JP2019043780A - Cargo handling device and operating method of cargo handling device - Google Patents

Abstract

To incorporate safe automatic operation as part of the manual operation of the steering device manually, making it inexpensive to support manual operation.SOLUTION: The present invention switches a manual control for manually controlling the operation of a cargo handling unit 2 by a driver P on the basis of an input by the driver P to an operation device 26 and an automatic control for automatically controlling the operation of the cargo handling unit 2. Even when there are diverse and complex targets and sections, there are a wide variety of different needs, safe automatic driving is appropriately incorporated as part of manual driving, and while reducing the burden on driver P and it is possible to support manual operation inexpensively within the scope of support that does not cause burdens and impacts on surroundings.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a cargo handling apparatus and a method for operating the cargo handling apparatus.

  The following Patent Document 1 describes a technique for automatically conveying a cylindrical steel making coil (hereinafter referred to as a coil) produced at a steel making factory using an overhead crane. The overhead crane described in Patent Document 1 automatically lifts and conveys a coil on a carriage. Specifically, the girder extends in the left-right direction and can travel in the front-rear direction perpendicular to the left-right direction. A trolley (club) that can traverse on the girder, a coil suspension provided on the rotating drum of the trolley via a wire rope to move the coil up and down, and a projection that irradiates the coil with laser light. A laser range finder having a light receiving section that receives reflected light reflected from the light section and the coil, an arithmetic unit, and a control section that automatically controls driving of the girder, trolley, coil hanger, and the like. The arithmetic unit automatically calculates the distance distribution to the coil with the laser distance meter, calculates the center coordinates, outer diameter, width, etc. of the coil based on the calculated distance distribution data, and automatically carries out the coil with the overhead crane. Get the data you need. And based on these data, it is possible to automatically control the overhead crane and automatically convey the coil without requiring manual work.

  Thus, in recent years, there has been a demand for full automation of, for example, a crane for the purpose of labor saving and various proposals have been made.

Japanese Patent Laid-Open No. 7-083611

  Here, if the shape of the load such as a coil handled by a crane or the like is almost constant and the work is the same in the transfer pattern, automatic control (automatic operation) may be considered. In fact, some major companies are trying to introduce full automation of cranes, but in small and medium-sized sites such as SMEs, the following (1) to (8) including safety measures There are various barriers, and it may be necessary to abandon it because it has not been introduced.

  That is, (1) it takes time to take into consideration such as dealing with related equipment, and the cost is significantly increased compared to a manual crane. (2) Although there is a problem that the cycle time is inferior to that of a skilled driver, the barrier after (3) is larger. (3) A safety measure that divides the automation area and detects if a person enters the automation area and stops the automatic operation is required in the crane safety regulations. In this connection, (4) for example, it is difficult to divide the adjacent manual crane and automatic crane in the same building. (5) Carriage such as loading and unloading of goods into the factory is carried out by a cart or truck. However, since the cart and truck are hardly automated, a detailed arrangement is required when entering the automated area. (6) There may be a plurality of types of coils, pipes, wires, and the like as loads in the same building, and the division of the automation area becomes complicated. (7) If other work occurs during automatic operation, it is necessary to determine in detail the automatic operation recovery means after manual intervention. (8) Interlock as a safety device corresponding to various situations is required, but the control becomes very complicated.

  In this way, the work carried out by small and medium-sized enterprises, as described in (1) to (8) above, is diverse and complex, and in addition to having a wide variety of needs. Various conditions and information need to be maintained and established, and most small and medium-sized enterprises often abandon it because they cannot get over it, and only some major companies have realized it.

  The present invention has been made to solve such problems. For example, as part of manual operation by manual operation of a cargo handling device such as a crane, a safe automatic operation is incorporated to reduce manual operation. It is an object of the present invention to provide a cargo handling device to be supported and a method for operating the cargo handling device.

  A cargo handling device according to the present invention includes a girder extending in a predetermined direction and capable of traveling in an orthogonal direction orthogonal to the predetermined direction, a cargo handling unit having a lifting tool capable of traversing on the girder and locking and lifting a load. An operation device that is attached to the girder and that is input by the driver regarding operation, and a control unit that controls the operation of the cargo handling unit based on the input by the driver to the operation device. It is possible to switch between manual control for controlling the operation of the cargo handling unit manually by the driver and automatic control for automatically controlling the operation of the cargo handling unit based on the input by the driver to the operating device. It is a feature.

  According to such a cargo handling device, based on the input by the driver to the operating device, manual control for controlling the operation of the cargo handling unit manually by the driver, and automatic control for automatically controlling the operation of the cargo handling unit, Therefore, even if the objects and sections are diverse and complex, and there are various needs, safe automatic driving can be incorporated as part of manual driving, and the burden on the driver It is possible to support the manual operation at a low cost within the range of the support that does not affect the surroundings and does not affect the surroundings.

  Here, the operating device preferably includes a switching input unit that switches between manual control and automatic control. When such a configuration is employed, during automatic control, the driver can switch to manual control by using the switching input unit provided in the operating device without changing the hand or grip of the operating device. For this reason, automatic operation by automatic control can be easily and immediately switched to safe manual operation.

  Further, it is preferable that the control unit performs automatic control only while the driver is touching the switching input unit. Here, in a configuration where the automatic control is continued even if the driver touches the switching input unit once and does not touch it after that, there is a possibility of being subject to legal regulations and restrictions concerning automatic driving. Much effort and effort is required to deal with regulations and constraints. On the other hand, according to the present invention, the control unit performs automatic control only while the driver is touching the switching input unit, and if the driver does not touch the switching input unit, manual control is performed. No legal restrictions or restrictions are immediately received, and the driver can take appropriate measures manually to ensure safety.

  Here, as the control unit, specifically, when switching to automatic control, the cargo handling unit can be traversed above the target load for alignment, and the suspension can be locked to the target load. The structure which aligns to the height position to perform is mentioned. As a result, automatic control that can be dealt with safely and automatically, such as positioning, can be incorporated as part of manual driving as appropriate, within the scope of assistance that reduces the burden on the driver and does not affect or influence the surroundings. Can be cheap and support manual operation.

  In addition, the operation method of the cargo handling device according to the present invention is such that the manual handling operation causes the cargo handling section to traverse on the girder to move the cargo handling section above the target load, and switches from manual operation to automatic operation. Align the load above the load, position it to a height that allows the suspension to be locked to the target load, switch from automatic operation to manual operation, and lock the load with the suspension. The locked load is conveyed by the cargo handling section.

  According to such a method of operating a cargo handling apparatus, the cargo handling section traverses on the girder and the cargo handling section moves above the target cargo by manual operation. Next, switching from manual operation to automatic operation, automatic operation by automatic control aligns the cargo handling part above the target load and positions it to a height position that allows the suspension to be locked to the target load. Match. Next, the automatic operation is switched to the manual operation, the target load is locked by the lifting tool by manual operation, and the locked load is conveyed by the cargo handling unit. In this way, automatic control that can be dealt with safely and automatically, such as positioning, can be incorporated as part of manual driving as appropriate, within the scope of assistance that reduces the burden on the driver and does not affect the surrounding area. Therefore, it can support manual operation at low cost.

  In addition, the cargo handling device according to the present invention is a cargo handling installation in which cargo handling is performed by the cargo handling unit, and an operator that performs input related to the operation of the cargo handling unit by the driver, and the cargo handling based on the input by the driver to the operator. A control unit that controls the operation of the vehicle, and the control unit automatically controls the operation of the cargo handling unit based on an input by the driver to the operating device, and the cargo handling unit automatically. It is characterized in that it can be switched between automatic control for controlling the operation.

  According to such a cargo handling device, based on the input by the driver to the operating device, manual control for controlling the operation of the cargo handling unit manually by the driver, and automatic control for automatically controlling the operation of the cargo handling unit, Therefore, even if the objects and sections are diverse and complex, and there are various needs, safe automatic driving can be incorporated as part of manual driving, and the burden on the driver It is possible to support the manual operation at a low cost within the range of the support that does not affect the surroundings and does not affect the surroundings.

  Here, the operating device preferably includes a switching input unit that switches between manual control and automatic control. When such a configuration is employed, during automatic control, the driver can switch to manual control by using the switching input unit provided in the operating device without changing the hand or grip of the operating device. For this reason, automatic operation by automatic control can be easily and immediately switched to safe manual operation.

  Further, it is preferable that the control unit performs automatic control only while the driver is touching the switching input unit. Here, in a configuration where the automatic control is continued even if the driver touches the switching input unit once and does not touch it after that, there is a possibility of being subject to legal regulations and restrictions concerning automatic driving. Much effort and effort is required to deal with regulations and constraints. On the other hand, according to the present invention, the control unit performs automatic control only while the driver is touching the switching input unit, and if the driver does not touch the switching input unit, manual control is performed. No legal restrictions or restrictions are immediately received, and the driver can take appropriate measures manually to ensure safety.

  Here, specifically, when the control unit is switched to automatic control, the load handling unit is moved to the position above the target load for alignment, and a lifting tool for locking the load handling is provided. The structure which aligns to the height position which can be latched with respect to is mentioned. As a result, automatic control that can be dealt with safely and automatically, such as positioning, can be incorporated as part of manual driving as appropriate, within the scope of assistance that reduces the burden on the driver and does not affect or influence the surroundings. Can be cheap and support manual operation.

  In addition, the operation method of the cargo handling device according to the present invention is such that the cargo handling unit is moved by manual operation, the cargo handling unit is moved above the target load, the manual operation is switched to the automatic operation, and the cargo handling unit is moved to the target load. Align upward, position the lifting tool for locking the load to a height position that enables locking to the target load, and switch from automatic operation to manual operation. And the locked load is conveyed by the cargo handling section.

  According to such an operation method of the cargo handling apparatus, the cargo handling unit moves and the cargo handling unit moves above the target load by manual operation. Next, switching from manual operation to automatic operation, automatic operation by automatic control aligns the cargo handling part above the target load and positions it to a height position that allows the suspension to be locked to the target load. Match. Next, the automatic operation is switched to the manual operation, the target load is locked by the lifting tool by manual operation, and the locked load is conveyed by the cargo handling unit. In this way, automatic control that can be dealt with safely and automatically, such as positioning, can be incorporated as part of manual driving as appropriate, within the scope of assistance that reduces the burden on the driver and does not affect the surrounding area. Therefore, it can support manual operation at low cost.

  ADVANTAGE OF THE INVENTION According to this invention, safe automatic driving | operation can be incorporated as a part of manual driving | operation by manual operation of a cargo handling apparatus, and the operating method of the cargo handling apparatus and cargo handling apparatus which support manual driving | running at low cost can be provided.

It is the figure which looked at the overhead crane which concerns on embodiment of this invention, and many coils from the traveling direction of the overhead crane. It is the perspective view which looked at the overhead crane shown in FIG. 1 from upper direction. It is the figure which looked at the hanging tool and coil in FIG.1 and FIG.2 from the traversing direction of the trolley. It is a perspective view which shows the operation device in FIG.1 and FIG.2. It is explanatory drawing for calculating | requiring the distance from the base part lower surface of a hanger to the coil center with a TOF camera. It is a cross-sectional view showing a state of alignment between the transmission photoelectric sensor and the coil hole. It is a longitudinal cross-sectional view which shows the state of alignment with a transmissive photoelectric sensor and a coil hole. It is a control block diagram of an overhead crane. It is a flowchart which shows operation | movement of an overhead crane.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of a material handling device and a method for operating a material handling device according to the present invention will be described with reference to the drawings. FIG. 1 is a view of an overhead crane and a number of coils according to an embodiment of the present invention as seen from the traveling direction of the overhead crane, and FIG. 2 is a perspective view of the overhead crane as seen from above.

  As shown in FIGS. 1 and 2, the cargo handling apparatus here is an overhead crane 100 disposed in an upper part of a building such as a factory or a warehouse. The coil C, which is a steel plate wound in a cylindrical shape, for example, is a coil in the building so that the axis of the coil hole H is parallel to the traveling direction of the overhead crane 100 (the vertical direction in FIG. 1). Many are installed and managed on the yard (site). The overhead crane 100 lifts and moves the coil C as an object. In FIGS. 1 and 2, a large number of coils C are actually arranged and stacked in parallel, but only a part of the coils C is illustrated in order to avoid making the drawings complicated. Further, on the coil yard, a skid (not shown) for positioning the coil C so as not to roll is provided.

  The overhead crane 100 mainly includes a girder 1, a cargo handling unit 2, and the like. Although described later in detail, the cargo handling unit 2 includes a trolley 3 as a main body, and includes a wire rope 4, a hanging tool 5, a rotating drum 9, and the like.

  The girder 1 supports the load of the cargo handling section 2 and the coil C serving as a load, extends in the left-right direction as the predetermined direction in FIG. 1 and extends substantially horizontally across the left and right walls near the ceiling in the building. Horizontal. The girder 1 is formed by connecting and integrating the left and right ends of linear rigid bodies separated in the front-rear direction (vertical direction in FIG. 1) as an orthogonal direction orthogonal to a predetermined direction. The left and right ends of the girder 1 are provided with runways 7 that extend in the front-rear direction and serve as travel lanes. The girder 1 travels on the runway 7 along the front-rear direction. The girder 1 is provided with a travel drive unit 11 (see FIG. 8) such as a motor, and the travel is controlled.

  As shown in FIG. 2, a portion of the girder 1 excluding the left and right end portions of the rectangular frame shape in plan view is an opening 8, and the trolley 3 is disposed on the girder 1 so as to straddle the opening 8. The trolley 3 traverses on the girder 1 along the left-right direction (extending direction of the girder 1). The trolley 3 is provided with a traversing drive unit 12 (see FIG. 8) such as a motor, and the traversing thereof is controlled.

  On the trolley 3, a rotating drum 9 for lifting / suspending the hanger 5 via the wire rope 4 is provided. The rotating drum 9 is disposed so as to face the opening 8, and the wire rope 4 is passed through the opening 8. The hanger 5 is suspended through a sheave 10 around which the wire rope 4 from the rotary drum 9 is wound. The rotating drum 9 is provided with a hoisting / lowering drive unit 13 (see FIG. 8) such as a motor, for example, and its rotation is controlled so that the hoisting tool 5 is lifted / hanged in the vertical direction (height). Position) is controlled.

  The lifting tool 5 is for locking and lifting the coil C, and includes a base 20 and a pair of arms 21 a and 21 b that protrude in opposite directions from both front and rear ends of the base 20.

  The sheave 10 is rotatably connected to the upper portion of the base 20. As shown in FIG. 3, a TOF (Time Of Flight) camera 30 as an image sensor is installed on the lower surface of the center of the base 20 so that the lower side can be projected.

  Each of the arms 21a and 21b has an inverted L shape, and protrudes from both front and rear end portions of the base portion 20 so that the L shape faces downward. At the lower ends of the arms 21a and 21b, hanging tool claws 22a and 22b for inwardly protruding into the coil hole H and locking the coil C are provided.

  In addition, as shown in FIG. 6, light emitting portions 23e and 23f of the transmissive photoelectric sensor 23 are provided on the left side of the arm 21a on the lower side of the distal end side of the hanging claw 22a and on the lower side thereof, respectively, In the arm 21a, light emitting portions 23g and 23h of the transmissive photoelectric sensor 23 are provided at the right side in the figure at a lower portion on the distal end side of the hanging hook claw 22a and at a position below this, respectively.

  Correspondingly, as shown in FIG. 7, on the arm 21b side, light receiving portions 23i and 23j of the transmissive photoelectric sensor 23 are provided at positions facing the light emitting portions 23e and 23f of the transmissive photoelectric sensor 23, respectively. The light receiving portions 23k and 23m of the transmissive photoelectric sensor 23 are provided at positions facing the light emitting portions 23g and 23h of the transmissive photoelectric sensor 23, respectively. Not all the light emitting units 23e, 23f, 23g, and 23h are provided on the arm 21a side, and all the light receiving units 23i, 23j, 23k, and 23m are provided on the arm 21b side, but some light emitting units are provided on the arm 21a side. Alternatively, a part of the light receiving units may be provided, and the remaining light emitting units and the remaining light receiving units may be provided on the arm 21b side. At this time, if the light emitting units and the light receiving units are alternately arranged, erroneous detection of light between adjacent light emitting units and light receiving units can be suppressed.

  As shown in FIG. 3, each of the arms 21a and 21b can be slidably moved along the front-rear direction (the left-right direction in FIG. 3), and the arms 21a and 21b shown by the solid lines. The position is located at the arm open position, and the positions of the arms 21a and 21b indicated by phantom lines are located at the arm closed position. The arm open position is a position where the arms 21a, 21b slide outward, and the lifting hook claws 22a, 22b are spaced apart from the end face of the coil C, and the arm closed position is the arms 21a, 21b. Slides inward, and the lifting hook claws 22a and 22b enter the coil hole H. Thereafter, when the lifting tool 5 is lifted, the lifting hook claws 22a and 22b are locked to the upper inner peripheral surface of the coil hole H. The position to get.

  The arms 21a and 21b are provided with an arm opening / closing drive unit 14 (see FIG. 8) such as a motor, for example, and the opening and closing of the arms 21a and 21b is controlled by controlling the driving thereof.

  The arms 21a and 21b are not limited to those that slide. The arms rotate around the upper rotation center axis (not shown) close to the base 20 side, and the suspension claws are connected to each other. Even if it can open and close, only one of the hanging hook claws may slide.

  Moreover, as shown in FIG.1 and FIG.2, the driver's cab 25 for the driver | operator P to drive is fixedly provided in the lower surface of the edge part of the one side of the girder 1. As shown in FIG. The driver P is seated in the driver's seat in the cab 25 and performs a predetermined crane operation by holding the operating device 26 shown in FIGS. 1, 2 and 4 with his / her hand. In the cab 25, a monitor 27 that displays information from the image information sensor 15 (see FIG. 8) including the TOF camera 30 and the transmission photoelectric sensor 23 is installed.

  The operation device 26 is used for input related to the operation. Specifically, as shown in FIG. 4, the operation device 26 is erected so that the driver can hold it, and the base side is made bellows. A manual switch 28 (see FIG. 8) for controlling various crane operations is arranged.

  In addition, a push button type switching input unit 29 that can be pushed with the thumb without changing the grip of the operation unit 26 is provided on the upper side portion of the operation unit 26. The switching input unit 29 switches between manual control and automatic control, and performs automatic control only while the driver is touching the switching input unit 29. If the driver is not touching the switching input unit 29, manual control is performed. Is supposed to do. Touching here means that if it is a push button type, it keeps pushing. In addition, for example, a button or the like that can be detected as being touched like a touch panel refers to a state in which the part is touched without being pressed. The switching input unit is not limited to a button, and may be other input means as long as it can be input.

  And in the overhead crane 100 of this embodiment, based on the input from the manual switch 28 of the operation device 26, the traveling drive unit 11 for traveling the girder 1, the transverse drive unit 12 for traversing the trolley 3, and the suspension A manual control unit 50a for manually controlling the hoisting and lowering driving unit 13 for rotating the rotating drum 9 forward and backward to adjust the height position of the tool 5, and the arm opening and closing driving unit 14 for opening and closing the arms 21a and 21b; Based on the input of the switching input unit 29 of the operation unit 26 and the image information sensor 15 including the TOF camera 30 and the transmission photoelectric sensor 23, the travel drive unit 11, the traverse drive unit 12, and the hoisting and lowering drive are performed. The control part 50 provided with the automatic control part 50b which controls the part 13 automatically is comprised.

  FIG. 9 is a flowchart showing the operation of the overhead crane 100. First, in step 1, the driver manually operates the operating device 26 and moves the trolley (load handling part) 3 above the target load (coil C) by manual control by the manual control unit 50a. In this case, if necessary, the travel drive unit 11 causes the girder 1 to travel in the travel direction, and the traverse drive unit 12 causes the girder 1 to traverse in the traverse direction.

  Next, in Step 2, the switch input unit 29, which is a push button, is pushed with the thumb while grasping the operation device 26, and the manual operation by the manual control unit 50a is switched to the automatic operation by the automatic control unit 50b.

  In step 3, it is in the automatic control mode, and it is determined whether the shape of the coil C can be recognized from above by the TOF camera 30.

  In Step 3, when the image of the shape of the coil C cannot be recognized, it is determined by manual operation that the trolley 3 is located at a position far away from above the target load, and the process returns to Step 1 to perform manual operation. The trolley 3 is moved again above the target load.

  On the other hand, if the shape of the coil C can be recognized in step 3, the process proceeds to step 4 assuming that the position is approximately above the target load by manual operation.

  In step 4, the driving input unit 29 and the traverse driving unit 12 are automatically controlled by the automatic control unit 50b by continuously pressing the switching input unit 29 of the operation device 26, and the center of the coil C and the cargo handling unit 2 (trolley 3) viewed from above. ) Align the center.

  In step 5, the switch input unit 29 of the operation device 26 is continuously pressed, and, for example, as shown in FIG. 5, the distance L <b> 1 between the lower surface of the base 20 where the TOF camera 30 is located and the uppermost end of the coil C by the TOF camera 30. Since the outer diameter L of the coil C is known, the distance L1 + (L / 2) from the lower surface of the base 20 to the center of the coil C (coil hole H) is calculated. Thereby, the descending amount of the hanger 5 for aligning the hanger claws 22a and 22b with the coil hole H can be calculated in advance. Then, the switch input unit 29 of the operation device 26 is continuously pressed and the hoisting / lowering driving unit 13 is automatically controlled by the automatic control unit 50b, and the hanger 5 is lowered to the calculation position.

  Next, in step 6, the suspension hooks 22 a and 22 b are adjusted to the position of the coil hole H so that the suspension hooks 22 a and 22 b can enter the coil hole H by automatic control based on the transmission photoelectric sensor 23.

  In step 7, if the light receiving part of the transmissive photoelectric sensor 23 receives all the light from the light emitting part of the corresponding transmissive photoelectric sensor 23, it is determined that the hanging claws 22a and 22b can enter the coil hole H. , Go to Step 8. On the other hand, if light cannot be received by some of the light receiving units in step 7, the process returns to step 6 and alignment is performed again.

  In step 8, the driver moves the thumb from the switching input unit 29, which is a push button, while holding the operation device 26, and shifts from automatic operation by the automatic control unit 50b to manual operation by the manual control unit 50a.

  At the same time, in step 9, assuming that the coil C can be locked by the lifting hook claws 22a and 22b, the coil locking lamp installed on the lifting tool 5 is turned on and the process proceeds to step 10.

  In step 10, the driver slides the arms 21a and 21b by manual operation with the operation unit 26 to position the arms 21a and 21b in the arm closed position, and causes the suspension hooks 22a and 22b to enter the coil hole H. The rotary drum 9 is driven to rotate, the suspension hooks 22a and 22b are locked to the upper inner peripheral surface of the coil hole H, the coil C is lifted, and manual conveyance is performed.

  Note that the driver can check whether the driver is operating normally or whether the work is performed safely by monitoring the monitor 27 in front of the driver's seat during a series of manual and automatic driving.

  Thus, according to this embodiment, based on the input by the driver to the operating device 26, manual control for controlling the operation of the cargo handling unit 2 by the driver manually and the operation of the cargo handling unit 2 are automatically performed. The automatic control to be controlled is switched. For this reason, safe automatic driving can be incorporated as part of manual driving to reduce the burden on the driver even when the objects and sections are diverse and complex, and there are various needs. However, it is possible to support manual operation at a low cost within the range of support that does not affect or affect the surroundings.

  In addition, according to the present embodiment, the operating device 26 includes the switching input unit 29 that performs switching between manual control and automatic control. Therefore, the driver holds a hand or a grip on the operating device 26 during automatic control. It is possible to switch to manual control by using the switching input unit 29 provided in the operation device 26 without changing. For this reason, automatic operation by automatic control can be easily and immediately switched to safe manual operation.

  Here, in the configuration in which the automatic control is continued even if the driver touches the switching input unit 29 once and then does not touch the switch input unit 29, there is a possibility of being subject to legal restrictions and restrictions on automatic driving. It takes a lot of effort and effort to deal with the regulations and restrictions. On the other hand, according to the present embodiment, the control unit 50 performs automatic control only while the driver is touching the switching input unit 29, and manual control is performed unless the driver touches the switching input unit 29. Therefore, it is no longer immediately subject to legal regulations and restrictions on automatic driving, and it is possible to take appropriate measures by manual operation by the driver, thereby ensuring safety.

  In addition, according to the present embodiment, when the control unit 50 is switched to automatic control, the control unit 50 performs alignment by moving the cargo handling unit 2 over the target load, and engages the hanging tool 5 with respect to the target load. The position is adjusted to the height where it can be stopped. For this reason, automatic control that can be dealt with safely and automatically, such as positioning, can be incorporated as part of manual driving as appropriate, within the scope of assistance that reduces the burden on the driver and does not affect or influence the surroundings. Can be cheap and support manual operation. As a result, for example, there is no need for a signal man who is placed on the ground and sends a signal for alignment between the hanger 5 and the load to the driver, and labor saving can be achieved.

  Further, according to the operation method of the present embodiment, by manual operation, the cargo handling unit 2 (trolley 3) traverses on the girder 1 and the cargo handling unit 2 moves above the target load, and then automatically starts from manual operation. Switch to operation, align the cargo handling section 2 above the target load, align the lifting device 5 to a height position that allows it to be locked to the target load, and then switch from automatic operation to manual operation The target load is locked by the lifting tool 5 by manual operation, and the locked load is transported by the cargo handling unit 2. In this way, automatic control that can be dealt with safely and automatically, such as positioning, can be incorporated as part of manual driving as appropriate, within the scope of assistance that reduces the burden on the driver and does not affect the surrounding area. Therefore, it can support manual operation at low cost. As a result, for example, there is no need for a signal man who is placed on the ground and sends a signal for alignment between the hanger 5 and the load to the driver, and labor saving can be achieved.

  As described above, according to the present invention, it is possible to introduce a safe automatic driving as a support for manual driving, although it is not fully automatic, for small and medium-sized enterprises which have given up the introduction for various reasons. , Will be able to contribute greatly.

  Although the present invention has been specifically described above based on the embodiment, the present invention is not limited to the above embodiment. For example, in the above embodiment, the cab 25 is provided. However, the driver may perform the operation using the operation device 26 connected to the overhead crane.

  In the flowchart shown in FIG. 9, the manual operation is switched to the automatic operation in Step 2, but the suspension claws 22a and 22b are manually operated until they are suspended so as to be within the outer diameter of the coil C. The subsequent operation may be automatic operation.

  Further, when a plurality of (two or three) arms 21a and 21b are juxtaposed in the transverse direction and a plurality of coils C are lifted at the same time, the cab 25 is fixed to the girder 1 and is located on the side far from the driver. Since the coil C (especially the coil hole H) is difficult to visually recognize, it is particularly effective to apply this embodiment.

  Further, the number of light emitting / receiving portions of the transmissive photoelectric sensor 23 may be one or more, and one or more may be used for a reflective photoelectric sensor. An imaging means such as a camera can also be used. Further, a 3D scanner, a 2D scanner, or the like may be used instead of the TOF camera.

  Further, for example, when the coil C is arranged so that the axis of the coil hole H is parallel to the transverse direction, a lifting tool rotated 90 ° around the vertical axis may be used.

  Moreover, in the said embodiment, although the cargo handling apparatus is the overhead crane 100 and the load is the coil C, a papermaking roll etc. may be sufficient, for example. Further, the present invention can be applied to an unloader other than the overhead crane 100, such as an unloader that locks (grabs) a slab with a tong and conveys it. It can also be applied to bridge cranes with girder.

  Moreover, it is not limited to the cargo handling apparatus which has a girder, It is applicable also to the cargo handling apparatus which does not have a girder. For example, the present invention can also be applied to a traveling jib crane, a swiveling jib crane that is pivotably attached to a base without traveling, a tower type jib crane, a retractable crane, and the like. In the case of these cranes, jibs, wire ropes, rotating drums, etc. correspond to the cargo handling section. Moreover, the operating device to which the input regarding operation of a cargo handling part is performed by the driver | operator is attached to the turning body provided with the jib. A driver's cab may be provided in the revolving structure, and an operating device may be accommodated in the driver's cab. In the case of a traveling jib crane or traveling retractable crane, the swiveling body is provided so as to be able to swivel around a vertical axis with respect to the traveling body traveling on the ground. Thus, the jib can be turned (moved) in any direction.

  DESCRIPTION OF SYMBOLS 1 ... Girder, 2 ... Cargo handling part, 3 ... Trolley, 4 ... Wire rope, 5 ... Suspension tool, 11 ... Travel drive part, 12 ... Traverse drive part, 13 ... Winding-up / down drive part, 14 ... Arm opening / closing drive part, 15 Image information sensor, 22a, 22b ... Suspension nail, 23 ... Transmission type photoelectric sensor, 26 ... Operation device, 28 ... Manual switch, 29 ... Switching input unit, 30 ... TOF camera, 50 ... Control unit, 50a ... Manual control Part, 50b ... automatic control part, 100 ... cargo handling device, C ... coil (load), P ... driver.

Claims (10)

A girder extending in a predetermined direction and capable of traveling in an orthogonal direction orthogonal to the predetermined direction;
A cargo handling section having a lifting device capable of traversing the girder and capable of locking and lifting a load;
An operating device that is attached to the girder and that receives input related to operation by the driver;
A control unit for controlling the operation of the cargo handling unit based on an input by the driver to the operation unit,
The control unit, based on an input by the driver to the operating device, manual control for controlling the operation of the cargo handling unit manually by the driver, automatic control for automatically controlling the operation of the cargo handling unit, A cargo handling device characterized by being switchable.   The cargo handling apparatus according to claim 1, wherein the operating device includes a switching input unit that switches between manual control and automatic control.   The cargo handling device according to claim 2, wherein the control unit performs automatic control only while a driver touches the switching input unit.   When the control unit is switched to automatic control, the load handling unit is traversed above the target load for alignment, and the control unit is positioned at a height position at which the suspension can be locked to the target load. The cargo handling device according to any one of claims 1 to 3, wherein the cargo handling device is combined. The operation method of the cargo handling device according to any one of claims 1 to 4,
By manual operation, the cargo handling part is traversed on the girder to move the cargo handling part above the target load,
Switch from manual operation to automatic operation, align the cargo handling part above the target load, and align it to a height position that allows the suspension to be locked to the target load,
A method for operating a cargo handling apparatus, wherein automatic operation is switched to manual operation, a target load is locked by the lifting tool, and the locked load is conveyed by the cargo handling unit. Loading and unloading by the loading department,
An operating device in which an input related to the operation of the cargo handling unit is performed by a driver;
A control unit for controlling the operation of the cargo handling unit based on an input by the driver to the operation unit,
The control unit, based on an input by the driver to the operating device, manual control for controlling the operation of the cargo handling unit manually by the driver, automatic control for automatically controlling the operation of the cargo handling unit, A cargo handling device characterized by being switchable.   The cargo handling apparatus according to claim 6, wherein the operating device includes a switching input unit that switches between manual control and automatic control.   8. The cargo handling device according to claim 7, wherein the control unit performs automatic control only while a driver touches the switching input unit.   When the control unit is switched to automatic control, the load handling unit is moved to the position above the target load for alignment, and a suspension for locking the load can be locked to the target load. The cargo handling device according to any one of claims 6 to 8, wherein the cargo handling device is aligned with a height position. A method for operating a cargo handling device according to any one of claims 6 to 9,
By manual operation, the cargo handling part is moved to move the cargo handling part above the target cargo,
Switch from manual operation to automatic operation, align the cargo handling part above the target load, and align it to a height position that allows the suspension for locking the load to be locked to the target load And
A method for operating a cargo handling apparatus, wherein automatic operation is switched to manual operation, a target load is locked by the lifting tool, and the locked load is conveyed by the cargo handling unit.

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