JP7041169B2 - Crane system, container crane, and transfer method - Google Patents

Description

One aspect of the invention relates to a crane system, a container crane, and a transfer method.

As a crane system for transferring a container to a stopped trailer, Patent Document 1 states that a sensor provided at the leg of a container crane scans a laser horizontally with respect to the space above the cargo handling lane. However, a system for detecting a trailer on a cargo handling lane is disclosed. This crane system determines that the trailer is stopped when the trailer on the cargo handling lane is continuously detected by the sensor for a predetermined time or longer.

Japanese Unexamined Patent Publication No. 2005-239343

By the way, when the container crane tries to automatically transfer the container to the trailer, when the container is transferred to the stopped trailer, for example, due to an error of the trailer occupant, the trailer is moved. It is desirable to be able to confirm that the movement will not start.

Therefore, one aspect of the present invention is a crane system, a container crane, and a transfer method that can confirm that the trailer does not start moving when the container is automatically transferred to a stopped trailer. The purpose is to provide.

The crane system according to one aspect of the present invention includes a trailer and a container crane that automatically transfers a container to a stopped trailer, and the trailer is stopped to indicate whether or not it is in a state of starting movement. It has a stop information output unit that outputs information so that it can be recognized from the outside, and the container crane has a crane body that transfers the container to the trailer and a stop information recognition unit that recognizes the stop information output by the trailer. , A control unit that controls the crane body, and the control unit is a crane when it is confirmed that the trailer is not in a state to start moving based on the stop information recognized by the stop information recognition unit. When the crane body is controlled by the body to transfer the container to the trailer, and it is not confirmed that the trailer is not in the state to start moving based on the stop information recognized by the stop information recognition unit. The crane body is not controlled so that the container is transferred to the trailer by the crane body.

According to this crane system, the trailer outputs stop information indicating whether or not the trailer is in the state of starting movement, and based on the stop information, the container crane determines whether or not the trailer is in the state of starting movement. It is confirmed. Then, this crane system automatically transfers the container to the trailer when it is confirmed that the trailer is not in the state to start moving, and when it is not confirmed that the trailer is not in the state to start moving. Does not automatically transfer the container to the trailer. This allows the crane system to ensure that the trailer does not start moving when the container is automatically transferred to a stopped trailer.

In the crane system according to one aspect of the present invention, the stop information output unit is a light emitting device that outputs light as stop information indicating that the trailer is not in a state of starting movement when the brake of the trailer is operating. The stop information recognition unit includes an image pickup device that recognizes the light as stop information output by the stop information output unit, and the control unit recognizes the light as stop information by the stop information recognition unit, the crane. The crane body is controlled so that the container is transferred to the trailer by the main body, and when the stop information recognition unit does not recognize the light as stop information, the crane body is used to transfer the container to the trailer. It is not necessary to control the crane body. According to this, the light as stop information is output by the trailer when the brake is operating, and based on the light as the stop information, it is confirmed by the container crane that the trailer is not in the state of starting to move. To. This allows the crane system to ensure that the trailer does not start moving when the container is automatically transferred to a stopped trailer.

In the crane system according to one aspect of the present invention, the crane main body includes a hanger for holding the container, and the stop information output unit emits light as stop information upward when the brake of the trailer is operating. It is a light emitting device that outputs light toward the crane, and the stop information recognition unit is an image pickup device that is provided on the crane to image the lower part of the crane and recognizes the light as stop information output by the stop information output unit. May be good. According to this, the light as the stop information output upward by the trailer when the brake is operating is recognized by the image pickup device provided on the hanger of the container crane and taking an image of the lower part. Therefore, in this crane system, the light as stop information output by the trailer is surely recognized by the image pickup device, so that the trailer moves when the container is automatically transferred to the stopped trailer. You can be sure that it will not start.

In the crane system according to one aspect of the present invention, the trailer is operated by the occupant, and the stop information output unit is not in a state where the trailer starts moving by the operation of the occupant when the parking brake of the trailer is activated. It may be a light emitting device that outputs light as stop information indicating that. According to this, this crane system can specifically realize the operation and effect of the above-mentioned crane system in a trailer operated by an occupant.

In the crane system according to one aspect of the present invention, the stop information output unit is a turn signal that outputs a hazard lamp as stop information indicating that the trailer is not in a state of starting movement, and the stop information recognition unit is a stop information recognition unit. The control unit includes an image pickup device that recognizes the hazard lamp as stop information output by the stop information output unit, and when the control unit recognizes the hazard lamp as stop information by the stop information recognition unit, the crane body unit uses the crane body to contact the trailer. The crane body is controlled so that the container is transferred, and when the stop information recognition unit does not recognize the hazard lamp as stop information, the crane body controls the crane body so that the container is transferred to the trailer. You don't have to. According to this, the hazard lamp is output by the trailer when the trailer is stopped, and the container crane confirms that the trailer is not in the state of starting the movement based on the hazard lamp. Therefore, in this crane system, the hazard lamp normally provided in the trailer can be used, so that the device configuration can be simplified.

In the crane system according to one aspect of the present invention, the trailer includes a position information output unit which is a light emitting device that outputs light as position information of the trailer regardless of whether or not it is in a state of starting movement, and stops. The information recognition unit recognizes the light as position information output by the position information output unit, and the control unit recognizes the light as position information recognized by the stop information recognition unit with respect to the trailer by the crane body. If it is determined whether or not the trailer is located at a position where the container can be transferred, and if the crane body determines that the trailer is located at a position where the container can be transferred to the trailer, the crane body determines whether the trailer is located at the trailer. On the other hand, if the crane body is controlled so that the container is transferred and the crane body does not determine that the trailer is in a position where the container can be transferred to the trailer, the crane body determines that the container is transferred to the trailer. It is not necessary to control the crane body so as to transfer. According to this, the light as the position information of the trailer is output by the trailer, and based on the light as the position information, whether or not the trailer is in a position where the container can be transferred to the trailer is determined by the container crane. Confirmed by. Then, this crane system automatically transfers the container to the trailer when it is confirmed that the trailer is in a position where the container can be transferred to the trailer, and transfers the container to the trailer. If it is not confirmed that the trailer is in a possible position, the container will not be automatically transferred to the trailer. This makes it possible for this crane system to confirm that the trailer is in a position where the container can be transferred to the trailer when the container is automatically transferred to the stopped trailer.

In the crane system according to one aspect of the present invention, the stop information output unit is an engine that outputs an engine sound as stop information indicating that the trailer is in a state of starting movement, and the stop information recognition unit is a stop information. The control unit includes a sound collector that recognizes the engine sound as stop information output by the output unit, and when the control unit does not recognize the engine sound as stop information by the stop information recognition unit, the crane body unit uses the crane body to container the trailer. The crane body is controlled so that the crane body is transferred, and when the stop information recognition unit recognizes the engine sound as stop information, the crane body controls the crane body so that the container is transferred to the trailer. It does not have to be. When the engine is operating and the engine sound is output, the trailer is in the state of starting the movement, and when the engine is stopped and the engine sound is not output, the trailer is not in the state of starting the movement. Therefore, in this crane system, when the engine is operating and the engine sound is not output, the container crane confirms that the trailer is not in the state to start moving based on the fact that the engine sound is not output. Will be done. This allows the crane system to ensure that the trailer does not start moving when the container is automatically transferred to a stopped trailer.

The container crane according to one aspect of the present invention is a container crane that automatically transfers a container to a trailer, and the crane main body for transferring the container to the trailer and the parking brake of the trailer are activated. It is equipped with a stop information recognition unit, which is an image pickup device that recognizes light as stop information output by the trailer when the crane is in operation, and a control unit that controls the crane main body. The control unit is provided with stop information by the stop information recognition unit. When the crane body controls the crane body so that the container is transferred to the trailer, and when the stop information recognition unit does not recognize the light as stop information, the crane body controls the trailer. The crane body is not controlled so that the container is transferred to the crane.

According to this container crane, light as stop information is output by the trailer when the parking brake is activated, and the container crane is not in a state where the trailer starts moving based on the light as the stop information. Confirmed by. Then, this container crane automatically transfers the container to the trailer when it is confirmed that the trailer is not in the state to start moving, and when it is not confirmed that the trailer is not in the state to start moving. Does not automatically transfer the container to the trailer. As a result, the container crane can confirm that the trailer does not start moving when the container is automatically transferred to the stopped trailer.

The transfer method according to one aspect of the present invention is a transfer method in which a container is automatically transferred to a trailer by a container crane, and the trailer provides stop information when the parking brake of the trailer is operating. The first step of outputting light, the second step of recognizing the light as stop information output by the trailer by the container crane, and the second step of recognizing the light as stop information by the container crane, the container crane with respect to the trailer If the container is transferred and the container crane does not recognize the light as stop information, the trailer is provided with a third step of not transferring the container by the container crane.

According to this transfer method, the trailer outputs light as stop information when the parking brake is operating, and the container is not in a state where the trailer starts moving based on the light as stop information. Confirmed by the crane. In this transfer method, the container crane automatically transfers the container to the trailer when it is confirmed that the trailer is not in the state to start moving, and the trailer is not in the state to start moving. If is not confirmed, the container will not be automatically transferred to the trailer. This makes it possible to confirm that the trailer does not start moving when the container is automatically transferred to the stopped trailer according to this transfer method.

According to one aspect of the present invention, it is possible to confirm that the trailer does not start moving when the container is automatically transferred to the stopped trailer.

FIG. 1 is a block diagram showing a crane system. FIG. 2 is a perspective view showing a crane system. FIG. 3 is a perspective view showing a trailer. FIG. 4 is a perspective view showing a hanger of a container crane. FIG. 5 is a perspective view illustrating a situation in which a container is transferred to a trailer. FIG. 6 is a flowchart showing a transfer method by the crane system according to the first embodiment. FIG. 7 is a flowchart showing a transfer method by the crane system according to the second embodiment.

Hereinafter, exemplary embodiments will be described with reference to the drawings. In each figure, the same or corresponding parts are designated by the same reference numerals, and duplicate description will be omitted.

[First Embodiment]
FIG. 1 is a block diagram showing a crane system 1 according to the first embodiment. FIG. 2 is a perspective view showing a crane system. FIG. 3 is a perspective view showing a trailer. FIG. 4 is a perspective view showing a hanger of a container crane. The crane system 1 shown in FIGS. 1 to 4 is a system in which the container C is automatically transferred to the trailer 10 by the container crane 20. The crane system 1 includes a trailer 10 and a container crane 20.

The trailer 10 is a vehicle operated by an occupant and capable of loading a container C. The trailer 10 includes a trailer head 10a including a driver's seat and a chassis 10b connected to the trailer head 10a. The trailer head 10a has an engine and travels by a driving force generated by the operation of the engine. The chassis 10b is towed by the trailer head 10a. The chassis 10b is configured to be able to load the container C, and the container C is transferred (loaded and unloaded) by the container crane 20. The trailer 10 is equipped with a direction indicator 13 and a parking brake (not shown) provided in a normal vehicle. In the present embodiment, the trailer 10 is illustrated as being operated by an occupant and moving by the operation of the occupant. The trailer 10 does not have to be driven by an occupant.

The container C is a container such as an ISO standard container. The container C has a long rectangular parallelepiped shape and has a predetermined length such as 20 feet or 40 feet in the longitudinal direction thereof. Further, the container C has a predetermined height such as 8.5 feet and 9.5 feet in the height direction thereof.

The trailer 10 has a stop information output unit 11 and a position information output unit 12. The stop information output unit 11 is a light emitting device that outputs stop information so that it can be recognized from the outside. More specifically, the stop information output unit 11 is a light emitting device that outputs light as stop information. The "stop information" is information indicating whether or not the trailer 10 is in a state of starting movement. In the present embodiment, the "stop information" is information indicating that the trailer 10 is not in a state of starting the movement by the operation of the occupant when the parking brake of the trailer 10 is operating.

The stop information output unit 11 is configured by, for example, an LED [Light Emitting Diode] or the like. The mode in which the stop information output unit 11 is attached to the trailer 10 is not particularly limited. Here, the stop information output unit 11 is attached to the trailer 10 so as to output light as stop information upward. The stop information output unit 11 is attached to the tip end portion of the arm 10c that horizontally protrudes from the chassis 10b in the vehicle width direction on the front side of the chassis 10b (the connection portion side with the trailer head 10a). The stop information output unit 11 is arranged at a position where the light as stop information is not hidden by the container C when the chassis 10b is loaded with the container C and is looked down from above in the vertical direction.

The position information output unit 12 is a light emitting device that outputs light as position information of the trailer 10. The position information output unit 12 outputs light as position information regardless of whether or not the movement is started by the operation of the occupant. The "position information" is information indicating the position of the trailer 10 in the traveling direction.

The position information output unit 12 is composed of, for example, an LED or the like. The mode in which the position information output unit 12 is attached to the trailer 10 is not particularly limited. Here, the position information output unit 12 is attached to the trailer 10 so as to output light as position information upward. The position information output unit 12 is attached to the tip of the arm 10d that horizontally protrudes from the chassis 10b in the vehicle width direction on the rear side of the chassis 10b (the side opposite to the connection portion with the trailer head 10a). .. The position information output unit 12 is arranged at a position where the light as position information is not hidden by the container C when the chassis 10b is loaded with the container C and is viewed from above in the vertical direction.

The container crane 20 is, for example, a crane device that handles the cargo of the container C in the container yard of the container terminal where the container C is transferred to the berthed container ship. In the container yard CY, a cargo handling lane, which is a traveling path such as a trailer 10 to which the container C is transferred, is laid. The container crane 20 automatically transfers the container C to, for example, the trailer 10 stopped on the cargo handling lane. The container crane 20 acquires the container C carried in by the trailer 10 from the trailer 10 and places the container C in a predetermined position in the container yard CY. Further, the container crane 20 acquires the container C mounted on the container yard CY, mounts the container C on the trailer 10, and causes the container C to be carried out by the trailer 10.

The container crane 20 includes a crane main body 21, a stop information recognition unit 22, and a control unit 23. The crane main body 21 transfers the container C to the trailer 10. The crane main body 21 has a portal portion 21a and a spreader 21b.

The gate-shaped portion 21a can be traveled by a traveling device 25 having wheels with tires. The traveling device 25 travels by driving a traveling motor. Further, the gate-shaped portion 21a is provided with two sets of a pair of legs 26, 26 erected on the traveling device 25, and is provided with a crane girder 27, 27 connecting the upper ends of the legs 26, 26 to each other. Is formed in. Further, the gate-shaped portion 21a includes a trolley 28 capable of traversing on the crane girder 27 in a direction orthogonal to the traveling direction. The trolley 28 traverses by driving a traversing motor. The trolley 28 includes a drum 29 that is rotated forward and reverse by a drum drive motor, and suspends a spreader (hanging tool) 21b via a wire 30. The traveling motor, the transverse motor, and the drum drive motor are controlled by the control unit 23.

The spreader 21b is a device for holding and lifting the container C. The spreader 21b can lock the container C from the upper surface side, and handles the cargo of the container C by locking and lifting the container C. The spreader 21b is suspended via a sheave 33 around which a wire 30 from the drum 29 is hung, and can be raised and lowered by forward and reverse rotation of the drum 29. The spreader 21b is controlled by the control unit 23.

The spreader 21b has substantially the same shape as the upper surface of the container C in a plan view. The crane main body 21 has a sheave 33 on which the wire 30 is hung on the upper side of the central portion in the longitudinal direction. The spreader 21b is located on the container C when the spreader 21b engages with the container C. The spreader 21b includes a guide 32 and a lock pin (not shown).

The guide 32 guides the spreader 21b onto the target container C when the spreader 21b descends when the spreader 21b acquires the target container C to be acquired by the spreader 21b. Guides 32 are provided at one end and the other end of the spreader 21b in the horizontal direction in the lateral direction, near both ends in the longitudinal direction. That is, the guides 32 are provided at the four corners of the spreader 21b on the outer side of the spreader 21b in the lateral direction. The guide 32 has a tapered surface at its tip, abuts the tapered surface on the edge of the upper surface of the target container C, and receives (guided) the reaction force from the edge to target the spreader 21b. We will guide you directly above the container C.

The lock pin is a mechanism for locking the container C. The lock pin is provided on the lower surface side of the spreader 21b so as to project downward from the spreader 21b. The lock pins are provided at positions corresponding to holes (not shown) formed at the four corners of the upper surface of the container C when the spreader 21b locks the container C. The lock pin is, for example, a twist pin and includes a locking piece (not shown) that is rotatable around an axis extending in the vertical direction at the lower end. The lock pin can be engaged with the container C by entering through the hole of the container C and rotating the locking piece.

The stop information recognition unit 22 is an image pickup device that recognizes the stop information output by the stop information output unit 11 of the trailer 10. The stop information recognition unit 22 is, for example, a camera. The stop information recognition unit 22 is provided on the spreader 21b to take an image of the lower part of the spreader 21b, and recognizes the light as stop information output by the stop information output unit 11. The stop information recognition unit 22 outputs information regarding the recognized stop information to the control unit 23.

The stop information recognition unit 22 is provided at least at one end and the other end of the spreader 21b in the horizontal direction in the lateral direction, near both ends in the longitudinal direction. The stop information recognition unit 22 is arranged so as to be located directly above the stop information output unit 11 and the position information output unit 12 when the spreader 21b holds the container C and places the container C on the trailer 10. There is.

Further, the stop information recognition unit 22 recognizes the light as the position information output by the position information output unit 12. The stop information recognition unit 22 outputs information regarding the recognized position information to the control unit 23.

The control unit 23 controls the crane main body unit 21. More specifically, the control unit 23 controls the crane main body 21 to transfer the container C to the trailer 10 by the crane main body 21.

The control unit 23 includes an ECU [Electronic Control Unit] that collectively controls the device. The ECU is an electronic control unit having a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like. The ECU realizes each function of the container crane 20 by, for example, loading a program stored in the ROM into the RAM and executing the program loaded in the RAM in the CPU. The control unit 23 may include a plurality of ECUs.

When it is confirmed that the trailer 10 is not in a state of starting the movement by the operation of the occupant based on the stop information recognized by the stop information recognition unit 22, the control unit 23 has the crane main body 21 with respect to the trailer 10. The crane main body 21 is controlled (may be controlled) so that the container C is transferred. More specifically, when the control unit 23 recognizes the light as stop information output by the stop information output unit 11 by the stop information recognition unit 22, the crane main body 21 transfers the container C to the trailer 10. The crane main body 21 is controlled (may be controlled) so as to be used.

Further, when it is not confirmed that the trailer 10 is not in the state of starting the movement by the operation of the occupant based on the stop information recognized by the stop information recognition unit 22, the control unit 23 uses the crane main body 21 to transfer the trailer 10 to the trailer 10. On the other hand, the crane main body 21 is not controlled so as to transfer the container C. More specifically, when the control unit 23 does not recognize the light as stop information output by the stop information output unit 11 by the stop information recognition unit 22, the crane main body 21 transfers the container C to the trailer 10. The crane main body 21 is not controlled so as to do so.

For example, when the container C is transferred to the trailer 10 by the crane main body 21, the control unit 23 controls the crane main body 21 to perform the following operations. That is, the control unit 23 controls the crane main body 21 to hold the container C by the spreader 21b, and causes the portal portion 21a and the trolley 28 to travel so that the spreader 21b is positioned directly above the chassis 10b of the trailer 10. .. Then, the control unit 23 lowers the spreader 21b and places the container C held by the spreader 21b on the chassis 10b. Alternatively, the control unit 23 controls the crane main body 21 to hold the container C mounted on the chassis 10b by the spreader 21b, and raises the spreader 21b so that the container C is mounted on the chassis 10b. Get the existing container C.

The control unit 23 determines whether or not the trailer 10 is located at a position where the container C can be transferred to the trailer 10 by the crane main body 21 based on the position information recognized by the stop information recognition unit 22. .. For example, in the captured image captured by the stop information recognition unit 22, the control unit 23 determines that the light as the position information output by the position information output unit 12 is located within the preset allowable area. The crane main body 21 determines that the trailer 10 is located at a position where the container C can be transferred to the trailer 10. On the other hand, in the captured image captured by the stop information recognition unit 22, the control unit 23 determines that the light as the position information output by the position information output unit 12 is not located within the preset allowable area. The crane main body 21 does not determine that the trailer 10 is located at a position where the container C can be transferred to the trailer 10.

When the control unit 23 determines that the trailer 10 is located at a position where the crane body 21 can transfer the container C to the trailer 10, the crane body 21 transfers the container C to the trailer 10. The crane main body 21 is controlled (may be controlled) so as to be controlled. If the control unit 23 does not determine that the trailer 10 is at a position where the crane body 21 can transfer the container C to the trailer 10, the crane body 21 moves the container C to the trailer 10. The crane body 21 is not controlled so as to be mounted.

Hereinafter, a method of transferring the container C executed by the crane system 1 will be described. The method of transferring the container C described below can also be executed by using a crane device or the like other than the crane system 1. FIG. 5 is a perspective view illustrating a situation in which the container C is transferred to the trailer 10. FIG. 6 is a flowchart showing a transfer method by the crane system 1 according to the first embodiment. In the flowchart of FIG. 6, the trailer 10 to which the container C is to be transferred (loaded or unloaded) is located on the cargo handling lane of the container yard CY, and the spreader 21b is further set to a predetermined margin height from the upper end of the trailer head 10a. Is started in a situation where the vehicle is located at a safe height (eg, 8 m above the ground).

As shown in FIGS. 5 and 6, in step S10, the trailer 10 outputs light as position information of the trailer 10 upward by the position information output unit 12 which is a light emitting device. For example, the position information output unit 12 always outputs light as position information. After that, the crane system 1 shifts to step S12.

In step S12, the container crane 20 recognizes the position information output by the position information output unit 12 by the stop information recognition unit 22 which is an image pickup device. The stop information recognition unit 22 outputs information regarding the recognized position information to the control unit 23. After that, the crane system 1 shifts to step S14.

In step S14, the container crane 20 determines whether or not the trailer 10 is located at a position where the container C can be transferred to the trailer 10 by the crane main body 21 based on the position information by the control unit 23. .. When the crane main body 21 determines that the trailer 10 is located at a position where the container C can be transferred to the trailer 10 (step S14: YES), the crane system 1 shifts to step S18. On the other hand, when the crane main body 21 does not determine that the trailer 10 is located at a position where the container C can be transferred to the trailer 10 (step S14: NO), the crane system 1 shifts to step S16.

In step S16, the container crane 20 outputs an instruction to the trailer 10 to correct the position. The container crane 20 may output an instruction to correct the position by any method, for example, it may be displayed on a traffic light, displayed on a display, or may be output by voice from a speaker. The trailer 10 corrects the position according to the instruction that the position output by the container crane 20 should be corrected. After that, the crane system 1 returns to step S14.

In step S18, the container crane 20 outputs an instruction to the trailer 10 to stop. The container crane 20 may output an instruction to stop by any method, for example, it may be displayed on a traffic light, displayed on a display, or may be output as voice from a speaker. The trailer 10 is stopped according to the instruction output by the container crane 20 to stop. After that, the crane system 1 shifts to step S20.

In step S20, when the trailer 10 is stopped and the parking brake is activated, the stop information output unit 11 which is a light emitting device outputs light as stop information of the trailer 10 upward (first step). The container crane 20 recognizes the stop information output by the stop information output unit 11 of the trailer 10 by the stop information recognition unit 22 (second step). When the stop information is output by the stop information output unit 11 of the trailer 10 and the stop information is recognized by the stop information recognition unit 22 of the container crane 20 (step S20: YES), the crane system 1 shifts to step S24. .. On the other hand, when the stop information is not output by the stop information output unit 11 of the trailer 10, or when the output stop information is not recognized by the stop information recognition unit 22 of the container crane 20 (step S20: NO), the crane system 1 , Step S22.

In step S22, since it is not confirmed that the trailer 10 is not in the state of starting the movement by the operation of the occupant, the control unit 23 transfers the container C to the trailer 10 by the crane main body 21. The crane main body 21 is not controlled and stands by (third step). After that, the crane system 1 returns to step S20.

In step S24, since it was confirmed that the trailer 10 is not in a state of starting the movement by the operation of the occupant, the control unit 23 transfers the container C to the trailer 10 by the crane main body 21. The crane main body 21 is controlled so as to be (third step). After that, the crane system 1 ends the current process.

As described above, according to the crane system 1, stop information indicating whether or not the vehicle is in a state of starting movement by the operation of the occupant is output by the trailer 10, and the trailer 10 is the occupant based on the stop information. The container crane 20 confirms whether or not the movement by operation is started. Then, when it is confirmed that the trailer 10 is not in a state of starting the movement by the operation of the occupant, the crane system 1 automatically transfers the container C to the trailer 10, and the trailer 10 is operated by the occupant. If it is not confirmed that the movement is not started, the container C is not automatically transferred to the trailer 10. Thereby, the crane system 1 can confirm that the trailer 10 does not start moving when the container C is automatically transferred to the stopped trailer 10.

In the crane system 1, the stop information output unit 11 outputs light as stop information indicating that the trailer 10 is not in a state of starting the movement by the operation of the occupant when the parking brake of the trailer 10 is operating. The light emitting device, the stop information recognition unit 22 includes an image pickup device that recognizes the light as stop information output by the stop information output unit 11, and the control unit 23 includes the light as stop information by the stop information recognition unit 22. When the crane main body 21 controls the crane main body 21 so that the container C is transferred to the trailer 10, and the stop information recognition unit 22 does not recognize the light as stop information, the crane main body part The crane main body 21 is not controlled so that the container C is transferred to the trailer 10 by the 21. As a result, when the parking brake is operating, the light as stop information is output by the trailer 10, and the trailer 10 is not in a state of starting the movement by the operation of the occupant based on the light as the stop information. Confirmed by the container crane 20. Thereby, the crane system 1 can confirm that the trailer 10 does not start moving when the container C is automatically transferred to the stopped trailer 10.

In the crane system 1, the crane main body 21 includes a spreader 21b for holding the container C, and the stop information output unit 11 directs light as stop information upward when the parking brake of the trailer 10 is operating. The stop information recognition unit 22 is an image pickup device provided on the spreader 21b to take an image of the lower part of the spreader 21b and recognize the light as stop information output by the stop information output unit 11. .. As a result, the light as stop information output upward by the trailer 10 when the parking brake is operating is recognized by the image pickup device provided on the spreader 21b of the container crane 20 and imaged downward. Therefore, in this crane system 1, since the light as the stop information output by the trailer 10 is surely recognized by the image pickup apparatus, when the container C is automatically transferred to the stopped trailer 10, the container C is automatically transferred. It can be surely confirmed that the trailer 10 does not start moving.

In the crane system 1, the trailer 10 is operated by the occupant, and the stop information output unit 11 indicates that the trailer 10 is not in a state of starting the movement by the occupant's operation when the parking brake of the trailer 10 is operating. It is a light emitting device that outputs light as stop information to be shown. Thereby, the crane system 1 can concretely realize the operation and effect of the above-mentioned crane system 1 in the trailer 10 operated by the occupants.

In the crane system 1, the trailer 10 includes a position information output unit 12 which is a light emitting device that outputs light as position information of the trailer regardless of whether or not it is in a state of starting movement by an occupant's operation, and stops. The information recognition unit 22 recognizes the light as position information output by the position information output unit 12, and the control unit 23 recognizes the light as position information recognized by the stop information recognition unit 22, and the crane main body 21 Determines whether or not the trailer 10 is located at a position where the container C can be transferred to the trailer 10, and the crane body 21 places the trailer 10 at a position where the container C can be transferred to the trailer 10. If it is determined to be present, the crane main body 21 controls the crane main body 21 so that the container C is transferred to the trailer 10, and the crane main body 21 can transfer the container C to the trailer 10. If it is not determined that the trailer 10 is present, the crane main body 21 does not control the crane main body 21 so as to transfer the container C to the trailer 10. As a result, the light as the position information of the trailer 10 is output by the trailer 10, and based on the light as the position information, whether or not the trailer 10 is located at a position where the container C can be transferred to the trailer 10. Is confirmed by the container crane 20. Then, when it is confirmed that the trailer 10 is located at a position where the container C can be transferred to the trailer 10, the crane system 1 automatically transfers the container C to the trailer 10 and the trailer 10 is used. If it is not confirmed that the trailer 10 is located at a position where the container C can be transferred, the container C is not automatically transferred to the trailer 10. As a result, when the crane system 1 automatically transfers the container C to the stopped trailer 10, the trailer 10 is located at a position where the container C can be transferred to the trailer 10. You can check.

According to the container crane 20, light as stop information is output by the trailer 10 when the parking brake is operating, and the trailer 10 starts moving by the operation of the occupant based on the light as the stop information. It is confirmed by the container crane 20 that it is not in the container crane 20. Then, when it is confirmed that the trailer 10 is not in a state of starting the movement by the operation of the occupant, the container crane 20 automatically transfers the container C to the trailer 10, and the trailer 10 is operated by the occupant. If it is not confirmed that the movement is not started, the container C is not automatically transferred to the trailer 10. As a result, the container crane 20 can confirm that the trailer 10 does not start moving when the container C is automatically transferred to the stopped trailer 10.

According to the transfer method described above, the trailer 10 outputs light as stop information when the parking brake is operating, and the trailer 10 starts moving by the operation of the occupant based on the light as the stop information. It is confirmed by the container crane 20 that it is not in a state where it can be used. Then, in this transfer method, the container crane 20 automatically transfers the container C to the trailer 10 when it is confirmed that the trailer 10 is not in a state of starting the movement by the operation of the occupant, and the trailer 10 is used. If it is not confirmed that the container C is not in the state of starting the movement by the operation of the occupant, the container C is not automatically transferred to the trailer 10. Thereby, according to this transfer method, it is possible to confirm that the trailer 10 does not start moving when the container C is automatically transferred to the stopped trailer 10.

[Second Embodiment]
Compared with the crane system 1 according to the first embodiment, the crane system 1A according to the second embodiment has a configuration of a stop information output unit 11 and a stop information recognition unit 22, and a process executed by the control unit 23. It's different.

In the crane system 1A according to the second embodiment, the stop information output unit 11 is an engine that outputs an engine sound as stop information indicating that the trailer 10 is in a state of starting movement by an operation of an occupant. In the state where the engine is operating, the trailer 10 is in a state where the engine sound is output and the movement by the operation of the occupant can be started. On the other hand, in the state where the engine is stopped, the engine sound is not output and the movement by the operation of the occupant cannot be started.

In the crane system 1A according to the second embodiment, the stop information recognition unit 22 includes a sound collecting device that recognizes an engine sound as stop information output by the stop information output unit (engine) 11. The stop information recognition unit 22 may also include an image pickup device that recognizes light as position information output by the position information output unit 12.

In the crane system 1A according to the second embodiment, when the control unit 23 does not recognize the engine sound as stop information by the stop information recognition unit 22, the crane main body 21 transfers the container C to the trailer 10. When the crane body 21 is controlled and the stop information recognition unit 22 recognizes the engine sound as stop information, the crane body 21 does not control the crane body 21 so as to transfer the container to the trailer 10. ..

Hereinafter, a method of transferring the container C executed by the crane system 1A will be described. The method of transferring the container C described below can also be executed by using a crane device or the like other than the crane system 1A. FIG. 7 is a flowchart showing a transfer method by the crane system 1A according to the second embodiment. In the flowchart of FIG. 7, the trailer 10 to which the container C is to be transferred (loaded or unloaded) is located on the cargo handling lane of the container yard CY, and the spreader 21b is further set to a predetermined margin height from the upper end of the trailer head 10a. Is started in a situation where the vehicle is located at a safe height (eg, 8 m above the ground).

As shown in FIG. 7, in step S30, the trailer 10 serves as stop information indicating that the trailer 10 is in a state of starting the movement by the operation of the occupant by operating the stop information output unit 11 which is an engine. Is outputting the engine sound of. Further, the position information output unit 12 which is a light emitting device outputs the light as the position information of the trailer 10 upward. For example, the position information output unit 12 always outputs light as position information. After that, the crane system 1 shifts to step S32.

In steps S32 to S38 of the flowchart of FIG. 7, the same processing as steps S12 to S18 of the flowchart of FIG. 6 is executed. After that, the crane system 1 shifts to step S40.

In step S40, when the trailer 10 is stopped and the stop information output unit (engine) 11 is stopped, the stop information (engine sound) output by the engine is stopped. The container crane 20 does not recognize the engine sound output by the engine of the trailer 10 by the stop information recognition unit 22 which is a sound collecting device. When the engine of the trailer 10 does not output the engine sound (step S40: YES), the crane system 1A shifts to step S44. On the other hand, when the engine sound is output by the engine of the trailer 10 (step S40: NO), the crane system 1A shifts to step S42.

In step S44 and step S46 of the flowchart of FIG. 7, the same processing as step S22 and step S24 of the flowchart of FIG. 6 is executed, respectively. After that, the crane system 1A ends the current process.

As described above, according to the crane system 1A, the stop information output unit 11 is an engine that outputs an engine sound as stop information indicating that the trailer 10 is in a state of starting movement by the operation of an occupant. The stop information recognition unit 22 includes a sound collecting device that recognizes the engine sound as stop information output by the stop information output unit 11, and the control unit 23 recognizes the engine sound as stop information by the stop information recognition unit 22. If not, the crane body 21 controls the crane body 21 so that the container C is transferred to the trailer 10, and the stop information recognition unit 22 recognizes the engine sound as stop information, the crane body 21 The crane main body 21 is not controlled so as to transfer the container C to the trailer 10. When the engine is operating and the engine sound is output, the trailer 10 is in a state of starting the movement by the operation of the occupant, and when the engine is stopped and the engine sound is not output, the trailer 10 is operated by the occupant. Not ready to start moving. Therefore, in this crane system 1A, when the engine is operating and the engine sound is not output, the trailer 10 is not in a state of starting the movement by the operation of the occupant based on the fact that the engine sound is not output. This is confirmed by the container crane 20. As a result, the crane system 1A can confirm that the trailer 10 does not start moving when the container C is automatically transferred to the stopped trailer 10.

[Modification example]
The above-described embodiment can be implemented in various forms with various changes and improvements based on the knowledge of those skilled in the art.

For example, in the first embodiment and the second embodiment, the control unit 23 may or may not be mounted on the container crane 20 (that is, the container crane 20 may be mounted on the container crane 20). It may be configured separately). When the control unit 23 is not mounted on the container crane 20, the control unit 23 can communicate with the container crane 20.

Further, in the first embodiment and the second embodiment, the crane system 1 may not include the position information output unit 12. That is, the crane system 1 may confirm whether or not the trailer 10 is located at a position where the container C can be transferred to the trailer 10 by other means.

Further, in the first embodiment and the second embodiment, the trailer 10 may not be driven by an occupant, and may be, for example, an automatic guided vehicle. In this case, the stop information output unit 11 may output stop information indicating whether or not the vehicle is in a state of starting movement (regardless of the operation of the occupant) so as to be recognizable from the outside. Further, when it is confirmed that the trailer 10 is not in the state of starting the movement (regardless of the operation of the occupant) based on the stop information recognized by the stop information recognition unit 22, the control unit 23 is the crane main body. The crane main body 21 may be controlled so that the container is transferred to the trailer 10 by the section 21. Further, if it is not confirmed that the trailer 10 is not in the state of starting the movement (regardless of the operation of the occupant) based on the stop information recognized by the stop information recognition unit 22, the control unit 23 does not confirm that the crane body 10 is not in the state of starting the movement. It is not necessary to control the crane main body 21 so that the container is transferred to the trailer 10 by the 21.

Further, in the first embodiment, the stop information output unit 11 is a light emitting device that outputs light as stop information indicating that the trailer 10 is not in a state of starting movement when the brake of the trailer 10 is operating. However, the brake is not limited to the parking brake. That is, various brakes other than the parking brake may be adopted as the brake.

Further, in the first embodiment, the stop information output unit 11 may be a turn signal 13 that outputs a hazard lamp as stop information indicating that the trailer 10 is not in a state of starting the movement by the operation of the occupant. .. In this case, the stop information recognition unit 22 may be an image pickup device (for example, a camera) that recognizes the stop information (hazard lamp) output by the stop information output unit (direction indicator) 11. The stop information recognition unit 22 may or may not be provided on the spreader 21b. Further, the stop information recognition unit 22 may image the lower part to recognize the hazard lamp, or may image a direction other than the lower part to recognize the hazard lamp.

That is, in the crane system 1, the stop information output unit 11 is a turn signal 13 that outputs a hazard lamp as stop information indicating that the trailer 10 is not in a state of starting the movement by the operation of the occupant, and recognizes the stop information. The unit 22 includes an image pickup device that recognizes the hazard lamp as stop information output by the stop information output unit 11, and the control unit 23 recognizes the hazard lamp as stop information by the stop information recognition unit 22, the crane. When the crane main body 21 is controlled so that the container C is transferred to the trailer 10 by the main body 21, and the stop information recognition unit 22 does not recognize the hazard lamp as stop information, the crane main body 21 transfers the container C to the trailer 10. On the other hand, it is not necessary to control the crane main body 21 so as to transfer the container C. According to this, the hazard lamp is output by the trailer 10 when the occupant operates while the trailer 10 is stopped, and the trailer 10 is not in a state of starting the movement by the occupant's operation based on the hazard lamp. This is confirmed by the container crane 20. Therefore, in this crane system 1, since the hazard lamp normally provided in the trailer 10 can be used, it is possible to simplify the device configuration. Even in this case, the trailer 10 does not have to be driven by an occupant, and may be, for example, an automatic guided vehicle.

Further, in the first embodiment, the stop information recognition unit 22 may not be provided on the spreader 21b. Further, the stop information recognition unit 22 does not have to take an image below the spreader 21b. That is, the stop information recognition unit 22 may be provided at a position other than the spreader 21b, and may image a direction in which the stop information output unit 11 and the position information output unit 12 can be imaged from that position. For example, the stop information recognition unit 22 may be attached to the gate shape portion 21a via an arm, and the arm moves the stop information recognition unit 22 to a position where the stop information recognition unit 22 can recognize the stop information. It may be expanded or contracted as such.

Further, in the first embodiment, the stop information recognition unit 22 recognizes both the stop information output by the stop information output unit 11 and the position information output by the position information output unit 12. However, the stop information output unit 11 may recognize only the stop information output by the stop information output unit 11, and in this case, the position information output by the position information output unit 12 is different from the stop information output unit 11. It may be recognized by a separate configuration (eg, an image pickup device).

1,1A ... Crane system, 10 ... Trailer, 11 ... Stop information output unit (light emitting device, turn signal, engine), 12 ... Position information output unit (light emitting device), 20 ... Container crane, 21 ... Crane body part, 21b ... Spreader, 22 ... Stop information recognition unit (imaging device, sound collecting device), 23 ... Control unit, C ... Container.

Claims (9)

With a trailer
Equipped with a container crane that automatically transfers containers to the stopped trailer.
The trailer has a stop information output unit that recognizablely outputs stop information indicating whether or not the vehicle is in a state of starting movement.
The container crane
The crane body for transferring the container to the trailer,
A stop information recognition unit that recognizes the stop information output by the trailer,
It has a control unit that controls the crane body, and has a control unit.
The control unit
When it is confirmed that the trailer is not in the state of starting the movement based on the stop information recognized by the stop information recognition unit, the crane main body portion transfers the container to the trailer. Control the crane body to
If it is not confirmed that the trailer is not in the state of starting the movement based on the stop information recognized by the stop information recognition unit, the crane main body portion transfers the container to the trailer. Without controlling the crane body
It is determined whether or not the trailer is located at a position where the container can be transferred to the trailer.
A crane system that confirms that the trailer is not in a state to start moving when it is determined that the trailer is located at a position where the container can be transferred with respect to the trailer . With a trailer
Equipped with a container crane that automatically transfers containers to the stopped trailer.
The trailer has a stop information output unit that recognizablely outputs stop information indicating whether or not the vehicle is in a state of starting movement.
The container crane
The crane body for transferring the container to the trailer,
A stop information recognition unit that recognizes the stop information output by the trailer,
It has a control unit that controls the crane body, and has a control unit.
The control unit
When it is confirmed that the trailer is not in the state of starting the movement based on the stop information recognized by the stop information recognition unit, the crane main body portion transfers the container to the trailer. Control the crane body to
If it is not confirmed that the trailer is not in the state of starting the movement based on the stop information recognized by the stop information recognition unit, the crane main body portion transfers the container to the trailer. Without controlling the crane body
The stop information output unit is a light emitting device that outputs light as stop information indicating that the trailer is not in a state of starting movement when the brake of the trailer is operating.
The stop information recognition unit includes an image pickup device that recognizes light as the stop information output by the stop information output unit.
The control unit
When the stop information recognition unit recognizes the light as the stop information, the crane main body controls the crane main body so that the container is transferred to the trailer by the crane main body.
A crane system that does not control the crane body so that the crane body transfers the container to the trailer when the stop information recognition unit does not recognize the light as the stop information. The crane body includes a hanger for holding the container.
The stop information output unit is a light emitting device that outputs light as the stop information upward when the brake of the trailer is operating.
The second aspect of the present invention is the image pickup device provided in the hanging tool, the stop information recognition unit is provided to take an image of the lower part of the hanging tool, and recognizes the light as the stop information output by the stop information output unit. The crane system described. The trailer is driven by the occupants and
The stop information output unit is a light emitting device that outputs light as stop information indicating that the trailer is not in a state of starting movement by the operation of the occupant when the parking brake of the trailer is operating. The crane system according to claim 2 or 3. With a trailer
Equipped with a container crane that automatically transfers containers to the stopped trailer.
The trailer has a stop information output unit that recognizablely outputs stop information indicating whether or not the vehicle is in a state of starting movement.
The container crane
The crane body for transferring the container to the trailer,
A stop information recognition unit that recognizes the stop information output by the trailer,
It has a control unit that controls the crane body, and has a control unit.
The control unit
When it is confirmed that the trailer is not in the state of starting the movement based on the stop information recognized by the stop information recognition unit, the crane main body portion transfers the container to the trailer. Control the crane body to
If it is not confirmed that the trailer is not in the state of starting the movement based on the stop information recognized by the stop information recognition unit, the crane main body portion transfers the container to the trailer. Without controlling the crane body
The stop information output unit is a turn signal that outputs a hazard lamp as the stop information indicating that the trailer is not in a state of starting movement.
The stop information recognition unit includes an image pickup device that recognizes a hazard lamp as the stop information output by the stop information output unit.
The control unit
When the stop information recognition unit recognizes the hazard lamp as the stop information, the crane main body controls the crane main body so that the container is transferred to the trailer by the crane main body.
A crane system that does not control the crane main body so that the crane main body transfers the container to the trailer when the stop information recognition unit does not recognize the hazard lamp as the stop information. The trailer includes a position information output unit which is a light emitting device that outputs light as position information of the trailer regardless of whether or not it is in a state of starting movement.
The stop information recognition unit recognizes the light as the position information output by the position information output unit, and recognizes the light as the position information.
The control unit
Based on the light as the position information recognized by the stop information recognition unit, the crane main body determines whether or not the trailer is at a position where the container can be transferred to the trailer.
When the crane main body determines that the trailer is located at a position where the container can be transferred to the trailer, the crane main body portion transfers the container to the trailer by the crane main body portion. Control and
When the crane main body does not determine that the trailer is located at a position where the container can be transferred to the trailer, the crane main body so as to transfer the container to the trailer by the crane main body. The crane system according to any one of claims 2 to 5, which does not control. With a trailer
Equipped with a container crane that automatically transfers containers to the stopped trailer.
The trailer has a stop information output unit that recognizablely outputs stop information indicating whether or not the vehicle is in a state of starting movement.
The container crane
The crane body for transferring the container to the trailer,
A stop information recognition unit that recognizes the stop information output by the trailer,
It has a control unit that controls the crane body, and has a control unit.
The control unit
When it is confirmed that the trailer is not in the state of starting the movement based on the stop information recognized by the stop information recognition unit, the crane main body portion transfers the container to the trailer. Control the crane body to
If it is not confirmed that the trailer is not in the state of starting the movement based on the stop information recognized by the stop information recognition unit, the crane main body portion transfers the container to the trailer. Without controlling the crane body
The stop information output unit is an engine that outputs an engine sound as the stop information indicating that the trailer is in a state of starting movement.
The stop information recognition unit includes a sound collecting device that recognizes an engine sound as the stop information output by the stop information output unit.
The control unit
When the stop information recognition unit does not recognize the engine sound as the stop information, the crane main body controls the crane main body so as to transfer the container to the trailer by the crane main body.
A crane system that does not control the crane main body so that the crane main body transfers the container to the trailer when the stop information recognition unit recognizes the engine sound as the stop information. A container crane that automatically transfers containers to the trailer.
The crane body for transferring the container to the trailer,
A stop information recognition unit, which is an image pickup device that recognizes light as stop information output by the trailer when the parking brake of the trailer is operating, and a stop information recognition unit.
A control unit that controls the crane body is provided.
The control unit
When the stop information recognition unit recognizes the light as the stop information, the crane main body controls the crane main body so that the container is transferred to the trailer by the crane main body.
A container crane that does not control the crane main body so that the crane main body transfers the container to the trailer when the stop information recognition unit does not recognize the light as the stop information. It is a transfer method that automatically transfers a container to a trailer with a container crane.
The first step of outputting light as stop information by the trailer when the parking brake of the trailer is operating,
The second step of recognizing the light as the stop information output by the trailer by the container crane, and
When the container crane recognizes the light as the stop information, the container crane transfers the container to the trailer, and when the container crane does not recognize the light as the stop information, the trailer A transfer method comprising a third step of not transferring the container by the container crane.

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