JP2022080176A - Spreader operation system and spreader - Google Patents

Abstract

To present information which an operator needs to unload a container to the operator without greatly moving an operator's line of sight from the spreader.SOLUTION: A spreader operation system 1000 comprises: a first interface 102 for acquiring, as external information, a signal from a sensor and a distance from a crane driving cab having a spreader to the spreader; a control unit 101 that generates recognition information enabling identification of the spreader surroundings on the basis of the acquired external information; and a display device 30 that is installed at the position of a spreader outer surface visible from an operator and that displays the recognition information generated by the control unit 101.SELECTED DRAWING: Figure 3

Description

The present invention relates to a spreader operation system and a spreader.

As an invention relating to a spreader used for cargo handling work, for example, there is an invention disclosed in Patent Documents 1 and 2. The container spreader vehicle disclosed in Patent Document 1 is provided with a safety lamp at a position where it can be easily confirmed from the driver's seat. This safety lamp indicates that it is safe to continue cargo handling work and lights up when the spreader is in the safest recent position closest to the vehicle body. The forklift disclosed in Patent Document 2 is provided with a pilot lamp on the upper back surface of the container spreader for displaying various operating states of the container spreader to the operator. This pilot lamp lights up according to the state of the twist lock pin, for example. According to the lamps disclosed in Patent Documents 1 and 2, the operator can know whether or not the operation of transporting the container can be safely performed by turning on / off the lamp.

Japanese Patent No. 39564880 Japanese Unexamined Patent Publication No. 9-118498

As a crane having a spreader for a container, for example, there is a container crane installed in a harbor. In a container crane, for example, the state of the twist lock pin is indicated by a lamp installed on the spreader, while information such as wind direction and wind speed is displayed by a display device installed in the driver's cab. Therefore, the operator who operates the spreader needs to pay close attention to the spreader and the container suspended from it from the driver's cab while operating it, while ensuring safety during transportation work such as wind direction and speed. Items that need to be paid attention to are checked on the display in the driver's cab, and the line of sight moves back and forth between the spreader and the display in the driver's cab, making it difficult to work and hindering transportation.

The present invention has been made in view of the above, and an object of the present invention is to provide a technique for presenting information required by an operator when loading and unloading a container to the operator without causing the operator to move his / her line of sight significantly from the spreader. do.

The spreader operation system according to one aspect of the present invention is a spreader operation system provided with a driver's cab on which an operator operates the spreader from the outside on a crane having a spreader for transporting a container, and acquires a plurality of external information. External information acquisition unit, recognition information generation unit that generates recognition information that can recognize the periphery of the spreader based on the plurality of external information acquired by the external information acquisition unit, and the operator on the outer surface of the spreader. It is provided with a display device which is arranged at a possible position and displays the recognition information generated by the recognition information generation unit.

In the spreader operation system according to the present invention, the external information acquisition unit acquires the external information from at least one of an object detection sensor, a camera, an anemometer, GPS, and a measurement unit that measures the winding amount of the spreader. It may be configured.

In the spreader operation system according to the present invention, one of the plurality of external information acquired by the external information acquisition unit may be configured to be the first distance information from the driver's cab to the spreader.

In the spreader operation system according to the present invention, one of the plurality of external information acquired by the external information acquisition unit may be configured to be a second distance information between the spreader and the operator. ..

In the spreader operation system according to the present invention, one of the plurality of external information acquired by the external information acquisition unit may be configured to be wind direction and wind speed information.

In the spreader operation system according to the present invention, the recognition information generated by the recognition information generation unit is an image of a worker in the vicinity of the spreader, and the image corresponds to the first distance information and the second distance information. It may be configured to generate an image that changes the size, color, or image format of the image.

In the spreader operation system according to the present invention, the recognition information generated by the recognition information generation unit is an image showing the wind direction and wind speed, and the size and color of the image are according to the first distance information and the wind direction and wind speed information. Alternatively, it may be configured to generate an image that changes the image format.

The spreader operation system according to the present invention may be configured such that the recognition information generated by the recognition information generation unit generates an image that issues a warning to the operator when the first distance information satisfies a predetermined distance condition. ..

In the spreader operation system according to the present invention, the recognition information generation unit simultaneously displays an image of a worker in the vicinity of the spreader and an image showing the wind direction and speed, and also displays the first distance information and the second distance information. And, in accordance with the wind direction and wind speed information, at least one of the image relating to the worker in the vicinity of the spreader and the image showing the wind direction and wind speed may be configured to generate an image in which the size, color, and style of the image are changed. ..

Further, in the spreader operation system according to the present invention, the recognition information generation unit is configured to generate the recognition information based on the plurality of external information acquired by the external information acquisition unit corresponding to the operator's instruction. You may be.

Further, the spreader according to one aspect of the present invention is a spreader provided in a crane for transporting a container, which is arranged at a position visible to an operator outside the spreader and responds to a plurality of acquired external information. It may be configured to include a display device that displays recognition information that can recognize the periphery of the generated spreader.

Further, in the spreader according to the present invention, the plurality of external information includes at least the first distance information from the cab of the crane to the spreader and the second distance information between the spreader and the operator. The display device may be configured to display at least one of the size, color, and style of the image relating to the worker around the spreader by changing it according to the change of the first distance information.

According to the present invention, there is an effect that the operator can present the information required by the operator when loading and unloading the container to the operator without significantly moving the line of sight from the spreader.

FIG. 1 is a diagram showing a container crane according to an embodiment. FIG. 2 is a perspective view of the spreader according to the embodiment. FIG. 3 is a block diagram of the spreader operation system according to the embodiment. FIG. 4 is a flowchart showing the flow of processing performed by the control unit. FIG. 5 is a diagram showing an example of an image displayed by the display device. FIG. 6 is a diagram showing an example of an image displayed by the display device. FIG. 7 is a diagram showing an example of an image displayed by the display device. FIG. 8 is a diagram showing an example of an image displayed by the display device. FIG. 9 is a diagram showing an example of an image displayed by the display device.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The present invention is not limited to the embodiments described below. Further, in the description of the drawings, the same or corresponding elements are appropriately designated by the same reference numerals. Furthermore, it should be noted that the drawings are schematic and the dimensional relationships of each element may differ from the actual ones. Even between the drawings, there may be parts where the relationship and ratio of the dimensions are different from each other.

[Embodiment]
FIG. 1 is a diagram showing a container crane equipped with a spreader operation system according to an embodiment. The container crane 1 is a rope trolley type, and is installed on an apron 7 provided on the quay 6 of the port. It is a crane for loading and unloading. The container crane 1 can travel along the rail laid on the apron 7 by the traveling device 17 provided at the lower end of the leg portion 16.

The container crane 1 has a wind direction anemometer 23 for measuring the wind direction and the wind speed, and a camera 22 for photographing the apron 7. The anemometer 23 outputs a signal indicating the measured wind direction and wind speed. The camera 22 outputs a signal representing an image obtained by shooting. Further, the container crane 1 has a boom 12 horizontally supported by the legs 16. In the boom 12, a machine room 11 is installed, and a trolley 14 equipped with a driver's cab 13 can travel along the longitudinal direction of the boom 12.

In the machine room 11, a drive device for traveling the trolley 14 in the longitudinal direction of the boom 12, a hoisting device for winding and unwinding the spreader 15, a measuring unit for measuring the winding amount of the spreader 15, a display control device 10, and the like are used. It is located inside.

FIG. 2 is a perspective view of the spreader 15 according to the present embodiment. The spreader 15 is hung from the trolley 14 by a wire 19. The spreader 15 is provided with hanging metal fittings called twist locks at the four corners, and is remotely controlled from the driver's cab 13 via a cable 18 to lift the container 5 in connection with corner casting at the four corners of the container 5. Further, the spreader 15 has a plurality of sensors 21 and a display device 30. The sensors 21 are installed at both ends of the spreader 15 in the longitudinal direction and at both ends of the spreader 15 in the lateral direction. The sensor 21 is, for example, a three-dimensional range sensor used in a so-called 3D-LiDAR (light detection and ranging) technique. The sensor 21 is an example of an object detection sensor that detects an object in the apron 7, a worker 3 in the apron 7, an object in the container ship 2, a worker 3 in the container ship 2, and the like. The sensor 21 is connected to the display control device 10 via the cable 18.

The display device 30 is a large-sized display device, and includes, for example, a high-brightness liquid crystal display, a reflective liquid crystal display, an LED display, and color electronic paper. The display device 30 is arranged on the upper surface of the head block 151 of the spreader 15, and the image to be displayed can be visually recognized by the operator in the driver's cab 13. The display device 30 is connected to the display control device 10 via a cable 18 and displays an image showing information for safely operating the trolley 14, operating the spreader 15, and loading and unloading the container 5 to the operator. Present.

The operator of the container crane 1 operates the trolley 14, operates the twist lock of the spreader 15, winds up and unwinds the spreader 15, etc. while looking downward in the cab 13 at a high place, and the container ship 2 operates. The container 5 is loaded and unloaded between the and trailer 4.

When operating the trolley 14 or operating the spreader 15, the operator contacts the worker 3 in the container ship 2 and the apron 7, and is installed on the anemometer 23 and the leg 16 in addition to looking directly. Confirm the safety by looking at the image displayed on the display device 30 based on the signals from the worker 3 in the apron 7, the trailer 4, the camera 22 for photographing the container 5, the sensor 21 installed in the spreader 15, and the like. While operating the trolley 14, the spreader 15 is operated.

FIG. 3 is a block diagram showing a configuration of a spreader operation system 1000 that presents information to an operator using a display device 30. The spreader operation system 1000 includes a display control device 10 and a display device 30. The spreader operation system 1000 may include a sensor 21, a camera 22, and an anemometer 23.

The display control device 10 has a control unit 101, a first interface 102, and a second interface 103. The first interface 102 receives a signal supplied from the sensor 21, a signal supplied from the camera 22, a signal supplied from the anemometer 23, a signal supplied from the machine room 11, and a signal supplied from the cab 13. The interface to get. The first interface 102 is an example of an external information acquisition unit that acquires information from the outside. It should be noted that the first interface 102 may be configured to include an interface (external information acquisition unit) for each signal (information) to be acquired, instead of acquiring a plurality of signals (information). The sensor 21, the camera 22, and the anemometer 23 are examples of sensors. The signal supplied from the machine room 11 is, for example, a signal indicating the distance from the cab 13 to the spreader 15 calculated based on the winding amount of the wire 19 by the hoisting device described above, or a trolley in the longitudinal direction of the boom 12. It is a signal indicating the position of 14. The signal supplied from the driver's cab 13 is, for example, a signal instructing a change in the display mode of the display device 30 or the information to be displayed. The first interface 102 supplies the acquired signal to the control unit 101.

The second interface 103 is an interface that outputs an image signal representing an image displayed by the display device 30, and supplies the image signal generated by the control unit 101 to the display device 30.

The control unit 101 includes a calculation unit and a storage unit. The arithmetic unit is composed of, for example, a CPU (Central Processing Unit), an FPGA (Field Programmable Gate Array), or both a CPU and an FPGA. The storage unit includes, for example, a portion composed of a ROM (Read Only Memory) and a portion composed of a RAM (Random Access Memory). Various programs and data used by the arithmetic unit to perform arithmetic processing are stored in the portion composed of the ROM. Further, the RAM is used to store a work space when the arithmetic unit performs arithmetic processing, a result of arithmetic processing of the arithmetic unit, and the like.

Based on the signal supplied from the first interface 102, the control unit 101 generates an image signal representing an image as recognition information that allows the operator to recognize the periphery of the spreader. This image signal is supplied to the display device 30 via the second interface 103. The recognition information that can recognize the periphery of the spreader includes information on the position and number of workers 3 around the spreader as described in the embodiment described later, and wind direction and wind speed information at the time of transportation work by the spreader.

Next, an operation example of the spreader operation system 1000 will be described. FIG. 4 is a flowchart showing a flow of processing for displaying information presented to the operator of the container crane 1 on the display device 30. The process of FIG. 4 is performed, for example, during the operation of the container crane 1.

The first interface 102 acquires signals supplied from a plurality of sensors 21, a plurality of cameras 22, an anemometer 23, a machine room 11, and an operation room 13, and supplies the acquired signals to the control unit 101.

The control unit 101 detects the worker 3 in the vicinity of the spreader 15 by using the signals supplied from the plurality of sensors 21 (step S101). Here, the detection of the worker 3 is not limited to detecting the worker 3 in the vicinity of the spreader 15, but also the number of detected workers 3 and the relative position of the detected worker 3 with respect to the spreader 15. It includes detecting the distance (second distance) from the detected worker 3 to the spreader 15. If there is no worker 3 around the spreader 15, the number of workers 3 is detected as 0.

Next, the control unit 101 detects the worker 3 in the apron 7 (step S102). Here, the detection of the worker 3 is not limited to detecting the worker 3 in the apron 7, the number of detected workers 3, the relative position of the detected worker 3 with respect to the spreader 15, and the detected work. Includes detecting the distance from member 3 to spreader 15. The position and distance are calculated based on, for example, the position of the worker 3 detected by the image recognition process, the signal indicating the distance from the driver's cab 13 to the spreader 15, and the signal indicating the position of the trolley 14. .. Further, when there is no worker 3 in the apron 7, the number of workers 3 is detected as 0.

Next, the control unit 101 detects the wind direction and speed of the wind blowing on the container crane 1 from the signal (wind direction wind speed information) from the wind direction anemometer 23 (step S103).

Next, the control unit 101 analyzes the signal from the measurement unit of the machine room 11 and detects the distance (first distance) from the cab 13 to the spreader 15 based on the winding amount of the spreader 15 measured by the measurement unit. (Step S104).

The control unit 101 generates an image to be displayed by the display device 30 by using the detection results obtained by the processes from step S101 to step S104 (step S105). Here, in the control unit 101, the display mode switching button in the driver's cab 13 is operated by the operator, and a signal instructing the display mode of the information related to the worker 3 is supplied from the driver's cab 13 via the first interface 102. If so, an image showing information about the worker 3 is generated.

In FIG. 5A, the display mode is the display mode of information related to the worker 3, and the distance from the driver's cab 13 detected in step S104 to the spreader 15 is a short distance, which is equal to or less than a predetermined first threshold value. It is a figure which shows an example of the image generated by the control unit 101 at this time. This image is an image for the operator of the container crane 1 to visually grasp the position of the worker 3 centering on the spreader 15 before starting the work. In this image, the container 5 is shown as a rectangle and the worker 3 is shown as a circle. The number of circles is the same as the number of workers 3 detected in step S101. Further, in this image, the position of the circle is the position corresponding to the relative position of the worker 3 with respect to the container 5 detected in step S101, and the distance from the rectangle to the circle is the position of the container 5 detected in step S101. The distance is according to the distance from the worker 3 to the worker 3.

In FIG. 5B, the display mode is the display mode of the information related to the worker 3, and the distance from the driver's cab 13 to the spreader 15 detected in step S104 exceeds the first threshold value and is higher than the first threshold value. It is a figure which shows an example of the image generated by the control unit 101 when it is a long distance and is equal to or less than a predetermined second threshold value. This image is an image for informing the operator whether the worker 3 is moving after the operator starts the work and winds down the spreader 15. In this image, the number of workers 3 whose distance from the container 5 is equal to or less than a predetermined threshold value is shown by the size of the circle on the right side, and the distance from the container 5 exceeds the predetermined threshold value. The number of members 3 is shown by the size of the circle on the left side. The size of the circle increases as the number of workers 3 increases. The circle on the right side and the circle on the left side have different colors.

In FIG. 5C, the display mode is the display mode of the information related to the worker 3, and when the distance from the cab 13 to the spreader 15 detected in step S104 exceeds the second threshold value, the control unit 101 It is a figure which shows an example of the image generated by. This image is an image for the operator to grasp the total number of workers 3 around the spreader 15. In this image, the number of workers 3 around the container 5 is shown numerically. The color of this number is, for example, a color corresponding to the distance from the container 5 to the nearest worker 3.

In FIG. 5D, the display mode is the display mode of information related to the worker 3, and the distance from the spreader 15 to the nearest worker 3 may cause the spreader 15 or the container 5 to collide with the worker 3. This is an example of an image generated by the control unit 101 when the distance is equal to or less than a certain predetermined distance. This image is a monochromatic warning image showing that the worker 3 approaches the spreader 15 and is dangerous, for example, a red image. The images shown in FIGS. 5A to 5D are examples of images generated by the control unit 101, such as the position of the worker 3 existing around the spreader 15 and the distance from the spreader 15 to the worker 3. This is an example of an image in which the number of workers 3 existing around the spreader 15 can be recognized, that is, an image in which the periphery of the spreader 15 can be recognized.

Further, in the control unit 101, when the display mode switching button in the cab 13 is operated by the operator and a signal instructing the display mode of the wind direction and the wind speed is supplied from the cab 13 via the first interface 102. , Generates an image showing information about wind direction and speed.

In FIG. 6A, the display mode is a display mode of wind direction and wind speed information, and the control unit 101 is generated when the distance from the cab 13 detected in step S104 to the spreader 15 is equal to or less than the first threshold value. This is an example of an image. In this image, the wind direction detected in step S103 is indicated by an arrow, and the wind speed detected in step S103 is indicated by characters. Further, in this image, the sizes of the arrows and characters are sized according to the distance from the driver's cab 13 to the spreader 15.

In FIG. 6B, the display mode is the display mode of wind direction and wind speed information, and the distance from the driver's cab 13 to the spreader 15 detected in step S104 exceeds the first threshold value and is equal to or less than the second threshold value. This is an example of an image sometimes generated by the control unit 101. In this image, the control unit 101 indicates the wind direction detected in step S103 with an arrow, and indicates the wind speed detected in step S103 with characters. Further, in this image, the sizes of the arrows and characters are changed according to the distance from the driver's cab 13 to the spreader 15, and the sizes of the arrows and characters are made larger than the image of FIG. 6A.

In FIG. 6C, the display mode is a display mode of wind direction and wind speed information, and the control unit 101 controls when the distance from the cab 13 to the spreader 15 detected in step S104 exceeds the second threshold value. This is an example of the generated image. In this image, the wind direction detected in step S103 is indicated by an arrow, and the wind speed detected in step S103 is indicated by characters. Further, in this image, the size of the arrow and the character is changed according to the distance from the driver's cab 13 to the spreader 15, the size of the arrow and the character is larger than the image of FIG. 6B, and the arrow and the character are shown in the figure. It is an image to be scrolled and displayed in the A direction inside. When the arrow and the character are scrolled in the direction A in the figure, the wind speed is displayed in addition to the arrow as shown in FIG. 6D. Visibility is improved by scrolling to move the image at a distance from the driver's cab 13 to the spreader 15 where the characters are difficult to see. When the distance from the cab 13 to the spreader 15 is short, the scroll display is not performed, but the scroll display and the non-scroll display may be switched by the operation of the operator in the cab 13. ..

FIG. 6 (e) shows a control unit when the display mode is a display mode for wind direction and wind speed information, and the wind speed detected in step S103 exceeds a predetermined threshold value at which the operation of the spreader 15 is dangerous. This is an example of the image generated by 101. This image is a monochromatic warning image indicating that the operation of the spreader 15 is dangerous due to a strong wind, and is an image having a color different from the image of FIG. 5 (d). Regardless of the distance from the driver's cab 13 to the spreader 15, if the wind speed exceeds the threshold value, the image of FIG. 6 (e) is generated. The images shown in FIGS. 6A to 6E are examples of images generated by the control unit 101, and are images capable of recognizing the wind direction and speed around the spreader 15, that is, recognizing the periphery of the spreader 15. This is an example of a possible image.

After step S105, the control unit 101 supplies an image signal representing the generated image to the display device 30 (step S106). Specifically, the control unit 101 supplies an image signal representing the generated image to the second interface 103. The second interface 103 supplies the image signal supplied from the control unit 101 to the display device 30 via the cable 18.

The display device 30 to which the image signal is supplied via the cable 18 displays the image represented by the supplied image signal. As a result, any one of the images shown in FIGS. 5 and 6 is displayed on the display device 30.

According to the present embodiment, since the display device 30 is installed on the spreader 15, the operator can obtain the information required for loading and unloading the container 5 from the image displayed on the display device 30 without moving the line of sight from the spreader 15. It can be done and the safety is improved. Specifically, when the display mode is the display mode of the information related to the worker 3, the operator can see the number of workers 3 in the vicinity of the spreader 15, the distance from the spreader 15 to the worker 3, and the work on the spreader 15. Since the relative position of the member 3 can be known from the displayed image, the safety when loading and unloading the container 5 is improved. Further, when the display mode is the display mode of the wind direction and wind speed information, the operator can know the wind direction and the wind speed from the displayed image without moving the line of sight from the spreader 15, and the container 5 can be loaded and unloaded. The safety is improved. Further, in the present embodiment, the format of the displayed image changes according to the distance from the driver's cab 13 to the spreader 15, the distance from the spreader 15 to the worker 3, and the wind speed, so that the operator can easily obtain information. .. Further, since the operator can obtain various information from the spreader 15 without moving his / her line of sight, he / she can concentrate on the work and the work accuracy does not deteriorate.

[Modification example]
Although the embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment and can be implemented in various other embodiments. For example, the present invention may be carried out by modifying the above-described embodiment as follows. The above-described embodiment and the following modifications may be combined. The present invention also includes a configuration in which the components of each of the above-described embodiments and modifications are appropriately combined. Further, further effects and modifications can be easily derived by those skilled in the art. Therefore, the broader aspect of the present invention is not limited to the above-described embodiment or modification, and various modifications can be made. In the description of each modification described below, the same reference numerals will be given to the same configurations as those of the embodiment and other modifications, and the description will be omitted, and the differences from the embodiments and other modifications will be described. do.

In the image displayed by the display device 30, as shown in FIG. 7, both the information related to the worker 3 and the information related to the wind direction and the wind speed may be displayed. Further, when displaying both the information related to the worker 3 and the information related to the wind direction and the wind speed, the format of the displayed image may be changed according to the distance from the driver's cab 13 to the spreader 15. For example, when the distance from the driver's cab 13 to the spreader 15 detected in step S104 is equal to or less than a predetermined first threshold value, the control unit 101 generates an image in the format shown in FIG. 7A, and the first threshold value. When it exceeds the predetermined second threshold value and is equal to or less than the predetermined second threshold value, the image shown in FIG. 7 (b) is generated, and when the second threshold value is exceeded, the image shown in FIG. 7 (c) is generated. You may.

In the above-described embodiment, the format of the image displayed on the display device 30 is switched according to the distance from the driver's cab 13 to the spreader 15, but the format of the image to be displayed is limited to the configuration of the embodiment. is not. FIG. 8 is a diagram showing an example of modification of the image displayed by the display device 30. In this modification, the information related to the worker 3 is displayed as a circle and a number, and the circle and the number are overlapped. FIG. 8A shows a mode when the distance from the driver's cab 13 to the spreader 15 is short, and the images are changed to (b) and (c) as the distance from the driver's cab 13 to the spreader 15 increases. , The circle becomes thinner as the distance from the driver's cab 13 to the spreader 15 increases, and the number becomes denser as the distance from the driver's cab 13 to the spreader 15 increases.

In the above-described embodiment, the image is generated as recognition information that can recognize the periphery of the spreader, but the image is not particularly limited to the image, and text such as character information may be generated. Therefore, the information displayed on the display device 30 is not particularly limited to the image, and may be text information. For example, the display device 30 may display a message informing the operator. FIG. 9 is a diagram showing an example of a display format of a message notifying the operator. FIG. 9A shows a mode when the distance from the driver's cab 13 to the spreader 15 is short, and the image is changed to (b) and (c) as the distance from the driver's cab 13 to the spreader 15 increases. .. The character size is increased as the distance from the driver's cab 13 to the spreader 15 increases, and when the character size is increased, the message is scrolled and displayed. Further, for an urgent message, the control unit 101 may generate a monochrome image corresponding to the message as shown in FIG. 9D. As the display image, in addition to the above-mentioned images and messages, the distance from the spreader to other parts of the container, for example, the container leg, and the spreader based on the information obtained from the sensor 21, the camera 22, the winding amount of the spreader, and the like. It may display the distance from the ground to the ground below it.

In the above-described embodiment, the color of the image displayed on the display device 30 may be changed according to the time zone and the weather.

In the above-described embodiment, the camera 22 may also be provided on the spreader 15, and the image of the camera 22 provided on the spreader 15 may also be used for the detection of the worker 3. When the camera 22 is provided on the spreader 15, when the distance from the driver's cab 13 to the spreader 15 is equal to or less than a predetermined threshold value, the image captured by the camera 22 provided on the spreader 15 is displayed on the display device 30. May be good. Further, in the display device 30, the image taken by the camera 22 that shoots the apron 7 may be displayed according to the operation of the operator. Further, when there are a plurality of cameras 22 that capture the apron 7, the images captured by the plurality of cameras 22 may be switched at a predetermined cycle and displayed on the display device 30. Further, the worker 3 may be provided with a GPS (Global Positioning System) device to position the position of the worker 3 positioned by the GPS device. In this modification, the position of the worker 3 positioned by the GPS device is sent to the display control device 10 by wireless communication, and the display control device 10 is the position of the worker 3 with respect to the spreader 15 at the position sent from the GPS device. May be sought.

Further, similarly to the camera 22, the sensor 21 attached to the spreader 15 in the above embodiment does not necessarily have to be attached to the spreader 15, and if it can detect the worker 3 described above, it is other than the spreader 15. It may be attached to a predetermined position, for example, a predetermined position of the container crane 1. In this case, the information detected by the sensor 21 may be wirelessly transmitted to the display control device 10.

In the above-described embodiment, when the spreader 15 does not lift the container 5 and the distance from the driver's cab 13 to the spreader 15 is less than or equal to a predetermined distance, cargo handling is not performed. Therefore, the spreader 15 holds the container 5. When the distance from the driver's cab 13 to the spreader 15 is less than or equal to a predetermined distance without lifting, the display device 30 may not display the image.

In the above-described embodiment, the first threshold value and the second threshold value are predetermined, but even if the operator can set the first threshold value and the second threshold value from the driver's cab 13 according to the visual acuity and the ease of recognition. good. Further, the color of the image to be displayed may also be set by the operator from the driver's cab 13 according to the ease of recognition.

In the above-described embodiment, the operator may voicely instruct the switching between the display mode of the information relating to the worker 3 and the display mode of the information of the wind direction and the wind speed, and the voice of the operator may be recognized and switched. Further, the display mode may be switched by operating the foot switch provided in the driver's cab 13. Further, the characters displayed on the display device 30 may also be configured to be switched by a voice instruction from the operator.

In the above-described embodiment, the spreader operating system 1000 is applied to the container crane 1, but the spreader operating system 1000 is not limited to the container crane 1. For example, the spreader operation system 1000 may be applied to a forklift that transports a container 5 by a spreader.

In the above-described embodiment, the display control device 10 is installed in the machine room 11, but the position where the display control device 10 is installed is not limited to the machine room 11. The display control device 10 may be installed in the driver's cab 13, for example. Further, the display control device 10 may be installed at a place away from the container crane 1. In this case, the display control device 10 acquires the signals from the sensor 21, the camera 22, and the anemometer 23 via the communication network, and supplies the image signal to the display device 30 via the communication network.

In the above-described embodiment, when the number of workers 3 in the vicinity of the spreader 15 is 0, the display device 30 may display an image indicating that there are no workers 3 in the vicinity of the spreader 15. good.

In the above-described embodiment, when the distance from the driver's cab 13 to the spreader 15 is equal to or less than the first threshold value, the image of FIG. 5A and the image of FIG. 5C may be displayed in time division. good. Further, in the above-described embodiment, when the distance from the driver's cab 13 to the spreader 15 exceeds the first threshold value and is equal to or less than the second threshold value, the image of FIG. 5B and the image of FIG. 5 (c). ) May be displayed in time division.

In the above-described embodiment, regardless of the distance from the driver's cab 13 to the spreader 15, when the worker 3 is directly under the spreader 15 or the container 5, the image of FIG. 5D is shown. May be displayed.

In the case of the wind direction and wind speed display mode in the above-described embodiment, the display device 30 may display information such as weather and time in addition to the wind direction and wind speed. When displaying information such as weather and time on the display device 30 in addition to the wind direction and speed, information other than the wind direction and speed may not be displayed as the distance from the driver's cab 13 to the spreader 15 increases. good.

1 Container crane 2 Container ship 3 Worker 4 Trailer 5 Container 6 Quay 7 Apron 10 Display control device 11 Machine room 12 Boom 13 Driver's cab 14 Trolley 15 Spreader 16 Leg 17 Traveling device 18 Cable 19 Wire 21 Sensor 22 Camera 23 Wind direction Total 30 Display device 101 Control unit 102 1st interface 103 2nd interface 151 Head block 1000 Spreader operation system

Claims (12)

A spreader operation system having a cab on which an operator operates the spreader from the outside on a crane having a spreader for transporting a container.
An external information acquisition unit that acquires multiple external information,
A recognition information generation unit that generates recognition information that can recognize the periphery of the spreader based on the plurality of external information acquired by the external information acquisition unit.
A display device arranged on the outer surface of the spreader at a position visible to the operator and displaying the recognition information generated by the recognition information generation unit.
Spreader operation system with. The spreader operation system according to claim 1, wherein the external information acquisition unit acquires the external information from at least one of an object detection sensor, a camera, an anemometer, GPS, and a measurement unit that measures the winding amount of the spreader. The spreader operation system according to claim 2, wherein one of the plurality of external information acquired by the external information acquisition unit is the first distance information from the driver's cab to the spreader. The spreader operation system according to claim 3, wherein one of the plurality of external information acquired by the external information acquisition unit is the second distance information between the spreader and the operator. The spreader operation system according to claim 4, wherein one of the plurality of external information acquired by the external information acquisition unit is wind direction and wind speed information. The recognition information generated by the recognition information generation unit is an image relating to a worker in the vicinity of the spreader, and the size, color, or image format of the image is changed according to the first distance information and the second distance information. The spreader operation system according to claim 5, which generates an image to be generated. The recognition information generated by the recognition information generation unit is an image showing the wind direction and wind speed, and generates an image that changes the size, color, or image format of the image according to the first distance information and the wind direction and wind speed information. The spreader operation system according to claim 6. The spreader operation system according to claim 4 or 6, wherein the recognition information generated by the recognition information generation unit generates an image that issues a warning to the operator when the first distance information satisfies a predetermined distance condition. The recognition information generation unit simultaneously displays an image of an operator in the vicinity of the spreader and an image showing the wind direction and speed, and the spreader according to the first distance information, the second distance information, and the wind direction and wind speed information. The spreader operation system according to claim 7, wherein an image that changes the size, color, and style of at least one of an image relating to a worker in the vicinity and an image showing the wind direction and speed is generated. The spreader operation according to any one of claims 1 to 8, wherein the recognition information generation unit generates the recognition information based on the plurality of external information acquired by the external information acquisition unit corresponding to an operator's instruction. system. A spreader for transporting containers, which is installed in a crane.
A spreader having a display device which is arranged at a position visible to an operator outside the spreader and displays recognition information recognizable around the spreader, which is generated according to a plurality of acquired external information. The plurality of external information includes at least the first distance information from the cab of the crane to the spreader and the second distance information between the spreader and the operator, and the display device is a work around the spreader. The spreader according to claim 11, wherein at least one of the size, color, and style of the image relating to the person is changed and displayed according to the change of the first distance information.

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