JP3249409B2 - Method and apparatus for positioning suspended load - Google Patents
Method and apparatus for positioning suspended loadInfo
- Publication number
- JP3249409B2 JP3249409B2 JP31354296A JP31354296A JP3249409B2 JP 3249409 B2 JP3249409 B2 JP 3249409B2 JP 31354296 A JP31354296 A JP 31354296A JP 31354296 A JP31354296 A JP 31354296A JP 3249409 B2 JP3249409 B2 JP 3249409B2
- Authority
- JP
- Japan
- Prior art keywords
- trolley
- target
- landing
- amount
- load
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Description
【0001】[0001]
【発明の属する技術分野】本発明は、コンテナクレーン
などで吊荷を着床させる際に適用される吊荷の着床位置
決め方法およびその装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for positioning a suspended load to be applied when a suspended load is landed by a container crane or the like.
【0002】[0002]
【従来の技術】従来より、例えばコンテナクレーンで
は、図7に示す如く、トロリー(図示せず)からスプレ
ッダ51を介して吊りワイヤ52で吊り下げたコンテナ
(吊荷)nを地面gに着床させる場合、スプレッダ51
の上面に設けたターゲット53の位置を図示しないトロ
リー上に設けたトロリーカメラで検出して、このターゲ
ット53と地面gの着床目標点aとが一致するようにト
ロリーの位置を移動させ、またコンテナnの振れ量を小
さくした後、当該コンテナnを目標点aに精度よく着床
させるようになっている。なお、上記トロリーは、図示
しない脚で支持されたガーダ上に取付けられ、このガー
ダに沿って横行するように構成されている。2. Description of the Related Art Conventionally, for example, in a container crane, as shown in FIG. 7, a container (hanging load) n suspended from a trolley (not shown) by a suspending wire 52 via a spreader 51 is landed on the ground g. To make the spreader 51
The position of the target 53 provided on the upper surface of the trolley is detected by a trolley camera provided on a trolley (not shown), and the position of the trolley is moved so that the target 53 and the landing target point a on the ground g coincide. After the swing amount of the container n is reduced, the container n is accurately landed on the target point a. The trolley is mounted on a girder supported by legs (not shown), and is configured to traverse along the girder.
【0003】[0003]
【発明が解決しようとする課題】しかしながら、上述し
た従来の吊荷の着床位置決め装置にあっては、スプレッ
ダ51のターゲット53と地面gの目標点aとを一致さ
せて着床させる際に、荷重量の偏心その他の原因によっ
てコンテナnが実線のように傾いている場合、そのまま
着床させると、コンテナnの左側縁部がまず地面gと接
し、その後に底部全面が接地することにより二点鎖線で
示す位置において着床が完了するので、目標点aとコン
テナ中心点b(ターゲット53の位置)との間に着床ズ
レDが生ずることになり、その結果、精度の高い着床作
業を行うことができないという問題があった。However, in the above-described conventional suspended load landing position positioning apparatus, when the target 53 of the spreader 51 and the target point a of the ground g are made to coincide with each other, landing is performed. When the container n is inclined as shown by the solid line due to the eccentricity of the load amount or other causes, when the container n is grounded as it is, the left edge of the container n comes into contact with the ground g first, and then the entire bottom is grounded, and the two points Since the landing is completed at the position indicated by the dashed line, the landing deviation D occurs between the target point a and the container center point b (the position of the target 53). As a result, a highly accurate landing operation can be performed. There was a problem that it could not be done.
【0004】本発明はこのような実状に鑑みてなされた
ものであって、その目的は、吊荷の傾きなどに基づく位
置ズレを補正して精度の高い着床を行うことが可能な吊
荷の着床位置決め方法およびその装置を提供することに
ある。SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to correct a positional shift based on the inclination of a suspended load or the like, and to achieve a highly accurate landing. The present invention provides a landing positioning method and an apparatus therefor.
【0005】[0005]
【課題を解決するための手段】上記従来技術の有する課
題を解決するために、請求項1の本発明においては、ト
ロリーからスプレッダを介して吊り下げた荷を、この荷
の巾方向中心線または長さ方向中心線を着床目標線に合
わせて着床させる際、前記スプレッダの上面にその巾方
向または長さ方向へ第1ターゲットと第2ターゲットを
所定間隔を置いて設置し、まず1回目の荷の着床動作を
行って、前記目標線と前記第1ターゲットとのズレ量D
L1および前記目標線と前記第2ターゲットとのズレ量D
R1をトロリーカメラでそれぞれ計測し、この計測値を許
容値DOと比較してD O <D L1 およびD O <D R1 のときに
は1回目と同じ条件で2回目の着床動作を行い、同様に
ズレ量DL2,DR2をそれぞれ計測し、これらの計測値を
用いて補正量ΔD=(DL1+DL2+DR1+DR2)/4を
求め、この補正量ΔDだけトロリー位置を修正するよう
にしている。In order to solve the above-mentioned problems of the prior art, according to the first aspect of the present invention, a load suspended from a trolley via a spreader is placed on a center line in the width direction of the load. When the landing is performed with the longitudinal center line aligned with the landing target line, the first target and the second target are placed on the upper surface of the spreader at predetermined intervals in the width direction or the length direction, and the first time is performed. Is performed, and the displacement amount D between the target line and the first target is obtained.
L1 and a deviation amount D between the target line and the second target
The R1 was measured respectively trolley camera, a second time landing motion under the same conditions as the first when the D O <D L1 and D O <D R1 by comparing this measured value with the allowable value D O, similar to the deviation amount D L2, D R2 measured respectively, obtains a correction amount ΔD = (D L1 + D L2 + D R1 + D R2) / 4 using these measured values, only modifying the trolley position correction amount [Delta] D I have to.
【0006】また、請求項2の本発明においては、トロ
リーから荷を吊り下げる際に用いられるスプレッダと、
このスプレッダの上面にその巾方向または長さ方向へ所
定間隔を置いて設置される第1ターゲットおよび第2タ
ーゲットと、これらターゲットの位置を撮影すべく前記
トロリー上に設けられるトロリーカメラと、このトロリ
ーカメラから送られたカメラ映像を画像処理して前記タ
ーゲットと着床目標線との各ズレ量を求めて許容値と比
較するとともに、各ズレ量を用いて補正量を算出し、こ
の補正量出力値を前記トロリーへ送ってトロリー位置を
修正する制御装置と、前記トロリーの移動量を検出する
エンコーダとを備えている。According to the present invention, a spreader used to suspend a load from a trolley is provided;
A first target and a second target installed on the upper surface of the spreader at predetermined intervals in the width direction or the length direction, a trolley camera provided on the trolley for photographing the positions of the targets, and the trolley Image processing is performed on the camera image sent from the camera to calculate the amount of deviation between the target and the landing target line and compare the obtained amount with an allowable value, calculate the amount of correction using the amount of deviation, and output the amount of correction. The trolley includes a control device that sends a value to the trolley to correct the position of the trolley, and an encoder that detects an amount of movement of the trolley.
【0007】本発明の吊荷の着床位置決め方法では、ま
ず、1回目の吊荷の着床動作を行って、目標線と第1タ
ーゲットとのズレ量DL1および目標線と第2ターゲット
とのズレ量DR1をトロリーカメラで計測し、許容値D O
<D L1 およびD O <D R1 のときには1回目と同じ条件で
2回目の着床動作を行って同様にズレ量DL2,DR2を計
測し、これらの計測値を用いて補正量ΔD=(DL1+D
L2+DR1+DR2)/4を求め、この補正量ΔDだけトロ
リー位置を修正するようにしているため、吊荷の着床位
置決め精度が向上する。In the method for positioning the landing of a suspended load according to the present invention, first, the first landing operation of the suspended load is performed, and the deviation D L1 between the target line and the first target and the deviation between the target line and the second target are determined. the deviation amount D R1 measured by the trolley camera, tolerance D O
When <D L1 and D O <D R1 , the second landing operation is performed under the same conditions as the first time, the displacement amounts D L2 and D R2 are similarly measured, and the correction amount ΔD = (D L1 + D
L2 + D R1 + D R2) / 4 to seek, because you have to modify only the trolley position correction amount [Delta] D, is improved implantation positioning accuracy of the suspended load.
【0008】[0008]
【発明の実施の形態】以下、本発明を図示の実施の形態
に基づいて詳細に説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail based on illustrated embodiments.
【0009】図1〜図5は、本発明に係る吊荷の着床位
置決め方法およびその装置の実施の形態を示している。
本実施の形態における吊荷着床位置決め方法およびその
装置は、例えば図5に示すようなコンテナクレーンに使
用されている。このコンテナクレーンは、陸地に積まれ
たコンテナ(吊荷)を接岸された船に荷積みしたり、あ
るいは船上のコンテナを陸地に荷積みしたりする機械で
ある。図5に示すようなコンテナクレーンは、地面g上
に立設された複数の支持脚1と、これら支持脚1の上部
に設けられ、かつ該支持脚1に直交して水平方向へ延び
て支持されたガーダ2と、このガーダ2上に取付けら
れ、かつ該ガーダ2に沿って横行するトロリー3とをそ
れぞれ有している。1 to 5 show an embodiment of a method and an apparatus for positioning a suspended load on a floor according to the present invention.
The suspended load landing positioning method and apparatus according to the present embodiment are used, for example, in a container crane as shown in FIG. This container crane is a machine that loads a container (hanging load) loaded on land to a ship berthed, or loads a container on a ship to land. A container crane as shown in FIG. 5 has a plurality of support legs 1 erected on the ground g, and is provided above the support legs 1 and extends in a horizontal direction perpendicular to the support legs 1 to support the container legs. And a trolley 3 mounted on the girder 2 and traversing along the girder 2.
【0010】しかして、このようなコンテナクレーンで
は、トロリー3からスプレッダ5を介して吊りワイヤ7
でコンテナnを吊り下げ、この状態で、トロリー3をガ
ーダ2に沿って移動させることにより、吊り下げたコン
テナnを地面g上の目標点(目標線)まで搬送し、当該
目標点に位置決めして精度良く着床させている。However, in such a container crane, the suspension wire 7 from the trolley 3 via the spreader 5 is used.
By moving the trolley 3 along the girder 2 in this state, the suspended container n is transported to a target point (target line) on the ground g and positioned at the target point. Landing with high precision.
【0011】図1および図2は、本発明の実施の形態に
係る吊荷の着床位置決め方法を説明する概念図であり、
同図に示すように、コンテナnの巾方向をx軸、高さ方
向をy軸および長さ方向をz軸に採っており、スプレッ
ダ5を介して吊りワイヤ7で吊り下げられたコンテナn
がその長さ方向中心線lを目標線a(本実施の形態では
z軸に採っている)に合わせて着床する場合を説明して
いる。図2に示すように、スプレッダ5の上面のy軸方
向中心線l上に2組のターゲット6aと6bを所定間隔
を置いて設置する。そして、これら第1ターゲット6a
と第2ターゲット6bの位置をトロリー3上に設けたト
ロリーカメラ4で撮影して検出し、図1に示すように、
第1ターゲット6aおよび第2ターゲット6bと目標線
aとを一致させて着床させる。FIGS. 1 and 2 are conceptual diagrams illustrating a method for positioning a suspended load on a floor according to an embodiment of the present invention.
As shown in the figure, the width direction of the container n is taken as the x-axis, the height direction is taken as the y-axis, and the length direction is taken as the z-axis, and the container n suspended by the suspension wire 7 via the spreader 5 is shown.
Describes a case in which the robot touches down with its longitudinal center line l aligned with a target line a (in the present embodiment, the z-axis). As shown in FIG. 2, two sets of targets 6a and 6b are placed at a predetermined interval on the center line 1 of the upper surface of the spreader 5 in the y-axis direction. And these first targets 6a
And the position of the second target 6b is photographed and detected by the trolley camera 4 provided on the trolley 3, and as shown in FIG.
The landing is performed so that the first target 6a and the second target 6b coincide with the target line a.
【0012】ところが、この際、何らかの原因でコンテ
ナnが傾いている場合、そのまま着床させると、当該コ
ンテナnの左側縁部がまず地面gと接し、次いで底部全
面が接地して二点鎖線で示す位置に着床するようになる
ので、目標線aとz軸方向中心線l(第1ターゲット6
aと第2ターゲット6bを結ぶ線)との間に着床ズレが
生じる。そこで、本実施の形態に係る吊荷の着床位置決
め方法では、同じ吊荷条件下で着床動作を2回繰り返し
行って、その際の目標線aとターゲット6a,6bとの
間のズレ量DL1,DL2およびDR1,DR2をトロリーカメ
ラ4で計測し、これらの計測値を用いて補正量を求め、
この補正量だけトロリー3の位置を移動するようにした
ものである。However, at this time, if the container n is tilted for some reason, if the container n is landed as it is, the left edge of the container n first comes into contact with the ground g, and then the entire bottom is grounded and is indicated by a two-dot chain line. The target line a and the z-axis direction center line 1 (the first target 6)
(a line connecting the second target 6a and the second target 6b). Therefore, in the method for positioning the landing of the suspended load according to the present embodiment, the landing operation is repeated twice under the same lifting condition, and the amount of displacement between the target line a and the targets 6a and 6b at that time. D L1 , D L2 and D R1 , D R2 are measured by the trolley camera 4 and a correction amount is obtained using these measurement values.
The position of the trolley 3 is moved by this correction amount.
【0013】図3は、本発明の実施の形態に係る吊荷の
着床位置決め方法の手順を示している。同図に従って説
明すると、まず、ある吊荷条件の下で、1回目のコンテ
ナnの着床動作を行う。すなわち、トロリーカメラ4で
スプレッダ5上のターゲット6a,6bの位置を検出
し、次いでトロリー3を移動させてこのターゲット6
a,6bの位置(y軸方向中心線l)を目標線aに一致
させた後にコンテナnを着床させ、トロリーカメラ4で
その時に生じた目標線aと第1ターゲット6aとのズレ
量DL1、および目標線aと第2ターゲット6bとのズレ
量DL2をそれぞれ計測する。FIG. 3 shows a procedure of a method for positioning a suspended load on a floor according to an embodiment of the present invention. Describing with reference to the figure, first, a first landing operation of the container n is performed under a certain suspended load condition. That is, the position of the targets 6a and 6b on the spreader 5 is detected by the trolley camera 4, and then the trolley 3 is moved to
After matching the positions of a and 6b (center line 1 in the y-axis direction) with the target line a, the container n is landed, and the trolley camera 4 causes the displacement amount D between the target line a and the first target 6a at that time. L1 and a deviation amount D L2 between the target line a and the second target 6b are measured.
【0014】そして、これらの計測値を別途設定された
ズレ量許容値DOと比較して、その結果、D O >D L1 およ
びD O >D R1 のときには着床は完了する。しかし、D O <
D L1 およびD O <D R1 のときには、1回目と同じ条件で
2回目の着床動作を行って、上記と同様に目標線aとタ
ーゲット6a,6bとのズレ量DL2,DR2を計測し、1
回目および2回目の着床動作時における各計測値を用い
て補正量ΔDを次の式によって算出する。 ΔD=(DL1+DL2+DR1+DR2)/4 (1) かくして、トロリー3の現在位置をこの補正量ΔDだけ
+方向または−方向へ移動した後、コンテナnを着床さ
せることによってズレ量が補正され、精度の高い着床を
行うことが可能となる。Then, these measured values are compared with a separately set allowable deviation amount D O, and as a result, D O > D L1 and
When D O > D R1 , the implantation is completed. However, D O <
When D L1 and D O <D R1 , the second landing operation is performed under the same conditions as the first, and the displacement amounts D L2 and D R2 between the target line a and the targets 6a and 6b are measured in the same manner as described above. And 1
The correction amount ΔD is calculated by the following equation using the measured values at the time of the second and the second landing operations. ΔD = ( DL1 + DL2 + DR1 + DR2 ) / 4 (1) Thus, after the current position of the trolley 3 is moved in the positive or negative direction by this correction amount ΔD, the container n is displaced by landing. Is corrected, and it is possible to perform landing with high accuracy.
【0015】一方、図4は本発明の実施の形態に係る吊
荷の着床位置決め方法に用いられる吊荷の着床位置決め
装置のブロック図を示している。この位置決め装置は、
図4および図5に示すように、上記トロリー3からコン
テナnを吊り下げる際に用いられるスプレッダ5と、こ
のスプレッダ5の上面にその長さ方向へ所定間隔を置い
て設置される第1ターゲット6aおよび第2ターゲット
6bと、トロリー3上に設けられ、かつこれらターゲッ
ト6a,6bの位置を撮影すべく下方へ向けて設置され
るトロリーカメラ4と、このトロリーカメラ4から送ら
れたカメラ映像を画像処理してターゲット6a,6bと
目標線aとの各ズレ量DL1,DL2およびDR1,DR2を求
めて許容値DO と比較し、また各ズレ量を用いて補正量
ΔDを算出し、この補正量出力値をトロリー3へ送って
トロリー位置を修正する制御装置10と、このトロリー
3の移動量を検出するエンコーダ11などで構成されて
いる。このため、上記制御装置10には、図示しない画
像処理部、記憶部、演算部、比較部および出力部などが
設けられている。On the other hand, FIG. 4 is a block diagram of an apparatus for positioning the landing of a suspended load used in the method of positioning the landing of a suspended load according to the embodiment of the present invention. This positioning device
As shown in FIGS. 4 and 5, a spreader 5 used to suspend the container n from the trolley 3 and a first target 6a installed on the upper surface of the spreader 5 at predetermined intervals in the length direction thereof. And a second target 6b, a trolley camera 4 provided on the trolley 3 and installed downward to capture the positions of the targets 6a and 6b, and a camera image transmitted from the trolley camera 4 as an image. The processing is performed to obtain the respective deviation amounts D L1 , D L2 and D R1 , D R2 between the targets 6a, 6b and the target line a, compare them with the allowable value D O, and calculate the correction amount ΔD using the respective deviation amounts. The trolley 3 includes a control device 10 that sends the correction amount output value to the trolley 3 to correct the trolley position, and an encoder 11 that detects the amount of movement of the trolley 3. Therefore, the control device 10 includes an image processing unit, a storage unit, a calculation unit, a comparison unit, an output unit, and the like (not shown).
【0016】図6は、本発明の他の実施の形態に係る吊
荷の着床位置決め方法を説明する概念図である。上記実
施の形態では、吊荷たるコンテナnが横行方向に傾いた
場合の修正手順について述べたが、本実施の形態では、
図6に示すように、コンテナnが走行方向に傾いて着床
した場合、上記実施の形態と同様、2回の着床動作を試
行してその際にターゲット6cと基準線(この場合はx
軸)とのズレ量を検出し、図3に示すと同様の手順で補
正量を算出している。その他の作用などは、上記実施の
形態と同様である。FIG. 6 is a conceptual diagram illustrating a method for positioning a suspended load on a floor according to another embodiment of the present invention. In the above embodiment, the correction procedure in the case where the suspended container n is inclined in the traversing direction has been described, but in the present embodiment,
As shown in FIG. 6, when the container n has landed while leaning in the traveling direction, as in the above-described embodiment, two landing operations are attempted, and the target 6c and the reference line (in this case, x
3), and the correction amount is calculated in the same procedure as shown in FIG. Other operations and the like are the same as in the above embodiment.
【0017】以上、本発明の実施の形態につき述べた
が、本発明は既述の実施の形態に限定されるものではな
く、本発明の技術的思想に基づいて各種の変形および変
更が可能である。Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications and changes are possible based on the technical idea of the present invention. is there.
【0018】[0018]
【発明の効果】上述の如く、本発明に係る吊荷の着床位
置決め方法は、同じ条件下で吊荷の着床動作を2回実施
して、トロリーカメラで着床目標線とスプレッダ上の第
1および第2ターゲットとのズレ量DL1,DL2,DR1,
DR2をそれぞれ計測するとともに、これらの計測値を許
容値DO と比較して補正量ΔDを求め、この補正量ΔD
だけトロリー位置を修正するようにしたので、吊荷の傾
きなどに基づく位置ズレの補正が可能となり、これによ
って精度の高い着床を行うことができ、作業性の向上を
図ることができる。As described above, according to the method for positioning a suspended load on the landing according to the present invention, the landing operation of the suspended load is performed twice under the same conditions, and the landing target line and the spreader on the spreader are controlled by the trolley camera. The deviation amounts D L1 , D L2 , D R1 from the first and second targets,
D R2 is measured, and these measured values are compared with an allowable value D O to obtain a correction amount ΔD.
Since only the trolley position is corrected, it is possible to correct the positional deviation based on the inclination of the suspended load or the like, thereby making it possible to perform landing with high accuracy and improve workability.
【0019】また、本発明に係る吊荷の着床位置決め装
置は、トロリーから荷を吊り下げる際に用いられるスプ
レッダの上面に設置される第1ターゲットおよび第2タ
ーゲットと、これらターゲットの位置を撮影するトロリ
ー上のトロリーカメラと、このトロリーカメラから送ら
れたカメラ映像を画像処理してターゲットと着床目標線
との各ズレ量を求めて許容値と比較するとともに、各ズ
レ量を用いて補正量を算出し、この補正量出力値をトロ
リーへ送ってトロリー位置を修正する制御装置と、トロ
リーの移動量を検出するエンコーダとを備えているの
で、精度の高い吊荷の着床を迅速に行うことができる。The apparatus for positioning a suspended load according to the present invention captures a first target and a second target installed on an upper surface of a spreader used for suspending a load from a trolley, and images of the positions of these targets. The trolley camera on the trolley and the camera image sent from this trolley camera are image-processed, and the amount of deviation between the target and the landing target line is calculated and compared with an allowable value, and correction is performed using each amount of deviation. It is equipped with a controller that calculates the amount and sends this correction amount output value to the trolley to correct the trolley position, and an encoder that detects the amount of movement of the trolley, so that accurate landing of a suspended load can be quickly performed. It can be carried out.
【図1】本発明の実施の形態に係る吊荷の着床位置決め
方法を説明する概念図である。FIG. 1 is a conceptual diagram illustrating a method of positioning a suspended load on a floor according to an embodiment of the present invention.
【図2】本発明の実施の形態に係る吊荷の着床位置決め
方法において、目標線とターゲットとのズレ量を計測し
ている状態を説明する概念図である。FIG. 2 is a conceptual diagram illustrating a state in which a displacement amount between a target line and a target is measured in the method for positioning a suspended load on a landing surface according to an embodiment of the present invention.
【図3】本発明の実施の形態に係る吊荷の着床位置決め
方法の手順を示すフローチャートである。FIG. 3 is a flowchart showing a procedure of a method for positioning a suspended load on a floor according to an embodiment of the present invention.
【図4】本発明の実施の形態に係る吊荷の着床位置決め
方法を実施する装置を示すブロック図である。FIG. 4 is a block diagram showing an apparatus for performing a method for positioning a suspended load on a floor according to an embodiment of the present invention.
【図5】本発明の実施の形態に係る吊荷の着床位置決め
方法が適用されるコンテナクレーンの全体を示す概念図
である。FIG. 5 is a conceptual diagram showing an entire container crane to which the method for positioning a suspended load on a floor according to an embodiment of the present invention is applied.
【図6】本発明の他の実施の形態に係る吊荷の着床位置
決め方法において、目標線とターゲットとのズレ量を計
測している状態を説明する概念図である。FIG. 6 is a conceptual diagram illustrating a state in which a deviation amount between a target line and a target is measured in a method for positioning a suspended load on a floor according to another embodiment of the present invention.
【図7】従来の吊荷の着床位置決め方法を説明する概念
図である。FIG. 7 is a conceptual diagram illustrating a conventional method of positioning a suspended load on the floor.
3 トロリー 4 トロリーカメラ 5 スプレッダ 6a,6b,6c ターゲット 7 吊りワイヤ 10 制御装置 11 エンコーダ n コンテナ g 地面 a 着床目標線 l 長さ方向中心線 Reference Signs List 3 trolley 4 trolley camera 5 spreader 6a, 6b, 6c target 7 hanging wire 10 control device 11 encoder n container g ground a landing target line l longitudinal center line
Claims (2)
げた荷を、この荷の巾方向中心線または長さ方向中心線
を着床目標線に合わせて着床させる際、前記スプレッダ
の上面にその巾方向または長さ方向へ第1ターゲットと
第2ターゲットを所定間隔を置いて設置し、まず1回目
の荷の着床動作を行って、前記目標線と前記第1ターゲ
ットとのズレ量DL1および前記目標線と前記第2ターゲ
ットとのズレ量DR1をトロリーカメラでそれぞれ計測
し、この計測値を許容値DOと比較してD O <D L1 および
D O <D R1 のときには1回目と同じ条件で2回目の着床
動作を行い、同様にズレ量DL2,DR2をそれぞれ計測
し、これらの計測値を用いて補正量ΔD=(DL1+DL2
+DR1+DR2)/4を求め、この補正量ΔDだけトロリ
ー位置を修正するようにしたことを特徴とする吊荷の着
床位置決め方法。When a load suspended from a trolley via a spreader is landed so that the center line in the width direction or the center line in the length direction of the load is aligned with a landing target line, the width of the load is placed on the upper surface of the spreader. The first target and the second target are installed at a predetermined interval in the direction or the length direction, and first, the landing operation of the load is performed, and the deviation amount D L1 between the target line and the first target is determined. The deviation amount D R1 between the target line and the second target is measured by a trolley camera, and the measured value is compared with an allowable value D O to obtain D O <D L1 and
When D O <D R1 , the second landing operation is performed under the same conditions as the first time, the displacement amounts D L2 and D R2 are similarly measured, and the correction amount ΔD = (D L1 + D L2
+ D R1 + D R2 ) / 4, and the trolley position is corrected by the correction amount ΔD.
れるスプレッダと、このスプレッダの上面にその巾方向
または長さ方向へ所定間隔を置いて設置される第1ター
ゲットおよび第2ターゲットと、これらターゲットの位
置を撮影すべく前記トロリー上に設けられるトロリーカ
メラと、このトロリーカメラから送られたカメラ映像を
画像処理して前記ターゲットと着床目標線との各ズレ量
を求めて許容値と比較するとともに、各ズレ量を用いて
補正量を算出し、この補正量出力値を前記トロリーへ送
ってトロリー位置を修正する制御装置と、前記トロリー
の移動量を検出するエンコーダとを備えたことを特徴と
する吊荷の着床位置決め装置。2. A spreader used for suspending a load from a trolley, a first target and a second target installed on a top surface of the spreader at predetermined intervals in a width direction or a length direction thereof, and the target And a trolley camera provided on the trolley to photograph the position of the trolley, and image processing of a camera image sent from the trolley camera is performed to obtain each deviation amount between the target and the landing target line, and compare with an allowable value. And a control device that calculates a correction amount using each shift amount, sends the correction amount output value to the trolley, and corrects a trolley position, and an encoder that detects a movement amount of the trolley. A landing positioning device for hanging loads.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP31354296A JP3249409B2 (en) | 1996-11-25 | 1996-11-25 | Method and apparatus for positioning suspended load |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP31354296A JP3249409B2 (en) | 1996-11-25 | 1996-11-25 | Method and apparatus for positioning suspended load |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH10152289A JPH10152289A (en) | 1998-06-09 |
JP3249409B2 true JP3249409B2 (en) | 2002-01-21 |
Family
ID=18042583
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP31354296A Expired - Fee Related JP3249409B2 (en) | 1996-11-25 | 1996-11-25 | Method and apparatus for positioning suspended load |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP3249409B2 (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5267853B2 (en) * | 2008-07-23 | 2013-08-21 | 株式会社ダイフク | Learning device in article transport equipment |
JP5339118B2 (en) * | 2008-07-23 | 2013-11-13 | 株式会社ダイフク | Learning apparatus and learning method in article transport facility |
WO2010010795A1 (en) * | 2008-07-23 | 2010-01-28 | 株式会社ダイフク | Learning device and learning method in article conveyance facility |
MY196459A (en) * | 2017-07-05 | 2023-04-12 | Sumitomo Heavy Ind Mat Handling Systems Co Ltd | Crane Device |
-
1996
- 1996-11-25 JP JP31354296A patent/JP3249409B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
JPH10152289A (en) | 1998-06-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4625469B2 (en) | System for swing control | |
JP4712388B2 (en) | Container crane | |
US6351720B1 (en) | Trolley camera position detecting apparatus | |
JP4174659B2 (en) | Crane swing angle detection method and crane swing angle detection system | |
JP3249409B2 (en) | Method and apparatus for positioning suspended load | |
KR100427957B1 (en) | Method of and apparatus for controlling stacking of a load by a crane | |
JP2003311670A (en) | Positioning control method of robot arm and robot equipment | |
JP3153849B2 (en) | Trolley camera position detection device | |
JP6807131B2 (en) | Cargo handling and transportation equipment | |
JP3153848B2 (en) | Hanging device position detection device | |
CN106629394B (en) | Camera extrinsic number calibration system and method applied to the detection of track sling pose | |
JP4163289B2 (en) | Calibration method for shake detection device | |
JP2004161475A (en) | Method and device for controlling stacking of lifted load and load handling machine | |
CN112469658A (en) | Crane with a movable crane | |
JPH08169684A (en) | Position sensing method for article to be suspended by overhead traveling crane | |
JPS5912085A (en) | Method of controlling center rest of hung load of crane | |
JP3933284B2 (en) | Vibration detection device | |
JPH112508A (en) | Position detecting device for lifting load | |
JPH06270083A (en) | Work position detector | |
JP3312200B2 (en) | Sway control method for support, crane control method for crane, steady control device for support, and steady control device for crane | |
JP4206533B2 (en) | Suspended position detection device | |
JPH10120362A (en) | Device for controlling landing of load hoisted by crane | |
JPH04201988A (en) | Crane hanging piece oscillation detecting device | |
JP6879579B2 (en) | Remote control system and remote control method for container cranes | |
JP3696702B2 (en) | Alignment method and apparatus for exposure apparatus |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20011019 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20081109 Year of fee payment: 7 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20091109 Year of fee payment: 8 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20101109 Year of fee payment: 9 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20101109 Year of fee payment: 9 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20111109 Year of fee payment: 10 |
|
LAPS | Cancellation because of no payment of annual fees |