JP2022131380A - Deck crane system, control device of deck crane, and control method of deck crane - Google Patents

Abstract

To perform cargo handling work efficiently while suppressing variation in operation caused by an operator.SOLUTION: A deck crane system comprises: a deck crane including a turning body supported by a deck of a ship and turning around a turning shaft, a jib connected to the turning body to be raised and lowered, and a holding tool provided on a lower end of a lifting wire, which extends downward from a tip of the jib, to be moved up/down and performing cargo handling work of a cargo between the ship and a harbor; and a control device which acquires a post coordinate indicating a position of the turning shaft in the horizontal direction, a hook coordinate indicating a position of the holding tool in the horizontal direction, and a target point coordinate indicating a position of a target point for moving the holding tool in the horizontal direction, calculates a turning angle of the turning body and a rising/lowering angle of the jib based on the acquired post coordinate, hook coordinate, and target point coordinate, makes the turning body perform the turning operation based on the calculation result, and makes the jib perform the rising/lowering operation.SELECTED DRAWING: Figure 3

Description

The present invention relates to a deck crane system, a deck crane control device, and a deck crane control method.

Deck cranes used for cargo handling operations on ships are known. A deck crane includes a revolving body that revolves about a revolving axis, a jib that rotates about an elevation axis, and a lifting wire that extends downward from the tip of the jib and has a holder attached to its lower end.

Japanese Patent Application Laid-Open No. 2002-220189

In the cargo handling work of the deck crane as described above, the driver cooperates with the signal person to operate the swinging motion of the revolving body, the elevating motion of the jib, and the lifting motion of the holding fixture, thereby moving the holding fixture to the target location. . In such cargo handling work, it is required to efficiently perform the work while suppressing variations in the actions of drivers.

The present invention has been made in view of the above, and provides a deck crane system, a deck crane control device, and a deck crane control that are capable of efficiently performing cargo handling work while suppressing variations in the actions of the driver. The purpose is to provide a method.

A deck crane system according to the present invention includes a revolving body that is supported on a deck of a ship and revolves about a revolving shaft, a jib that is connected to the revolving body and that rises, and a lower end of a lifting wire that extends downward from the tip of the jib. a deck crane for carrying out cargo handling work between the ship and a harbor; a post coordinate indicating a horizontal position of the pivot shaft; and a horizontal position of the holder. Acquiring hook coordinates indicating a position in a direction and target point coordinates indicating a position in a horizontal direction of a target point to which the holder is to be moved, and based on the acquired post coordinates, hook coordinates, and target point coordinates and a control device that calculates a turning angle of the revolving body and an elevation angle of the jib, and causes the revolving body to perform a revolving motion and the jib to perform an elevation motion based on the calculation results.

A control device for a deck crane according to the present invention causes a revolving body of a deck crane arranged on a deck of a ship to revolve around a revolving shaft, raises a jib connected to the revolving body, and lowers the tip of the jib. A control device for a deck crane that performs cargo handling work between the ship and a harbor by raising and lowering a holder provided at the lower end of a lifting wire extending in the horizontal direction of the swing shaft of the deck crane a coordinate acquisition unit for acquiring post coordinates indicating a position, hook coordinates indicating a horizontal position of the holder, and target point coordinates indicating a horizontal position of a target point to which the holder is to be moved; a calculation unit for calculating the swing angle of the swing structure and the elevation angle of the jib based on the post coordinates, the hook coordinates, and the target point coordinates; and a drive control unit that causes the jib to perform a turning motion and to perform an elevation motion.

A method for controlling a deck crane according to the present invention comprises rotating a revolving body of a deck crane arranged on a deck of a ship about a revolving shaft, raising a jib connected to the revolving body, and moving downward from the tip of the jib. A control method for a deck crane that performs cargo handling work between the ship and a harbor by raising and lowering a holder provided at the lower end of a lifting wire extending in the horizontal direction of the swing shaft of the deck crane Acquiring post coordinates indicating the position, hook coordinates indicating the horizontal position of the holder, and target point coordinates indicating the horizontal position of the target point to which the holder is to be moved; calculating a turning angle of the turning body and an elevation angle of the jib based on the post coordinates, the hook coordinates, and the target point coordinates; and causing the jib to perform an elevation motion.

Advantageous Effects of Invention According to the present invention, it is possible to provide a deck crane system, a deck crane control device, and a deck crane control method that are capable of efficiently performing cargo handling work while suppressing variations in the actions of drivers.

FIG. 1 is a diagram showing an example of a deck crane system according to this embodiment. FIG. 2 is a diagram showing an example of a deck crane according to this embodiment. FIG. 3 is a functional block diagram showing an example of the control device 20. As shown in FIG. FIG. 4 is a diagram schematically showing the content of calculation by the coordinate calculation unit. FIG. 5 is a diagram schematically showing the content of calculation by the coordinate calculation unit. FIG. 6 is a diagram schematically showing the content of calculation by the elevation motion control unit. FIG. 7 is a diagram for explaining the height position of the lifting operation. FIG. 8 is a diagram for explaining the height position of the lifting operation. FIG. 9 is a diagram showing an example of adjusting the height position of the holder during the lifting operation. FIG. 10 is a diagram showing an example of adjusting the height position of the holder during the lifting operation. 11A and 11B are diagrams showing an example of adjusting the height position of the holder during the lifting operation. 12A and 12B are diagrams showing an example of adjusting the height position of the holder in the lifting operation. FIG. 13 is a diagram showing an example of an operation for avoiding interference between deck cranes. FIG. 14 is a diagram showing an example of an operation for avoiding interference between deck cranes. FIG. 15 is a diagram showing an example of an operation for avoiding interference between deck cranes. FIG. 16 is a flowchart showing an example of cargo handling work by the deck crane system according to this embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of a deck crane system, a deck crane control device, and a deck crane control method according to the present invention will be described with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, components in the following embodiments include components that can be easily replaced by those skilled in the art, or components that are substantially the same.

FIG. 1 is a diagram showing an example of a deck crane system 100 according to this embodiment. The deck crane system 100 is a work machine used for cargo handling work on the ship 101 . A deck crane system 100 includes a deck crane 10 , a control device 20 and a remote controller 30 .

Deck crane system 100 is installed on deck 102 of ship 101 . Multiple deck cranes 10 may be installed on deck 102 or a single deck crane 10 may be installed on deck 102 . FIG. 1 shows an example in which four deck cranes 10 are installed on deck 102 . Controller 20 includes a computer system. A control device 20 controls the deck crane 10 . The control device 20 is arranged, for example, in each of the plurality of deck cranes 10 . Information can be transmitted between the controllers 20 by communication, for example. Note that a host device (not shown) or the like that supervises each control device 20 may be provided. The remote controller 30 is a terminal for remotely controlling the deck crane 10 .

FIG. 2 is a diagram showing an example of the deck crane 10 according to this embodiment. As shown in FIG. 2 , the deck crane system 100 handles cargo C between the cargo compartment 103 of the ship 101 and the harbor 104 . The deck crane 10 has a revolving body 11 , a jib 12 , a revolving device 13 , an elevating device 14 and a lifting device 15 .

A platform 16 is arranged on the deck 102 of the ship 101 . The revolving body 11 is supported by the revolving bearing 16S of the pedestal 16 so as to revolve about the revolving axis AX1. The pedestal 16 is provided with a post coordinate detector S1. The post coordinate detection unit S1 detects post coordinates. The post coordinates are plane coordinates that indicate the horizontal position of the pivot axis AX1.

The jib 12 is connected to the revolving body 11 . The jib 12 is a rod-shaped member. A base end of the jib 12 is connected to the revolving body 11 . The jib 12 is connected to the revolving body 11 so as to be rotatable about the elevation axis AX2.

A pulley 17 is provided at the tip of the jib 12 . A lifting wire 18 for lifting the cargo C is hung on the pulley 17 . A proximal end of the lifting wire 18 is attached to the drum 15</b>D of the lifting device 15 . A holder 18H for holding cargo is provided at the tip of the lifting wire 18 . A grab bucket for gripping cargo or a hook for hooking cargo is exemplified as the holder 18H.

A lifting wire 19 for elevation is attached to the jib 12 . One end of the elevation wire 19 is attached to the intermediate portion of the jib 12 , and the other end of the elevation wire 19 is attached to the drum 14</b>D of the elevation device 14 .

A hook coordinate detector S2 is provided at the tip of the jib 12 . The hook coordinate detection section S2 detects hook coordinates. The hook coordinates are plane coordinates that indicate the horizontal position of the holder 18H.

The turning device 13 turns the turning body 11 around the turning axis AX1. The turning device 13 has a turning motor 13</b>M that drives the turning body 11 and a turning brake 13</b>B that brakes the turning body 11 . The driving force generated by the turning motor 13M causes the turning body 11 to turn around the turning axis AX1. The turning body 11 is stopped by the braking force generated by the turning brake 13B.

The elevation device 14 rotates the jib 12 about the elevation axis AX2. The elevation device 14 has an elevation motor 14M that drives the jib 12 and an elevation brake 14B that brakes the jib 12 . The driving force of the elevation motor 14M rotates the jib 12 around the elevation axis AX2. The jib 12 is stopped by the braking force of the elevation brake 14B.

The lifting device 15 raises and lowers the lifting wire 18 . The lifting device 15 has a lifting motor 15M that drives the lifting wire 18 and a lifting brake 15B that brakes the lifting wire 18 . The lifting wire 18 is moved up and down by the driving force of the lifting motor 15M. The lifting wire 18 is stopped by the braking force of the lifting brake 15B.

The elevation motor 14M generates driving force for rotating the drum 14D. When the drum 14D rotates and the elevating wire 19 for elevation is wound around the drum 14D, the jib 12 rotates in the elevation direction. The vertical direction is the direction in which the tip of the jib 12 moves upward. When the drum 14D rotates and the elevating wire 19 for elevating is let out from the drum 14D, the jib 12 rotates in the elevating direction. The downward direction refers to the direction in which the tip of the jib 12 moves downward.

The lift motor 15M generates driving force for rotating the drum 15D. When the drum 15D rotates and the lifting wire 18 is wound around the drum 15D, the holder 18H is lifted. When the drum 15D rotates and the lifting wire 18 is let out from the drum 15D, the holder 18H descends.

The swing motor 13M is an electric motor that drives the swing body 11, which is a rotating body. The elevation motor 14M is an electric motor that drives a rotating drum 14D. The lifting motor 15M is an electric motor that drives a rotating drum 15D. The deck crane 10 is an electric deck crane operated by driving force generated by an electric motor. The turning brake 13B is a disc brake that brakes the turning body 11 . The elevation brake 14B is a disc brake that brakes the drum 14D. The lifting brake 15B is a disk brake that brakes the drum 15D.

Cargo C is arranged or loaded in the cargo room 103 and the harbor 104 . In the cargo handling work by the deck crane 10, the holder 18H is moved to a position corresponding to the cargo C to be handled, and the holder 18H is slinged. That is, the cargo C to be handled becomes the target point for moving the holder 18H. For example, the operator can install the target point coordinate detector S3 for the cargo C to be handled. The target point coordinate detection unit S3 detects target point coordinates. The target point coordinates are plane coordinates that indicate the horizontal position of the target point to which the holder 18H is to be moved. After the cargo C to be loaded and unloaded is slinged, the operator can remove the target point coordinate detector S3 from the cargo C.

A control device 20 controls the deck crane 10 . The control device 20 controls the swing motor 13M, the swing brake 13B, the elevation motor 14M, the elevation brake 14B, the elevation motor 15M, and the elevation brake 15B. An operator's cab D is provided on the gantry 16 . In the driver's cab D, an operating device and the like for the operator to operate the deck crane 10 are arranged. In addition, the same operation as the operation of the deck crane 10 in the operator's cab D can be performed by the remote controller 30 . For example, the control device 20 may be arranged in the driver's cab D.

FIG. 3 is a functional block diagram showing an example of the control device 20. As shown in FIG. As shown in FIG. 3, the control device 20 includes a coordinate data acquisition unit 21, a coordinate calculation unit 22, a turning operation control unit 23, an elevation operation control unit 24, an elevation operation control unit 25, and a storage unit 26. , and a determination unit 27 .

The coordinate data acquisition section 21 acquires post coordinates detected by the post coordinate detection section S1, hook coordinates detected by the hook coordinate detection section S2, and target value coordinates detected by the target point coordinate detection section S3.

The coordinate calculation unit 22 performs calculation for setting a plane coordinate system based on the post coordinates, hook coordinates, and target point coordinates acquired by the coordinate data acquisition unit 21 . The coordinate calculation unit 22 determines that the virtual straight line connecting the point indicated by the post coordinates and the point indicated by the hook coordinates becomes the first reference axis in the planar coordinate system, and the virtual straight line passing through the point indicated by the post coordinates and perpendicular to the first reference axis is A plane coordinate system is set so as to be the second reference axis in the plane coordinate system.

4 and 5 are diagrams schematically showing the contents of computation by the coordinate computation unit 22. FIG. FIG. 4 shows positions of post coordinates, hook coordinates, and target point coordinates in a plane coordinate system in which a reference axis X0 and a reference axis Y0 that are orthogonal to each other are set.

From this state, as shown in FIG. 5, the coordinate calculation unit 22 makes the virtual straight line L1 connecting the post position P indicated by the post coordinates and the hook position H indicated by the hook coordinates the first reference axis Y1 in the planar coordinate system. A planar coordinate system is set such that a virtual straight line L2 passing through the post position P and perpendicular to the first reference axis Y1 is the second reference axis X1 in the planar coordinate system. As a result, in the plane coordinate system, the turning axis AX1 is the origin, and the first reference axis Y1 along the jib 12 is set as one of the reference axes. Therefore, the positional relationship among the turning axis AX1, the jib 12, and the target point G at the time when the post coordinates, hook coordinates, and target point coordinates are acquired is simplified.

The turning motion control unit 23 generates a command signal for turning motion by the turning device 13 based on the post coordinates, the hook coordinates, and the target point coordinates acquired by the coordinate data acquisition unit 21 and the calculation result of the coordinate calculation unit 22. do. In the example shown in FIG. 5, the turning motion control unit 23 can generate a command signal for turning the turning body 11 clockwise in FIG. 5 by an angle θ2.

The elevation operation control unit 24 generates a command signal for the elevation operation by the elevation device 14 based on the post coordinates, hook coordinates, and target point coordinates acquired by the coordinate data acquisition unit 21 and the calculation result of the coordinate calculation unit 22. do. FIG. 6 is a diagram schematically showing the content of calculation by the elevation motion control section 24. As shown in FIG. FIG. 6 is a diagram schematically showing the configuration viewed from the direction of arrow A in FIG. In the example shown in FIG. 6, the elevation operation control unit 24 can generate, for example, a command signal for raising the jib 12 clockwise in FIG. 6 by an angle θ4. The elevation angle θ4 of the jib 12 can be calculated, for example, based on the difference between the coordinates of the hook position H of the jib 12 and the coordinates of the target point G of the holder 18H when the coordinates are obtained.

The lifting operation control unit 25 generates a command signal for the lifting operation of the lifting device 15 based on the information about the height position stored in the storage unit 26 or the operation signal from the remote controller 30 . When the height position is not stored in the storage unit 26, the lifting operation is performed so that the holder 18H is arranged at the preset maximum height position. In this case, cargo handling processing can be performed smoothly without stagnating. The height position will be described later.

The storage unit 26 stores various information. The storage unit 26 stores information about the height position in the lifting operation. The height position is the position in the vertical direction with respect to the deck 102 of the ship 101 . The height position includes a hull height position Mb and a shipboard height position Ms. 7 and 8 are diagrams for explaining the height position of the lifting operation. FIG. 7 is a diagram for the hull height position Mb, and FIG. 8 is a diagram for the hull height position Ms.

As shown in FIG. 7, the hull height position Mb is a height position set so that the cargo C does not interfere with the hull 101A. The hull height position Mb can be set to a position higher than, for example, a value obtained by adding the height of the cargo C to the height position of the upper edge of the hull 101A.

As shown in FIG. 8, the on-board height position Ms is a height position set so that the cargo C does not interfere with other cargo C or the like stacked at a position higher than the upper edge of the hull 101A. . The onboard height position Ms can be set at a position higher than the height position of the upper end of the cargo C stacked on the hull 101A. The onboard height position Ms is higher than the hull height position Mb.

When the deck crane system 100 described above moves the cargo C placed or loaded in the cargo compartment 103 to the target point G in the harbor 104, first, the holder 18H located on the cargo compartment 103 side or the harbor 104 side is It is moved to a position corresponding to the cargo C in the cargo compartment 103 . Next, the cargo C is slinged with the holder 18H, and the lifting wire 18 is pulled upward to cut the ground, thereby raising the holder 18H and the cargo C. Next, the revolving body 11 is rotated and the jib 12 is raised and lowered to move the holder 18H to a position corresponding to the target point G (a position above the target point G). After that, the cargo C is placed at the target point G by lowering the holder 18H.

When the cargo C placed or loaded in the harbor 104 is moved to the target point G in the cargo compartment 103 by the deck crane system 100, first, the holder 18H arranged on the cargo compartment 103 side or the harbor 104 side is moved. to a position corresponding to cargo C in harbor 104 . Next, the cargo C is slinged with the holder 18H, and the lifting wire 18 is pulled upward to cut the ground, thereby raising the holder 18H and the cargo C. Next, the revolving body 11 is rotated and the jib 12 is raised and lowered to move the holder 18H to a position corresponding to the target point G (a position above the target point G). After that, the cargo C is placed at the target point G by lowering the holder 18H.

9 to 12 are diagrams showing an example of adjusting the height position of the holder 18H during the lifting operation. In the cargo handling work, cargo C is transported in four modes shown in FIGS. 9 to 12 . Hereinafter, the mode shown in FIG. 9 is referred to as a first mode, the mode illustrated in FIG. 10 is referred to as a second mode, the mode illustrated in FIG. 11 is referred to as a third mode, and the mode illustrated in FIG. 12 is referred to as a fourth mode.

In the first mode shown in FIG. 9, the case of moving the cargo C, which is placed at a position higher than the upper edge of the hull 101A among the cargo C loaded in the cargo compartment 103, to the target point G of the harbor 104, is shown. there is In the first mode shown in FIG. 9, when raising the cargo C, it takes time to raise the holder 18H to the preset maximum height. Therefore, by raising the holder 18H to the on-board height position Ms, the time can be shortened compared to the case of raising to the maximum height. It should be noted that, for example, when the holder 18H, which is arranged at a position higher than the upper edge of the hull 101A and does not hold the cargo C, is moved to the target point G of the port 104, the first mode can be used as well. can.

The second mode shown in FIG. 10 shows a case where the cargo C loaded in the cargo compartment 103 and placed at a position lower than the upper edge of the hull 101A is moved to the target point G of the harbor 104. there is In the second mode shown in FIG. 10, when the cargo C is raised, it takes time to raise the holder 18H to the on-board height position Ms or the preset maximum height. Further, when the holder 18H is arranged on the harbor 104 side, when the holder 18H arranged on the harbor 104 side is moved to a position corresponding to the cargo C, interference with the upper edge of the hull 101A is avoided. There is a need. Therefore, by raising the holder 18H to the hull height position Mb, the time can be shortened compared to raising to the hull height position Ms or the maximum height, and interference with the upper edge of the hull 101A can be avoided. It should be noted that, for example, when the holder 18H, which is arranged at a position lower than the upper edge of the hull 101A and does not hold the cargo C, is moved to the target point G of the harbor 104, the second mode can be used as well. can.

The third mode shown in FIG. 11 shows a case where the cargo C placed in the harbor 104 is moved to a target point G higher than the upper edge of the hull 101A among the cargo C loaded in the cargo compartment 103. . In the third mode shown in FIG. 11, when raising the cargo C, it is necessary to avoid interference with the cargo C piled up at a position higher than the upper edge of the hull 101A. Further, when the holder 18H is arranged on the cargo compartment 103 side, when the holder 18H is moved to the position corresponding to the cargo C, it takes time to raise the holder 18H to a preset maximum height. I need. Therefore, by raising the holder 18H to the on-board height position Ms, interference with other cargoes C can be avoided, and the time required for raising the holder 18H to the maximum height can be shortened. Note that, for example, the case where the holder 18H that is arranged on the port 104 side and does not hold the cargo C is moved to the target point G that is higher than the upper edge of the hull 101A can be similarly applied to the third mode. .

The fourth mode shown in FIG. 12 shows a case where the cargo C placed at the target point G in the harbor 104 is moved to a position lower than the upper edge of the hull 101A among the cargo C loaded in the cargo compartment 103. there is In the fourth mode shown in FIG. 12, when raising the cargo C, it is necessary to avoid interference with the upper edge of the hull 101A. Further, when the holder 18H is arranged on the harbor 104 side, when the holder 18H arranged on the harbor 104 side is moved to a position corresponding to the cargo C, the holder 18H is moved to the onboard height position Ms or in advance. It takes time to raise to the set maximum height. Therefore, by raising the holder 18H to the hull height position Mb, interference with the upper edge of the hull 101A can be avoided, and the time can be shortened compared to raising to the hull height position Ms or the maximum height. For example, the case where the holder 18H, which is arranged on the harbor 104 side and does not hold the cargo C, is moved to the target point G at a height lower than the upper edge of the hull 101A is also the fourth mode. be able to.

In this way, when the height position of the target point G of the holder 18H is higher than the hull height position Mb, the holder 18H is arranged at the height position Ms above the ship. is placed at the hull height position Mb. Therefore, interference with the loaded cargo C is avoided, and the time required for hoisting the holder 18H is shortened.

Moreover, like the deck crane system 100 of this embodiment, when a plurality of deck cranes 10 are provided, it is necessary to avoid interference between the deck cranes 10 . 13 to 15 are diagrams showing an example of operations for avoiding interference between the deck cranes 10. FIG. Hereinafter, one deck crane 10 among the plurality of deck cranes 10 will be referred to as a first deck crane 10A, and the other deck cranes 10 will be referred to as a second deck crane 10B.

In the control device 20 (hereinafter referred to as the control device 20A) of the first deck crane 10A, the determination unit 27 (see FIG. 3) determines whether the swinging motion of the rotating body 11 and the raising/lowering motion of the jib 12 are detected in the first deck crane 10A. It is determined whether or not it interferes with the second deck crane 10B when it is performed. For example, as shown in FIG. 13, the determining unit 27 determines that the trajectory of movement of the revolving body 11, the jib 12, the holder 18H, etc. of the first deck crane 10A in a plan view corresponds to the revolving body 11, the jib of the second deck crane 10B. 12, it can be determined that it interferes with the second deck crane 10B when it overlaps with the position of the holder 18H or the like. When the determination unit 27 determines that interference with the second deck crane 10B will occur, the turning operation control unit 23 and the elevation operation control unit 24 of the control device 20A prevent the first deck crane 10A from performing the rotation operation and the elevation operation. Control.

In addition, in the control device 20 of the second deck crane 10B (hereinafter referred to as the control device 20B), the turning motion control unit 23 and the elevation motion control unit 24 control the turning motion of the first deck crane 10A as shown in FIG. In order not to interfere with the first deck crane 10A during the period when control is performed so as not to operate and raise and lower, the first deck crane 10A is moved from the trajectory of the revolving body 11, the jib 12, the holder 18H, etc. The 2-deck crane 10B is retracted. In addition, when the second deck crane 10B is carrying the cargo C, the control device 20B causes the second deck crane 10B to retreat after the carrying operation of the cargo C is completed.

As shown in FIG. 15, the control device 20A causes the first deck crane 10A to start swinging motion and elevation motion after the second deck crane 10B is retracted. Such control enables efficient cargo handling work while avoiding interference between the first deck crane 10A and the second deck crane 10B.

FIG. 16 is a flowchart showing an example of cargo handling work by the deck crane system 100 according to this embodiment. In the following, a description will be given of an example in which the holder 18H that does not hold the cargo C is moved to a position corresponding to the cargo C that is the object of the cargo handling work for one deck crane 10 . The operator arranges the target point coordinate detection unit S3 on the cargo C to be handled. Also, the driver inputs which mode of the first to fourth modes shown in FIGS. 9 to 12 is the mode of the cargo handling work. This input can be performed by the operating device in the driver's cab D or the remote controller 30 .

When the mode of cargo handling work is input, as shown in FIG. 16, the coordinate data acquisition unit 21 acquires the post coordinates detected by the post coordinate detection unit S1, the hook coordinates detected by the hook coordinate detection unit S2, and the target point. The target value coordinates detected by the coordinate detector S3 are acquired (step S10). In this case, the target point coordinates are the cargo C plane coordinates. The lifting operation control unit 25 determines whether or not the height position information corresponding to the input mode is stored in the storage unit 26 (step S20). If it is determined that the corresponding height position information is stored (Yes in step S20), the stored height position is designated (step S30). On the other hand, if it is determined that the corresponding height position information is not stored (No in step S20), a preset maximum height position is specified (step S40). When the height position is designated in step S30 or step S40, the lifting operation control unit 25 winds up the lifting wire 18 to raise the holder 18H so that the holder 18H is positioned at the designated height position ( step S50).

After lifting the holder 18H, the coordinate calculation unit 22 performs calculation for setting a plane coordinate system based on the post coordinates, hook coordinates, and target point coordinates acquired by the coordinate data acquisition unit 21 (step S60). . The turning motion control unit 23 and the elevation motion control unit 24 control the turning by the turning device 13 based on the post coordinates, the hook coordinates, and the target point coordinates acquired by the coordinate data acquisition unit 21 and the calculation result of the coordinate calculation unit 22. The angle and elevation angle by the elevation device 14 are calculated (step S70).

The turning motion control unit 23 and the elevation motion control unit 24 determine whether or not interference occurs with another deck crane 10 (step S80). Yes), the turning motion and the elevation motion of the deck crane 10 are controlled based on the calculated swing angle and elevation angle (step S90). The holder 18H is arranged at a position corresponding to the target point G by the turning motion and the elevation motion. On the other hand, when it is determined that interference with another deck crane 10 occurs (No in step S80), the determination processing in step S80 is repeated. While the above determination process is repeatedly performed, no turning motion or elevation motion is performed.

After the turning operation and the elevation operation are performed, the control device 20 determines whether or not the difference between the position of the holder 18H after turning and elevation and the target point coordinates is equal to or less than the set value of the turning error and the elevation error. (step S100). In step S100, the data acquisition section 21 acquires the post coordinates, the hook coordinates, and the target point coordinates, and the coordinate calculation section 22 performs calculation for setting a plane coordinate system. The coordinate calculation unit 22 can convert the plane coordinate system so that the X coordinate of the hook coordinates is 0, for example, with the post coordinates as the origin. In this case, the value calculated as the X-coordinate of the target point is the difference between the X-coordinates of the holder 18H and the target point G. FIG. A difference obtained by subtracting the Y coordinate of the hook coordinates from the Y coordinate of the target point is the difference between the Y coordinates of the holder 18H and the target point G. The turning motion control unit 23 determines whether or not the X coordinate of the target point is equal to or less than the turning error set value. The elevation motion control unit 24 also determines whether or not the difference obtained by subtracting the Y coordinate of the hook coordinates from the Y coordinate of the target point is equal to or less than the set value of the elevation error. If it is determined that the X coordinate of the target point is larger than the set value of the turning error, or the difference obtained by subtracting the Y coordinate of the hook coordinate from the Y coordinate of the target point is larger than the set value of the elevation error (No in step S100). ), the turning motion control unit 23 and the elevation motion control unit 24 repeat the operations after step S60. Further, when it is determined that the X coordinate of the target point is equal to or less than the set value of the turning error and the difference obtained by subtracting the Y coordinate of the hook coordinate from the Y coordinate of the target point is equal to or less than the set value of the elevation error (step Yes in S100), the lifting operation control unit 25 lowers the lifting wire 18 to lower the holder 18H to a height position corresponding to the cargo C (step S110). After lowering the holder 18H, the lifting operation control unit 25 determines whether the position of the holder 18H is above the ship and higher than the hull height Mb (step S120). The determination in step S110 can be made, for example, based on an input from the operating device in the driver's cab D or the remote controller 30 by the driver. When determining that the position of the holder 18H is on the ship and higher than the hull height Mb (Yes in step S120), the lifting operation control unit 25 sets the height position of the holder 18H to the height position Ms on the ship. is stored in the storage unit 26 (step S130). On the other hand, when the lifting operation control unit 25 determines that the position of the holder 18H is not on the ship or higher than the hull height Mb (No in step S120), the process of step S130 is skipped. After step S130, or when No is determined in step S120, slinging is performed to hold the cargo C on the holder 18H. After the slinging is performed, the lifting operation control unit 25 pulls the lifting wire 18 upward to cut off the cargo C (step S140).

Also when the holder 18H holding the cargo C is moved to the destination position of the cargo C, the processing after step S10 can be performed in the same manner. In this process, when the cargo C is above the ship and above the hull height Mb, the height position on the ship stored in step S120 of the immediately preceding process is set as the height position in step S50 for raising the holder 18H. A value of Ms can be used. The height of the hull 101A changes in the vertical direction with respect to the port 104 due to vibrations during loading and unloading of the cargo C or ebb and flow of the tide. On the other hand, by using the value of the on-board height position Ms stored in step S110 of the immediately preceding process as the height position in step S50 for raising the holder 18H, the height of the hull 101A is adjusted to the height of the harbor 104. On the other hand, even if it changes in the vertical direction, interference with the loaded cargo C can be avoided without adjusting the height position of the holder 18H, and the time required to hoist the holder 18H can be shortened. be able to.

As described above, the deck crane system 100 according to the present embodiment includes the revolving body 11 that is supported by the deck 102 of the ship 101 and revolves around the revolving axis AX1, the jib 12 that is connected to the revolving body 11 and rises, A deck crane 10 having a holder 18H arranged at the lower end of a lifting wire 18 extending downward from the tip of the jib 12 and raised and lowered, and performing cargo handling work of cargo C between a ship 101 and a harbor 104; Post coordinates indicating the horizontal position of AX1, hook coordinates indicating the horizontal position of the holder 18H, and target point coordinates indicating the horizontal position of the target point for moving the holder 18H are obtained. Based on the calculated post coordinates, hook coordinates, and target point coordinates, the turning angle of the turning body 11 and the elevation angle of the jib 12 are calculated. and a control device 20 for performing the raising and lowering motion.

Further, the deck crane control device 20 according to the present embodiment causes the revolving body 11 of the deck crane 10 arranged on the deck 102 of the ship 101 to revolve around the revolving axis AX1, and the jib 12 connected to the revolving body 11 rotates. is elevated and the holder 18H provided at the lower end of the lifting wire 18 extending downward from the tip of the jib 12 is lifted or lowered to control the deck crane 10 that performs the cargo handling work of the cargo C between the ship 101 and the harbor 104. In the apparatus 20, the post coordinates indicating the horizontal position of the pivot axis AX1 of the deck crane 10, the hook coordinates indicating the horizontal position of the holder 18H, and the target point for moving the holder 18H in the horizontal direction A coordinate data acquisition unit 21 for acquiring target point coordinates indicating a position, and coordinate calculation for calculating the turning angle of the revolving body 11 and the elevation angle of the jib 12 based on the acquired post coordinates, hook coordinates, and target point coordinates. and a turning motion control portion 23 and an elevation motion control portion 24 that cause the revolving body 11 to perform a turning motion and the jib 12 to perform an elevation motion based on the calculation result of the calculation portion.

Further, the deck crane control method according to the present embodiment rotates the revolving body 11 of the deck crane 10 arranged on the deck 102 of the ship 101 around the revolving axis AX1, and rotates the jib 12 connected to the revolving body 11. A control method for a deck crane 10 that performs cargo handling work between a ship 101 and a harbor 104 by raising and lowering a holder 18H provided at the lower end of a lifting wire 18 extending downward from the tip of a jib 12. The post coordinates indicating the horizontal position of the turning axis AX1 of the deck crane 10, the hook coordinates indicating the horizontal position of the holder 18H, and the horizontal position of the target point for moving the holder 18H are calculating the turning angle of the revolving body 11 and the elevation angle of the jib 12 based on the acquired post coordinates, hook coordinates and target point coordinates; and causing the revolving body 11 to perform a revolving motion and causing the jib 12 to perform an elevating motion based on .

According to this configuration, the post coordinates, the hook coordinates, and the target point coordinates are acquired, and based on the acquired post coordinates, the hook coordinates, and the target point coordinates, the turning angle of the revolving body 11 and the elevation angle of the jib 12 are calculated, Based on the calculation result, the revolving body 11 can perform a revolving motion, and the jib 12 can perform an elevating motion. Therefore, it is possible to efficiently carry out cargo handling work while suppressing variations in the operation of the driver.

In the deck crane system 100 according to the present embodiment, the control device 20 controls the virtual straight line L1 connecting the post position P indicated by the post coordinates and the hook position H indicated by the hook coordinates to be the first reference axis Y1 in the planar coordinate system. A plane coordinate system is set so that a virtual straight line L2 passing through the position P and orthogonal to the first reference axis Y1 is the second reference axis X1 in the plane coordinate system, and the turning angle and the elevation angle are calculated based on the set result. . Therefore, it is possible to set a coordinate system that allows easy calculation of the positional relationship between the revolving body 11 of the deck crane 10, the jib 12, and the holder 18H.

In the deck crane system 100 according to this embodiment, the control device 20 controls the hull height position Mb corresponding to the height of the upper edge of the hull of the ship 101 and the height of the upper end of the cargo C loaded on the ship 101. has a storage unit 26 that stores at least one height position of the onboard height position Ms corresponding to . Therefore, interference with the upper edge of the hull 101A and the loaded cargo C can be avoided, and the time required for hoisting the holder 18H can be shortened.

In the deck crane system 100 according to the present embodiment, the control device 20 arranges the holder 18H at the shipboard height position Ms when the height position of the target point G of the holder 18H is higher than the ship height position. In other cases, the lifting operation is performed so that the holder 18H is arranged at the hull height position Mb. Therefore, interference with the loaded cargo C can be avoided, and the time required for hoisting the holder 18H can be shortened.

In the deck crane system 100 according to the present embodiment, when the height position is not stored in the storage unit 26, the control device 20 moves up and down so that the holder 18H is arranged at the preset maximum height position. Let Therefore, cargo handling processing can be smoothly performed without stagnating.

In the deck crane system 100 according to the present embodiment, a plurality of deck cranes 10 are arranged on a ship 101, and the control device 20 controls the first deck crane 10A among the plurality of deck cranes 10 according to the calculation results of the turning angle and elevation angle. Based on this, it is determined whether or not there will be interference with the second deck crane 10B, which is different from the first deck crane 10A, when the revolving body 11 is rotated and the jib 12 is raised and lowered. , to prevent the first deck crane 10A from turning and raising. Therefore, interference between multiple deck cranes 10 can be suppressed.

In the deck crane system 100 according to the present embodiment, the control device 20 controls the second deck crane 10A so as not to interfere with the first deck crane 10A during the period during which the first deck crane 10A does not perform the turning motion and the elevation motion. 10B is evacuated. Therefore, it is possible to suppress the lengthening of the period during which the first deck crane 10A does not perform the turning motion and the raising/lowering motion.

The technical scope of the present invention is not limited to the above embodiments, and modifications can be made as appropriate without departing from the scope of the present invention. For example, in the above embodiment, the remote controller 30 may perform at least one of the setting of the height position for hoisting and lowering, the hoisting and lowering operations, the swivel operation, and the elevation operation.

10 Deck crane 10A First deck crane 10B Second deck crane 11 Revolving body 12 Jib 13 Revolving device 13B Revolving brake 13M Revolving motor 14 Elevating device 14B Elevating brake 14D, 15D Drum 14M Elevating motor 15 Elevating device 15B Elevating brake 15M Elevating motor 16 Base 16S Turning bearing 17 Pulley 18 Lifting wire 18H Holder 19 Lifting wires 20, 20A, 20B for elevation 20, 20A, 20B Control device 21 Coordinate data acquisition unit 22 Coordinate calculation unit 23 Turning operation control unit 24 Elevation operation control unit 25 Elevation operation control unit 26 Storage Part 27 Judgment part 30 Remote controller 100 Deck crane system 101 Ship 101A Hull 102 Deck 103 Cargo compartment 104 Harbor AX1 Turning axis AX2 Elevation axis C Cargo D Driver's cab G Target point H Hook positions L1, L2 Virtual straight line Mb Hull height position Ms Onboard height position P Post position R Control room S1 Post coordinate detector S2 Hook coordinate detector S3 Target point coordinate detector X0, Y0 Reference axis X1 Second reference axis Y1 First reference axis

Claims (9)

A revolving body that is supported on the deck of a ship and revolves about a revolving shaft, a jib that is connected to the revolving body and rises, and a holder that is arranged at the lower end of a lifting wire that extends downward from the tip of the jib and moves up and down. and a deck crane that performs cargo handling work between the ship and a port;
The post coordinates indicating the horizontal position of the pivot shaft, the hook coordinates indicating the horizontal position of the holder, and the target point coordinates indicating the horizontal position of the target point for moving the holder are acquired. , based on the acquired post coordinates, hook coordinates, and target point coordinates, the turning angle of the turning body and the elevation angle of the jib are calculated, and the turning movement of the turning body is performed based on the calculation results. and a control device for causing the jib to raise and lower. In the control device, a virtual straight line connecting a point indicated by the post coordinates and a point indicated by the hook coordinates becomes a first reference axis in a planar coordinate system, and passes through the point indicated by the post coordinates and is perpendicular to the first reference axis. 2. The deck crane system according to claim 1, wherein a plane coordinate system is set such that the virtual straight line serves as a second reference axis in the plane coordinate system, and the turning angle and the elevation angle are calculated based on the set result. The control device controls at least one of a hull height position corresponding to the height of the upper edge of the hull in the ship and a shipboard height position corresponding to the height of the upper end of the cargo loaded on the ship. 3. The deck crane system according to claim 1 or 2, further comprising a storage unit for storing height positions, wherein the holder is moved up and down based on the height positions stored in the storage unit. When the height position of the target point of the holder is higher than the height position of the hull, the control device causes the holder to move up and down so that it is arranged at the height position above the ship. 4. A deck crane system according to claim 3, wherein the lifting movement is effected so that the retainer is positioned at the hull height position in some cases. 5. The controller according to claim 3, wherein, when the height position is not stored in the storage unit, the controller moves up and down so that the holder is placed at a preset maximum height position. deck crane system. A plurality of the deck cranes are arranged on the ship,
When a first deck crane among the plurality of deck cranes performs a turning motion of the rotating body and an elevating motion of the jib based on the calculation results of the turning angle and the elevation angle, the control device It is determined whether or not there will be interference with a second deck crane that is different from the first deck crane, and if it is determined that there will be interference, the first deck crane is prevented from performing the turning motion and the elevation motion. 6. A deck crane system according to any one of claims 5 to 10. 7. The control device according to claim 6, wherein the control device retracts the second deck crane so as not to interfere with the first deck crane during a period during which the first deck crane does not perform the swinging motion and the elevating motion. deck crane system. A holder provided at the lower end of an elevating wire extending downward from the tip of the jib by rotating a revolving body of a deck crane arranged on the deck of a ship about a revolving shaft to raise a jib connected to the revolving body. A control device for a deck crane that performs cargo handling work between the ship and a port by raising and lowering the
Post coordinates indicating the horizontal position of the pivot axis of the deck crane, hook coordinates indicating the horizontal position of the holder, and target point coordinates indicating the horizontal position of the target point for moving the holder. a coordinate acquisition unit that acquires
a computing unit that calculates a turning angle of the turning body and an elevation angle of the jib based on the acquired post coordinates, hook coordinates, and target point coordinates;
A control device for a deck crane, comprising: a drive control unit that causes the revolving body to perform a revolving motion and causes the jib to perform an elevating motion based on the calculation result of the arithmetic unit. A holder provided at the lower end of an elevating wire extending downward from the tip of the jib by rotating a revolving body of a deck crane arranged on the deck of a ship about a revolving shaft to raise a jib connected to the revolving body. A control method for a deck crane that performs cargo handling work between the ship and a port by raising and lowering the
Post coordinates indicating the horizontal position of the pivot axis of the deck crane, hook coordinates indicating the horizontal position of the holder, and target point coordinates indicating the horizontal position of the target point for moving the holder. and
calculating a turning angle of the turning body and an elevation angle of the jib based on the acquired post coordinates, hook coordinates, and target point coordinates;
A control method for a deck crane, comprising: causing the revolving body to perform a revolving motion and causing the jib to perform an elevating motion based on the calculation result of the arithmetic unit.

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