JP6778982B2 - Operation system for cargo handling equipment - Google Patents

Description

An embodiment of the present invention relates to an operation system for operating a cargo handling device used when transporting a heavy object in a factory, a port, or the like.

Cargo handling equipment is used to transport heavy goods in factories and ports. In transporting heavy objects, the driver of the cargo handling equipment performs operations such as hoisting, traversing, and traveling in order to grip the target object, and aligns the equipment having a gripping mechanism such as a spreader, tongs, or a bucket. After grasping the target object, in order to place it at the target position, operations such as hoisting, traversing, and running are performed again.

The operation of such cargo handling equipment is performed via the master controller. The master controller is installed in the driver's cab where cargo is handled, and only the driver who gets into the driver's cab can operate the master controller. For this reason, the driver had to stay in the driver's cab at all times during cargo handling, and had to withstand the vibration generated when the cargo handling equipment was operated for a long time. This caused the driver's physical strength to be exhausted, leading to a decrease in cargo handling efficiency. In addition, the operation largely depends on the skill of the individual driver, and the sense of the amount of operation cannot be shared among the drivers, which hinders the transfer of technology.

For this reason, in cargo handling equipment, there is a demand for an operation system that can reduce the load on the driver and also contribute to the training of the driver.

International Publication No. 2015/155845

An embodiment of the present invention provides an operation system for cargo handling equipment that contributes to the training of drivers while making it possible to reduce the load on the driver.

According to the embodiment of the present invention, in the operation system for operating the drive unit of the cargo handling equipment, the master controller provided in the driver's cab of the cargo handling equipment detects the operation unit and the operation amount of the operation unit. Then, based on the master controller having the detector that outputs the detection signal corresponding to the operation amount and the detection signal, the signal corresponding to the operation amount of the operation unit is output to the drive unit. A control unit that operates the drive unit based on the operation of the master controller, and an operation signal provided outside the driver's cab that receives the operation instruction of the operator and outputs an operation signal corresponding to the operation instruction to the control unit. The master controller further includes an electric motor for driving the operation unit to operate the operation unit, and the control unit is based on the operation signal input from the operation device. To drive the electric motor and operate the operation unit based on the operation of the operation device, the operation device is another master controller installed at a place different from the driver's cab, and the other master controller. The controller includes an operation unit, a position detector, and an electric motor, similarly to the master controller, and the control unit is based on the operation of the master controller and another master controller. When the drive unit is operated, the operation of one of the master controller and the other master controller is reflected in the other, and the operation amount of the master controller is different from the operation amount of the other master controller. An operation system that prioritizes the operation amount on the safer side is provided.

An operation system for cargo handling equipment that contributes to the training of drivers while making it possible to reduce the load on the driver is provided.

It is a side view which shows typically the cargo handling equipment which concerns on 1st Embodiment. It is a front view which shows typically the cargo handling equipment which concerns on 1st Embodiment. It is a block diagram which shows typically the operation system of the cargo handling equipment which concerns on 1st Embodiment. 4 (a) and 4 (b) are explanatory views schematically showing the master controller according to the first embodiment. It is a block diagram which shows typically the operation system of the cargo handling equipment which concerns on 2nd Embodiment. It is a block diagram which shows typically the operation system of the cargo handling equipment which concerns on 3rd Embodiment. It is a block diagram which shows typically the operation system of the cargo handling equipment which concerns on 4th Embodiment. It is a block diagram which shows typically the operation system of the cargo handling equipment which concerns on 5th Embodiment.

Hereinafter, each embodiment will be described with reference to the drawings.
The drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the ratio of the sizes between the parts, and the like are not necessarily the same as the actual ones. Further, even when the same parts are represented, the dimensions and ratios may be different from each other depending on the drawings.
In addition, in the present specification and each figure, the same elements as those described above with respect to the above-mentioned figures are designated by the same reference numerals, and detailed description thereof will be omitted as appropriate.

(First Embodiment)
FIG. 1 is a side view schematically showing a cargo handling device according to the first embodiment.
FIG. 2 is a front view schematically showing the cargo handling equipment according to the first embodiment.
As shown in FIGS. 1 and 2, the cargo handling device 10 includes, for example, a leg 12, a boom 14, a trolley 16, a spreader 18, a driver's cab 20, and a machine room 22. The cargo handling device 10 is provided on the quay 2 for berthing a ship such as a cargo ship. The cargo handling device 10 is provided on the apron 2a (upper surface) of the quay 2 and loads and unloads the cargo for the ship berthed on the quay 2. In this example, the cargo handling device 10 is a so-called gantry crane. The cargo handling equipment 10 is not limited to the gantry crane, and may be, for example, an overhead crane installed in a factory.

In the apron 2a, a traveling rail 4 is laid along the waterfront line (boundary between the sea and land) of the quay 2. For example, two traveling rails 4 are provided substantially parallel to the waterfront line. The cargo handling device 10 is provided on the pair of traveling rails 4, travels on the pair of traveling rails 4, and moves in a direction substantially parallel to the waterfront line. Vessels are generally berthed substantially parallel to quay 2. That is, the cargo handling device 10 can move substantially in parallel with the berthed ship.

The cargo handling device 10 has, for example, four legs 12. Wheels 24 for traveling on the traveling rail 4 are provided at the lower ends of the legs 12. Further, at the lower end of each leg portion 12, an electric traveling motor 30 (see FIG. 3) for driving the wheels 24 and a brake for braking the wheels 24 are provided. As a result, the cargo handling device 10 travels on the traveling rail 4 by driving each traveling motor 30. The number of legs 12 and the number of traveling rails 4 are not limited to the above, and may be any number.

The boom 14 is provided on the upper part of each leg 12. The boom 14 extends in a direction substantially orthogonal to the extending direction of the traveling rail 4. One end of the boom 14 is located at sea. That is, one end of the boom 14 projects toward the sea so as to be located above the ship berthed at the quay 2.

The trolley 16 is provided on the boom 14. The trolley 16 is provided so as to be able to travel along the boom 14. Hereinafter, in the specification of the present application, the moving direction of the entire cargo handling device 10 by the wheels 24 is referred to as a “traveling direction”, and the moving direction of the trolley 16 is referred to as a “traverse direction”. The trolley 16 has, for example, a traversing motor 40 (see FIG. 3), and is traversed along the boom 14 by driving the traversing motor 40.

The spreader 18 is suspended from the trolley 16 via a hoisting rope 26 such as a wire rope. The spreader 18 grabs and supports a load such as a container. The spreader 18 is moved (wound, unwound) in the vertical direction by the hoisting device 50 (see FIG. 3) around which the hoisting rope 26 is wound, and is tilted in the longitudinal direction and tilted in the lateral direction within a predetermined angle. , Horizontal rotation is controllable. The support mechanism for supporting the load such as a container is not limited to the spreader 18, and may be a tong, a bucket, a hook, or the like.

The driver's cab 20 is provided on the boom 14. The driver's cab 20 is provided substantially integrally with the trolley 16, for example, and traverses with the trolley 16. The driver's cab 20 may be provided separately from the trolley 16. The driver's cab 20 may be provided on the boom 14 so as to be traversable independently of the trolley 16, for example.

The machine room 22 is provided in the boom 14. The machine room 22 controls various devices such as the traveling motor 30 of the wheels 24, the traversing motor 40 of the trolley 16, and the hoisting device 50 of the spreader 18. The machine room 22 operates various devices based on a command from the driver's cab 20.

The cargo handling device 10 drives a hoisting operation that moves the spreader 18 in the vertical direction, a traversing operation that moves the trolley 16 and the cab 20 along the boom 14 to the land side and the sea side (traverse direction), and a wheel 24. Then, the traveling operation of moving in the traveling direction is performed on the traveling rail 4. As a result, luggage can be loaded and unloaded on the ship berthed at the quay 2.

As described above, in this example, the traveling motor 30, the traversing motor 40, and the hoisting device 50 function as a drive unit of the cargo handling device 10. The drive unit is not limited to the above, and may be any electric motor or the like according to the configuration of the cargo handling device 10.

FIG. 3 is a block diagram schematically showing an operation system for cargo handling equipment according to the first embodiment.
As shown in FIG. 3, the cargo handling device 10 has an operation system 100. The operation system 100 includes a master controller 110, a control unit 120, and a remote control unit 130. The operation system 100 is used for operating the cargo handling device 10. That is, the operation system 100 is used for each of the hoisting operation, the traversing operation, and the traveling operation of the cargo handling device 10.

4 (a) and 4 (b) are explanatory views schematically showing the master controller according to the first embodiment.
FIG. 4A is a side view of the master controller 110 as viewed from the side, and FIG. 4B is a front view of the master controller 110 as viewed from the front.
As shown in FIGS. 3, 4 (a) and 4 (b), the master controller 110 has a handle 111 (operation unit) and a position detector 112. The master controller 110 is provided in the driver's cab 20 and is operated by a driver who gets into the driver's cab 20. The master controller 110 is attached to the mounting plate 20p in the driver's cab 20, for example.

The handle 111 has a shaft portion 111a that is rotatably supported by the shaft. The position detector 112 is provided on the shaft portion 111a of the handle 111 and detects the amount of operation of the handle 111. The position detector 112 detects, for example, the amount of inclination of the handle 111 and the direction of inclination as the operation amount. Then, the position detector 112 outputs a detection signal corresponding to the detected manipulated variable to the control unit 120. For the position detector 112, for example, an encoder, a synchro oscillator, or the like is used. The position detector 112 converts the operation amount of the handle 111 into an electric signal such as a pulse or a voltage, and outputs the converted electric signal as a detection signal to the control unit 120.

As shown in FIG. 3, the cargo handling device 10 further includes drive devices 32, 42, 52, and speed detectors 34, 44, 54.

The drive device 32 is connected to the traveling motor 30. The drive device 32 outputs a drive signal to the traveling motor 30 to drive the traveling motor 30. Although only one traveling motor 30 is shown in FIG. 3 for convenience, in reality, the cargo handling device 10 is provided with four legs 12 provided on each of the four legs 12 as described above. It has a traveling motor 30. The four traveling motors 30 may be driven by one driving device 32, or may be driven by four driving devices 32 provided corresponding to each of the four traveling motors 30.

The drive device 42 is connected to the traverse motor 40. The drive device 42 outputs a drive signal to the traverse motor 40 to drive the traverse motor 40. The drive device 52 is connected to the hoisting device 50. The drive device 52 outputs a drive signal to the hoisting device 50 to drive the hoisting device 50.

The speed detector 34 detects the rotational speed of the traveling motor 30 and outputs the detection result to the drive device 32. The drive device 32 compares the detection result of the rotation speed input from the speed detector 34 with the command value, controls the rotation speed of the traveling motor 30, and diagnoses the failure of the traveling motor 30. Since the configurations of the speed detectors 44 and 54 are the same as the configurations of the speed detectors 34, detailed description thereof will be omitted.

The control unit 120 is connected to each of the drive devices 32, 42, 52. Based on the detection signal input from the position detector 112, the control unit 120 outputs a signal corresponding to the operation amount of the handle 111 to the drive devices 32, 42, 52. Each of the drive devices 32, 42, and 52 uses the signal input from the control unit 120 as a command value, and drives the traveling motor 30, the traverse motor 40, and the hoisting device 50 based on the input signal. As a result, the hoisting operation, the traversing operation, and the traveling operation of the cargo handling device 10 are performed based on the operation of the master controller 110.

In this example, a lever-shaped handle 111 that rotates around a shaft portion 111a is shown as an operation unit of the master controller 110. The configuration of the operation unit is not limited to the handle 111, and may be any configuration capable of operating each of the hoisting operation, the traversing operation, and the traveling operation. Further, the detector that detects the operation amount of the operation unit is not limited to the position detector 112 that detects the inclination amount and the like, and may be any detector that can detect the operation amount of the operation unit. The configuration of the detector may be any configuration corresponding to the configuration of the operation unit. In this example, the traveling motor 30, the traverse motor 40, and the hoisting device 50 are driven via the drive devices 32, 42, and 52. When the traveling motor 30, the traversing motor 40, the hoisting device 50, and the like can be directly driven by the control unit 120, the driving devices 32, 42, and 52 may be omitted.

Also, in this example, for convenience, only one handle 111 and one position detector 112 are represented. The master controller 110 may have a plurality of operation units and position detectors corresponding to the operation of the cargo handling device 10. In this example, the master controller 110 may have three operation units and three position detectors corresponding to each of the hoisting operation, the traversing operation, and the traveling operation.

The remote control unit 130 includes an operation device 131, a photographing device 132, and a display device 133. The operation device 131 is used for operating the traveling motor 30, the traverse motor 40, and the hoisting device 50, similarly to the master controller 110. The operation device 131 is provided outside the driver's cab 20. The operation device 131 may be provided at a position different from the driver's cab 20 of the cargo handling device 10, such as the lower part of the leg portion 12, or may be operated from the apron 2a of the quay 2 or the berthed ship. ..

The operation device 131 receives the operation instruction of the operator and outputs the operation signal corresponding to the operation instruction to the control unit 120. The configuration of the operating device 131 may be the same as that of the master controller 110, or may be different from that of the master controller 110. The configuration of the operating device 131 may be any configuration capable of instructing the control unit 120 to operate the traveling motor 30, the traversing motor 40, and the hoisting device 50. Further, the communication between the operation device 131 and the control unit 120 may be performed by wire or wirelessly.

The photographing device 132 is provided in the driver's cab 20 and captures an image of the outside seen from the driver's cab 20. The photographing device 132 captures an image similar to that in the case of getting into the driver's cab 20 and operating the master controller 110. The photographing device 132 outputs the photographed video information to the display device 133. The communication between the photographing device 132 and the display device 133 may be wired or wireless.

The display device 133 displays the video information input from the photographing device 132 on the screen. That is, the display device 133 displays the video information to the operator. As a result, the operator of the operating device 131 can operate the operating device 131 while checking the same viewpoint as when he / she is in the driver's cab 20 by referring to the screen of the photographing device 132. Therefore, even when the traveling motor 30, the traverse motor 40, and the hoisting device 50 are operated from a place away from the driver's cab 20, the operation can be facilitated.

For example, by using a 360-degree camera for the photographing device 132 and a head-mounted display for the display device 133, the viewpoint may be switched according to the movement of the head of the operator who wears the head-mounted display. That is, the viewpoint may be switched as in the case of getting into the driver's cab 20. This makes the operation easier.

The master controller 110 further includes an electric motor 113 and a drive device 114. The electric motor 113 is connected to the handle 111 and drives the handle 111. The steering wheel 111 is manually operated by the driver who gets into the driver's cab 20, and is also operated by the driving force of the electric motor 113. For the electric motor 113, for example, a motor or an actuator is used.

The drive device 114 is connected to the electric motor 113. The drive device 114 outputs a drive signal to the electric motor 113 to drive the electric motor 113. Further, the drive device 114 is connected to the control unit 120.

The control unit 120 outputs a signal corresponding to the operation signal input from the operation device 131 to the drive device 114. The drive device 114 drives the electric motor 113 based on the signal input from the control unit 120. As a result, the handle 111 is operated based on the operation of the operating device 131. If the electric motor 113 can be directly driven by the control unit 120, the drive device 114 may be omitted.

When the handle 111 is operated, the amount of operation is detected by the position detector 112. Hereinafter, the traveling motor 30, the traversing motor 40, and the hoisting device 50 are driven in the same manner as in the case of manual operation. Therefore, by operating the operating device 131, the hoisting operation, the traversing operation, and the traveling operation of the cargo handling device 10 are performed as in the case of manually operating the master controller 110.

As described above, in the operation system 100 of the cargo handling device 10 according to the present embodiment, the traveling motor 30, the traverse motor 40, and the hoisting device 50 are operated by operating the operation device 131 provided outside the driver's cab 20. can do. Therefore, it is not necessary for the driver to stay in the driver's cab 20 where vibration or the like is large, and the load on the driver can be reduced.

For example, in the cargo handling device 10, it takes time to get into the driver's cab 20 at a high position. For this reason, in a cargo handling device that can be operated only in the driver's cab 20, the cargo handling work must be stopped while the driver is changed, which reduces the work efficiency. On the other hand, in the operation system 100 of the cargo handling device 10 according to the present embodiment, for example, during the change of the driver, another operator operates the operation device 131 during the change of the driver. It will be possible to continue the cargo handling work. Therefore, it is possible to reduce driver fatigue, improve safety, and improve work efficiency.

Further, in the operation system 100 of the cargo handling device 10 according to the present embodiment, the electric motor 113 drives the handle 111 in response to the operation of the operation device 131, and the handle 111 is operated. For example, a skilled driver operates the operating device 131 with a driver having a low skill level placed in the driver's cab 20. As a result, by having the driver with a low skill level grasp the steering wheel 111, the feeling of operation of the skilled driver can be directly transmitted to the driver with a low skill level via the steering wheel 111. As a result, it is possible to train drivers with low skill levels.

As described above, the operation system 100 according to the present embodiment can provide the operation system 100 of the cargo handling device 10 that contributes to the training of the driver while making it possible to reduce the load on the driver.

In the above embodiment, when the operation device 131 is operated, the electric motor 113 is driven to operate the handle 111, the operation amount is detected by the position detector 112, and the traveling motor 30, the traverse motor 40, and the hoisting device are used. It is driving 50. Not limited to this, for example, the control unit 120 directly outputs the signal to the drive devices 32, 42, 52 based on the operation signal input from the operation device 131, thereby causing the traveling motor 30 and the traverse motor 40. , The hoisting device 50 may be driven.

However, as described above, when the operating device 131 is operated, the electric motor 113 is driven to operate the handle 111, the amount of operation is detected by the position detector 112, and the traveling motor 30, the traverse motor 40, and the winding are wound. By driving the upper device 50, for example, when the operating device 131 is operated with the driver in the driver's cab 20, both the manual operation by the driver and the operation of the operating device 131 can be performed. It will be possible to accept.

For example, when the handle 111 is manually operated while the operation signal is input from the operation device 131, the control unit 120 may give priority to the operation on the safer side (stop side). In other words, when the operation signal from the operation device 131 and the detection signal detected by the position detector 112 are different, the control unit 120 may give priority to the signal on the safer side. For example, when the operation signal is on the safer side, the control unit 120 directly outputs the signal to the drive devices 32, 42, and 52 based on the operation signal. As a result, the operating device 131 can be used for an emergency stop or the like, and the safety of the cargo handling device 10 can be further enhanced.

(Second Embodiment)
FIG. 5 is a block diagram schematically showing an operation system for cargo handling equipment according to the second embodiment.
Those having substantially the same function and configuration as the above-described embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.
As shown in FIG. 5, the cargo handling device 10a has a cab 60 separate from the cab 20. Then, in the operation system 100a of the cargo handling device 10a, the operation device 131 is replaced with another master controller 140 installed at a place different from the driver's cab 20. The master controller 140 is installed in, for example, the driver's cab 60.

The driver's cab 60 is arranged near, for example, the legs 12 or the object to be transported on the ground. For example, the driver's cab 20 is used for loading and unloading on a ship, and the driver's cab 60 is used for loading and unloading on a vehicle on the ground. For example, the driver's cab 20 is the first driver's cab, and the driver's cab 60 is the second driver's cab. For example, when the cargo handling device 10a is a cargo handling device having a long traverse distance or mileage such as an overhead crane, the driver's cab 20 and the driver's cab 60 may be provided side by side along the traverse distance and the mileage.

The master controller 140 has a handle 141 and a position detector 142. Since the configurations of the handle 141 and the position detector 142 are the same as the configurations of the handle 111 and the position detector 112, detailed description thereof will be omitted. For example, the master controller 110 is the first master controller, and the master controller 140 is the second master controller.

In the master controller 140, the detection signal of the position detector 142 is input to the control unit 120 as an operation signal. As a result, the traveling motor 30, the traverse motor 40, and the hoisting device 50 are operated by the operation of the master controller 140, and the handle 111 of the master controller 110 is operated as in the first embodiment. ..

As described above, the operating device may be another master controller 140 installed at a place different from the driver's cab 20. As a result, the master controller 140 can be operated with the same operation feeling as the master controller 110, and the master controller 140 can be easily operated. For example, by making the operation amount (for example, the tilt amount) of the master controller 140 the same as the operation amount of the master controller 110, it is possible to eliminate the need to convert the operation amount. Therefore, by operating the handle 141, the handle 111 can be operated more appropriately with simpler control.

In this example, the photographing device 132 and the display device 133 are omitted. For example, by providing the photographing device 132 in the driver's cab 20 and providing the display device 133 in the driver's cab 60, the same operation as in the driver's cab 20 may be performed in the driver's cab 60.

(Third Embodiment)
FIG. 6 is a block diagram schematically showing an operation system for cargo handling equipment according to the third embodiment.
As shown in FIG. 6, in the operation system 100b of the cargo handling device 10b, the master controller 140 has a handle 141, a position detector 142, an electric motor 143, a drive device 144, and the same as the master controller 110. Has. Since the configurations of the handle 141, the position detector 142, the electric motor 143, and the drive device 144 are substantially the same as the configurations of the handle 111, the position detector 112, the electric motor 113, and the drive device 114, detailed description thereof will be omitted. To do. That is, in this example, the configuration of the master controller 140 is substantially the same as the configuration of the master controller 110.

The control unit 120 operates the traveling motor 30, the traverse motor 40, and the hoisting device 50 based on the operations of the master controller 110 and the master controller 140. Then, the control unit 120 operates the traveling motor 30, the traverse motor 40, and the hoisting device 50, and reflects the operation of one of the master controller 110 and the master controller 140 on the other.

As a result, the operation amount can be shared between the master controller 110 and the master controller 140. By sharing the amount of operation in this way, it is possible to perform operation while monitoring from various angles. For example, when the transported object is located on the driver's cab 20 side, the operation is performed by the master controller 110, and when the transported object is located on the driver's cab 60 side, the operation is performed by the master controller 140. It can be realized.

Further, when the operation amount of the master controller 110 and the operation amount of the master controller 140 are different, the control unit 120 gives priority to the operation amount on the safer side. As a result, for example, when there is a large difference between the signal output from the control unit 120 to the drive devices 114 and 144 and the signal input from the position detectors 112 and 142 to the control unit 120, an emergency occurs. You can make a stop.

For example, of the master controller 110 and the master controller 140, the operation on the side closer to the transport unit (spreader 18) may be prioritized. Alternatively, the side of the master controller 110 and the master controller 140 that gives priority to operation may be selectively switched by a changeover switch or the like.

(Fourth Embodiment)
FIG. 7 is a block diagram schematically showing an operation system for cargo handling equipment according to the fourth embodiment.
As shown in FIG. 7, the operation system 100c of the cargo handling device 10c includes a recording device 150, an input device 152, and a display device 154. In this example, the configuration of the operation system 100c other than the recording device 150, the input device 152, and the display device 154 is substantially the same as the configuration of the operation system 100 described with respect to the first embodiment. The operation system 100c is not limited to this, and the operation system 100a or the operation system 100b may be provided with a recording device 150, an input device 152, and a display device 154.

The recording device 150 records a temporal change in the operation amount of the handle 111 as operation information. The recording device 150 is connected to the control unit 120. The control unit 120 outputs, for example, the detection signal output from the position detector 112 to the recording device 150. The recording device 150 records the detection signal as operation information.

In addition, the recording device 150 records the video information captured by the photographing device 132 in association with the operation information. The control unit 120 outputs, for example, the video information captured by the photographing device 132 to the recording device 150. The recording device 150 records the video information in association with the operation information. The configuration of the recording device 150 is not limited to the above, and may be any configuration capable of recording operation information and video information.

The input device 152 is connected to the control unit 120 and inputs various operation instructions to the control unit 120. The input device 152 is provided in the driver's cab 20, for example, and is operated by a driver who gets into the driver's cab 20. The input device 152 is used, for example, when instructing the control unit 120 to start recording and stop recording. The control unit 120 starts recording the operation information and the video information in response to the start instruction from the input device 152, and stops recording the operation information and the video information in response to the stop instruction from the input device 152.

Further, the control unit 120 reads the operation information and the video information recorded in the recording device 150 from the recording device 150 in response to the reading instruction from the input device 152. The input device 152 is composed of, for example, three switches corresponding to each of a start instruction, a stop instruction, and a read instruction. The configuration of the input device 152 may be any configuration in which a start instruction, a stop instruction, and a read instruction can be input to the control unit 120.

When the control unit 120 reads the operation information from the recording device 150 in response to the reading instruction from the input device 152, the control unit 120 drives the electric motor 113 based on the operation information recorded in the recording device 150. As a result, the control unit 120 operates the steering wheel 111 in time series based on the operation information. Further, when the control unit 120 reads the video information from the recording device 150 in response to the reading instruction from the input device 152, the control unit 120 displays the video information on the display device 154. The display device 154 is provided in, for example, the driver's cab 20. As the display device 154, for example, a head-mounted display or the like is used as in the display device 133.

As described above, in the operation system 100c according to the present embodiment, by operating the handle 111 in time series based on the operation information, for example, the operation of the master controller 110 at the time of actual operation can be reproduced. Therefore, by touching the steering wheel 111, the operation of a skilled technician can be experienced, and the technique can be passed on to a young driver or the like. Further, at this time, by displaying the image on the display device 154, it is possible to experience the operation while checking the image during the actual operation, and it is possible to facilitate the transfer of technology.

(Fifth Embodiment)
FIG. 8 is a block diagram schematically showing an operation system for cargo handling equipment according to the fifth embodiment.
As shown in FIG. 8, the operation system 100d of the cargo handling device 10d has a sensor unit 160. In this example, the operation system 100d has a configuration in which the sensor unit 160 is provided in the above operation system 100, but the operation system 100d is provided with the sensor unit 160 in the operation system 100a, the operation system 100b, or the operation system 100c. It may be configured.

The sensor unit 160 is provided, for example, on the spreader 18 (support mechanism). The sensor unit 160 detects, for example, the distance between the spreader 18 and the object to be conveyed. The sensor unit 160 detects the distance to the object in a non-contact manner by, for example, microwaves or ultrasonic waves. The sensor unit 160 is connected to the control unit 120 and outputs the detection result to the control unit 120.

The detection target of the sensor unit 160 is not limited to the distance between the spreader 18 and the object to be transported, and may be any physical quantity required for transporting the object. Further, the physical quantity detected by the sensor unit 160 is not limited to one. The sensor unit 160 may detect a plurality of physical quantities required for transporting the object. In other words, the operation system 100d may have a plurality of sensor units 160.

The control unit 120 determines, for example, whether or not the operation amount of the handle 111 is appropriate for the distance between the spreader 18 and the object to be conveyed, based on the detection result input from the sensor unit 160. Then, when the operation amount is not appropriate, the control unit 120 drives the electric motor 113 and operates the steering wheel 111 at a position of an appropriate operation amount against the operation of the driver or the like.

As described above, in the operation system 100d, the operation amount of the handle 111 can be automatically adjusted based on the detection result of the sensor unit 160. As a result, it is possible to suppress a collision between the spreader 18 and the object to be conveyed. Further, by driving the electric motor 113 and adjusting the operation amount of the steering wheel 111, the driver can be made aware that the automatic adjustment by the sensor unit 160 has been performed. For example, it is possible to prevent a difference between the amount of operation of the steering wheel 111 by the driver and the actual movement of the spreader 18.

Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.

10, 10a-10d ... Cargo handling equipment, 12 ... Legs, 14 ... Boom, 16 ... Trolley, 18 ... Spreader, 20 ... Driver's cab, 22 ... Machine room, 24 ... Wheels, 26 ... Hoisting rope, 30 ... Running Motor, 32, 42, 52 ... Drive device, 34, 44, 54 ... Speed detector, 40 ... Traverse motor, 50 ... Hoisting device, 60 ... Driver's cab, 100, 100a-100d ... Operation system, 110 ... Master control Instrument, 111 ... Handle (operation unit), 112 ... Position detector, 113 ... Electric motor, 114 ... Drive device, 120 ... Control unit, 130 ... Remote operation unit, 131 ... Operation device, 132 ... Imaging device, 133 ... Display device , 140 ... Master controller, 141 ... Handle, 142 ... Position detector, 143 ... Electric motor, 144 ... Drive device, 150 ... Recording device, 152 ... Input device, 154 ... Display device, 160 ... Sensor unit

Claims (4)

In an operation system that operates the drive unit of cargo handling equipment,
A master controller provided in the driver's cab of the cargo handling equipment, the master control having an operation unit and a detector that detects the operation amount of the operation unit and outputs a detection signal corresponding to the operation amount. With a vessel
Based on the detection signal, a control unit that outputs a signal corresponding to the operation amount of the operation unit to the drive unit and operates the drive unit based on the operation of the master controller.
An operation device provided outside the driver's cab that receives an operator's operation instruction and outputs an operation signal corresponding to the operation instruction to the control unit.
With
The master controller further includes an electric motor that drives the operation unit to operate the operation unit.
The control unit drives the electric motor based on the operation signal input from the operation device, and operates the operation unit based on the operation of the operation device .
The operating device is another master controller installed at a location different from the driver's cab.
The other master controller, like the master controller, has an operation unit, a position detector, and an electric motor.
The control unit operates the drive unit based on the operation of the master controller and the other master controller, and reflects the operation of one of the master controller and the other master controller on the other. Moreover, when the operation amount of the master controller and the operation amount of the other master controller are different, the operation system that gives priority to the operation amount on the safer side . An imaging device provided in the driver's cab that captures an image of the outside from the driver's cab and outputs the captured image information.
A display device that displays the video information to the operator of the operation device, and
The operation system according to claim 1, further comprising. Further provided with a recording device that records a temporal change in the operation amount of the operation unit as operation information.
The operation system according to claim 1 or 2, wherein the control unit drives the electric motor based on the operation information recorded in the recording device, and operates the operation unit in time series based on the operation information. The operation system according to any one of claims 1 to 3, wherein the control unit operates the drive unit based on the detection signal even when the operation unit is operated based on the operation of the operation device.

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