JP2022014101A - Crane operation system and crane operation instruction method - Google Patents

Abstract

To provide a crane operation system that allows the operator to know the information of the operation required to achieve the target cargo handling operation.SOLUTION: There is provided a crane operation system 27 for a crane 1 that includes an operation equipment 32 used by an operator to operate the crane 1, and an instruction unit 35 that instructs the operator the operating conditions of the operation equipment 32 required to operate the crane 1. The operation system 27 includes a detection unit 30 which detects the state of the crane 1 and a calculation unit 33 that is connected to a detection unit 30 and the indicator unit 35 and calculates the operating conditions from the state of the crane 1 detected by the detection unit 30, and causes the instruction unit 35 to instruct the calculated operating conditions.SELECTED DRAWING: Figure 3

Description

The present invention relates to a crane operation system and a crane operation instruction method.

Cranes that are operated remotely often have a driver's cab at a location away from the crane, and it is difficult to see the cargo handling target from the driver's cab. It is necessary to install a display device in the driver's cab.
A conventional crane that is not remotely controlled may also be provided with an image pickup unit and a display unit in order to inform the driver of an image of a position that is difficult for the driver to see, such as a position far from the driver.
For example, Patent Document 1 describes a configuration in which a moving direction of a hook block that moves by operating a crane is acquired, and an image that faces the moving direction from the hook block is generated based on an image captured by the imaging unit. In this configuration, the driver cannot directly see and can confirm the state of obstacles in the direction in which the suspended load moves.
On the other hand, most of such an imaging unit does not have a structure that reproduces binocular parallax like a stereo camera. Therefore, the captured image lacks information in the depth direction, and there is a problem that it is difficult to understand the cargo handling situation such as the positional relationship between the cargo handling target and the hanging tool and the current moving direction of the hanging tool.
On the other hand, Patent Document 2 describes a configuration in which the movement direction of the hook is calculated from the operation signal output by the operation input to the operation unit for moving the hook, and the image showing the movement direction is displayed together with the image of the hook. Has been done.

JP-A-2017-160027 Japanese Unexamined Patent Publication No. 2016-179889

However, the techniques described in Patent Documents 1 and 2 are techniques for displaying information contributing to the operation based on the operation signal. Therefore, from the displayed information, it is possible to know how the operation result of the driver was reflected in the operation of the crane, but the specific operation that the driver should perform in order to achieve the target cargo handling operation. There was a problem that the information could not be obtained.
The present invention has been made in view of the above problems, and an object of the present invention is to provide a crane operation system and an operation instruction method that enable a driver to know information on operations necessary for achieving a target cargo handling operation. do.

In order to solve the above-mentioned problems, the present invention comprises an operating device used when the driver operates the crane, and an instruction unit for instructing the driver of the operating conditions of the operating device necessary for operating the crane. The operation condition of the crane is calculated from the detection unit for detecting the state of the crane, the detection unit, and the state of the crane connected to the detection unit and detected by the detection unit. It is characterized by including a calculation unit that causes the instruction unit to instruct the calculated operation conditions.

Further, the present invention operates the crane including an operating device used when the driver operates the crane and an instruction unit for instructing the driver of the operating conditions of the operating device necessary for operating the crane. It is an operation instruction method of a crane instructed by hand, and the operation condition is calculated from the detection step of detecting the state of the crane and the state of the crane detected in the detection step, and the calculated operation condition is obtained. It is characterized by carrying out a calculation step of instructing the instruction unit.

In the present invention, the operating conditions are calculated from the state of the crane detected by the detection unit, and the instruction unit is instructed. Therefore, the driver can grasp the operation necessary for achieving the target cargo handling operation and the timing thereof from the instruction content of the instruction unit.
Therefore, the driver can be informed of the operation information necessary to achieve the target cargo handling operation.

The side view which shows the crane which is the application target of the crane operation system which concerns on this embodiment. The figure which shows the example of the image which is displayed on the display part of FIG. The functional block diagram of the crane operation system which concerns on this embodiment. As an example to which the crane operation system according to this embodiment is applied, a perspective view for explaining a procedure for aligning a hanging tool and a landing target. It is a graph schematically showing the time-dependent fluctuation of the spreader amount with the sea side as positive. (A) shows the time-dependent fluctuation of the actual amount of runout, and (b) is the amount of runout of (a). The time-dependent fluctuation of the measured value of is shown. It is a perspective view which shows the runout amount d0 of the spreader and the runout amount d0'of a spreader of FIG. The flow chart which shows the outline of the crane operation instruction method using the crane operation system which concerns on this embodiment.

Hereinafter, embodiments suitable for the present invention will be described in detail with reference to the drawings.
First, a schematic configuration of a crane to which the crane operation system according to the present embodiment is applied will be described with reference to FIGS. 1 and 2. Here, an example is a quay crane which is installed on the quay as a crane and handles cargo of a container to be loaded with a container ship berthed.

As shown in FIG. 1, the crane 1 includes a leg portion 3, a girder portion 9, a traveling device 7, a trolley 11, and a spreader 13. The leg portion 3 is a leg-shaped support structure that supports other members constituting the crane 1, and is provided here as a pair on the sea side and the land side. The girder portion 9 is a girder-shaped structure extending in one direction (also referred to as an X direction and a transverse direction) and straddling the leg portion 3. The traveling device 7 is a device that travels the crane 1 in a direction orthogonal to the transverse direction (also referred to as a Y direction or a traveling direction), and has wheels and wheels (not shown) traveling on a rail 5 arranged on the quay 10 along the Y direction. The drive mechanism is provided at the lower end of the leg portion 3. The trolley 11 is a bogie that holds and traverses the spreader 13, and travels on a rail provided on the trolley 11 that is not shown. The spreader 13 is a hanging tool for lifting the container 49a, and is lifted by the wire 8 on the trolley 11 and moves in the vertical direction (Z direction).

The crane 1 in FIG. 1 is a remote control system, and the cab 15 is provided at a position away from the crane 1. Therefore, the crane 1 includes an image pickup unit 17 and a display unit 31, which are devices for grasping information on positions that are difficult for the driver to see from the driver's cab 15.
The image pickup unit 17 is a camera that captures a position that is difficult for the driver to see from the driver's cab 15, and is provided at the land side end of the trolley 11 in the transverse direction in FIG. The orientation is maintained. This imaging direction A reproduces the direction in which the driver looks at the spreader 13 from the driver's seat of a conventional crane that is not remotely controlled. The display unit 31 is a monitor that displays the image captured by the image pickup unit 17, and is provided in the driver's cab 15. An example of the captured image 14 is shown in FIG. The image 14 of FIG. 2 includes an image of the spreader 13 captured by the image pickup unit 17 and an image of the container 49a stored in the container ship 48.
The above is the outline of the crane 1.

Next, the configuration of the operation system 27 of the crane 1 according to the present embodiment will be described with reference to FIGS. 2 to 5.
As shown in FIG. 3, the operation system 27 includes an operation device 32, an instruction unit 35, a detection unit 30, and a calculation unit 33.
The operation device 32 is a device in which levers and buttons for the driver to operate the crane 1 are arranged, and is provided in the driver's cab 15. The operating device 32 is electrically connected to a device for driving the crane 1 such as a traveling device 7, a trolley 11, and a spreader 13 via a PLC or the like. Therefore, when the driver operates the operation device 32, an operation signal is transmitted to these devices, and any device is driven based on the operation signal.
The instruction unit 35 is a device for instructing the driver of the operating conditions of the operating device 32 necessary for operating the crane 1, and is provided in the driver's cab 15.

The operating condition of the operating device 32 required for the operation of the crane 1 here means the operating condition necessary for achieving the cargo handling of the target crane 1.
The target cargo handling of the crane 1 means the operation of individual devices required for the cargo handling using the crane 1.
Specifically, in the cargo handling operation of the crane 1, it is necessary to operate the traveling device 7, the trolley 11, and the spreader 13 to move them, but the operation of moving these to the moving target is necessary for the cargo handling of the crane 1, which is the target. Operation.

For example, when the spreader 13 grabs the container 49a stored on the container ship 48, the trolley 11 is traversed to match the X coordinate of the spreader 13 with the X coordinate of the container 49a which is the landing target of the spreader 13 and directly above the container 49a. It is necessary to stop at. Specifically, as shown in FIG. 4, the coordinate C4, which is the centroid on the plane of the spreader 13, is moved to the coordinate C3, which is the target position set directly above the centroid C2 on the upper surface of the container 49a. An operation to stop on C3 is required. In this case, the cargo handling of the crane 1 whose target is the alignment of the X coordinates of the container 49a and the spreader 13, and the traversing operation of the trolley 11 is an operation necessary for the cargo handling.
Alternatively, when the spreader 13 is to be landed on the upper surface of the container 49a after the alignment, an operation of lowering the spreader 13 and a tightening operation using a twist lock of the spreader 13 are necessary operations for cargo handling.
In the following description, unless otherwise specified, the present embodiment will be described by taking as an example a traversing operation of the trolley 11 for aligning the container 49a and the spreader 13 as an operation necessary for cargo handling of the crane 1.

An example of a specific instruction to the driver is shown in FIG. 2 as an operation condition instruction image 16.
The operation condition instruction image 16 is information for instructing an operation required by the driver as an operation required for cargo handling of the crane 1.

The operation condition instruction image 16 is an image displayed on the display unit 31 in FIG. 2, and has a graphic image 16a and a numerical image 16b.
The graphic image 16a is an image showing the traversing direction of the trolley 11 in a graphic shape, and here, the traversing direction is indicated by an arrow. The graphic image 16a shown in FIG. 2 shows that the driver needs to perform an operation of traversing the trolley 11 toward the sea side in the X direction in order to align the container 49a and the spreader 13. The numerical image 16b numerically indicates the traversing speed of the trolley 11. FIG. 2 shows that the driver needs to perform an operation of traversing the trolley 11 at 10 m / s in order to align the container 49a and the spreader 13.

In FIG. 2, since the operation condition instruction image 16 is superimposed on the image 14 of the display unit 31, the display unit 31 also serves as the instruction unit 35. However, the instruction unit 35 may be a device different from the display unit 31 as long as the driver can visually recognize the operation condition instruction image 16 during operation.
Further, as long as the driver can give an instruction to understand the operation condition, the information instructed by the instruction unit 35 to the driver may be information other than figures and characters. For example, the operating conditions may be instructed by voice information. In this case, the speaker or the like that instructs the operation condition by voice becomes the instruction unit 35.
Further, in the operation condition instruction image 16 of FIG. 2, the traverse direction and the traverse speed of the trolley 11 are displayed as separate images in the graphic image 16a and the numerical image 16b, respectively, but the traverse direction and the traverse speed are displayed as one image. It may be displayed with. For example, the operation condition instruction image 16 may be used as one arrow figure. In this case, the direction pointed by the arrow indicates the traverse direction (strictly predicted direction), and the length of the arrow is the traverse speed (strictly predicted speed). For example, the longer the arrow, the faster the speed. .. The meaning of the direction and length of this arrow means the predicted direction and speed in the case of running and winding / winding operation as well.

Since the container 49a and the spreader 13 are displayed as an image 14 in FIG. 2, if the driver sees the image 14, the positional relationship between the container 49a and the spreader 13 and the traversing direction of the trolley 11 can be grasped to some extent. Nevertheless, the reason why the instruction unit 35 is provided in the present embodiment to instruct the driver on the traversing speed and the traversing direction of the trolley 11 will be briefly described.
The vertical position coordinates X'in the image 14 looking down on the spreader 13 in the X direction from the trolley 11 as in the image 14 shown in FIG. 2 originally include information in the X direction and the Z direction. However, in the case of a device such as a monocular camera that does not reproduce binocular parallax, the image 14 lacks information in the depth direction, so even if the spreader 13 moves up and down in the image 14, the X direction and Z It is difficult to understand from the video 14 how much it is moving in the direction. Further, the spreader 13 that is traversing together with the trolley 11 also has a periodic position change called "runout". Therefore, it may be extremely difficult for the driver to grasp the movement state of the spreader 13 including the runout only by the image 14.

When it is difficult to grasp the movement status of the spreader 13 only with the image 14, it is difficult to understand the operating conditions of the operating device 32 necessary for performing the target cargo handling operation even if the driver refers only to the image 14. In some cases. Specifically, only the image 14 shown in FIG. 2 shows the traversing speed and traversing direction of the trolley 11 required for traversing the trolley 11 and aligning the X coordinate of the spreader 13 with the X coordinate of the container 49a to stop. It can be difficult.
Therefore, if the instruction unit 35 instructs the driver on the operation conditions and the driver operates the operation device 32 based on the operation conditions learned from the instruction unit 35, the movement status of the trolley 11 and the spreader 13 can be operated only by the image 14. The cargo handling of the target crane 1 can be performed more accurately than when the hand grasps it. The above is the reason why the instruction unit 35 is provided in this embodiment.

The detection unit 30 is a device that detects the state of the crane 1. The state of the crane 1 as used herein means the position and fluctuation of the device that needs to be operated when carrying out the cargo handling of the target crane 1. When the cargo handling of the target crane 1 is an alignment operation in which the X coordinates of the spreader 13 and the container 49a are aligned, the relative distance L in the X direction with respect to the position of the container 49a of the spreader 13 shown in FIG. 4 corresponds to the state of the crane 1. do.
More specifically, the relative distance L is the amount of deflection of the X-direction deflection center C1 of the spreader 13 from the amount of positional deviation L0 in the X-direction with respect to the centroid C2 on the upper surface of the container 49a, which is the X-direction component of the deflection of the spreader 13. It is a value obtained by subtracting d (L = L0−d). Therefore, the displacement amount L0 and the runout amount d are also included in the state of the crane 1. However, it is not necessary for the detection unit 30 to obtain the relative distance L. The detection unit 30 may obtain the runout amount d and the positional deviation amount L0, and the calculation unit 33 may obtain the relative distance L.

The positional deviation amount L0 of the runout center is a view of the upper surface of the container 49a from the runout center C1 in which the X-direction component of the vibration amplitude becomes 0 in the spreader 13 when the spreader 13 causes periodic vibration in the X direction. It means the distance in the X direction to the center C2. Since C1 is a coordinate that does not move relative to the trolley 11, if the amount of deviation of the trolley 11 with respect to the container 49a in the X direction is obtained, the amount of positional deviation L0 can be obtained based on the amount of deviation.
The position of the trolley 11 is determined by an encoder or the like provided on the drum or the like that drives the trolley 11. The position of the container 49a is obtained by the position sensor obtained from the crane 1. In this case, the encoder or position sensor becomes the detection unit 30.

The X-direction runout of the spreader 13 means the periodic vibration of the spreader 13 having an X-direction component. In FIG. 4, when the binding point of the wire 8 and the trolley 11 is C0 and the binding point of the wire 8 and the spreader 13 is C4, the runout of the spreader 13 centered on C0 in the XZ plane is in the X direction. It is illustrated as a runout. However, in the case of periodic vibration of the spreader 13 having an X-direction component, the skew, which is the runout in the XY plane, is also the runout in the X-direction.
As the detection unit 30 for detecting the X-direction component of the runout, a configuration in which a transmitter such as a beacon is provided on the upper surface of the spreader 13 and a camera for detecting the position of the beacon is provided on the trolley 11 can be exemplified.
Since the runout of the spreader 13 is a periodic vibration, it may not always be necessary to sequentially detect the X-direction component of the runout if a waveform showing the relationship between the runout and time is obtained. For example, when the runout angle is minute, the periodic vibration can be assumed to be a simple vibration. In this case, the waveform can be represented by a sine wave. Therefore, the waveform can be obtained by finding the maximum value of the runout amount and the runout period.
As a method of obtaining the runout period, there is a method of finding the runout from the length lw of the wire 8 stretched between the spreader 13 and the wire 8 assuming that the runout is a simple vibration. This is because the period of simple vibration can be expressed by a function having only the length lw of the wire 8 as a variable. The length lw of the wire 8 can be obtained by an encoder or the like provided on a drum or the like (not shown) for feeding the wire 8. In this case, the encoder becomes the detection unit 30. The wire 8 may be stretched by the weight of the spreader 13 or the gripped container 49a. Therefore, a load cell is provided in a sheave or the like at the binding portion between the spreader 13 and the trolley 11 of the wire 8 to detect the tension of the wire 8, and the elongation of the wire 8 is obtained from the detected tension and the elastic modulus of the wire 8 to obtain an encoder. It may be added to the length of the wire 8 obtained in. In this configuration, the length of the wire 8 can be obtained more accurately as compared with the case where only the encoder is used. In this case, the load cell is also the detection unit 30.

In FIG. 4, in order to simplify the explanation of runout detection and calculation, the binding point C4 of the wire 8 with the spreader 13 is set to one center position on the plane of the spreader 13. Further, the binding point C0 of the wire 8 with the trolley 11 is also set to one point directly above the runout center C1. However, as shown in FIG. 2, since a plurality of actual wires 8 are evenly arranged on the spreader 13 about the center of the figure in a plan view, the binding point C4 is not one of the positions of the center of the figure. The binding point C0 is not one point directly above the runout center C1. On the other hand, the point of action of the resultant force of the tension applied to each binding point becomes the center of the figure, and the action line of the resultant force passes through the wire 8 of FIG. Therefore, it is possible to obtain the runout amount d on the assumption that the binding point C4 is located at one position at the centroid position and the binding point C0 is located at one position directly above the runout center C1. If the vibration cannot be regarded as a simple vibration because the amplitude of the vibration is large, the exact solution of the equation of motion may be obtained.

By providing the detection unit 30 in this way, it is possible to detect the position and fluctuation of the device that needs to be operated when loading and unloading the target crane 1, and the current cargo handling of the target crane 1 can be detected. It is possible to grasp how much the state of the device deviates from the target. As a result, the state of the crane 1 detected can be used as basic information when obtaining the operating conditions necessary for achieving the target.

The calculation unit 33 is a device that calculates an operation condition from the state of the crane 1 detected by the detection unit 30 and transmits a command to instruct the instruction unit 35 of the operation condition. The calculation unit 33 is electrically connected to the detection unit 30 and the instruction unit 35 by wire or wirelessly.
The operating condition referred to here is a condition including the operation of the operating device 32 predicted to complete the cargo handling of the target crane 1 and the timing of performing the operation.
When the cargo handling of the target crane 1 is the alignment of the spreader 13 and the container 49a, the predicted operation of the operating device 32 determines the moving direction and moving speed of the spreader 13 required to stop the spreader 13 at the target position. This is the operation of the operating device 32 to be realized. The timing at which the operation device 32 is operated to obtain the direction and speed is the timing at which the operation is performed. The specific moving direction and moving speed are the moving speed and the moving direction of the trolley 11 for setting the relative distance L shown in FIG. 4 to 0 in the shortest time and maintaining the state. The specific information indicating the operation of the operating device 32 may be a lever or button of the operating device 32 to be operated in order to realize this speed or direction, or information for specifically specifying the operation amount thereof. .. However, as shown in FIG. 2, the moving speed and the moving direction of the trolley 11 may be simply obtained, and this may be used as the necessary operation of the operating device 32. This is because if the driver can know the moving speed and the moving direction of the trolley 11, the driver can also determine the amount of operation of the operating device 32 required to realize the speed and the direction.

Further, the operating condition referred to here is an operating condition at the time when it is assumed that the operating device 32 is operated.
The time point assumed to be operated is a reference time for calculating the operating condition, and is an arbitrary time during cargo handling of the target crane 1.
The time point assumed to have been operated may be a predetermined time point. For example, when the cargo handling of the target crane 1 is an alignment operation for aligning the X coordinates of the spreader 13 and the container 49a, the alignment is performed when the driver performs a predetermined traverse operation when the runout amount d reaches a predetermined value. May be more accurate. In this case, since it is desired to instruct the driver to traverse the trolley 11 when the runout amount d becomes a predetermined amount, for example, 0, the time when the runout amount d becomes a predetermined amount is assumed to be the time when the operation is performed. ..
Alternatively, if the instruction unit 35 is to be continuously instructed during the positioning operation, for example, if the operation condition instruction image 16 of FIG. 2 is to be continuously displayed on the display unit 31 in real time, the time point assuming that the operation is performed is determined. The entire period from the start to the end of the positioning operation.
Further, the time point at which the driver performs some operation may be a time point assuming that the operation has been performed. For example, it may be assumed that the timing at which the driver presses a predetermined button of the operating device 32 is operated.

However, the fact that the time when the driver performs some operation is assumed to be the time when the operation is performed means that the calculation unit 33 acquires the operation content of the operation device 32 to the spreader 13 and the like, and obtains the acquired operation content. It does not mean that the operating conditions are calculated based on this. The calculation unit 33 only refers to the time corresponding to the time when the driver performs the operation as the reference time when obtaining the predicted operation condition, and needs to acquire the specific operation content of the operation device 32. There is no.

The calculation unit 33 instructs the instruction unit 35 of the calculated operation condition, specifically, the predicted operation and the timing of performing the operation at the time when the driver should perform the operation based on the calculated operation condition. The timing at which the operation is performed here is the time when it is assumed that the operation has been performed. This is because the calculated operating condition is a condition that the driver should operate at the timing assuming that the operation is performed.

As a specific means for instructing the instruction unit 35 to instruct the operation condition, there is a means for transmitting the operation condition to the instruction unit 35 at the time when the driver should perform the operation based on the calculated operation condition. Alternatively, the information indicating the operation includes information including the time when the operation should be performed as an operation condition, and the information is transmitted to the instruction unit 35 before the time, and the instruction unit 35 is based on the information indicating the operation at the time when the operation should be performed. Means for giving instructions can also be mentioned.

The method of making the driver know the timing of performing the operation based on the operating condition may be a method of indirectly making the driver know the timing or a method of making the driver know the timing directly. As a method of indirectly knowing, there is a method of displaying the operation condition instruction image 16 at the timing when the driver performs the operation based on the operation condition. In this method, the timing at which the operation condition instruction image 16 is displayed is the timing at which the driver should perform the operation.
As a method for directly informing the driver, there is a method in which the time to be operated is included in a part of the operation condition instruction image 16 as an operation notice and displayed before the timing when the driver should perform the operation. In this case, the calculation unit 33 transmits a command to display the operation condition instruction image 16 on the instruction unit 35 at an arbitrary time before the time when the driver should perform the operation based on the calculated operation condition.

As a reference time for calculating the predicted operating condition, the calculation unit 33 predicts the operating condition at the time when it is assumed that the operation is performed and the delay time due to at least one of the detecting unit 30 and the operating device 32 is added. It is preferable to calculate it as an operating condition. The reason is as follows.

First, the delay time caused by the detection unit 30 will be described. It takes a certain amount of time from the detection unit 30 to start the state detection of the crane 1 until the state is actually detected. This is because there is a delay due to the response speed of the detection element of the detection unit 30 and the transmission speed of the signal at the time of detection. In the following description, such a delay time is referred to as a detection system delay time Δt1. For example, when the actual waveform showing the relationship between the runout of the spreader 13 and the time is shown in FIG. 5A, the measured waveform obtained by detecting the waveform by the detection unit 30 has the relationship between the runout and the time in FIG. As shown in (b), the waveform is delayed from the actual waveform by the detection system delay time Δt1.

In this state, for example, when it is assumed that the time t2 is operated, the calculation unit 33 needs to calculate the operation condition originally predicted based on the runout amount d0 at the time t2 in FIG. 5A. .. However, when the measurement waveform input to the calculation unit 33 is delayed by the detection system delay time Δt1, the amount of fluctuation of the measurement waveform at time t2 is d0'as shown in FIG. 5 (b), as shown in FIG. The value is different from d0. This is because the amount of runout d0'at time t2 in the measured waveform shown in FIG. 5 (b) is at time t2' delayed by the detection system delay time Δt1 from time t2 in the actual waveform shown in FIG. 5 (a). This is because it is a runout amount. If the amount of runout is different, the relative distance L is also different. Therefore, when the calculation unit 33 calculates the operation condition predicted at the time t2 based on the runout amount d0', the operation condition that the spreader 13 stops at the position where the X coordinates of the spreader 13 and the container 49a do not match can be calculated. There is sex. Therefore, assuming that the driver operates at time t2, the calculation unit 33 makes a prediction based on the amount of runout d0 in FIG. 5 (b) at time t3, which is obtained by adding the detection system delay time Δt1 to time t2. Calculate the operating conditions. As a result, even when the detection system delay time Δt1 occurs, the predicted operating conditions can be calculated based on the relationship between the runout detected by the detection unit 30 and input to the calculation unit 33.
Since the detection system delay time Δt1 is generally unique to the detection unit 30, it may be measured or determined based on the catalog specifications of the detection unit 30.

Next, the delay time caused by the operating device 32 will be described. When the driver operates the operation device 32 based on the instruction of the instruction unit 35, it is called a reaction time from the time when the driver knows the instruction of the instruction unit 35 visually or audibly to the operation of the operation device 32. There will be a delay. When the driver operates the operation device 32, the operation device 32 generates an operation signal and transmits the operation signal to the device to be operated, and the device receiving the operation signal starts the operation. During this time, a delay occurs due to the signal transmission speed and the like.
As described above, the delay time caused by the operation device 32 is the time required from receiving the instruction of the instruction unit 35 until the driver starts the operation of the operation device 32, and the delay time caused by the operation device 32 after the operation device 32 is operated by the crane 1. It is expressed as the sum of the time required to start the operation based on the operation. This delay time is referred to as an operation system delay time Δt2.

For example, assuming that there is no detection system delay time Δt1, when the time t2 is assumed to be operated, the operation condition originally predicted based on the fluctuation amount d0 at the time t2 in FIG. 5A is calculated by the calculation unit. 33 needs to be calculated and transmitted to the instruction unit 35. However, even if the driver who knows the predicted operating conditions from the instruction unit 35 starts the operation at the time t2, the crane 1 actually starts moving based on the operation at the time t2. It is the time t5 to which the time Δt2 is added. In FIG. 5A, the runout amount at time t5 is d1, which is different from the runout amount d0. Therefore, when the calculation unit 33 calculates an operation predicted based on the runout amount d0 at the time t2, the runout amount d0 different from the runout amount d1 at the time when the crane 1 actually starts moving based on the operation (time t5). The operating conditions are calculated based on. Therefore, there is a possibility that an operating condition for stopping the spreader 13 at a position where the X coordinates of the spreader 13 and the container 49a do not match may be calculated.

Therefore, assuming that the driver performs the operation at the time t2, the calculation unit 33 makes a prediction based on the runout amount d1 in FIG. 5 (b) at the time t5 obtained by adding the operation system delay time Δt2 to the time t2. Calculate the operating conditions. As a result, even when the operation system delay time Δt2 occurs, the operation conditions predicted at the time when the crane 1 actually starts moving (time t5) can be calculated.
Of the operation system delay time Δt2, the delay time caused by the operation device 32 is generally unique to the operation device 32, and therefore may be measured or determined based on the catalog specifications of the operation device 32. Of the operation system delay time Δt2, the delay time due to the reaction time of the driver varies depending on the instruction content of the instruction unit 35 and the skill level of the driver, but is, for example, about 0.2 seconds to 1.0 second. The delay time due to the reaction time may be obtained by actual measurement. Further, when the delay time due to the reaction time differs depending on the skill level of the driver, the delay time may be set and changed.

As shown in FIG. 5B, the calculation unit 33 predicts the operation condition at the time t4 in which the detection system delay time Δt1 and the operation system delay time Δt2 are added to the time point t2 assuming that the driver has performed the operation. It is more preferable to calculate as an operating condition. Compared with the case of calculating the operation condition at the time when only one of the detection system delay time Δt1 and the operation system delay time Δt2 is added to t2, the operation condition for performing the cargo handling of the target crane 1 more accurately is calculated. Because it can be done.

Even if the operation condition is calculated based on the time obtained by adding at least one of the detection system delay time Δt1 and the operation system delay time Δt2 at the time when the operation is assumed, the driver can perform the operation based on the calculated operation condition. The timing to be done is the time when it is assumed that it has been manipulated.
For example, assuming that the time point assumed to be operated in FIG. 5 is time t2, even if the operation condition is calculated based on the time t4 including the detection system delay time Δt1 and the operation system delay time Δt2, it is based on the calculated operation condition. The timing at which the driver should perform the operation is time t2. This is because the time t4, which is the sum of the detection system delay time Δt1 and the operation system delay time Δt2, is the reference time for calculating the operation conditions, and is not the timing at which the driver should perform the calculated operation.
The above is the description of the configuration of the operation system 27 of the crane 1 according to the present embodiment.

Next, the procedure of the operation instruction method of the crane 1 using the operation system 27 of the crane 1 according to the present embodiment will be described with reference to FIG. 7.
First, it is assumed that a predetermined cargo handling operation has been started. For example, it is assumed that a cargo handling operation for aligning the X coordinate of the spreader 13 with the X coordinate of the container 49a has been started (S0 in FIG. 7).

In this case, the detection unit 30 detects the runout amount d and the position deviation amount L0 as the state of the crane 1 necessary for the calculation unit 33 to calculate the corresponding cargo handling operation condition, and transmits the detection unit 33 (FIG. FIG. 7, S1, detection step).
The main body instructing the detection unit 30 to start the detection and the specific state to be detected is a means capable of knowing that a predetermined cargo handling operation is being performed, for example, the calculation unit 33. For example, when the predetermined cargo handling is an alignment operation for aligning the X coordinates of the spreader 13 and the container 49a, the calculation unit 33 sets the start time of the traversing operation of the trolley 11 as the time when the predetermined cargo handling operation is started, and the detection unit 30. You just have to give an instruction to start detection. The time when the height of the spreader 13 becomes equal to or less than a predetermined height such as a safety height, or the time when the spreader 13 approaches the container 49a to a predetermined distance in the X direction may be the time when the alignment operation is started.

The calculation unit 33, which has received the state of the crane 1, calculates the operation conditions predicted for carrying out the cargo handling of the target crane 1 from the state of the crane 1 detected in S1. Further, a command for instructing the instruction unit 35 of the calculated operation condition is transmitted (S2 in FIG. 7, calculation step). Specifically, the operation condition is transmitted to the instruction unit 35 at the time when the driver should perform the operation based on the calculated operation condition, or the information indicating the operation includes the time indicating the timing when the operation should be performed. As an operating condition, it is transmitted to the instruction unit 35 before that time.
The instruction unit 35, which has learned the operating conditions, converts the operations included in the learned operating conditions into information such as characters, figures, and voices, and instructs the driver at the timing when the operations should be performed. To let the driver know. The driver who knows the operating conditions operates the operating device 32 according to the instruction at the timing when the operation should be performed.

Next, the calculation unit 33 determines whether or not the predetermined cargo handling operation has been completed (S3 in FIG. 7). For example, when the predetermined cargo handling is the alignment operation for aligning the X coordinates of the spreader 13 and the container 49a, it can be determined that the alignment operation is completed when the relative distance L is 0 for a certain period of time or more. Alternatively, the time when the implantation on the spreader 13 and the container 49a is completed may be measured from the operation of the implantation sensor or the twist lock, and it may be determined that the alignment operation is completed. When it is determined that the predetermined cargo handling operation is completed, the calculation unit 33 finishes the calculation of the operation condition and waits until another cargo handling operation is started. At this time, the calculation unit 33 issues an instruction to end the detection to the detection unit 30 as necessary. If it is determined that the predetermined cargo handling operation has not been completed, the calculation unit 33 waits until the next state of the crane 1 is received and returns to S1. In this case, the calculation unit 33 may instruct the detection unit 30 to continue the detection, or the detection unit 30 may continue the detection at a predetermined sampling cycle until an instruction to end the detection is given. ..
The above is the description of the procedure of the operation instruction method of the crane 1 using the operation system 27 of the crane 1 according to the present embodiment.

As described above, according to the present embodiment, in the operation system 27 of the crane 1, the calculation unit 33 calculates the operation condition from the state of the crane 1 detected by the detection unit 30, and causes the instruction unit 35 to instruct.
Therefore, the driver can grasp the operation necessary for achieving the target cargo handling operation from the instruction content of the instruction unit 35.
Therefore, the driver can be informed of the operation information necessary to achieve the target cargo handling operation.

Although the above embodiment has been described by taking the case where the present invention is applied to a quay crane as an example, the present invention can also be applied to cranes other than quay cranes such as bridge cranes, unloaders, and jib cranes.
Further, in the above-described embodiment, the instruction for traversing the trolley 11 for aligning the container 49a and the spreader 13 has been described as an application example of the present invention. The invention can be applied to operations other than the traversing operation of the trolley 11. For example, the present invention may be applied to the instruction of the implantation operation of the spreader 13.

1 Crane 3 Leg 5 Rail 7 Traveling device 8 Wire 9 Girder 10 Quay 11 Trolley 13 Spreader 14 Video 15 Driver's cab 16 Operating condition instruction image 16a Graphic image 16b Numerical image 17 Imaging unit 27 Operation system 30 Detection unit 31 Display unit 32 Operation equipment 33 Calculation unit 35 Indicator unit 48 Container ship 49a Container

Claims (4)

A crane operation system including an operating device used when a driver operates a crane and an instruction unit for instructing the driver of operating conditions of the operating device necessary for operating the crane.
A detector that detects the state of the crane and
A calculation unit connected to the detection unit and the instruction unit, calculating the operation condition from the state of the crane detected by the detection unit, and causing the instruction unit to instruct the calculated operation condition.
A crane operating system characterized by being equipped with. The detection unit is a device that detects, as the state of the crane, the amount of positional deviation of the hanger with respect to the target position at which the hanger of the crane is moved, and the runout of the hanger.
The predicted operating condition is that of the hanging tool predicted to stop the hanging tool at the target position based on the position deviation amount and the runout at the time when the operating device is assumed to be operated. The crane operation system according to claim 1, which is a moving direction and a moving speed. The operating conditions are
The detection system delay time, which is the time required from when the detection unit starts detecting the state of the crane to when the state is actually detected,
The time required for the driver to start the operation of the operating device after receiving the instruction from the instruction unit and the time required for the crane to start the operation based on the operation after the operating device is operated. The operation system delay time, which is the sum, and
The crane operation system according to claim 1 or 2, which is a condition at a time added to the time point when the operation device is assumed to be operated. A crane that instructs the driver to operate a crane having an operating device used when the driver operates the crane and an instruction unit that instructs the driver on the operating conditions of the operating device necessary for operating the crane. It is an operation instruction method of
The detection process for detecting the state of the crane and
A calculation step of calculating the operation condition from the state of the crane detected in the detection step and causing the instruction unit to instruct the calculated operation condition.
A method of instructing the operation of a crane, which is characterized by carrying out.

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