JP7101146B2 - Crane control system and control method - Google Patents

Description

The present disclosure relates to a crane control system and a control method.

In the traveling control of the crane used in the container yard, a device for traveling the crane based on the deviation between the straight line target line forming a straight line in a plan view with respect to the road surface of the container yard and the current position of the crane has been proposed. (For example, see Patent Document 1). The current position of the crane in this device is sequentially acquired at predetermined intervals by a device installed in the structure of the crane and utilizing the global positioning satellite system.

Japanese Unexamined Patent Publication No. 2004-284499

By the way, the container yard is provided with a different water gradient for each storage lane and each bay of the storage lane, and the crane, which is a steel structure, tilts with respect to the road surface due to this water gradient. When the current position acquired by the antenna of the global positioning satellite system installed on the upper part of the structure with the crane tilted is aligned with the straight line target line, the position of the lower part of the crane structure and the traveling device is from the straight line target line. Shift and separate. Therefore, it is necessary to correct the deviation, and there is a problem that extra time is required for alignment.

Regarding this problem, in the crane described in Patent Document 1, the current position acquired by the apparatus is converted into a value based on the road surface where the straight target line exists in consideration of the inclination of the crane, and is converted into a value converted into the straight target line. By controlling the traveling of the crane based on the deviation from the above, the influence of the deviation due to the inclination is eliminated.

However, in the crane described in Patent Document 1, a method is used in which each time the current position of the crane is acquired, the value is calculated based on the road surface in consideration of the inclination of the crane. Therefore, the calculation is performed periodically, and the frequency of the calculation is high. As described above, when the frequency of calculation increases in the traveling control of the crane, the load applied to the calculation process becomes heavy and the probability of causing a calculation error increases. That is, the high frequency of calculation is a factor that hinders high-precision and high-speed alignment in the crane.

An object of the present disclosure is to provide a crane control system and a control method for accurately and quickly aligning a crane with a target position.

The crane control system of the present invention that achieves the above object is a crane having a pair of traveling devices arranged apart from each other in the extending direction of the girders arranged at the upper part of the structure and attached to the lower end of the structure. A main position acquisition unit that sequentially acquires the main current position and a preliminary position acquisition unit that sequentially acquires the preliminary current position, and each of these main position acquisition units, the preliminary position acquisition unit, and the pair of traveling devices. In a crane control system including a traveling control unit connected to the above, the crane extends in the traveling direction of the crane in a plan view, and when the traveling crane is tilted, the extension of the tilt of the crane. It has a main target line and a preliminary target line that bend in the extending direction according to the inclination in the current direction, and when the main position acquisition unit acquires the main current position, the main target line and the main current position are obtained. Based on the deviation for main travel from the position, the travel control unit adjusts the travel speed of each of the pair of travel devices to control the crane to travel, and the main position acquisition unit is the main current. When the position cannot be acquired, the traveling control unit travels each of the pair of traveling devices based on the preliminary traveling deviation between the preliminary target line and the preliminary current position acquired by the preliminary position acquisition unit. It is characterized in that it is configured to control the traveling of the crane whose speed is adjusted.

The crane control method of the present invention that achieves the above object is a crane having a pair of traveling devices arranged apart from each other in the extending direction of the girders arranged at the upper part of the structure and attached to the lower end of the structure. In the control method of a crane that sequentially acquires the main current position and the preliminary current position as the current position of the crane and adjusts the traveling speed of each of the pair of traveling devices to travel the crane. The main target line and the preliminary target line that extend in the traveling direction of the crane and bend in the extending direction according to the inclination of the tilt in the extending direction when the traveling crane tilts. When the main current position is acquired while the crane is traveling, the pair of traveling devices of the pair of traveling devices is based on the deviation between the set main target line and the acquired main current position. When the crane is driven by adjusting each traveling speed and the main current position cannot be acquired, the pair is based on the preliminary traveling deviation between the preliminary target line and the acquired preliminary current position. It is characterized in that the crane is driven by adjusting the traveling speed of each of the traveling devices.

According to the present invention, by making a plurality of target lines and position acquisition units, it becomes possible to control the traveling of a highly accurate and high-speed crane by suppressing the frequency of stopping traveling due to a state in which deviation cannot be acquired. Can be accurately and quickly aligned with the target position.

It is a top view of the container terminal in which a crane equipped with a control system runs. It is a perspective view which illustrates the crane of FIG. It is a block diagram which illustrates the control system of FIG. It is a perspective view which illustrates the target line of FIG. It is a flow chart which illustrates the control method of the crane by the control system of FIG. It is a block diagram which illustrates the system which added another function to the control system of FIG. It is a top view which illustrates the 2nd target line of FIG. 6 is a plan view illustrating another example of the second target line of FIG. It is a flow chart which illustrates the control method of the crane by the control system of FIG. It is a perspective view which illustrates the crane equipped with the system which added another function to the control system of FIG. It is a block diagram which illustrates the control system of FIG. It is a flow chart which illustrates the control method of the crane by the control system of FIG. It is a perspective view which illustrates the crane equipped with the system which added another function to the control system of FIG. It is a block diagram which illustrates the control system of FIG. It is explanatory drawing which illustrates the measurement result of the correction position acquisition apparatus of FIG. It is a perspective view which illustrates the crane equipped with the system which added another function to the control system of FIG. It is a block diagram which illustrates the control system of FIG. It is a part of the flow chart which illustrates the control method of the crane by the control system of FIG. It is a flow chart following "A" of FIG. It is a perspective view which illustrates the crane equipped with the 1st Embodiment of a control system. It is a block diagram which illustrates the control system of FIG. It is a top view which illustrates the main target line and the preliminary target line of FIG. 21. It is a flow diagram which illustrates the 1st Embodiment of the control method of a crane. It is another flow diagram which illustrates the 1st Embodiment of the control method of a crane.

Hereinafter, embodiments of a crane control system and a control method will be described. In the figure, the X direction is the longitudinal direction of the storage lane 13, the Y direction is the lateral direction of the storage lane 13, and the Z direction is the vertical direction. In the embodiment, "t" and "u" used for the reference numerals indicate a period. In the present disclosure, a "straight line" is a line having zero curvature in a plan view (however, it may be regarded as an error), and a "curve" is a line other than a straight line, and the curvature is zero in a plan view. It shall indicate a line that is larger than, bent or curved, and distinguishes "straight line" and "curve" as different lines. That is, in the present disclosure, a "line" is defined as a curve formed by connecting a number of line segments at their end points.

As illustrated in FIGS. 1 to 4, the control system 30 is a system that controls the portal crane 20 that handles the container C at the container terminal 10 to travel based on the target line 40.

As illustrated in FIG. 1, the container terminal 10 is divided into a container storage yard 11 adjacent to each other in the X direction and a cargo handling area 12 of the ship. The container storage yard 11 includes a plurality of storage lanes 13 in which a large number of containers C are stored. The storage lane 13 extends in the X direction (the direction from the quay toward the ship in the embodiment), and the storage lane 13 is installed so that its longitudinal direction is directed to the X direction. The ship's cargo handling area 12 includes a plurality of quay cranes 14 traveling on rails laid along the quay. The storage lane 13 may be installed with its longitudinal direction facing the Y direction.

In the container terminal 10, a premises chassis 15 for transporting the container C between the container storage yard 11 and the cargo handling area 12 of the ship and an outpatient chassis 16 for transporting the container C between the container storage yard 11 and the outside run. Further, in the container terminal 10, a plurality of gantry cranes 20 travel in the X direction along the storage lane 13 with the storage lane 13 straddling the storage lane 13 in the Y direction.

A management building 17 is installed in the container terminal 10. An upper system 18 and a communication device 19 are installed in the management building 17, and instructions for cargo handling work are given from the upper system 18 to the cargo handling equipment (14 to 16, 20) via the communication device 19.

The container terminal 10 can be exemplified as an automated terminal in which cargo handling equipment can be automatically handled according to an instruction from the host system 18, or a terminal in which a remote control controller or the like is installed in the management building 17 and the cargo handling equipment can be operated remotely. .. Further, the container terminal 10 can be exemplified as a terminal in which a driver is boarded on a cargo handling device and directly operated.

As illustrated in FIG. 2, the gantry crane 20 has a hanger 21, a girder portion 22, a structure 23, and a pair of traveling devices 24a and 24b. The hanger 21 is a device that can be raised and lowered in the Z direction by a wire suspended from a trolley 25 configured so as to be traversing in the Y direction along the girder portion 22. The girder portion 22 is a member that suspends and supports the hanger 21 via the trolley 25 and extends in the Y direction. The structure 23 is a member that supports the girder portion 22 at the upper part. Further, the structure 23 has a trolley 25 and legs 26a and 26b, and has a substantially rectangular shape with the longitudinal direction facing the Y direction and the lateral direction facing the X direction in a plan view. The leg portion has four leg bodies 26a extending in the Z direction and two horizontal beams 26b connecting the lower ends of the leg bodies 26a adjacent to each other in the X direction. The upper ends of the legs 26a adjacent to each other in the Y direction are connected by the girder portion 22. The pair of traveling devices 24a and 24b are devices that are arranged apart from each other in the extending direction (Y direction) of the girder portion 22 in a plan view and are attached to the lower end of the structure 23.

Each of the pair of traveling devices 24a and 24b is arranged at the lower end of the horizontal beam 26b and has the tires 27a and 27b and the electric motors 28a and 28b, and the electric motors 28a and 28b are either one of the horizontal beams 26b. It is electrically connected to the inverter 29 installed in. Examples of the tires 27a and 27b include rubber tires. The electric motors (rotary drive machines) 28a and 28b are devices corresponding to each of the pair of traveling devices 24a and 24b and connected to the corresponding tires 27a and 27b. The electric motors 28a and 28b shall include a speed reducer. The inverter 29 is a device that adjusts the rotation speed or the rotation torque of the electric motors 28a and 28b. The traveling devices 24a and 24b may include passive wheels to which the electric motors 28a and 28b are not connected, in addition to the tires 27a and 27b which are driving wheels. Further, each of the traveling devices 24a and 24b may have a plurality of electric motors.

The pair of traveling devices 24a and 24b are paired on the left and right, and are arranged apart from each other at both ends of the structure 23 in the Y direction in a plan view. The pair of traveling devices 24a and 24b are devices in which the corresponding tires 27a and 27b are independently rotated by driving the electric motors 28a and 28b independently on the left and right by the inverter 29. By rolling the corresponding tires 27a and 27b, the gantry crane 20 travels in the X direction, which is the lateral direction of the structure 23 and the extending direction of the storage lane 13. More specifically, when the rotational speeds or rotational torques of the electric motors 28a and 28b are equal, the traveling speeds of the pair of traveling devices 24a and 24b become equal, and the portal crane 20 travels straight without changing its direction. On the other hand, when the rotational speeds or rotational torques of the electric motors 28a and 28b are different, a traveling speed difference occurs between the pair of traveling devices 24a and 24b, and the portal crane 20 advances in a different direction according to the traveling speed difference. .. In the present disclosure, the traveling speed of the traveling devices 24a and 24b indicates the amount of change in the position of the traveling devices 24a and 24b per unit time. The electric power for driving the electric motors 28a and 28b is supplied from a battery (not shown) or a generator installed in the portal crane 20. Alternatively, the electric power is supplied from the outside by a cable, a bus bar, or the like.

As illustrated in FIG. 3, the control system 30 includes antennas 31a and 31b and a control device 32, and the control device 32 controls the drive of the electric motors 28a and 28b of the traveling devices 24a and 24b. It is configured to be electrically connected to the antennas 31a and 31b and the communication device 33.

Each of the antennas 31a and 31b is an antenna of two global positioning satellite systems (GNSS), and consists of longitude, latitude, and altitude based on information such as time received from a plurality of artificial satellites in a predetermined period t. Position coordinates Pa and Pb are positioned. Examples of the method for positioning the position coordinates Pa and Pb include independent positioning, relative positioning, DGPS (differential GPS) positioning, and RTK (real-time kinematic GPS) positioning.

Each of the antennas 31a and 31b may have a configuration capable of acquiring longitude and latitude as plane coordinates. Each of the antennas 31a and 31b is in a direction orthogonal to the Y direction, which is the extending direction of the girder portion 22, in a plan view, and is in the X direction, which is the traveling direction in which the portal crane 20 travels in the lateral direction of the structure 23. Separately arranged at both ends. The antennas 31a and 31b may be installed in the Z-direction midway portion of the leg body 26a of the portal crane 20 or in the vicinity of the traveling devices 24a and 24b, but the structure such as the upper end of the leg body 26a and the girder portion 22 may be installed. It is preferable to install it on the upper part of the body 23 because the sensitivity when receiving information from the artificial satellite is improved.

The control device 32 is hardware composed of a central processing unit (CPU) that performs various information processing, an internal storage device that can read and write programs and information processing results used for performing the various information processing, and various interfaces. Is.

The control device 32 has a position acquisition unit 34 and a travel control unit 35 as each functional element, and the travel control unit 35 travels on the portal crane 20 based on the target line 40 stored in advance in the internal storage device. Control to make it. Each functional element is stored as a program in the internal storage device of the control device 32, read out by the central processing unit, and executed as appropriate. In addition to the program, an electric circuit in which each functions independently is also exemplified as each functional element. Further, each of the functional elements may be configured by a programmable logic controller (PLC), and the control device 32 may be an aggregate of a plurality of PLCs.

The position acquisition unit 34 inputs the position coordinates Pa and Pb acquired by each of the antennas 31a and 31b in each predetermined cycle t, and acquires and calculates the current position Pt of the portal crane 20 in each predetermined cycle t. This is a functional element that outputs the current position Pt to the traveling control unit 35. It is desirable that the position acquisition unit 34 calculates the current position Pt as the midpoint of the position coordinates Pa and Pb. The position acquisition unit 34 may be a functional element for calculating the current position Pt based on the position coordinates Pa, Pb and the structural dimensions of the portal crane 20.

The current position Pt indicates the position (planar coordinate position) where the gantry crane 20 currently exists in a plan view. The current position Pt is the Y-direction end or the Y-direction of the structure 23 in the plane (not limited to the horizontal plane) in which the position coordinates Pa and Pb acquired by the antennas 31a and 31b installed on the upper part of the structure 23 exist. It is preferable to indicate the position of the central portion. Further, the current position Pt preferably indicates the position of the center of the structure 23 in the X direction in a plan view, and more preferably indicates the position of the midpoint of the position coordinates Pa and Pb in a plan view. By indicating the current position Pt on the center line in the X direction of the structure 23, it becomes possible to set the center in the X direction of the container C as the control target value of the portal crane 20, and the alignment of the portal crane 20 becomes possible. Will be advantageous to. When the current position Pt indicates a spatial coordinate position, the height of the current position Pt is preferably a height above the upper surface of the structure 23.

The traveling control unit 35 is input with the current position Pt output from the position acquisition unit 34, and is based on the traveling deviation ΔDt between the target line 40 and the current position Pt stored in advance in the internal storage device, and the inverter 29. It is a functional element that adjusts the rotation speeds Na and Nb of the electric motors 28a and 28b via the above to adjust the traveling speeds of the pair of traveling devices 24a and 24b, respectively. The traveling deviation ΔDt indicates the amount of deviation of the current position Pt with respect to the target line 40, and is between the intersection of the vertical line passing through the current position Pt and orthogonal to the target line 40 and the current position Pt in a plan view. Indicates the distance. For the traveling deviation ΔDt, the deviation on the left side in the Y direction in the figure is positive, and the deviation on the right side in the Y direction is negative.

As illustrated in FIG. 4, the target line 40 is stored (set) in advance in the internal storage device of the control device 32 and becomes a target value in the control for traveling the portal crane 20. The target line 40 is set for each storage lane 13, and a plurality of target lines 40 are set in the container terminal 10. The target line 40 extends in the X direction in a plan view and bends in the Y direction according to the inclination of the portal crane 20 in the Y direction when the traveling portal crane 20 is tilted with respect to the horizontal plane. Consists of.

As the target line 40, a polygonal line formed by connecting a plurality of line segments at their end points is exemplified. The target line 40 forms a straight line in the X direction in a plan view when the moving portal crane 20 is not tilted with respect to the horizontal plane. Further, in the present disclosure, the inclination with respect to the horizontal plane generated in the moving gantry crane 20 includes the inclination due to the deterioration over time in addition to the inclination due to the water gradient provided on the road surface 48 of the container storage yard 11. Examples of this deterioration over time include deterioration of the tires 27a and 27b of the gantry crane 20 and subsidence of the road surface 48 of the container storage yard 11.

As will be described later, the target line 40 bends its midway position according to the inclination of the running portal crane 20 in the Y direction with reference to the straight line target line 42 extending in the X direction and forming a straight line in a plan view. It is a line that was made to. The target line 40 connects a plurality of current position Pts acquired by the position acquisition unit 34 during the traveling of the portal crane 20 with the straight target line 42 as the target value by experiments and tests in advance. It is composed of trajectories. Further, the target line 40 connects a plurality of current position Pts predicted to be acquired by the position acquisition unit 34 in the order of travel when it is assumed that the portal crane 20 travels with the linear target line 42 as the target value by simulation in advance. It may be composed of trajectories.

For example, when the portal crane 20 traveling in a place where the road surface of the container storage yard 11 is tilted downward toward the right side in the Y direction is tilted to the right side in the Y direction, the target line 40 is a straight target line 42 in a plan view. It is located on the right side in the Y direction with respect to it, and is bent before and after it. Further, when the portal crane 20 traveling on the horizontal road surface of the container storage yard 11 is not tilted, the target line 40 overlaps with the straight target line 42 in a plan view and is straight in the X direction. .. Further, when the portal crane 20 traveling in a place where the road surface 48 of the container storage yard 11 is tilted downward toward the left side in the Y direction is tilted to the left side in the Y direction, the target line 40 is a straight line target line in a plan view. It is located on the left side in the Y direction with respect to 42, and is bent before and after it.

It should be noted that each of the target line 40 and the straight line target line 42 may have coordinate information on the XY plane and may not include coordinate information in the Z direction. When the target line 40 and the straight line target line 42 include the coordinate information in the Z direction, the height of the target line 40 in the Z direction is the height of each antenna 31a and 31b with the road surface 48 of the container storage yard 11 as a reference for the height. It is preferable to make a yard.

The target line 40 has a plurality of target positions 41, and is composed of a polygonal line bent at a position where the inclination of the portal crane 20 in the Y direction changes before and after the target positions 41. Is desirable.

A plurality of target positions 41 are arranged on the target line 40, and one of them is a position where the portal crane 20 traveling based on the target line 40 becomes a stop target. The target position 41 is a position corresponding to a stop position 43 arranged at a predetermined distance on the straight line target line 42 as described later. The target position 41 is a position that moves back and forth in the X direction according to the inclination of the running portal crane 20 in the X direction in a plan view with respect to the corresponding stop position 43, and is in the Y direction according to the inclination in the Y direction. It will be a position that depends on.

The stop position 43 is a position arranged on the straight line target line 42 extending in the X direction and forming a straight line in a plan view, and is arranged at predetermined distances on the straight line target line 42, and is a position of the container storage yard 11. The position is based on the road surface. In other words, the stop position 43 is a position with reference to the traveling devices 24a and 24b. The stop position 43 is set for each bay indicating the arrangement position of the container C in the X direction of the storage lane 13 when the straight line target line 42 is a straight line toward the X direction which is the longitudinal direction of the storage lane 13. It is preferable, and more preferably, it is set at the center in the X direction in the bay.

For example, when the gantry crane 20 traveling in a place where the road surface 48 of the container storage yard 11 is tilted downward toward the front side in the X direction, the target position 41 is stopped correspondingly in a plan view. It is located on the front side in the X direction with respect to the position 43. Further, when the gantry crane 20 traveling on the horizontal road surface 48 of the container storage yard 11 is not tilted, the target position 41 overlaps with the stop position 43 in a plan view. Further, when the gantry crane 20 traveling in a place where the road surface 48 of the container storage yard 11 is tilted downward toward the rear side in the X direction, the target position 41 corresponds to the rear side in the X direction in a plan view. It is located on the rear side in the X direction with respect to the stop position 43. Further, when the gantry crane 20 traveling in a place where the road surface 48 of the container pavement 11 is tilted downward toward the right side in the Y direction is tilted to the right side in the Y direction, the target position 41 is stopped correspondingly in a plan view. It is located on the right side in the Y direction with respect to the position 43. Further, when the gantry crane 20 traveling in a place where the road surface 48 of the container pavement 11 is tilted downward toward the left side in the Y direction is tilted to the left side in the Y direction, the target position 41 is stopped correspondingly in a plan view. It is located on the left side in the Y direction with respect to the position 43.

When the target line 40 includes the coordinate information in the Z direction, the target position 41 moves up and down in the Z direction according to the inclination of the portal crane 20 in the X direction. In this case, the target line 40 is a three-dimensional polygonal line.

As illustrated in FIG. 5, the control method of the gantry crane 20 is a method in which the communication device 33 receives a cargo handling instruction from the host system 18 and causes the gantry crane 20 to travel based on the cargo handling instruction. This control method is repeated every predetermined cycle t while the portal crane 20 is running. In the control method of the present disclosure, a position that is a stop target of the portal crane 20 is set at the time of starting, and the control method is terminated when the portal crane 20 is stopped at the stop target position. ..

When started, the antennas 31a and 31b acquire the position coordinates Pa and Pb, and the position acquisition unit 34 acquires the current position Pt of the portal crane 20 based on the position coordinates Pa and Pb (S110).

Next, the traveling control unit 35 calculates the traveling deviation ΔDt based on the current position Pt acquired by the position acquisition unit 34 and the preset target line 40 (S120). Next, the traveling control unit 35 determines whether or not the calculated traveling deviation ΔDt is zero (S130). When the travel deviation ΔDt is determined to be zero (S130: YES), the travel control unit 35 maintains the travel speed difference between the pair of travel devices 24a and 24b at the current travel speed difference via the inverter 29 (S140). ), Return to the start. On the other hand, when it is determined that the traveling deviation ΔDt is not zero (S150: NO), the traveling control unit 35 sets the traveling deviation ΔDt of the pair of traveling devices 24a and 24b to zero via the inverter 29. Adjust to the difference in running speed (S150) and return to the start.

As described above, the control system 30 is not a straight line target line 42 forming a straight line in a plan view with respect to the road surface 48 of the container storage yard 11, but a plane reflecting the inclination of the moving portal crane 20 in the Y direction. The traveling of the portal crane 20 is controlled based on the target line 40 that bends visually. Therefore, according to this control system 30, the current position Pt acquired by the position acquisition unit 34 is set as the target value of the control for traveling the target line 40 reflecting the inclination of the traveling portal crane 20. It is possible to omit the operation of converting to the value of the road surface reference. This is advantageous for reducing the frequency of operations in the control of traveling, and in addition to being able to reduce the load on the operation processing, it is possible to reduce the probability that an operation error will occur. Along with this, it becomes possible to control the traveling of the gantry crane 20 with high accuracy and high speed, and it is possible to accurately and quickly align the gantry crane 20 with the target position.

Further, in the control system 30, as a stop target position of the gantry crane 20, a target position 41 that shifts back and forth and left and right according to the inclination of the gantry crane 20 with respect to the corresponding stop position 43 is set as a stop target position. To. Therefore, by controlling the traveling to match the current position Pt of the gantry crane 20 with the target position 41 and stopping the traveling, it is advantageous for the alignment of the gantry crane 20 in the cargo handling work.

The current position Pt may be acquired based on the position coordinates acquired by the antenna of one global positioning satellite system, or may be acquired by using an antenna that can transmit and receive to and from the host system 18 in addition to the global positioning satellite system. ..

As illustrated in FIG. 6, in the control system 30, the control device 32 has a target area 44 with respect to the target line 40 in the internal storage device, and uses the target area 44 as a functional element to provide a second target line 45. The setting unit 36 for setting may be provided, and the traveling control unit 35 may use the second target line 45 instead of the target line 40.

The setting unit 36 inputs the target line 40 and the target area 44 stored in the internal storage device in advance, and sets the second target line 45 as the target value between the start point P0 and the end point P1 of the control to be driven. It is a functional element created and output to the traveling control unit 35.

As illustrated in FIGS. 7 and 8, the target region 44 extends in both directions from the target line 40 in the Y direction with predetermined widths Ba and Bb in a plan view, and one limit end 44a in the Y direction and the other It is a region surrounded by the limit end 44b of. Similar to the target line 40, the target area 44 is the container C stored in the storage lane 13 and other storage lanes adjacent to the storage lane 13 in which the traveling portal crane 20 is stored in the storage lane 13 by experiments, tests or simulations in advance. It is set as an area that does not collide with another gantry crane 20 that is traveling across the 13 and an area that does not enter the traveling path along the storage lane 13 in which the premises chassis 15 and the outpatient chassis 16 travel.

The widths Ba and Bb are set to a width that can avoid collision and intrusion of the structure 23 and the pair of traveling devices 24a and 24b even if the current position Pt of the traveling portal crane 20 reaches one limit end 44a. .. The widths Ba and Bb may be set to different values.

The second target line 45 is a target value for control to be driven, and is set to a route different from the route tracing the target line 40 between the start point P0 and the end point P1 within the range within the target area 44. To. The route length of the second target line 45 is preferably shorter than the route length of the route tracing the target line 40 between the start point P0 and the end point P1, and is within the range within the target area 44 from the start point P0. The shortest distance to the end point P1 is more preferred. The second target line 45 is exemplified by the spline curve of FIG. 7, the approximate straight line of FIG. 8, or the continuity of the spline curve or the approximate straight line for each section divided between the start point P0 and the end point P1. Will be done. The start point P0 is a point where the control for traveling is started, the current position of the gantry crane 20 before the control for traveling is exemplified, and the end point P1 is instructed by the cargo handling instruction received from the host system 18. An example is the position where the stop target is set.

In the traveling control unit 35, the current position Pt output from the position acquisition unit 34 and the second target line 45 set by the setting unit 36 instead of the target line 40 are input, and the second target line 45 is input. Based on the traveling deviation ΔDt between the wire 45 and the current position Pt, the rotation speeds Na and Nb of the electric motors 28a and 28b are adjusted via the inverter 29 to adjust the traveling speeds of the pair of traveling devices 24a and 24b, respectively. It is a functional element to adjust.

As illustrated in FIG. 9, the control method of the gantry crane 20 is described above when the communication device 33 receives the cargo handling instruction from the host system 18 and causes the gantry crane 20 to travel based on the cargo handling instruction. Before performing the above step S110 in the control method, the setting unit 36 sets the second target line 45 (S100). Further, in the above step S120, the second target line 45 in which the traveling control unit 35 is set is used.

As described above, by using the second target line 45, the control system 30 can control the traveling of the portal crane 20 with high accuracy and high speed, and the portal crane 20 can be accurately and quickly placed at the target position. It can be aligned.

In addition, the control system 30 searches for a route that enables smooth travel and a route that can be reached earlier than the stop target position, instead of the route that traces the target line 40 as the target value of the control to be traveled. Therefore, by using a smoothly curved path as the target value of the traveling control, it is advantageous to gradually change the speed difference between the pair of traveling devices 24a and 24b, and the gate accompanying a sudden change in the speed difference. The shaking of the type crane 20 can be suppressed. Further, by using a route shorter than the route length of the route tracing the target line 40 as the target value of the control for traveling, it is advantageous for the gantry crane 20 to arrive at the stop target position earlier, and the traveling is performed. The time required for control can be shortened.

Depending on the situation, the control system 30 may set a target line having a route length longer than the route length of the route tracing the target line 40 within the range within the target area 44 as the target value for the control to be driven. ..

As illustrated in FIGS. 10 and 11, the control system 30 may include an antenna 31c. Further, the control device 32 sets the tilt of the portal crane 20 in the Y direction, that is, the reference tilt θa as a reference of the angle around the X axis, as a reference value when the current position Pt coincides with the correction position 46 in the internal storage device. It may have a parameter acquisition unit 37 and a correction unit 38 as functional elements. This reference slope θa is a slope with respect to the horizontal plane.

The antenna 31c is an antenna of a global positioning satellite system (GNSS) like the antennas 31a and 31b, and is based on information such as time received from a plurality of artificial satellites at a predetermined cycle t from longitude, latitude, and altitude. Get the position coordinates Pc. The antenna 31c is arranged at the other end of the structure 23 in the X direction with respect to the antenna 31a or the antenna 31b in a plan view. In this embodiment, the antennas 31a, 31b, and 31c are configured to be able to acquire longitude, latitude, and height as spatial coordinates (three-dimensional coordinates) using a global positioning satellite system.

The three antennas 31a to 31c are arranged at three corners of the four corners of the rectangle, assuming that the shape of the structure 23 of the portal crane 20 in a plan view is substantially rectangular. By arranging the antennas 31a to 31c in this way, it is advantageous to acquire the inclination of the portal crane 20 in the X direction and the inclination in the Y direction.

At least one correction position 46 is arranged on the line of the target line 40. A plurality of correction positions 46 are preferably arranged on one target line 40, and more preferably composed of a plurality of target positions 41 arranged on the target line 40. Since the correction position 46 is composed of the target position 41, it becomes possible to perform the correction control every time the portal crane 20 passes the target position 41 or stops at the target position 41 by the control of traveling. It is advantageous to increase the frequency of.

As the reference inclination θa, the inclination in the Y direction of the inclination of the road surface 48 of the container storage yard 11 at the correction position 46 is set as an initial value, and the inclination of the portal crane 20 when the current position Pt matches the correction position 46. The left and right inclination in the Y direction is shown. In the present disclosure, when the current position Pt matches the correction position 46, the current position Pt when the portal crane 20 is stopped is corrected by the current position Pt while the portal crane 20 is traveling in addition to the correction position 46. It also includes when passing through position 46.

The parameter acquisition unit 37 inputs the position coordinates Pa and Pc acquired by each of the antennas 31a and 31c in each predetermined cycle t, and calculates the inclination θt of the portal crane 20 with respect to the horizontal plane as a parameter for each predetermined cycle t. , Is a functional element that outputs the calculated inclination θt to the correction unit 38. In the present disclosure, the parameter indicates a value that changes depending on the inclination of the portal crane 20 in the Y direction, and the inclination θt is specifically exemplified.

The correction unit 38 inputs the inclination θt as a parameter acquired by the parameter acquisition unit 37, and is based on the correction deviation Δθt between the input inclination θt and the reference inclination θa which is a reference value stored in advance in the internal storage device. It is a functional element that corrects the target line 40.

The correction deviation Δθt is a value obtained by subtracting the slope θt from the reference slope θa, and the slope to the left in the Y direction in the figure is positive and the slope to the right in the Y direction is negative. For example, when the correction deviation Δθt is negative, the gantry crane 20 is tilted to the right in the Y direction due to aged deterioration, and when the current position Pt matches the correction position 46, the gantry crane 20 is tilted. The lower part of the structure 23 and the traveling device 24b are in a state of being closer to the side of the storage lane 13. Further, when the correction deviation Δθt is positive, the gantry crane 20 is tilted to the left in the Y direction due to aged deterioration, and when the current position Pt matches the correction position 46, the gantry crane 20 is tilted. The lower left side portion of the structure 23 and the traveling device 24a are in a state of being closer to the side of the storage lane 13.

When the correction deviation Δθt is positive, the correction unit 38 corrects the target line 40 by shifting it parallel to the left side in the Y direction in a plan view so that the correction deviation Δθt becomes zero. Further, the correction unit 38 corrects the target line 40 by shifting it parallel to the right side in the Y direction in a plan view so that the correction deviation Δθt becomes zero when the correction deviation Δθt is negative.

As illustrated in FIG. 12, the control method of the gantry crane 20 by the control system 30 is a method that is repeatedly performed while the gantry crane 20 is traveling. It is also a method performed when the portal crane 20 is stopped.

When started, the antennas 31a, 31b, 31c acquire the position coordinates Pa, Pb, Pc, and the position acquisition unit 34 acquires the current position Pt of the portal crane 20 based on the position coordinates Pa, Pb (S210). .. Next, the parameter acquisition unit 37 acquires the current inclination θt of the portal crane 20 in the Y direction as a parameter based on the position coordinates Pa and Pc (S220).

Next, the correction unit 38 determines whether or not the current position Pt acquired by the position acquisition unit 34 matches the correction position 46 (S230). If it is determined that the current position Pt does not match the correction position 46 (S230: NO), the process returns to the start. On the other hand, when it is determined that the current position Pt matches the correction position 46 (S230: YES), the correction unit 38 determines that the slope θt is a parameter acquired by the parameter acquisition unit 37 and the reference slope θa is a preset reference value. The correction deviation Δθt is calculated based on (S240).

Next, the correction unit 38 determines whether or not the calculated correction deviation Δθt is zero (S250). When it is determined that the correction deviation Δθt is zero (S250: YES), the process returns to the start. On the other hand, if it is determined that the correction deviation Δθt is not zero (S250: NO), the correction unit 38 corrects the target line 40 so that the correction deviation Δθt becomes zero (S260), and returns to the start. ..

As described above, the control system 30 of the gantry crane 20 corrects the target line 40 so as to reflect the deviation of the current inclination θt of the portal crane 20 from the reference inclination θa. As a result, the corrected target line 40 can be made to cope with the aged deterioration of the portal crane 20 and the aged deterioration of the road surface 48 of the container storage yard 11, and the traveling control of the portal crane 20 with high accuracy and high speed becomes possible. Therefore, the portal crane 20 can be accurately and quickly aligned with the target position.

Further, the control system 30 does not correct the reference inclination θa at the time of correction, but corrects only the target line 40 possessed by the control system 30. This makes it possible to control each portal crane 20 to travel according to different situations. When a plurality of gantry cranes 20 travel in one vault 13 and the same correction is made in all of the control systems 30 of the plurality of gantry cranes 20, the road surface of the container yard 11 May be considered to have deteriorated over time and the reference inclination θa may be corrected.

As illustrated in FIGS. 13 to 15, the control system 30 may have a correction position acquisition device 39a and a correction target body 39b instead of the antenna 31a. Further, the control device 32 has the reference position Qa of the correction target body 39b as a reference value when the current position Pt matches the correction position 46 in the internal storage device, and the parameter acquisition unit 37 has the correction target body 39b as a parameter. The position coordinate Qt may be acquired, and the correction unit 38 may correct the target line 40 based on the correction deviation ΔQt between the position coordinate Qt and the reference position Qa.

The correction position acquisition device 39a is a device installed in the structure 23 or the traveling device 24b of the portal crane 20 and measures the distance from the correction position acquisition device 39a to the correction target body 39b at predetermined cycle t. As the correction position acquisition device 39a, a one-dimensional, two-dimensional, or three-dimensional rider sensor is exemplified.

At least one correction target body 39b is installed along the target line 40, and the position that can be measured by the correction position acquisition device 39a when the current position Pt of the portal crane 20 matches the correction position 46 is set as the installation position. Illustrated. The correction target body 39b can specify the cross-sectional shape of the side portion (the left portion in the Y direction) facing the portal crane 20 by a plurality of distances measured by the correction position acquisition device 39a at predetermined cycle t. It is preferable that the cross-sectional shape of the lateral portion thereof has at least one corner between both ends in the X direction. In the present disclosure, the lateral portion facing the portal crane 20 is a portion whose distance can be measured by the correction position acquisition device 39a. Further, the shape having at least one angle between both ends in the X direction is exemplified by a triangular shape, a stepped shape, or a polygonal shape (however, excluding a rectangular shape). The angle is not limited to the one protruding toward the left side in the Y direction, and the angle may be recessed toward the right side in the Y direction. In this way, the horizontal cross-sectional shape of the lateral portion of the correction target body 39b is formed into a shape having at least one angle between both ends in the X direction, so that the cross-sectional shape specified by the correction position acquisition device 39a can be used. The plane coordinates of the angle can be specified, and the position coordinate Qt of the correction target body 39b can specify the plane coordinates of the specified angle.

As the reference position Qa, the position coordinates of the correction target body 39b measured in advance by the correction position acquisition device 39a are set as the initial value in a state where the current position Pt of the portal crane 20 matches the correction position 46. As the reference position Qa, a calculated value calculated based on the inclination in the Y direction of the inclination of the road surface of the container storage yard 11 at the correction position 46 may be used.

The parameter acquisition unit 37 inputs a plurality of distances acquired by the correction position acquisition device 39a at predetermined period t, calculates the position coordinate Qt of the correction target body 39b as a parameter, and uses the calculated position coordinate Qt as the correction unit. It is a functional element to be output to 38. In the present disclosure, the parameter indicates a value that changes depending on the inclination of the portal crane 20 in the Y direction, and specifically, the position coordinate Qt of the correction target body 39b is exemplified.

The correction unit 38 is input with the position coordinate Qt acquired by the parameter acquisition unit 37, and is based on the correction deviation ΔQt between the input position coordinate Qt and the reference position Qa which is a reference value stored in advance in the internal storage device. It is a functional element that corrects the target line 40.

The correction deviation ΔQt is a value obtained by subtracting the position coordinate Qt from the reference position Qa, and the separation distance to the left side in the Y direction in the figure is positive, and the separation distance to the right side in the Y direction is negative. For example, when the correction deviation ΔQt is negative, the gantry crane 20 is tilted to the right in the Y direction due to aged deterioration, and when the current position Pt matches the correction position 46, the gantry crane 20 is tilted. The lower part of the structure 23 and the traveling device 24b are in a state of being closer to the side of the storage lane 13. Further, when the correction deviation ΔQt is positive, the gantry crane 20 is tilted to the left in the Y direction due to aged deterioration, and when the current position Pt matches the correction position 46, the gantry crane 20 is tilted. The lower left side portion of the structure 23 and the traveling device 24a are in a state of being closer to the side of the storage lane 13.

When the correction deviation ΔQt is positive, the correction unit 38 corrects the target line 40 by shifting it parallel to the left side in the Y direction in a plan view so that the correction deviation ΔQt becomes zero. Further, the correction unit 38 corrects the target line 40 by shifting it parallel to the right side in the Y direction in a plan view so that the correction deviation ΔQt becomes zero when the correction deviation ΔQt is negative.

The control method of the portal crane 20 by the control system 30 may be performed in the same step as the inclination θt in the flow diagram illustrated in FIG. 12 may be the position coordinate Qt and the correction deviation Δθt may be the correction deviation ΔQt. The method.

As described above, the control system 30 of the portal crane 20 corrects the target line 40 so as to reflect the deviation of the acquired position coordinate Qt of the correction target body 39b from the reference position Qa. This makes it possible to control the traveling of the gantry crane 20 with high accuracy and high speed, and it is possible to accurately and quickly align the gantry crane 20 with the target position.

The control system 30 is configured to correct the position of the target position 41 on the target line 40 according to the inclination of the portal crane 20 in the X direction by the same method as the method of correcting the deviation in the Y direction. May be good. For example, when the current position Pt of the gantry crane 20 coincides with the correction position 46 and the gantry crane 20 is tilted toward the front side in the X direction, the target position 41 is in the X direction with respect to the corresponding stop position 43 in a plan view. It is corrected to the front position. In this way, by correcting the target line 40 in the Y direction and the target position 41 in the X direction in a plan view, it is advantageous for the alignment when the gantry crane 20 is stopped.

The control system 30 is configured such that the parameter acquisition unit 37 calculates the inclination θt of the portal crane 20 based on the position coordinates Pa and Pc acquired by the antennas 31a and 31c, but the configuration is not limited to this. For example, instead of the antenna 31c and the parameter acquisition unit 37, an inclinometer that directly measures the inclination θt of the portal crane 20 may be provided. It is desirable that the inclinometer be installed on the girder portion 22 of the gantry crane 20.

As illustrated in FIGS. 16 and 17, the control system 30 may perform control to create the target line 40. In the control system 30, the control device 32 has a conversion position acquisition unit 50, a creation control unit 51, and a creation unit 52 as each functional element, and the creation control unit 51 is stored in advance in the internal storage device. After controlling the portal crane 20 to travel based on the straight line target line 42, control is performed to create the target line 40.

The conversion position acquisition unit 50 acquires the conversion position Rt of the portal crane 20 at predetermined period t by inputting the current position Pt acquired by the position acquisition unit 34 and the inclination θt acquired by the parameter acquisition unit 37. , Is a functional element that outputs the acquired conversion position Rt to the creation control unit 51. It is desirable that the conversion position acquisition unit 50 calculates the current position Pt as the midpoint of the position coordinates Pa and Pb. The position acquisition unit 34 may be a functional element for calculating the current position Pt based on the position coordinates Pa, Pb and the structural dimensions of the portal crane 20.

The conversion position Rt is the Y-direction end or the Y-direction of the structure 23 as the position (planar coordinates) where the portal crane 20 currently exists in a plan view on the reference horizontal plane 47 which is the horizontal plane where the straight line target line 42 exists. It is preferably the position of the central part of. The converted position Rt is the current position for the distance calculated by the triangular function using the height and inclination θt of the current position Pt with respect to the reference horizontal plane 47, assuming that the spatial position coordinates of the straight line target line 42 and the reference horizontal plane 47 are known. This is the position where Pt is shifted in the Y direction.

For example, when the gantry crane 20 traveling in a place where the road surface 48 of the container pavement 11 is tilted downward toward the left side in the Y direction is tilted to the left side in the Y direction, the converted position Rt is the current position Pt in a plan view. It is located on the right side in the Y direction. Further, when the gantry crane 20 traveling on the horizontal road surface 48 of the container storage yard 11 is not tilted, the converted position Rt overlaps with the current position Pt in a plan view. Further, when the gantry crane 20 traveling in a place where the road surface 48 of the container pavement 11 is tilted downward toward the right side in the Y direction is tilted to the right side in the Y direction, the converted position Rt is the current position Pt in a plan view. It is located on the left side in the Y direction.

It is desirable that the reference horizontal plane 47 is set on the road surface 48 in which the water gradient is not formed in the container storage yard 11. Further, the reference horizontal plane 47 may be set to a horizontal plane having an average value of the heights of the road surfaces 48 in the container storage yard 11.

In the creation control unit 51, the conversion position Rt output from the conversion position acquisition unit 50 is input, and the creation deviation Δdt, which is the deviation between the linear target line 42 stored in advance in the internal storage device and the conversion position Rt, is set. Based on this, it is a functional element that adjusts the rotational speeds Na and Nb of the electric motors 28a and 28b via the inverter 29 to adjust the traveling speeds of the pair of traveling devices 24a and 24b, respectively. The deviation Δdt for creation indicates the amount of deviation of the conversion position Rt with respect to the straight line target line 42, and the intersection of the vertical line passing through the conversion position Rt and orthogonal to the straight line target line 42 and the conversion position Rt in a plan view. Shows the distance between. For the creation deviation Δdt, the deviation on the left side in the Y direction in the figure is positive, and the deviation on the right side in the Y direction is negative. Further, the creation control unit 51 is also a functional element for sequentially storing the current position Pt when the converted position Rt coincides with the stop position 43 arranged on the straight line target line 42 in the internal storage device.

The creation unit 52 has a function of inputting a plurality of current position Pts stored in the internal storage device by the creation control unit 51 and creating a target line 40 as a locus connecting the input plurality of current position Pts in the traveling order. It is an element. When the gantry crane 20 travels over the plurality of storage lanes 13, it is desirable to separately store the plurality of current position Pts stored in the internal storage device for each storage lane 13.

As illustrated in FIGS. 18 and 19, in the control method of the portal crane 20 by the control system 30, the communication device 33 receives the instruction for creating the target line 40 from the host system 18, and the gate is based on the instruction for creating the target line 40. This is a method of running a type crane 20 to create a target line 40. This control method is repeated every predetermined cycle t while the portal crane 20 is running, and ends when the running of the portal crane 20 is completed and the target line 40 is created. In this control method, it is assumed that an instruction to move the gantry crane 20 from one end to the other end of the storage lane 13 is set at the time of starting.

As illustrated in FIG. 18, when starting, the position acquisition unit 34 acquires the current position Pt of the gantry crane 20 (S310). Next, the parameter acquisition unit 37 acquires the inclination θt of the portal crane 20 (S320). Next, the conversion position acquisition unit 50 acquires the conversion position Rt based on the acquired current position Pt and the inclination θt (S330).

Next, the creation control unit 51 calculates the creation deviation Δdt based on the acquired conversion position Rt and the preset linear target line 42 (S340). Next, the creation control unit 51 determines whether or not the calculated creation deviation Δdt is zero (S350). When the creation deviation Δdt is determined to be zero (S350: YES), the creation control unit 51 maintains the travel speed difference between the pair of travel devices 24a and 24b at the current travel speed difference via the inverter 29 (S360). ), Return to the start. On the other hand, when it is determined that the creation deviation Δdt is not zero (S350: NO), the creation control unit 51 sets the creation deviation Δdt to zero by setting the travel speed difference between the pair of traveling devices 24a and 24b via the inverter 29. Adjust to the traveling speed difference (S370), and proceed to A in FIG.

As illustrated in FIG. 19, the creation control unit 51 then determines whether or not the acquired conversion position Rt coincides with the preset stop position 43 (S410). If it is determined that the converted position Rt does not match the stop position 43 (S410: NO), the process returns to the start. On the other hand, when it is determined that the converted position Rt matches the stop position 43 (S410: YES), the creation control unit 51 stores the current position Pt at the time of matching in the internal storage device (S420). Next, the creation control unit 51 determines whether or not the instructed running has been completed (S430). If it is determined that the running has not been completed (S430: NO), the vehicle returns to the start. On the other hand, when it is determined that the running is completed (S430: YES), the process proceeds to the next step.

The creating unit 52 reads a plurality of current position Pts stored in the internal storage device (S440). Next, the creating unit 52 arranges a plurality of current position Pts in a predetermined plane or space (S450). This predetermined plane or space can be arbitrarily set, and for example, a plane parallel to the reference horizontal plane 47 and whose height is set to the level of each antenna 31a to 31c as a predetermined plane is exemplified. Next, the creating unit 52 connects the plurality of arranged current position Pts with a line segment in the traveling order of the portal crane 20 to form a polygonal line, and creates a target line 40 (S460). Next, the creating unit 52 converts the plurality of current position Pts into the target position 41 (S470). Next, the creating unit 52 stores the created target line 40 and the target position 41 in the internal storage device (S480), and ends.

As described above, when the portal crane 20 is driven based on the straight line target line 42, the control system 30 creates the target line 40 as a locus drawn by the current position Pt during the traveling. Therefore, the inclination of the moving portal crane 20 with respect to the horizontal plane can be reflected on the target line 40. As a result, the traveling control of the gantry crane 20 with high accuracy and high speed becomes possible by using the target line 40, and the gantry crane 20 can be accurately and quickly aligned with the target position.

The target line 40 is a locus connecting the current position Pts whose converted position Rt coincides with any of the stop positions 43 arranged on the line of the straight line target line 42 among the plurality of current position Pts acquired during traveling. It is preferable to do so. Here, the current position Pt when the converted position Rt coincides with the stop position 43 is the target position 41.

The control system 30 controls the portal crane 20 to travel using either the target line 40 or the second target line 45, and the target line 40 using either the correction deviation Δθt or the correction deviation ΔQt. It may be configured to perform all the control of the control for correcting the above and the control for creating the target line 40, or it may be configured to perform only one of the controls. The control system 30 mounted on each of a plurality of gantry cranes 20 of the same type and the same type may be configured so that any one of the control systems 30 performs correction control and control created.

All the portal cranes 20 provided in the container terminal 10 may be configured to be controlled by all the controls of the control system 30 mounted on the container terminal 10 for traveling, correcting, and creating. Further, all the portal cranes 20 are configured to be controlled by two controls, a control for traveling and a control for correction of each control system 30, and some gates of all the portal cranes 20 are controlled. The type crane 20 may be configured to be controlled by the control created by each control system 30. Further, all the portal cranes 20 are configured to be controlled by the running control of the respective control systems 30, and some portal cranes 20 are controlled by the correction control and the created control of the respective control systems 30. It may be configured to be.

The container terminal 10 may be provided with at least one gantry crane 20 controlled by the control corrected by the control system 30 and the control created, and it is desirable that one gantry crane 20 be provided in each storage lane 13. .. The gantry crane 20 controlled by the control of the correction control and the control of the creation of the operation control system 30 stands by at a place other than the storage lane 13 at the time of cargo handling, and is controlled by the control of creation or the control of correction. Only occasionally may it be placed in the storage lane 13.

The target line 40 described above may be set according only to the inclination of the road surface 48 with respect to the horizontal plane among the inclinations of the portal crane 20. That is, the target line 40 is the inclination in the Y direction (around the X axis) of the inclination of the road surface 48 on which the portal crane 20 travels with respect to the straight line target line 42 which is a straight line toward the traveling direction of the portal crane 20 on the horizontal plane. It may be composed of a line that bends according to the angle of). For example, the target line 40 may be set based on the known slope of the road surface 48 when the slope is known. Further, the target line 40 has a plurality of target positions 41, and may be composed of a polygonal line bent at a position where the slope of the road surface 48 changes before and after the target position 41 as an inflection point.

As illustrated in FIGS. 20 to 22, the control system 30 of the first embodiment is characterized in that it has a plurality of target lines and position acquisition units with respect to the system described above. An external power feeding device 60 extending in the X direction and a communication device 61 extending in the X direction are installed on the side of one end of the portal crane 20 in the Y direction of the present embodiment. The external power supply device 60 is a device that supplies electric power to the portal crane 20 from the outside, and examples thereof include a bus bar (conductor) and a power supply cable. The communication device 61 is a device that communicates with the control system 30 of the portal crane 20 from the outside, and examples thereof include a leaky coaxial cable and a power line capable of power line carrier communication. The gantry crane 20 has a current collector 62, which is a device for receiving electric power from the external power supply device 60. Examples of the current collector 62 include a pantograph-type current collector that contacts a bus bar to receive electric power and a cable reel that winds up a power supply cable. Both the external power feeding device 60 and the communication device 61 are arranged on the side of one end of the portal crane 20 in the Y direction in a plan view, and the current collecting device 62 may be installed on one end. preferable.

The control system 30 of this embodiment has antennas 31a, 31b, 31c, and 31d. Further, the control device 32 has a main position acquisition unit 34A and a preliminary position acquisition unit 34B in place of the position acquisition unit 34 of the above-described embodiment, and the main target line 40A and the preliminary target line 40B instead of the target line 40. And has a target setting unit 53 as an additional functional element.

The antenna 31d is an antenna of a global positioning satellite system (GNSS) like the antennas 31a, 31b, and 31c, and has longitude, latitude, and longitude and latitude based on information such as time received from a plurality of artificial satellites at a predetermined period t. Acquire the position coordinate Pd consisting of the altitude. The antenna 31d is arranged at the other end of the structure 23 in the X direction with respect to the antenna 31c in a plan view. In this embodiment, the antennas 31a, 31b, 31c, and 31d are configured to be able to acquire longitude, latitude, and height as spatial coordinates (three-dimensional coordinates) using a global positioning satellite system.

The four antennas 31a to 31d are arranged at the four corners of the rectangle, assuming that the shape of the structure 23 of the portal crane 20 in a plan view is substantially rectangular. By arranging the antennas 31a to 31d in this way, it is advantageous to acquire the inclination of the portal crane 20 in the X direction and the inclination in the Y direction.

The main position acquisition unit 34A is the end of the Y-direction end of the portal crane 20 on the side where the current collector 62 is installed, or the side where the communication device 61 is arranged on the side. It is a functional element that acquires a predetermined position of the end portion as the main current position Ps. Specifically, the main position acquisition unit 34A has the position coordinates Pc and Pd acquired by the antennas 31c and 31d installed at one end of the portal crane 20 in the Y direction in a predetermined cycle t. It is a functional element that is input and acquires the main current position Ps of the portal crane 20 every predetermined cycle t, and outputs the main current position Ps to the traveling control unit 35 and the target setting unit 53. It is desirable that the main position acquisition unit 34A calculates the main current position Ps as the midpoint of the position coordinates Pc and Pd.

The preliminary position acquisition unit 34B is the end of the Y-direction end of the portal crane 20 on the side where the current collector 62 is installed, or the side where the communication device 61 is arranged on the side. It is a functional element that acquires a predetermined position of an end portion different from the end portion of the above as a preliminary current position Pu. Specifically, the preliminary position acquisition unit 34B has the position coordinates Pa and Pb acquired by the antennas 31a and 31b installed at the other end of the portal crane 20 in the Y direction in a predetermined cycle t. It is a functional element that is input and acquires the preliminary current position Pu of the portal crane 20 at predetermined cycle t, and outputs the preliminary current position Pu to the traveling control unit 35 and the target setting unit 53. It is desirable that the preliminary position acquisition unit 34B calculates the preliminary current position Pu as the midpoint of the position coordinates Pa and Pb.

The main current position Ps indicates the position where the gantry crane 20 is currently present in a plan view, and more specifically, the position where one end of the gantry crane 20 in the Y direction is currently present. The main current position Ps preferably indicates the position of the midpoint of the position coordinates Pc and Pd in a plan view. The preliminary current position Pu indicates the position where the gantry crane 20 is currently present in a plan view, and more specifically, the position where the other end of the gantry crane 20 in the Y direction is currently present. The preliminary current position Pu preferably indicates the position of the midpoint of the position coordinates Pa and Pb in a plan view.

The main target line 40A has the same configuration as the target line 40 of the above-described embodiment and the method of creating the main target line 40A is the same, except that the arrangement position is determined with respect to the target line 40. The main target line 40A is arranged on the side of one end of the portal crane 20 in the Y direction in a plan view, extends in the X direction, and extends in the Y direction according to the inclination of the portal crane 20 in the Y direction. It consists of bending lines.

The preliminary target line 40B duplicates the main target line 40A and is arranged apart from the main target line 40A in the Y direction. Specifically, the preliminary target line 40B is arranged on the side of the other end of the portal crane 20 in the Y direction in a plan view, extends in the X direction, and corresponds to the inclination of the portal crane 20 in the Y direction. It is composed of a line that bends in the Y direction in the same manner as the main target line 40A.

In the target setting unit 53, the main current position Ps output from the main position acquisition unit 34A and the preliminary current position Pu output from the preliminary position acquisition unit 34B are input, and the travel control unit 35 is based on these inputs. It is a functional element that issues a command to set the current position and the target line used in. Specifically, the target setting unit 53 causes the traveling control unit 35 to switch to use the main current position Ps as the current position and the main target line 40A as the target line when the main current position Ps is input. Further, when the main current position Ps is not input and the preliminary current position Pu is input, the target setting unit 53 sets the preliminary current position Pu as the current position and the preliminary target line 40B as the target line in the traveling control unit 35. To switch to use each.

The travel control unit 35 sets the current position and the target line used for travel control based on the command from the target setting unit 53, and based on the deviation between them, the rotation of the electric motors 28a and 28b via the inverter 29. It is a functional element that adjusts the traveling speeds of the pair of traveling devices 24a and 24b by adjusting the speeds Na and Nb. Specifically, the traveling control unit 35 adjusts the traveling speeds of the pair of traveling devices 24a and 24b based on the main traveling deviation ΔDs of the main current position Ps and the main target line 40A, or the preliminary current position. The traveling speeds of the pair of traveling devices 24a and 24b are adjusted based on the preliminary traveling deviation ΔDu of the Pu and the preliminary target line 40B, or the traveling is performed when both the main current position Ps and the preliminary current position Pu are not input. To stop. The deviation ΔDs for main travel and the deviation ΔDu for preliminary travel indicate the amount of deviation of the current position with respect to the target line in a plan view, similarly to the deviation ΔDt for travel described above.

Further, the traveling control unit 35 identifies the posture of the portal crane 20 in a plan view when the main traveling deviation ΔDs and the preliminary traveling deviation ΔDu are different, and travels the pair of traveling devices 24a and 24b, respectively. It is also a functional element that corrects the speed. Specifically, the travel control unit 35 calculates the posture angle θsu when the deviation ΔDs for main travel and the deviation ΔDu for preliminary travel are different. The attitude angle θsu is the amount of attitude deviation of the portal crane 20 in a plan view, and is the angle between the normal line segment connecting the main current position Ps and the preliminary current position Pu and the X direction when the X direction is used as a reference. be. The attitude angle θsu is not limited to the angle formed by the normal of the line segment connecting the main current position Ps and the preliminary current position Pu and the X direction. For example, the posture angle θsu may be calculated as the angle formed by the line segment connecting the main current position Ps and the preliminary current position Pu and the Y direction when the Y direction is used as a reference in a plan view. Further, the posture angle θsu is a conversion table in which the posture angle θsu corresponding to the main running deviation ΔDs and the preliminary running deviation ΔDu is set, and the posture angle θsu corresponding to the difference between the main running deviation ΔDs and the preliminary running deviation ΔDu. May be calculated using a conversion table in which is set.

As illustrated in FIG. 22, since the gantry crane 20 at the left end in the figure is in a state where the main current position Ps has been acquired, the pair of traveling devices 24a and 24b travel respectively based on the main traveling deviation ΔDs. The speed is adjusted. The gantry crane 20 at the right end in the figure is in a state where the main current position Ps cannot be acquired and only the preliminary current position Pu has been acquired. Therefore, in this portal crane 20, the traveling speeds of the pair of traveling devices 24a and 24b are adjusted based on the preliminary traveling deviation ΔDu. In the central portal crane 20 in the figure, the deviation ΔDs for main travel and the deviation ΔDu for preliminary travel are different. Therefore, the traveling speeds of the pair of traveling devices 24a and 24b are set based on the deviation ΔDs for main traveling. Be adjusted. Further, in this portal crane 20, the attitude angle θsu of the portal crane 20 in a plan view is specified, and the traveling speed difference is corrected so that the attitude angle θsu is zero.

As illustrated in FIG. 23, in the control method of the gantry crane 20 of the first embodiment, the communication device 33 receives a cargo handling instruction from the host system 18, and the gantry crane 20 is driven based on the cargo handling instruction. The method. This control method is repeated every predetermined cycle t while the portal crane 20 is running. In the control method of the present disclosure, a position that is a stop target of the portal crane 20 is set at the time of starting, and the control method is terminated when the portal crane 20 is stopped at the stop target position. ..

When the antennas start, the antennas 31a to 31d acquire the position coordinates Pa to Pd, the main position acquisition unit 34A obtains the main current position Ps based on the position coordinates Pc and Pd, and the preliminary position acquisition unit 34B obtains the position coordinates Pa and Pb. The preliminary current position Pu is acquired based on (S510).

Next, the travel control unit 35 calculates the main travel deviation ΔDs, which is the difference between the main current position Ps and the main target line 40A, and the preliminary travel deviation ΔDu, which is the difference between the preliminary current position Pu and the preliminary target line 40B. (S520). In step S510, if the main current position Ps cannot be acquired, the main travel deviation ΔDs is not calculated in this step, and if the preliminary current position Pu cannot be acquired, the preliminary travel deviation ΔDu is not calculated in this step. It shall be.

Next, it is determined whether or not the target setting unit 53 has acquired the main current position Ps in step S510 (S530). When it is determined that the main current position Ps has been acquired (S530: YES), the target setting unit 53 sets the current position to the main current position Ps, the target line to the main target line 40A, and the deviation to the main travel control unit 35. A command is issued to set the deviation ΔDs (S540).

On the other hand, if it is determined that the main current position Ps cannot be acquired (S530: NO), it is determined whether or not the target setting unit 53 has acquired the preliminary current position Pu in step S510 (S550). When it is determined that the preliminary current position Pu has been acquired (S550: YES), the target setting unit 53 sets the current position in the travel control unit 35 as the preliminary current position Pu, the target line as the preliminary target line 40B, and the deviation as the preliminary travel. A command to set the deviation ΔDu is issued (S560).

On the other hand, if it is determined that the preliminary current position Pu cannot be acquired (S550: NO), the traveling control unit 35 stops the pair of traveling devices 24a and 24b via the inverter 29 (S570) and returns to the start.

When either the main current position Ps or the preliminary current position Pu is acquired, the traveling control unit 35 determines whether or not the deviation is zero, as in the first embodiment (S130). When it is determined that the deviation is zero (S130: YES), the traveling control unit 35 maintains the traveling speed difference between the pair of traveling devices 24a and 24b at the current traveling speed difference via the inverter 29 (S140), and starts. Return to. On the other hand, when it is determined that the deviation is not zero (S150: NO), the traveling control unit 35 adjusts the traveling speed difference of the pair of traveling devices 24a and 24b to the traveling speed difference that makes the deviation zero via the inverter 29. (S150), return to the start.

As illustrated in FIG. 24, when the main travel deviation ΔDs and the preliminary travel deviation ΔDu are calculated in step S520 of FIG. 23, the travel control unit 35 has the main travel deviation ΔDs and the preliminary travel deviation ΔDu. It is determined whether or not they are equal (S610). In this step S610, an allowable range may be set when determining whether or not the main travel deviation ΔDs and the preliminary travel deviation ΔDu are equal, and the deviation between the main travel deviation ΔDs and the preliminary travel deviation ΔDu may be set. If the absolute value is equal to or less than a preset threshold value, it may be determined that the deviation ΔDs for main travel and the deviation ΔDu for preliminary travel are equal. When it is determined that the deviation ΔDs for main travel and the deviation ΔDu for preliminary travel are equal (S610: YES), the travel control unit 35 maintains the current travel speed difference (S620) and returns to the start.

On the other hand, if it is determined that the deviation ΔDs for main travel and the deviation ΔDu for preliminary travel are not equal (S610: NO), the travel control unit 35 calculates the attitude angle θsu (S630). Next, the traveling control unit 35 corrects and adjusts the current traveling speed difference to the traveling speed difference that makes the posture angle θsu zero (S640), and returns to the start.

As described above, the control system 30 of the portal crane 20 of the present embodiment has a plurality of target lines of the main target line 40A and the preliminary target line 40B, and a plurality of positions of the main position acquisition unit 34A and the preliminary position acquisition unit 34B. It has an acquisition unit. That is, even if the main position acquisition unit 34A cannot acquire the main current position Ps, if the preliminary position acquisition unit 34B can acquire the preliminary current position Pu, it is a deviation between the preliminary current position Pu and the preliminary target line 40B for preliminary traveling. Based on the deviation ΔDu, the portal crane 20 can be run without stopping. This is advantageous in reducing the frequency of stopping the traveling, enables control of traveling the portal crane 20 with high accuracy and high speed, and aligns the portal crane 20 with the target position 41 accurately and quickly. can do.

In the traveling control of the portal crane 20, the traveling speeds of the pair of traveling devices 24a and 24b are adjusted based on the deviation between the current position of the portal crane 20 and the target. Therefore, when the current position of the gantry crane 20 cannot be grasped, it is necessary to stop the traveling in consideration of safety. The situation where the current position of the portal crane 20 cannot be grasped, that is, the situation where the main current position Ps and the preliminary current position Pu cannot be obtained is the situation where the number of artificial satellites supplemented by each of the antennas 31a to 31d has decreased significantly. Examples thereof include a situation in which a jamming radio wave is received, a situation in which multiple wave propagation (also referred to as multipath) is affected, and a situation in which electrical noise is received from the portal crane 20. Further, in the case of RTK positioning, a situation in which the correction signal cannot be received is also exemplified.

In this regard, the control system 30 of the present embodiment can continue the cargo handling work without stopping the traveling of the gantry crane 20 if at least one of the main current position Ps and the preliminary current position Pu can be acquired. This is an advantage in reducing downtime.

As in the case of the portal crane 20 of the present embodiment, when power is supplied from the external power supply device 60 using the current collector 62, or when communication is performed using the communication device 61, the current portal crane 20 is tentatively present. Even if the deviation between the position and the target line is kept constant, the distance between the external power feeding device 60 and the current collecting device 62 and the distance to the communication device 61 change depending on the posture of the portal crane 20. This change in interval or distance increases the frequency of movement of the current collector 62, the frequency of overloading the external power supply device 60 or the current collector 62, or the frequency of communication interruption. It becomes a factor.

In this regard, if the control system 30 of the present embodiment can acquire at least one of the main current position Ps and the preliminary current position Pu, the deviation from the target does not become excessive, and the distance between the external power feeding device 60 and the current collecting device 62 and the like. The distance to the communication device 61 can be kept within a certain range. This is advantageous for improving the durability of the external power feeding device 60 and the current collecting device 62, and the frequency of inspection and replacement thereof can be reduced. In addition, it is advantageous for reducing the frequency of communication blackouts, and downtime due to communication blackouts can be reduced.

Further, in the control system 30 of the present embodiment, it is desirable that the main current position Ps is a predetermined position of the end portion in the Y direction on the side where the external power feeding device 60 and the communication device 61 are arranged sideways. As a result, the traveling of the portal crane 20 is controlled starting from the end in the Y direction on the side where the external power supply device 60 and the communication device 61 are arranged sideways, so that the external power supply device 60 and the current collector device are controlled. It is advantageous to keep the distance from the communication device 61 and the distance from the communication device 61 within a certain range.

For example, immediately before stopping the portal crane 20 at a desired target position 41, if an attempt is made to stop the portal crane 20 so as to make the attitude angle θsu zero, one of the pair of traveling devices 24a and 24b is stopped and the other is driven. In some cases. Such a time difference between the stop timings of the pair of traveling devices 24a and 24b may cause distortion of the portal crane 20. In the state where the gantry crane 20 is distorted, even if the current position acquired by using the antennas 31a to 31d and the target position 41 match when the gantry crane 20 is stopped, the state is actually displaced due to the distortion. It will be stopped at.

In this regard, the control system 30 of the present embodiment specifies the posture of the portal crane 20 in a plan view when the deviation ΔDs for main travel and the deviation ΔDu for preliminary travel are different. Therefore, the posture of the gantry crane 20 can be corrected while traveling before the gantry crane 20 stops at the desired target position 41. That is, the portal crane 20 can be driven without changing the posture in the plan view as much as possible. As a result, the time difference between the stop timings of the pair of traveling devices 24a and 24b is eliminated, which is advantageous for stopping the portal crane 20 without causing distortion, and the portal crane 20 is moved to the desired target position 41. It can be stopped with high accuracy.

In the above-described embodiment, the example in which the external power feeding device 60 and the communication device 61 are arranged on the side of one end of the portal crane 20 in the Y direction has been described, but the portal crane 20 is in the Y direction. A configuration in which only the external power feeding device 60 is arranged on the side of one end or a configuration in which only the communication device 61 is arranged may be used. Further, when the external power feeding device 60 is arranged on the side of one end of the portal crane 20 in the Y direction and the communication device 61 is arranged on the side of the other end, the communication device 61 is arranged in advance by experiments and tests. The end portion on the side where the deviation becomes large may be selectively set to the main current position Ps.

In the above-described embodiment, the two target lines 40A and the preliminary target line 40B have been described as an example, but the target line is not limited to two and may be three or more. For example, in addition to the main target line 40A and the preliminary target line 40B, a central target line arranged in the middle thereof may be provided.

In the above-described embodiment, an example in which the main current position Ps is acquired by using the two antennas 31c and 31d and the preliminary current position Pu is acquired by using the two antennas 31a and 31b has been described. May be acquired using only the antenna 31c, and the preliminary current position Pu may be acquired using only the antenna 31a.

20 Gate type crane 22 Girder part 23 Structure 24a, 24b Traveling device 30 Control system 34A Main position acquisition unit 34B Preliminary position acquisition unit 35 Control unit 40A Main target line 40B Preliminary target line Ps Main current position Pu Preliminary current position ΔDs Main travel Deviation ΔDu Deviation for preliminary driving

Claims (8)

A main position acquisition unit that sequentially acquires the main current position as the current position of a crane having a pair of traveling devices arranged apart from each other in the extending direction of the girder portion arranged at the upper part of the structure and attached to the lower end of the structure. A crane control system including a spare position acquisition unit that sequentially acquires the preliminary current position, a main position acquisition unit, a preliminary position acquisition unit, and a travel control unit connected to each of the pair of travel devices. In
In a plan view, the main target line extends in the traveling direction of the crane, and when the traveling crane is tilted, it bends in the extending direction according to the inclination of the crane in the extending direction. And has a preliminary target line,
When the main position acquisition unit acquires the main current position, the traveling control unit controls each of the pair of traveling devices based on the main traveling deviation between the main target line and the main current position. The traveling speed is adjusted to control the traveling of the crane.
When the main position acquisition unit cannot acquire the main current position, the traveling control unit determines the preliminary travel deviation between the preliminary target line and the preliminary current position acquired by the preliminary position acquisition unit. A crane control system characterized in that the crane is controlled to travel by adjusting the traveling speed of each of the pair of traveling devices. In a plan view, a current collector connected to an external power supply device that supplies power to the crane from the outside is arranged at one end of the crane in the extending direction, and the main current position is the one. The crane control system according to claim 1, wherein the crane is present at one end of the crane and the preliminary current position is at the other end in the extending direction. In a plan view, a communication device that communicates with the crane is arranged on the side of one end of the crane in the extending direction, the main current position exists at the one end, and the preliminary current position is located. The crane control system according to claim 1, which is located at the other end in the extending direction. When the main position acquisition unit cannot acquire the main current position and the preliminary position acquisition unit cannot acquire the preliminary current position, the traveling control unit stops each of the pair of traveling devices. The crane control system according to any one of claims 1 to 3, which is configured to control the crane to be stopped. The invention according to any one of claims 1 to 4, wherein when the deviation for main traveling and the deviation for preliminary traveling are different, the traveling control unit is configured to specify the posture of the crane in a plan view. Crane control system. 13 . Crane control system. The main current position and the preliminary current position are sequentially acquired as the current positions of a crane having a pair of traveling devices arranged apart from each other in the extending direction of the girders arranged at the upper part of the structure and attached to the lower ends of the structure. In the crane control method for traveling the crane by adjusting the traveling speed of each of the pair of traveling devices.
Before the crane travels, it extends in the traveling direction of the crane in a plan view, and when the traveling crane tilts, it extends in the extending direction according to the inclination of the tilt in the extending direction. Set the main target line and preliminary target line to bend,
When the main current position is acquired while the crane is traveling, the traveling speed of each of the pair of traveling devices is based on the deviation for main traveling between the set main target line and the acquired main current position. When the crane is driven by adjusting the speed and the main current position cannot be acquired, the pair of traveling devices of the pair of traveling devices is based on the deviation for preliminary traveling between the preliminary target line and the acquired preliminary current position. A crane control method, characterized in that the crane is driven by adjusting each traveling speed. One of the crane or another crane of the same type and the same type as the crane is extended in the traveling direction to form a straight line in a plan view, and the acquired main current position is the straight line target line. The vehicle is run based on the deviation for creation from the converted position converted to the position on the reference horizontal plane in which the is present, and the plurality of the main current positions acquired during the running are memorized.
The main target line is created from the trajectories connecting the plurality of stored main current positions, the preliminary target line is created by duplicating the created main target line, and the main target line is set to the crane in a plan view. The method for controlling a crane according to claim 7, wherein the preliminary target line is arranged on the side of one end in the extending direction and on the side of the other end.

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