JP4856394B2 - Object position measuring apparatus for container crane and automatic cargo handling apparatus using the object position measuring apparatus - Google Patents

Description

  The present invention relates to a spreader suspended from a traversing trolley, and a container crane configured to transport the container to a spreader, a suspended container held by the spreader, and a lifting target positioned below the spreader. The object position measuring device of the container crane used for measuring the position of the loaded object of the container or the suspended container, and the position information of the spreader and the suspended container measured by the object position measuring device. The present invention relates to an automatic cargo handling apparatus for a container crane that can automate container handling operations.

  FIG. 4 shows an outline of an example of a container crane generally used for carrying out container handling work (container loading and unloading work on a container ship) between a container ship that touches the quay and the land. This is the configuration. That is, a rail 2 extending in parallel along the quay 1 is laid on the quay 1, and a container crane body frame 3 including a sea side leg 4, a land side leg 5, a connecting material 6, etc. travels on the rail 2. Arrange as possible. A girder material 7 extending horizontally so as to project from the land side to the sea side is provided at the upper end portion of the main body frame 3, and a trolley 8 is attached to the girder material 7 so as to traverse along the longitudinal direction. Further, the trolley 8 is configured such that a spreader 9 as a hanging tool is suspended through a hoisting rope (wire rope) 10 so as to be movable up and down.

  The traverse drive mechanism of the trolley 8 is not shown, but generally, the trolley 8 is traversed along the girders 7 by driving the wheels of the trolley forward and backward by a traverse motor provided in the trolley 8. The base end side of a pair of traverse drive wire ropes is mounted on a traverse drum that is driven forward or reverse by a traverse motor disposed in a machine room provided at a required position outside the trolley 8. Wrap in opposite directions, wrap the tip side of each traverse drive wire rope around the rollers on the land end and sea end of the girder 7 and As the structure attached to the trolley 8, the transverse drum is driven forward and backward by the transverse motor, and the other is unwound while winding one of the pair of transverse drive wire ropes. Ri, of the type in which through the respective transverse drive wire ropes so as to move to the land side or the sea side along the trolley 8 to Ketazai 7 is employed.

  Although not shown in the figure, the lifting / lowering drive mechanism of the spreader 9 is mounted on the trolley 8 with a hoisting drum that is driven forward / reversely by a hoisting motor, and the spreader 9 is attached to the hoisting drum. Of the type in which the base end side (upper end side) of the hoisting rope 10 attached to the part (lower end part) is wound, or winding that is driven forward and backward by a hoisting motor in a machine room provided at a required position outside the trolley 8 An upper drum is disposed, and the leading end side of the hoisting rope 10 with the base end wound around the hoisting drum is hung on a roller installed on the trolley 8 and then suspended, and the leading end (lower end) In general, a mechanism in which the spreader 9 is attached to the hoisting rope 10 is used, and any of these elevating drive mechanisms can be used to drive the hoisting rope 10 in accordance with the forward / reverse driving of the hoisting drum by the hoisting motor. Up it can, are to be able to raise and lower the spreader 9 by performing unwinding.

  In the case of the container crane described above, it is necessary to prevent the vessel from berthing, leaving, or navigating when the cargo handling operation is not performed. For this purpose, the girder 7 is stored in the upright portion of the seam side as the undulating girder 7a, with the undulating girder 7a standing up from the sea side as shown by a two-dot chain line in FIG. You can do that.

  When the land-side container 11 is loaded into the container ship 12 that is berthed by the quay 1 using the container crane having the above-described configuration, the container ship 12 is normally loaded and loaded at each port where the container ship 12 calls. Considering the arrangement of the containers 11 to be wholesaled and the weight balance of the container ship 12 as a whole, a loading plan that determines the loading order and loading position of the containers 11 is set in advance. The predetermined container row to be subjected to the next container loading operation in accordance with the above loading plan among the container rows in the ship width (minor side) direction that runs on the rail 2 and is arranged in the fore-and-aft direction of the container ship 12. Thus, the girder 7a is arranged so as to cross over the container row to be loaded. Thereafter, the legs 4 and 5 of the container main body frame 3 are located at a predetermined position in a state where the land-side container 11 is loaded on the container transport truck 13, for example, the position below the beam 7. I will carry it in between.

  Next, the trolley 8 is traversed on the beam members 7 and 7a to the upper position of the container 11 loaded on the truck 13, and then the hoisting rope 10 is unwound by rotating the hoisting drum. The spreader 9 attached to the lower end of the hoisting rope 10 is lowered and suspended to a position directly above the container 11 loaded on the truck 13, and is provided on the lower surface side of the four corners of the spreader 9. A locking device such as a twist lock (not shown) is engaged with an engaging portion such as an engaging hole provided at a corresponding portion of the four corners of the container 11 to hold (hold) the container 11 with the spreader 9. I will let you.

  Next, the hoisting drum is rotated, and the container 11 is lifted to the required height position together with the spreader 9 via the hoisting rope 10. Thereafter, the trolley 8 is moved to the sea side along the girders 7 and 7a, and is positioned above the required onboard container 11 serving as a container loading target position on the container ship 12 set in accordance with the container loading plan. I will let you. In this manner, when the suspended container 11 held by the spreader 9 suspended from the trolley 8 is moved to above the loading target shipboard container 11, the hoisting drum is rotated to rotate the hoisting rope. 10 is lowered, the suspended container 11 held by the spreader 9 is lowered, and is suspended above the required onboard container 11 set as the loading target. The onboard container 11 and the suspended container 11 And engage. After that, the spreader 9 is removed from the suspended suspended container 11 and raised, and thereafter, the same operation is repeated so that the container 11 is loaded onto the container ship 12 from the quay 1 side. It is. The onboard container 11 and the suspended container 11 are engaged by manually engaging a locking device such as a twist lock provided on the lower surface side of the four corners with the four corners on the upper surface of the onboard container 11 positioned below. It is made to fix by engaging with the engaging part.

  On the other hand, when carrying out the work of unloading the onboard container 11 of the container ship 12 to the land, in accordance with the unloading plan set in consideration of the arrangement of the containers 11 and the weight balance of the entire container ship 12 as in the above loading plan. Therefore, the container is transferred in the reverse procedure. That is, the container crane is moved on the rail 2 so that the girder 7a is positioned above the row of the onboard containers 11 to be loaded and unloaded. In this state, the trolley 8 is traversed along the girders 7 and 7a and positioned above the required shipboard container 11 to be lifted for loading and unloading, and then the hoisting drum 10 is rotated to rotate the hoisting rope 10 By unwinding, the spreader 9 is suspended above the required onboard container 11, and the onboard container 11 is held by the locking device of the spreader 9. Next, the required shipboard container 11 is lifted to the required height position together with the spreader 9 by winding the hoisting rope 10. Next, the trolley 8 is moved to the land side along the girders 7 and 7a and is positioned above the container transporting truck 13 which is carried into a predetermined position between the legs 4 and 5 of the main body frame 3. In this way, the suspended container 11 held by the spreader 9 is moved to above the truck 13 which is a loading target.

  Thereafter, the hoisting rope 10 is unwound to suspend the suspended container 11 held by the spreader 9 onto the loading platform of the truck 13. After that, by removing the locking device of the spreader 9 from the container 11 suspended on the truck 13, the container 11 is transferred from the container ship 12 side to the quay 1.

  When carrying out the cargo handling operation of the container ship 12 using the container crane as described above, it is necessary to know the position of the container 11 on the shipboard container 11 or the land-side truck 13. Conventionally, a method for making it possible to grasp the load status of the container 11 on the container ship 12 as described above has been proposed.

  FIGS. 5 (a) and 5 (b) show the container loading status recognition apparatus proposed above. In a container crane having the same configuration as shown in FIG. And a position sensor 15 as a ranging position recognizing means for detecting the absolute position in the horizontal direction (horizontal direction) of the vertical container detection sensor 14. Further, a lateral container detection sensor 17 such as a laser distance sensor as a reference position detection means disposed horizontally toward the sea side is provided on the vertical guide 16 provided between the two legs 4 on the sea side. As shown in FIG. 6 (a), the configuration provided to be movable in the longitudinal direction (vertical direction) is closest based on the distance measurement information by the lateral container detection sensor 17. Information set on the basis of a side surface of a certain shipboard container 11 and distance measurement obtained by the vertical container detection sensor 14 when the trolley 8 is moved along the beams 7 and 7a as shown in FIG. The information is combined with the information representing the correlation between the position sensor 15 and the horizontal direction position of the trolley 8 of the vertical container detection sensor 14 as shown in FIG. Then, the display of the display device 18 is displayed by causing the cell 18a corresponding to the container 11 existing in the area below the distance measurement information detected by the vertical container detection sensor 14 to be lit. Based on the container 11 loaded on the container ship 12, the distribution of each container 11 in the container row loaded along the ship width direction The situation, are to be able to grasp a section (e.g., see Patent Document 1).

  When carrying out the cargo handling operation of the container 11 by the container crane as shown in FIG. 4, when the trolley 8 is traversed to the required position of the beam member 7, the trolley 8 is simply driven by the rotational driving force of the traverse motor. After accelerating to the set speed, the vehicle is operated at a constant speed, and then, when approaching the target position, it is simply decelerated and stopped at the target position. Inertia acts on the spreader 9 and the suspended load container 11 held by the spreader 9 at the time of acceleration / deceleration, so that the spreader 9 and the suspended load container 11 shake in the front-rear direction of the traveling direction. Arise. Such swinging of the spreader 9 and the suspended container 11 may occur when the spreader 9 is suspended on the container 11 to be transported next, on the shipboard container 11 that is the container loading target position, or on the land side. This hinders positioning when hung on a truck 13, which hinders cargo handling work.

  For this purpose, the following techniques have been conventionally proposed as a technique for steadying the spreader 9 accompanying the traversing of the trolley 8 or the suspended container 11 held by the spreader 9.

  One of the methods for stabilizing the container crane of this type is to detect the shake of the container by a necessary detecting means, and to move the trolley in the transverse direction (traveling direction so that the detected shake of the container is eliminated. ) One that performs so-called regulator control that performs feedback control so as to move back and forth is considered.

  As another method, for example, a trolley of a container crane is provided with a camera for photographing a spreader suspended below the trolley, and an image of the spreader image photographed by the camera is processed. This makes it possible to detect the swing angle and swing speed of the spreader, and based on the detected information of the swing angle and swing speed of the spreader and the information on the length of the rope that suspends the spreader below the trolley. When traversing the trolley to the destination of the suspended container set by the crane operator, the spreader runout that occurs at the start of acceleration disappears at the completion of acceleration, and the spreader runout that occurs at the start of deceleration disappears at the completion of deceleration Accelerate and decelerate up to the set speed or intermediate speed to stop, and from the intermediate speed A method of performing in two steps until constant speed or stop (for example, see Patent Document 2), information on the swing angle and speed of the spreader detected in the same manner as described above, and a spreader suspended below the trolley Based on the target rope length information, the spreader runout that occurred at the start of acceleration based on the target speed signal from the traversing controller operated by the operator disappeared at the completion of acceleration, and the spreader runout that occurred at the start of deceleration In which acceleration and deceleration are performed in two stages from the intermediate speed to the set speed or stop until the set speed or stop (see, for example, Patent Document 3). Alternatively, in the same method as described above, only the deceleration is performed in two stages so that the spreader shake generated at the start of deceleration disappears upon completion of deceleration. Method for the (e.g., see Patent Document 4) there is a two-step control method or the like.

  Further, as a technique for further improving the above-described two-stage control method, when acceleration and deceleration are performed in two stages, the time for performing the first acceleration and the maximum acceleration and the maximum deceleration during the deceleration, and the first The energy of the shake of the container indicates the waiting time until acceleration or deceleration of the second stage after the acceleration or deceleration of the stage and the acceleration or deceleration at which the acceleration or deceleration of the second stage is performed. Based on the above, it calculates with a period of about 100 msec, and compares the generated energy of the container shake that occurs at the maximum acceleration or deceleration of the first stage with the suppression energy that can be given to the container by the acceleration or deceleration of the second stage. Thus, there has also been proposed a method of performing control so that the maximum acceleration or maximum deceleration of the first stage is performed within the range of generated energy that can be erased by the suppression energy (for example, Patent Documents). Reference).

  Furthermore, when decelerating to stop the trolley based on the information on the swing angle and speed of the spreader detected in the same manner as described above and the information on the rope length hanging the spreader below the trolley. The trolley after decelerating and canceling the shake of the spreader while canceling out the vibration by causing the subsequent deceleration to synchronize with the return-side shake of the spreader that has swung forward due to the start of the deceleration. A technique has also been proposed in which the spreader can be stopped at an arbitrary position designated by an operator by moving it at a low speed to a stop target position on the girders (see, for example, Patent Document 6). reference).

  By the way, in recent years, labor saving work using a crane has been demanded, and for this purpose, a method of automatically operating the crane has been considered.

  Conventionally proposed methods for automatically operating this type of crane include, for example, handling a steel product such as a coil to a predetermined position in a product yard, such as carrying in, placing and unloading. For cranes, the position detectors installed on the traveling and traversing carts of the crane detect the traveling position and traversing position of the crane, while detecting the suspended load by image processing and the pallet on which the load is placed. , A method of providing a target that can be distinguished from its surroundings by shape and color, and positioning the crane suspension with the target as a target; and, for example, displaying a loading location and an unloading location A bar-shaped display lamp is set on the loading table, and set on the loading table using an image pickup device such as a TV camera provided at the tip of the crane's suspension. The display lamp is photographed, and the video signal is image-processed to automatically position the lifting tool with respect to the loading table and the loading / unloading positioning of the hanging load. Conventionally, a technique has been proposed in which the crane is instructed to carry out cargo handling in the order of the lit display lamps by lighting them in order (see, for example, Patent Document 7).

Japanese Patent Laid-Open No. 10-167665 JP-A-9-301676 Japanese Patent Laid-Open No. 9-301777 JP-A-9-301678 JP-A-10-25088 JP-A-10-279276 Japanese Patent No. 2630190

  However, the container crane as shown in FIG. 4 has a large trolley 8 with a height of 30 to 40 m and a reach of 30 to 40 m. The spreader 9 is suspended on the target container 11 to be lifted next. When the container 11 lifted by the spreader 9 is hung down to a predetermined position, for example, the upper side of the shipboard container 11 which is a loading target when loaded on the container ship 12, the allowable position error is about ± 50 mm. Therefore, very strict accuracy is required for the scale ratio. In addition, the container ship 12 that is tethered to the quay is slightly displaced in the fore-and-aft direction, but swings at a slow period, for example, a period of 10 to 20 seconds, in the ship width (side) direction. In accordance with this swinging, the position of the onboard container 11 is relatively large in the ship width direction. Further, when the container ship 12 loads and unloads the container 11, the overall weight changes and the draft of the container ship 12 changes, so the position of the onboard container 11 on the container ship 12 is up and down. It also changes direction.

  For this purpose, when the spreader 9 is suspended above the onboard container 11 that is the target to be lifted next, or the suspended container 11 held by the spreader 9 is placed on the container ship 12 as the required loading container 11. In the case of hanging up, the positioning must be performed following the position variation in the width direction or the vertical direction of the container ship 12 of the onboard container 11.

  Therefore, conventionally, the spreader 9 is moved to a position almost above the target container 11 to be lifted next, or the container 11 held by the spreader 9 is moved in accordance with a preset container loading plan and unloading plan. Although the traversing of the trolley 8 for moving to a position substantially above the loading target position can be automated, the final positioning when the spreader 9 or the suspended container 11 held by the spreader 9 is suspended to the target position is performed. In particular, the positioning when the shipboard container 11 is hung down as a target is performed by the operator of the container crane visually confirming the position of the shipboard container 11 whose position varies in the ship width direction as the container ship 12 swings. Confirm the vertical position of the onboard container 11 and feed the information obtained visually. By click it must be performed by adjusting the lift of the transverse and spreader 9 trolley 8 manually have occurred. Therefore, the actual situation is that it is difficult to achieve full automation in the container crane that handles the container ship 12.

  Patent Document 7 describes a technique for automating a crane. This method involves positioning the crane by image processing a video signal from an imaging device provided at the tip of a crane suspension. This is to detect the loading platform that is the target of this. Patent Document 7 shows a configuration in which an imaging device is provided at each of the tip ends of the two arms of the crane suspension. Each imaging device individually captures a position directly below the imaging device. Only. Therefore, from the video signal photographed by the imaging device, only a two-dimensional position in the front / rear / left / right direction in the horizontal plane of the loading table can be measured, and the position of the target varies in the vertical direction. The idea of allowing the crane positioning to follow is not shown at all. Therefore, it is difficult to apply the technique described in Patent Document 7 to the automation of the container crane as described above.

  Moreover, in the technique described in Patent Document 7, in order to be able to detect the position of the loading place and the unloading place, a marker and a display lamp are required for each loading place and unloading place. Since the container crane handles containers 11 of various shippers, it is very difficult to install markers or the like on all the containers 11 of such various shippers. Furthermore, in the thing described in patent document 7, since a marker and a display lamp are required for each loading place and unloading place, there is a concern that the cost may increase.

  Since what is described in Patent Document 1 is an onboard container 11 loaded on a container ship 12, it is possible to show the arrangement state of the container 11 in the container row along the ship width direction in a cross section. This is effective for grasping the loading situation of the container ship 12. However, this only displays one section of the onboard container 11, and the container 11 itself cannot be distinguished from other objects.

  Further, in order to detect the arrangement state of the container 11 on the container ship 12, the device described in Patent Document 1 includes a vertical container detection sensor 14 attached vertically to the trolley 8 together with the trolley 8. Since the container ship 12 needs to be moved and scanned along the girders 7 and 7a in the width direction, the onboard container 11 is actually moved when the spreader 9 and the suspended container 11 are moved by the traversing of the trolley 8. The position of can not be measured in real time. That is, if the container ship 12 swings in the width direction after detecting the arrangement state of the onboard container 11 by scanning the vertical container detection sensor 14, the position of the onboard container 11 is detected and the actual position. Since the shift occurs, it is difficult to use the spreader 9 and the suspended container 11 for positioning when the desired shipboard container 11 is suspended. In addition, the above-mentioned Patent Document 1 does not show the idea of enabling the detection of the spreader 9 or the position of the container 11 held by the spreader 9, and therefore, for automating the container crane. No specific method is shown.

  Any of those described in Patent Documents 2 to 6 is effective for suppressing the spread of the spreader and the suspended container during the operation of the container crane. Furthermore, even if the position of the spreader can be detected in real time by performing image processing on the image of the spreader photographed by the camera provided in the trolley, there is absolutely no idea of being able to detect what is directly below the spreader. Not shown. Further, since the image of the camera provided in the trolley can only measure the two-dimensional position of the photographed object in the front-rear and left-right directions, the spreader and the suspended container held by the spreader can be measured. It is not possible to measure the vertical position of a ship or the position of a shipboard container whose position fluctuates in the vertical direction in addition to the width direction on the container ship. It has not been.

  Accordingly, the present invention provides a three-dimensional position of a spreader suspended from a trolley and a suspended container held by the spreader, and an onboard ship that is a target when the spreader or suspended container is suspended below the three-dimensional position. An object position measuring device for a container crane for simultaneously measuring a container, a truck for container transportation on the land side, and a three-dimensional position of a container loaded on the truck, and each of the objects measured by the object position measuring device Based on the three-dimensional position information, it is possible to automatically perform positioning when the spreader or suspended container is suspended on a desired target, and to eliminate the shaking of the spreader or suspended load. An object is to provide an automatic container handling device for a container crane.

The present invention, in order to attain the object, corresponds to the invention according to claim 1, the trolley over a container crane, the target container positioned below the spreader, or are held in the spreader and the spreader One three-dimensional non-contact sensor capable of simultaneously detecting a load container and a load target of the load container located below the container is disposed on one side perpendicular to the transverse direction of the trolley. A transverse direction of the trolley by the three-dimensional non-contact sensor , which is attached via a mounting member to a position projecting outward from one end in the longitudinal direction of a target container located below or a suspended container held by the spreader A scanning range of a region having a width of an inclination angle in a direction perpendicular to the transverse direction of the trolley, by scanning with a scanning beam performed at an angular width along It has the configuration to be able to measure the three-dimensional position of each by causing at.

  Further, in the above configuration, based on the three-dimensional position information obtained from the three-dimensional non-contact sensor, the spreader and the target container located below the spreader, or the suspended container held on the spreader and the spreader and below the spreader It is configured to include a processing unit that identifies each loading target of the suspended load container that is positioned and measures a three-dimensional position, and more specifically, the processing unit is obtained by a three-dimensional non-contact sensor. Based on the three-dimensional position information to be obtained, first, an object having a ridge at both ends of the object is extracted where the height coordinate value detected along the trolley transverse direction once increases and then decreases, Next, the width and the three-dimensional position of the object are obtained, and the three-dimensional position is the position where the spreader is set in consideration of the shake among the obtained widths that substantially match the container width. Is identified as a spreader, and a container at a planned location of a suspended container set in consideration of runout is identified as a suspended container. It is set as the structure which has a function which identifies the thing in existing presence position as an onboard container, a container transport truck, and a truck loading container.

Further, as a three-dimensional non-contact sensor in the above configuration , scanning with a scanning beam performed with an angular width along the transverse direction of the trolley is performed in a scanning range of an area having a width of an inclination angle in a direction perpendicular to the transverse direction of the trolley. It is set as the structure which uses the laser radar performed by.

Further, in correspondence to the invention according to claim 5, the trolley over a container crane, the target container positioned below the spreader, or positioned below the suspended load containers held in the spreader and the spreader One three-dimensional non-contact sensor capable of simultaneously detecting a loading target of the suspended container is attached to a target container or the spreader located below the spreader on one side perpendicular to the transverse direction of the trolley. attached via a longitudinal direction of the mounting member in a position projecting outward from one end of the suspended load container held, and the scanning beam for performing at angular width along the transverse direction of the by that the trolley to the 3-dimensional non-contact sensor scanning by obtained by measuring by performed within the scan range with a width of the inclination angle in the direction perpendicular to the transverse direction of the trolley 3 Based on the original position information, the spreader and the target container located below the spreader, or the loader held by the spreader and the spreader and the loading target of the suspension container located below the spreader are identified. A three-dimensional position on the lower surface of the spreader measured by the three-dimensional non-contact sensor and a three-dimensional position on the upper surface of the target container located therebelow. as the upper surface of the lower surface and the target container in the spreader match, or from the three-dimensional position of the upper surface of the loading target of the suspended load container located three-dimensional position and its downwardly of the lower surface of the suspended load container , of the suspended load container to the lower surface and the upper surface of the load target match, control the length of the hoisting ropes of the spreader, the trolley The automatic handling device of a container crane, characterized in that it has a configuration that includes a positioning device for controlling the row distance.

  In the above configuration, the spreader measured by the object position measuring device or the three-dimensional position of the spreader and the suspended container held by the spreader is obtained by calculating the swing angle of the spreader hoisting rope, A configuration is provided that includes a deflection angle control device that controls the traversing of the trolley so that the obtained deflection angle is zero.

According to the present invention, the following excellent effects are exhibited.
(1) to the trolley over a container crane, the target container positioned below the spreader, or, the spreader and the suspended load container held by the spreader loading target of the suspended load container positioned below the same time One three-dimensional non-contact sensor that can be detected is placed on one side perpendicular to the transverse direction of the trolley in the longitudinal direction of a target container located below the spreader or a suspended container held by the spreader. Scanning with a scanning beam attached at a position protruding outward from one end via an attachment member and performed at an angular width along the transverse direction of the trolley by the three-dimensional non-contact sensor with respect to the transverse direction of the trolley Each three-dimensional position can be measured by performing it within the scanning range of a region having a tilt angle width in a perpendicular direction. Because are a configuration, loading the container is set in advance, at spreader unladen along unloading plan, when lifting the truck loading containers on board a container or land side, which is the next lifting target, the spreader and immediately below it It is possible to simultaneously measure the three-dimensional position of an onboard container or truck-mounted container located at Similarly, when the suspended container held in the spreader in accordance with the container loading / unloading plan is suspended from the onboard container or the land-side container transport truck to be loaded, Simultaneous measurement of the three-dimensional position of an onboard container or a container transport truck located immediately below the container can be performed.
(2) Based on the three-dimensional position information obtained from the three-dimensional non-contact sensor, the spreader and the target container located below the spreader, or the suspended container held by the spreader and the spreader and the above-mentioned A configuration provided with a processing unit that identifies each loading target of a suspended container and measures a three-dimensional position, more specifically, a three-dimensional position obtained by a three-dimensional non-contact sensor. Based on the information, first, extract the object with the ridges at both ends of the object where the height coordinate value detected along the trolley traverse direction increases once and then decreases, and then the above The width of the object and the three-dimensional position are obtained, and the one in which the obtained width is substantially the same as the container width is the one where the three-dimensional position is at the expected position of the spreader set in consideration of the shake. Identifies and identifies those that are at the planned location of the suspended container set in consideration of runout as the suspended container, and each of the planned existing locations of the onboard container, container transport truck, and truck mounted container In the configuration, the spreader, the suspended container, the shipboard container, the container transport truck, and the truck container are It is possible to measure a three-dimensional position while reliably distinguishing each other.
(3) As a three-dimensional non-contact sensor, scanning with a scanning beam performed at an angular width along the traversing direction of the trolley is performed within a scanning range of an area having a width of an inclination angle perpendicular to the traversing direction of the trolley . By adopting a configuration in which the laser radar is used, it is possible to prevent the possibility of troubles such as poor visibility due to fog or the like, which is a concern when using the camera.
(4) A three-dimensional non-contact sensor is provided as in (1) above, and a processing unit similar to (2) is provided, and the three-dimensional position of the lower surface of the spreader measured by the three-dimensional non-contact sensor; from the three-dimensional position of the upper surface of the target container located thereunder, such that the upper surface of the lower surface and the target container in the spreader are matched, or the positioned three-dimensional position and its downwardly of the lower surface of the suspended load container from the three-dimensional position of the upper surface of the loading target of the suspended load container, such that the upper surface of the lower surface and the load target of the suspended load container coincide, the control of the length of the hoisting ropes of the spreader, transverse trolley with automatic handling device of a container crane and has a configuration in which a distance and a positioning device for controlling, on the basis of the three-dimensional position information measured by said object position measuring device, con Na loading, unloading the spreader unladen according to plan, can be lowered hanging while accurately positioning the upper board the lifting target container or truck loading container. Similarly, a suspended container held on a spreader in accordance with a container loading / unloading plan can be suspended while accurately positioning it on the shipboard container or land-side container transport truck that is the loading target. it can. Therefore, it is possible to eliminate the need for manual adjustment by an operator as conventionally required when carrying out cargo handling work on a container ship, and it is possible to achieve full automation of the container crane.
(5) The spreader measured by the object position measuring device or the three-dimensional position of the spreader and the suspended container held by the spreader is obtained by calculating the swing angle of the spreader hoisting rope. By adopting a configuration equipped with a swing angle control device that controls the traversing of the trolley so that the swing angle is zero, the swing that occurs when the empty load spreader and the suspended load container held by the spreader are traversed can be eliminated. This also makes it more advantageous for full automation of container cranes.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  FIG. 1 (a) (b) and FIG. 2 (b) (b) show an embodiment of an automatic cargo handling apparatus provided with an object position measuring device for a container crane according to the present invention. It is as.

  That is, in order to detect the spreader 9 suspended from the trolley 8 via the hoisting rope 10 and the object existing in the region below the spreader 9 at a required location in a container crane having the same configuration as shown in FIG. As a three-dimensional non-contact sensor, for example, based on a laser radar 19 having a scanning range 20 in a region below the spreader 9 from the upper surface position of the spreader 9 in the highest lifted state, and a detection signal of the laser radar 19 Identifies the spreader 9 and a required container 11 located below the spreader 9 or a container transport truck 13 as shown by a two-dot chain line in FIGS. 1A and 1B, and simultaneously measures its three-dimensional position. The processing part 21 which performs is comprised, and the target object position measuring apparatus of the container crane of this invention is comprised.

  The object position measuring device uses the load sensor 22 at the processing unit 21 based on an input signal from the load sensor 22 attached to the trolley 8 to detect a suspension load acting on the hoisting rope 10. When the detected suspension load acting on the hoisting rope 10 is substantially equal to the known weight of the spreader 8, it is determined that the spreader 9 is empty, while the load sensor 22 determines the weight of the spreader 9. When a large suspension load is detected, it is determined that the suspension container 11 is held below the spreader 9, and the spreader is directly measured from the detection signal of the laser radar 19. 9 is used as a reference so that the three-dimensional position of the suspended container 11 can be measured simultaneously.

  Further, based on the measurement result of the three-dimensional position by the object position measuring device, when the spreader 9 is empty as shown in FIGS. 2 (A) and 2 (B), the lower surface of the spreader 9 and the spreader The traversing distance of the trolley 8 for making the upper surface of the truck-mounted container 11 loaded on the shipboard container 11 or the land-side container transport truck 13 to be suspended 9 coincide, and the trolley 8 The rope length of the hoisting rope 10 that suspends the spreader 9 is calculated, and a control command is given to the traverse motor 23 of the trolley 8 and the hoisting motor 24 of the hoisting rope 10, so that the target onboard container 11 is obtained. Alternatively, the spreader 9 can be positioned on the upper side of the truck loading container 13, while the three-dimensional as shown in FIGS. When the suspended container 11 is held by the spreader 9 where the position is measured and the three-dimensional position of the suspended container 11 is measured by the object position measuring device, the lower surface of the suspended container 11 The traversing distance of the trolley 8 and the spreader 9 from the trolley 8 are set so that the upper surface (the upper surface of the loading platform) of the shipboard container 11 or the land-side container transport truck 13 that is the target to suspend the suspended container 11 coincides with. The rope length of the hoisting rope 10 to be hung down is calculated, and a control command is given to the traverse motor 23 of the trolley 8 and the hoisting motor 24 of the hoisting rope 10, whereby the target shipboard container 11 or container transportation A positioning device 25 for positioning the suspended load container 11 is provided on the upper side of the truck 13 so that the container cleat of the present invention is provided. To configure the automatic loading and unloading apparatus of emissions.

  Furthermore, the container crane automatic cargo handling apparatus according to the present invention is based on the three-dimensional position information of the spreader 9 holding the suspended load container 11 or the empty load spreader 9 measured by the object position measuring device. Then, the swing angle of the hoisting rope 10 suspending the spreader 9 in the direction along the traversing direction of the trolley 8 is calculated, and the control calculation is performed so that the swing angle becomes zero. A swing angle control device 26 that gives a control command to the traverse motor 23 is provided.

  Details will be described below.

  The trolley 8 in the container crane of the present embodiment is equipped with a traverse motor 23 on the trolley 8 as a traverse drive mechanism having a traverse motor 23 as shown in FIGS. 1 (a) and 2 (a). The wheel 27 is configured to be driven forward / reversely by the traverse motor 23, and the wheel 27 is driven forward / reversely by the traverse motor 23 to move the trolley 8 along the girders 7 and 7a to the sea side. Or it is made to cross to the land side. Further, in order to be able to detect the position of the trolley 8 on the beams 7 and 7a, for example, an encoder 28 for detecting the rotation amount of the wheel 27 is attached to a required wheel 27 of the trolley 8. On the basis of the detection signal of the encoder 28, the trolley 8 based on a certain point on the beam members 7 and 7a from the rotation amount of the wheel 27 detected by the encoder 28 in the control panel 29 described later. Is calculated so that the position data in the longitudinal direction of the beam members 7 and 7a of the trolley 8 (hereinafter referred to as trolley position data) can be obtained in real time.

  Further, as shown in FIGS. 1 (a) and 2 (a), the lifting / lowering drive mechanism of the spreader 9 in the container crane is a hoisting drum which can be driven forward / reversely by a hoisting motor 24 in the trolley 8. 30 and the base end side of the hoisting rope 10 for suspending the spreader 9 is wound around the hoisting drum 30 by forward / reverse driving of the hoisting drum 30 by the hoisting motor 24. By winding or unwinding the hoisting rope 10 by the hoisting drum 30, the spreader 9 attached to the tip (lower end) of the hoisting rope 10 can be raised or lowered. . Further, in order to be able to detect the length dimension of the hoisting rope 10 that suspends the spreader 9 from the trolley 8, for example, the hoisting drum 30 detects the amount of rotation of the hoisting drum 30. An encoder 31 is attached, and on the basis of a detection signal from the encoder 31, the control panel 29 described later uses the amount of rotation of the hoist drum 30 detected by the encoder 31 to unwind from the hoist drum 30. By calculating the length of the hoisting rope 10 being used, data relating to the length of the hoisting rope 10 in which the spreader 9 is suspended below the trolley 8 (hereinafter referred to as rope length data) is obtained in real time. It is made to be able to.

  As the load sensor 22 for detecting the load acting on the hoisting rope 10, for example, a support member (not shown) for rotatably supporting the hoisting drum 30 inside the trolley 8, What is necessary is just to use the load cell interposed between the fixing | fixed part, for example, the floor surface inside this trolley 8. FIG.

  As shown in FIGS. 1 (B) and 2 (B), the laser radar 19 is attached to a spreader 9 that is suspended from the trolley 8 at one side of the trolley 8 in a direction perpendicular to the transverse direction. The longest container 11 that is assumed to be held is disposed at a position projecting outside the required dimension outside one end in the longitudinal direction, and is attached to one side surface portion of the trolley 8 via a rod-shaped attachment member 32. It is as.

  Further, the laser radar 19 performs scanning with a scanning beam designed to be performed with a required angular width along the transverse direction of the trolley 8 as shown in FIGS. 1 (A) and 2 (A), for example. (B) and FIG. 2 (b), the angle of inclination (attack) gradually increases from the angle direction that can be irradiated onto the upper surface of the spreader 9 that is lifted highest as indicated by the line 20a to the angle direction close to the vertical downward direction as indicated by the line 20b. The spreader 9 in the state of being lifted highest and the area below the scanning area 20 are set as a scanning range 20 by sequentially repeating the process while decreasing the angle), and an object existing in the scanning range 20 is relatively three-dimensional with respect to the laser radar 19. The position can be detected. That is, the laser radar 19 irradiates a scanning beam obliquely from above to a position below the spreader 9 from a position outside the spreader 9 and one end in the longitudinal direction of the container 11 held by the spreader 9. Therefore, even when the spreader 9 and the suspended container 11 held by the spreader 9 are lifted to any height, the required container 11 and the container transport truck located below the spreader 9 13 can be detected.

  Note that the positioning device 25 and the swing angle control device 26 in the container crane automatic cargo handling device of the present invention described above both measure the three-dimensional position of each object in the container crane object position measuring device of the present invention. Is used to position the spreader 9 and the suspended load container 11 held by the spreader 9 and to eliminate vibration, the processing unit 21 of the object position measuring apparatus and the positioning The device 25 and the swing angle control device 26 can detect the three-dimensional position of the trolley 8 in real time based on the detection signal of the encoder 28 attached to the wheel 27 of the trolley 8 and are attached to the hoisting drum 30. Based on the detection signal of the encoder 31, the length of the hoisting rope 10 that suspends the spreader 9 is detected in real time. It is preferable to incorporate into a single control panel 29 having both also function as possible.

  Next, the spreader 9 by the object crane object position measuring apparatus of the present invention, and the three-dimensional of the suspended container 11, the shipboard container 11, the container transport truck 13 and the truck loading container 11 positioned below the spreader 9. The principle of position measurement will be described specifically.

  When scanning by the laser radar 19 is started, first, scanning is performed along the traversing direction of the trolley 8 at a tilt angle as shown by a line 20a in FIGS. 1 (b) and 2 (b). The z-coordinate value of the three-dimensional data detected when the spreader 9 is irradiated is greatly increased to a value corresponding to the height position of the upper surface of the spreader 9, and then the scanning beam is moved to the upper surface of the spreader 9. While a substantially constant z coordinate value is detected during irradiation, the z coordinate value detected when the scanning beam comes off the spreader 9 greatly decreases.

  After that, if scanning with the scanning beam along the transverse direction of the trolley 8 as described above is continued while gradually decreasing the inclination angle, the scanning is detected in the same manner as described above while the scanning beam crosses the spreader 9. After the z-coordinate value to be greatly increased once, it becomes a substantially constant value, and thereafter, three-dimensional data of a pattern in which the z-coordinate value greatly decreases is obtained.

  Next, when the inclination angle of the scanning beam reaches an inclination angle as shown by a line 20c in FIGS. 1 (b) and 2 (b), the scanning beam does not hit the spreader 9. At this time, as shown in FIG. 1B, when the suspended container 11 is held by the spreader 9, one end side of the suspended container 11 that protrudes from one end in the longitudinal direction of the spreader 9 is used. When the scanning beam starts to be scanned with respect to the upper surface of the protruding end portion, the z-coordinate value of the obtained three-dimensional data increases once when the scanning beam comes into contact with the suspended container 11. . In addition, the increase width of the z coordinate value at this time is slightly smaller than the case where the upper surface of the spreader 9 is detected because the suspended container 11 is held below the spreader 9. After that, while the scanning beam is applied to the upper surface of the suspended container 11, a three-dimensional image obtained when the scanning beam comes off the suspended container 11 after a substantially constant z coordinate value is detected. The z coordinate value of the data decreases.

  On the other hand, as shown in FIG. 2 (b), when the suspended container 11 is not held by the spreader 9, the tilt angle of scanning by the scanning beam performed along the transverse direction of the trolley 8 of the laser radar 19 is as shown in FIG. When the inclination angle as indicated by the line 20c in (b) is reached, scanning of the position below the spreader 9 is started.

  Further, as shown in FIG. 1B, when the suspended container 11 is held by the spreader 9, the inclination angle of scanning by the scanning beam performed along the transverse direction of the trolley 8 of the laser radar 19 is as shown in FIG. When the slant angle as shown by the line 20d in (b) is obtained, even if the suspended container 11 is held by the spreader 9, the suspended container 11 will not be hit by the scanning beam, so that it is held by the spreader 9. The scanning of the lower position of the suspended container 11 is started.

  When scanning of the lower position of the spreader 9 and the lower portion of the suspended container 11 held by the spreader 9 is started as described above, the shipboard container 11, the container transport truck 13 or the truck loading container 11 is present at the position. In this case, the z-coordinate value of the three-dimensional data obtained is once when the scanning beam that scans in the transverse direction of the trolley 8 hits the shipboard container 11, the container transport truck 13, and the truck loading container 11. To increase. Note that the increase in the z-coordinate value at this time is due to the detection of the shipboard container 11, the container transporting truck 13, and the truck loading container 11 existing below the spreader 9, so the spreader 9 and the suspended container As compared with the case where the upper surface of 11 is detected, the increase width becomes smaller. Furthermore, in the container transport truck 13 on the quay 1 and the truck loaded container 11 loaded on the truck 13, the truck loaded container 11 is higher by the height of the container 11 than the container transport truck 13 itself. The increase width of the z coordinate value becomes large. After that, a substantially constant z coordinate value is detected while the traverse of the trolley 8 by the scanning beam is irradiated so as to cross the shipboard container 11, the container transport truck 13, and the truck loading container 11. The z-coordinate value of the three-dimensional data obtained when the scanning beam deviates from these will decrease.

  The time required for scanning the entire scanning range 20 by the laser radar 19 is as short as about 100 msec. During this time, the position of the onboard container 11 varies as the container ship 12 swings in the width direction. In addition, relative movement of the onboard container 11, the container transport truck 13 and the truck loading container 11 with the movement of the laser radar 19 itself along with the traversing of the trolley 8, the up and down movement of the spreader 9, and the spreader 9 Even if the suspended container 11 held by the spreader 9 is moved up and down together with the spreader 9 or is shaken, the amount of fluctuation is very small. It can be considered that objects within the scanning range 20 can be detected simultaneously.

  In view of the above, in the processing unit 21 of the position measuring device, the spreader 9, the suspended container 11, the shipboard container 11, and the container transportation on the land side that are to be subjected to position measurement according to the procedure shown in the flow of FIG. The truck 13 or the truck loading container 11 is recognized and its position is measured.

  That is, first, as described above, the trolley 8 is attached to the trolley 8 via the attachment member 32 from the trolley position data detected based on the input signal from the encoder 28 attached to the wheel 27 of the trolley 8 to the control panel 29. The three-dimensional position of the laser radar 19 is calculated, and the position measurement data of each object by the laser radar 19, that is, relative to the laser radar 19, based on the calculated three-dimensional position of the laser radar 19. The typical three-dimensional position data is converted (converted) into absolute three-dimensional position data (step 1: S1).

  Next, in the absolute three-dimensional position data obtained in step 1 (S1), the z-coordinate value temporarily increases and then decreases due to scanning of the scanning beam in the trolley transverse direction by the laser radar 19. Is extracted as a ridge at both ends of the object, thereby recognizing the portion sandwiched between the two extracted ridges as the object, calculating the width of the recognized object, Under the absolute three-dimensional position data, the height position (z coordinate value) of the upper surface of the object and the position in the trolley transverse direction (x coordinate value) are calculated (step 2: S2).

  Next, it is determined whether or not the calculated value of the width of the object recognized in step 2 (S2) is a width corresponding to the container 11, the spreader 9, and the container transport truck 13 (step 3: S3). ). Normally, the width of the spreader 9 and the container transport truck 13 (loading bed width) is almost the same as the width of the container 11, so that the width of the object is practically the same as the width of the container 11. It may be determined whether or not. If it is determined in step 3 (S3) that the width of the object is substantially the same as that of the container 11, the object recognition step in step 4 (S4) and subsequent steps described later is continued. On the other hand, when the difference is larger than the width of the container 11, it is determined that the detected object should not be recognized as a position measurement object and is excluded.

  Next, in step 4 (S4), the object determined as having substantially the same width as the container 11 in step 3 (S3) is located within the allowable range of the position where the spreader 9 is assumed to exist. Judge whether or not. Specifically, the height position where the spreader 9 actually exists is calculated in advance from the rope length data detected by the control panel 29, and is detected as the trolley position data at the height position. A horizontal position range in consideration of a certain amount of shake of the spreader 9 from a position immediately below the actual position of the trolley 8 is set as an allowable range of the position where the spreader 9 exists (step 5: S5), and the above steps 4 (S4), when an object having substantially the same width as the container 11 exists within the set allowable range of the position of the spreader 9, the object is identified as the spreader 9, The three-dimensional position is measured (detected) (step 6: S6).

  Next, in step 7 (S7), among the objects determined as having substantially the same width as the container 11 in step 3 (S3), the position where the spreader 9 is present is outside the allowable range in step 4 (S4). It is determined whether or not the object determined to be present at the position is within the allowable range of the position where the suspended container 11 is present. Specifically, in step 8 (S8), the actual spreader 9 calculated from the rope length data is set in the same manner as in the case of setting the allowable range of the position of the spreader 9 in step 5 (S5). A horizontal position range of the spreader 9 is calculated in consideration of a certain amount of shake of the spreader 9 from a position immediately below the actual position of the trolley 8 detected as trolley position data at the height position. The horizontal position range below the required dimensions in consideration of the height dimension of the spreader 9 and the height dimension of the locking device with respect to the horizontal position range is set as an allowable range of the position where the suspended load container 11 exists. In step 7 (S7), it is determined that there is an object having substantially the same width as the container 11 within the allowable range of the position where the suspended container 11 is set in step 8 (S8). Further, when it is determined that the suspension load of the hoisting rope 10 is a large suspension load compared to the weight of the spreader 9 based on the input from the load sensor 22, the above object is suspended. The container 11 is identified and its three-dimensional position is measured (detected) (step 9: S9).

  After that, in step 10 (S10), among the objects determined as having substantially the same width as the container 11 in step 3 (S3), the spreader 9 and the object in steps 4 (S4) and 7 (S7) It is determined whether or not an object that is determined not to exist in the allowable range of any position of the suspended container 11 is within the allowable range of the planned position of the land-side truck-loading container 11. That is, when loading the container 11 onto the container ship 12, the container 11 to be transferred from the quay 1 side onto the container ship 12 by the container crane is placed between the legs 4 and 5 of the container crane on the quay 1. The truck 13 is loaded in a state of being loaded on the transport truck 13 and the stop position of the truck 13 at the time of loading is predetermined within a predetermined range by a white line or the like. The allowable range of the position where the truck loading container 11 exists when the transport truck 13 is stopped is determined in advance. Therefore, in step 10 (S10), when an object having substantially the same width as the container 11 exists at the planned position of the truck loading container 11, the object is identified as the truck loading container 11, A three-dimensional position is measured (detected) (step 11: S11).

  Further, among the objects determined in step 12 (S12) as having substantially the same width as the container 11 in step 3 (S3), the spreader 9 in steps 4 (S4) and 7 (S7). And the object that is determined not to exist in the allowable range of the existing position of the suspended container 11 and further determined not to exist in the allowable range of the planned position of the truck loading container 11 in step 10 (S10). Is determined whether or not it is within the allowable range of the planned position of the land-side container transport truck 13. That is, when the container 11 is loaded and unloaded from the container ship 12, the container 11 transferred from the container ship 12 side to the quay 1 by the container crane is in an empty state between the legs 4 and 5 of the container crane. Since the container 13 is loaded (placed) on the container transporting truck 13 and the stop position of the truck 13 is determined in advance within a predetermined range by a white line or the like, the container is transported within the predetermined range. The allowable range of the existing position of the truck 13 (the position of the loading platform) when the truck 13 is stopped is determined in advance. The planned position of the container transporting truck 13 and the planned position of the truck-loaded container 11 in step 10 (S10) are different from the planned height position by the height of the container 11. Therefore, in step 12 (S12), when an object having substantially the same width as the container 11 is present at the planned position of the container transport truck 13, the object is identified as the container transport truck 13. Then, the three-dimensional position is measured (detected) (step 13: S13).

  Furthermore, among the objects determined in step 14 (S14) as having substantially the same width as the container 11 in step 3 (S3), the spreader in steps 4 (S4) and 7 (S7). 9 and the suspended container 11 are determined not to exist in the allowable range, and the planned position of the truck-loading container 11 and the container transport truck are further determined in step 10 (S10) and step 12 (S12). It is determined whether or not the object determined to be outside the allowable range of the 13 planned positions is within the allowable range of the planned position of the onboard container 11. That is, when carrying out the loading / unloading work of the onboard container 11 of the container ship 12 or the loading work onto the onboard container 11, the required onboard container 11 is lifted and transferred to the land side, or above the required onboard container 11. Since the loading of the new container 11 is performed in accordance with the loading plan and the unloading plan, the lifting target by the container crane or the suspended container 11 transferred by the container crane as described above is used. The position of the onboard container 11 as a loading target is determined in advance. Therefore, in step 15, when an object having substantially the same width as the container 11 exists at the planned position of the target shipboard container 11, the object is identified as the target shipboard container 11. Then, the three-dimensional position is measured (detected) (step 16: S16).

  Thereafter, each time scanning by the laser radar 19 is performed, the spreader 9, the suspended container 11, the land-side truck loading container 11, the container transport truck 13, and the shipboard container 11 are identified by the above procedure. By repeating the measurement of the three-dimensional position, the spreader 9, and when the suspended container 11 is held by the spreader 9, the suspended container 11 is positioned below the spreader 9 and the spreader 9 is used. It becomes possible to simultaneously measure the three-dimensional positions of the land-side truck loading container 11, the container transporting truck 13, and the shipboard container 11 that are the lifting target or the loading target of the hanging container 11.

  Next, the positioning device 25 in the container crane automatic cargo handling apparatus of the present invention positions the empty spreader 9 so as to be suspended above the shipboard container 11 or the truck loading container 11 which is the lifting target to be transferred next. Next, the spreader 9 automatically moved to a position substantially above the lifting target container by moving the trolley 8 in accordance with the loading plan and unloading plan of the container 11 is identified by the object position measuring device. When the three-dimensional position is measured, the three-dimensional position of the lower surface of the spreader 9 is detected based on the height dimension of the spreader 9 that has been previously determined. Further, the onboard container 11 or the truck loading container 11 which is the lifting target located almost immediately below the spreader 9 is identified by the object position measuring device and the three-dimensional position on the upper surface thereof is detected.

  When the three-dimensional position of the lower surface of the spreader 9 and the three-dimensional position of the upper surface of the shipboard container 11 or the truck loading container 11 as the lifting target are detected as described above, the positioning device 25 detects the three-dimensional position of the both. The traverse distance of the trolley 8 for matching the dimensional position and the rope length of the hoisting rope 10 that suspends the spreader 9 from the trolley 8 are calculated, and the traverse motor 23 of the trolley 8 and the hoisting rope 10 are calculated. A control command is given to the hoisting motor 24. As a result, the spreader 9 can be positioned and suspended above the shipboard container 11 or the truck loading container 11 that is the lifting target.

  On the other hand, when positioning the suspended container 11 held by the spreader 9 to be suspended above the onboard container 11 to be loaded or the container transport truck 13 on the land side, it follows the loading plan and unloading plan of the container 11. The suspended container 11 held on the spreader 9 automatically moved to a position substantially above the loading target by traversing the trolley 8 is identified by the object position measuring device and the upper surface of the container 11 is detected. When the measurement of the three-dimensional position is performed, the three-dimensional position of the lower surface of the suspended load container 11 is detected based on the height dimension of the container that is known in advance. Further, the shipboard container 11 or the container transport truck 13 which is a loading target located almost immediately below the suspended container 11 is identified by the object position measuring device and the three-dimensional position of the upper surface thereof is detected.

  When the three-dimensional position of the lower surface of the suspended container 11 held by the spreader 9 and the three-dimensional position of the upper surface of the shipboard container 11 or the container transport truck 13 as the loading target are detected as described above, The positioning device 25 calculates the traversing distance of the trolley 8 to match the three-dimensional positions of the two and the rope length of the hoisting rope 10 that suspends the spreader 9 from the trolley 8. Control commands are given to the traverse motor 23 and the hoisting motor 24 of the hoisting rope 10, so that the spreader 9 holds the shipboard container 11 or the container transporting truck 13 on the upper side of the loading target. The suspended container 11 is positioned and can be suspended.

  Next, the swing angle control device 26 in the container crane automation device of the present invention traverses the trolley 8 to a required position along the loading plan and unloading plan of the container 11 as described above, and the positioning device 25. The three-dimensional position information of the trolley 8 detected in real time based on the input signal from the encoder 28 provided on the wheel 27 of the trolley 8 when the trolley 8 is traversed to the required position by the command of the above and the object position measurement The trolley 8 of the hoisting rope 10 that suspends the spreader 9 is obtained by calculation based on the three-dimensional position information of the spreader 9 that holds the empty load spreader 9 or the suspended load container 11 that is measured in real time by the apparatus. The information on the swing angle and the swing speed in the direction along the transverse direction is obtained. Information on the swing angle and swing speed of the spreader 9 and information on the length dimension of the hoisting rope 10 that suspends the spreader 9 detected based on the input signal from the encoder 31 of the hoisting drum 30. Based on this, the control calculation is performed so that the swing angle of the hoisting rope 10 that suspends the spreader 9 becomes zero, and a control command is given to the traverse motor 23 of the trolley 8, so that the spreader 9 is suspended. The hoisting of the hoisting rope 10 can be eliminated. As the control law for performing the control calculation in the deflection angle control device, regulator control, two-stage control, and other control laws as described in Patent Documents 2, 3, 4, 5, and 6 are appropriately employed. What should I do?

  According to the container crane object position measuring apparatus of the present invention having the above-described configuration and the container crane adopting the automatic cargo handling apparatus using the same, the empty load spreader 9 according to the loading plan or unloading plan of the container 11 is used. Then, when the onboard container 11 to be the next lifting target or the truck loading container 11 on the land side is to be lifted, the spreader 9 and the onboard container 11 or the truck loading container 13 to be the lifting target located immediately below are distinguished from other objects. At the same time, it is possible to simultaneously measure the three-dimensional position, and based on the measured three-dimensional position information, the spreader 9 is placed on the upper side of the shipboard container 11 or the truck-loading container 11 as a lifting target. It can be hung while positioning accurately.

  Similarly, when hanging the suspended container 11 held by the spreader 9 in accordance with the loading plan and unloading plan of the container 11 to the upper side of the shipboard container 11 or the land-side container transport truck 13 as a loading target, The suspended container 11 held on the spreader 9 and the shipboard container 11 or the container transport truck 13 which is a loading target located immediately below the container 11 can be identified from other objects, and the three-dimensional position thereof can be simultaneously measured. Based on the measured three-dimensional position information, the suspended container 11 held by the spreader 9 is suspended while accurately positioning the container 11 on the upper side of the shipboard container 11 or the container transporting truck 13 as a loading target. Can be taken down.

  Therefore, even if the position change in the ship width direction occurs with the swing of the container ship 12 in the onboard container 11 or the position change in the vertical direction occurs with the weight change of the container ship 12, the spreader. 9 and the suspended container 11 held by the spreader 9 can be accurately positioned and suspended above the target shipboard container 11 and suspended by the spreader 9 or the spreader 9 accompanying the traversing of the trolley 8. Since the wobbling of the loading container 11 can be eliminated, it is not necessary to perform manual adjustment by an operator as conventionally required when carrying out the cargo handling work of the container ship 12 which is the lifting target or the loading target. This makes it possible to fully automate container cranes.

  Further, the spreader 9 of the empty load and the shipboard container 11 or the land-side truck-loading container 11 that is a lifting target positioned below the empty loader 11 or the suspended load container 11 held by the spreader 9 and the suspended load positioned below the loaded container 11 Since the three-dimensional position of the onboard container 11 or the container loading truck 13 on the land side which is the loading target of the container 11 can be measured together by one laser radar 19, the position of the spreader 9 and the suspended container 11 Measurement error due to each sensor that may be a concern when separately installing sensors for measuring the position of the ship container 11, the position of the land-side container transport truck 13 and the truck-mounted container 11. And the relative position error between the sensors can affect the overall measurement. It can be. Furthermore, there is a concern about the cost increase when the sensors are provided separately, but in the present invention, it is only necessary to provide one laser radar 19 as a three-dimensional non-contact sensor, so that the equipment cost can be suppressed. become.

  In addition, since the laser radar 19 is used as a three-dimensional non-contact sensor, it is possible to prevent the possibility of a failure such as poor visibility due to fog or the like, which is a concern when using a camera.

  In addition, this invention is not limited only to the said embodiment, As a three-dimensional non-contact sensor, the suspended container 11 hold | maintained at the spreader 9, this spreader 9, and the required container 11 located in the downward direction are shown. If the three-dimensional position of the container transport truck 13 can be measured, a three-dimensional non-contact sensor other than the laser radar 19, such as a three-dimensional stereo camera, may be used. As a means for detecting the position of the trolley 8 in the traversing direction, the one using the signal of the encoder 28 attached to the wheel 27 of the trolley 8 is shown. However, if the traversing position of the trolley 8 can be detected in real time. Any method may be employed, such as a method of constantly measuring the distance between a required portion of the girders 7 and 7a and the trolley 8 using a distance measuring sensor. The traverse drive mechanism of the trolley 8 is shown as being driven by driving the wheels 27 provided on the trolley 8 forward and reverse by the traverse motor 23. However, if the trolley 8 can be controlled to traverse, 8 A traverse drum disposed in an external machine room is driven forward and backward by a traverse motor, wound by the traverse drum, and the trolley 8 is moved through a pair of traverse drive wire ropes. Any type of traversing drive mechanism such as moving along the member 7 may be adopted. As the raising / lowering drive mechanism of the spreader 9, the hoisting drum 30 and the hoisting motor 24 for hoisting and lowering the hoisting rope 10 that suspends the spreader 9 are shown as being provided on the trolley 8. You may make it provide a drum and a hoisting motor in the machine room outside a trolley. Of course, various changes can be made without departing from the scope of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 shows an embodiment of an object position measuring device for a container crane according to the present invention and an automatic cargo handling device using the object position measuring device, wherein (a) shows a trolley in a state where a suspended load container is held by a spreader. A schematic diagram viewed from one side perpendicular to the transverse direction, (b) is a view taken in the direction of arrows AA in (a). FIG. 1 shows a state in which the spreader of FIG. 1 is empty, (a) is a schematic view seen from one side perpendicular to the trolley traversing direction, and (b) is a view taken in the direction of arrow BB in (a). . It is a figure which shows the recognition flow of the target object in the target object position measuring apparatus of FIG. It is a figure which shows the outline | summary of the container crane generally used. Fig. 2 shows the configuration of an apparatus that implements the method proposed in the past so that the container crane can grasp the loading situation of the container. (A) is a diagram perpendicular to the trolley transverse direction of the container crane. A schematic diagram viewed from the side, (b) is a schematic diagram viewed from the sea side. FIG. 5 shows detection results obtained by the method shown in FIG. 5, (A) shows distance measurement information by the horizontal container detection sensor, (B) shows distance measurement information obtained by the vertical container detection sensor, and (C) shows (A) It is a figure which shows the cross section of the container loading condition obtained by synthesize | combining the information of (b).

Explanation of symbols

8 Trolley 9 Spreader 10 Hoisting rope 11 Container 13 Container transport truck 19 Laser radar (3D non-contact sensor)
21 processing unit 25 positioning device 26 deflection angle control device

Claims (6)

The trolley over a container crane, the target container positioned below the spreader, or so that the spreader and the suspended load container held by the spreader loading target of the suspended load container positioned below the detectable simultaneously One of the three-dimensional non-contact sensors is located on one side perpendicular to the traversing direction of the trolley, rather than a target container located below the spreader or one end in the longitudinal direction of a suspended container held by the spreader. Scanning with a scanning beam mounted at an outwardly projecting position via an attachment member and performed at an angular width along the traversing direction of the trolley by the three-dimensional non-contact sensor in a direction perpendicular to the traversing direction of the trolley configuration to allow measuring the three-dimensional position of each by causing within the scanning range of the region having a width of tilt angle Object position measuring device of a container crane, characterized in that it comprises. Based on the three-dimensional position information obtained from the three-dimensional non-contact sensor, the spreader and the target container located below the spreader, or the suspended container held on the spreader and the spreader and the suspended container located below the spreader. object position measuring device according to claim 1 Symbol placement of a container crane with a processing unit in which the load target to measure the three-dimensional position and identify each. Based on the three-dimensional position information obtained by the three-dimensional non-contact sensor, the processing unit first determines where the height coordinate value detected along the trolley transverse direction once increases and then decreases. Extract the object as the ridges at both ends, then determine the width and 3D position of the object, and the 3D position takes into account the shake out of those where the determined width approximately matches the container width. The spreader that is set at the planned location of the spreader is identified as a spreader, the one at the planned location of the suspended container that is set in consideration of run-out is identified as the suspended container, and the preset onboard container , Container transport trucks, and truck-loading containers that have the function of identifying the existing locations as shipboard containers, container transport trucks, and truck-mounted containers Object position measuring device of a container crane according to claim 2, wherein the. As a three-dimensional non-contact sensor, a laser radar that performs scanning with a scanning beam with an angular width along the traversing direction of the trolley in a scanning range of an area having an inclination angle perpendicular to the traversing direction of the trolley The object position measuring device for a container crane according to claim 1, 2 or 3 , wherein the object position measuring device is used. The trolley over a container crane, the target container positioned below the spreader, or so that the spreader and the suspended load container held by the spreader loading target of the suspended load container positioned below the detectable simultaneously One of the three-dimensional non-contact sensors is located on one side perpendicular to the traversing direction of the trolley, rather than a target container located below the spreader or one end in the longitudinal direction of a suspended container held by the spreader. attached via a mounting member in a position projecting outward, and the scanning by the scanning beam to perform at an angle width along the transverse direction of the trolley that by the above three-dimensional non-contact sensor, perpendicular to the transverse direction of the trolley based on the three-dimensional position information obtained by measurement to perform in a scanning range having a width of the tilt angle in the direction, the spreader The target container located below, or the spreader, the suspended container held by the spreader, and the loading target of the suspended container located below the same are identified, and the three-dimensional position is simultaneously measured. comprising a described processing unit, further, from the three-dimensional position of the upper surface of the target container positioned with its lower three-dimensional position of the lower surface of the spreader to be measured by the three-dimensional non-contact sensor, the spreader lower surface of the target container as top and match, or, from the three-dimensional position of the upper surface of the loading target of the suspended load container located three-dimensional position and its downwardly of the lower surface of the suspended load container, the lower surface and the loading of the suspended load container as the upper surface of the target match, a control of the length of the hoisting ropes of the spreader, and a positioning device for controlling the transverse distance of the trolley Automatic handling device of a container crane, characterized in that it has a structure with. The spreader measured by the object position measuring device or the three-dimensional position of the spreader and the suspended container held by the spreader is obtained by calculating the swing angle of the spreader winding rope, and the calculated swing angle is obtained. 6. An automatic cargo handling apparatus for a container crane according to claim 5, further comprising a swing angle control device for controlling the traversing of the trolley so as to be zero.

Images