step 202.

  In step 202, the controller 5 can switch from the bus bar power supply to the engine power supply. Therefore, the controller 5 performs the automatic driving and the lane change by the engine power supply in the turn lane 74, and ends the lane edge necessary processing in the exit direction.

  On the other hand, if a negative result is obtained in step 201, this means that the warm-up operation of the engine generator 1B has not been completed, and when the bus bar power supply is switched to the engine power supply, there is an excess to the engine generator 1B. In addition to applying a load, the engine generator 1B may not be able to travel the crane device 10 as usual, indicating that the bus bar power supply cannot be switched to the engine power supply. At this time, the controller 5 proceeds to the next step 203. Move.

  In step 203, the controller 5 cannot switch from bus bar power supply to engine power supply, and cannot perform automatic traveling and lane switching in the turn lane 74, so the bus bar power supply is maintained and AC power is supplied to the traveling motor 31. Is interrupted to stop the automatic traveling of the crane apparatus 10 within the control range of the bus bar power supply, and the lane end necessary processing in the exit direction is terminated.

  Further, as shown in FIG. 10, the controller 5 enters the lane edge necessary process in the approach direction in Step 102 and moves to the next Step 300. In step 300, after completing the lane change from the lane 71 </ b> A to the lane 71 </ b> B in the turn lane 74, the controller 5 confirms that the bus bar power is supplied to the crane apparatus 10 in the lane 71 </ b> B. Move on.

  In step 301, the controller 5 determines whether or not the bus bar power supply is being performed in the lane 71B after the lane change. When a negative result is obtained, the controller 5 returns to step 300 and repeats the confirmation of the bus bar power supply. If a positive result is obtained, the process proceeds to step 302.

  In step 302, the controller 5 confirms that the bus bar power supply is being performed in the lane 71 </ b> B after the lane change. Therefore, the engine generator 1 </ b> B is automatically stopped to end the engine power supply, and the automatic traveling only by the bus bar power supply is performed. And the lane edge necessary processing in the approach direction is completed.

[Operation and effect]
In the above configuration, the crane apparatus 10 determines that the crane apparatus 10 is traveling on the lane end by detecting the magnetic plate 8MG at the lane end with the magnetic sensor 6JS, and the traveling direction of the crane apparatus 10 is Since it is possible to determine whether the direction is the exit direction from the lane 71 or the approach direction to the lane 71, a reliable and desired timing can be obtained without forgetting the lane end necessary process in the exit direction or the lane end necessary process in the approach direction Can be done with.

  When the crane apparatus 10 performs the lane end necessary processing in the exit direction, the engine generator 1B is activated in advance in response to a command from the host in preparation for the lane change during automatic traveling in the lane exit direction, and is at the lane end. When the magnetic plate 8MG is detected by the magnetic sensor 6JS, the controller 5 switches the bus bar power supply to the engine power supply only when the output voltage level of the engine generator 1B exceeds the threshold value.

  At this time, the controller 5 switches from the bus bar power supply to the engine power supply, so that the current collector 6NR or 6NL that has been used so far is folded to a position substantially parallel to the base 6CR or 6CL and stored. When the lane change is performed in the lane 74, the current collector 6NR or 6NL is kept out of the way while protruding.

  Since the magnetic plate 8MG is disposed so as to be located approximately 10 m inward from the end of the bus bar 8, the output of the engine generator 1B is detected when the controller 5 of the crane apparatus 10 detects the magnetic plate 8MG. When the voltage level does not exceed the threshold value, neither the bus bar power supply nor the engine power supply is performed by stopping the automatic traveling of the crane device 10 by interrupting the supply of AC power to the traveling motor 31 while maintaining the bus bar power supply. It is possible to prevent the crane apparatus 10 from leaving the turn lane 74 under no control.

  In addition, in the case of the lane edge necessary processing in the approach direction, the crane apparatus 10 automatically detects the magnetic plate 8MG at the lane edge by the magnetic sensor 6JS during the automatic travel in the lane approach direction by the bus bar power supply after the lane change. Only when power supply is performed normally, by stopping the engine generator 1B and using only bus bar power supply, wasteful fuel consumption due to engine power supply can be suppressed, and the environmental impact of exhaust gas and noise can be suppressed. Can do.

  According to the above configuration, the crane device 10 detects that it is present at the lane end during automatic traveling, and requires a lane end necessary process in the exit direction or a lane in the entry direction that needs to be performed at the lane end. The end-necessary processing can be surely executed at a desired timing without forgetting.

[Extended embodiment]
The present invention has been described above with reference to the embodiments, but the present invention is not limited to the above embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention.

  In the above-described embodiment, the case where the magnetic plate 8MG is arranged so as to be approximately 10 m from the end of the bus bar 8 has been described. However, the present invention is not limited to this. After the crane apparatus 10 issues a stop command, the distance may be arbitrary as long as it is a position where it can be stopped and stopped within the range of power supply to the bus bar.

  8 ... Bus bar, 8MG ... Magnetic plate, 9 ... Container, G ... Ground, 1A ... Power supply device, 1B ... Engine generator, 1S ... Power supply switch, 5 ... Controller, B ... Common bus, 71 (71A, 71B, ... ...) ... Lane, 7A ... Wharf, 7B ... Ship, 7C ... Container crane, 10 ... Crane device, 6 ... Mount, 6A ... Beam, 6BR, 6BL ... Leg, 6CR, 6CL ... Base, 6DR, 6DL ... Cart , 6ER, 6EL ... tire, 6FR, 6FL ... connecting part, 6G ... equipment unit, 6H ... trolley, 6I ... spreader, 6J ... cable, 6JS ... magnetic sensor, 6K ... command room, 6MR, 6ML ... support part, 6JR, 6JL: support shaft, 6NR, 6NL ... current collector, 7A, 7B ... transformer, 30 ... main winding motor, 31 ... traveling motor, 32 ... traverse motor, 41, 42, 43 ... inverter (I V), 70 ... container yard, 72 ... road, 73 ... gate, 74 ... turn lane, 75 ... trailer, 7A ... pier, 7B ... a ship.

Claims (6)

Drives and lowers the container in the lane in the container terminal by driving the main winding motor, and self-travels in the container terminal by driving the traveling motor based on the electric power supplied through the bus bar of the lane. A gate-type crane device that self-propels in the container terminal by driving the traveling motor based on electric power from an engine generator when it is off the lane,
A magnetic sensor disposed at a predetermined position of the crane device for detecting a magnetic plate provided at a predetermined position at each of the lane ends on both sides of the lane during the self-propulsion of the crane device;
A control unit that determines that the crane device is at the lane end by detecting the magnetic plate by the magnetic sensor while the crane device is traveling, and performs a predetermined lane end necessary process. Crane device characterized. The control unit determines whether the crane device is in a direction of exiting the lane or a direction of entering the lane based on an order of detecting the S pole and the N pole of the magnetic plate by the magnetic sensor. The crane device according to claim 1, wherein: When the control unit determines that the crane device is in the direction of exiting the lane, a detection unit that detects the power generation state of the engine generator when recognizing the presence of the magnetic plate;
As a detection result of the detection unit, if the power generation state of the engine generator satisfies a predetermined output voltage level, the power from the power supply device is switched to the power from the engine generator as the lane end necessary processing. The crane apparatus according to claim 2, further comprising: a switching unit. If the power generation state of the engine generator does not satisfy a predetermined voltage level, the switching unit supplies power from the bus bar as the lane end required processing without switching to power from the engine generator. The crane apparatus according to claim 3, wherein the crane apparatus is maintained. When it is determined that the crane device is in the direction of entering the lane, the control unit stops the engine generator when the presence of the magnetic plate is recognized as the lane end necessary processing. The crane apparatus according to claim 2. Drives and lowers the container in the lane in the container terminal by driving the main winding motor, and self-travels in the container terminal by driving the traveling motor based on the electric power supplied through the bus bar of the lane. A crane control method used in a gate-type crane device that is self-propelled in the container terminal by driving the traveling motor based on electric power from an engine generator when it is off the lane,
A detecting step of detecting magnetic plates provided at predetermined positions at both ends of the lanes on both sides of the lane during a self-propelled movement of the crane apparatus by a magnetic sensor disposed at a predetermined position of the crane apparatus;
A control step of determining that the crane device is at the lane end by a control unit based on a detection result of detecting the magnetic plate by the magnetic sensor while the crane device is traveling, and performing predetermined lane end necessary processing. A crane control method comprising:

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