JP7114156B2 - Movement route search method, movement route search program, and crane control system - Google Patents

Description

The present invention relates to a movement route search method, a movement route search program, and a crane control system.

Apparatuses and methods have been proposed for deriving an optimum cargo handling route that carries out simultaneous winding and traversing operations to transport a suspended cargo to a predetermined location in the shortest required time without colliding with an obstacle (see, for example, Patent Document 1). With this device and method, various parameters related to crane cargo handling are arbitrarily set, and desktop simulation tests are repeated to derive the optimum cargo handling route.

JP-A-10-167666

By the way, cargo handling by a crane consists of three types of operations: hoisting, traversing, and lowering of a suspended load. Therefore, in order to set the optimum cargo handling route that can transport the load to the specified location in the shortest required time without colliding with an obstacle, two variables, the waiting time for traversing the load and the waiting time for lowering the load, are set. need to decide. In addition, since the movement of the trolley causes the swinging of the pendulum to the suspended load during cargo handling, control is performed to suppress the swinging when the suspended load is traversed. need to consider.

Therefore, in order to set the optimum cargo handling route, the equation of motion that indicates the trajectory of the suspended load during cargo handling is used as a constraint, the collision with the obstacle is expressed as a barrier function, and the travel time is added to this to minimize the evaluation function. There is a method of solving an optimization problem that makes However, the equation of motion becomes a nonlinear differential equation, it is difficult to approximate the contour of the obstacle with a differentiable presentation function, and the given boundary conditions are insufficient, making it difficult to solve. Moreover, it requires a lot of computation time.

On the other hand, in the actual cargo handling of a container ship, even if an optimum cargo handling route is derived using the apparatus and method described in Patent Document 1, it is difficult to find the optimal cargo handling route for various mountain shapes of containers that change from moment to moment. It is necessary to repeat the desktop simulation test by setting the parameters arbitrarily for each cargo handling. Therefore, it takes a considerable amount of time to derive the optimum cargo handling route, which is not practical. In addition, the presence of a skilled operator is essential, since it takes extra time to arbitrarily set the parameters of misalignment.

SUMMARY OF THE INVENTION An object of the present invention is to provide a movement route search method, a movement route search program, and a crane control system that reduce the time required for searching.

A moving route search method of the present invention for achieving the above object moves a suspended body suspended by a suspension rope in a vertical direction, and horizontally moves a support point of the suspension rope in a horizontal direction, thereby moving the suspended body in a horizontal direction. In the method of searching for a movement route for moving a body from a designated starting position to an arrival position, the above The search range is narrowed down within the range of the vertical movement period or within the range of the horizontal movement period, and a search algorithm using the search range ends the preceding period of the vertical movement period or the horizontal movement period that starts earlier. It is characterized by searching for the start time of the latter period that has the longest time between the time and the start time of the latter period ending after the end time of the preceding period.

A movement route search program of the present invention for achieving the above object vertically moves a suspended body suspended by a suspension rope, horizontally moves a support point of the suspension rope in a horizontal direction, A program for causing a crane control device to search for a movement route when moving a body from an instructed starting position to an arrival position, wherein the program has a search algorithm, and instructs the control device to indicate the length of the vertical movement period required for the vertical movement and Based on the length of the horizontal movement period required for the horizontal movement, the search range is narrowed down to within the range of the vertical movement period or within the range of the horizontal movement period, and according to the search algorithm using the search range. and the time between the end time of the earlier period that starts earlier and the start time of the later period that ends after the end time of the earlier period of the vertical movement period or the horizontal movement period is the longest. and a procedure for searching for the start time of the period.

A control system for a crane according to the present invention for achieving the above object is configured such that a suspended body suspended by a sling line is movable in the vertical direction, and a supporting point of the sling line is horizontally movable. a period calculating unit for calculating the length of the vertical movement period required for the vertical movement of the suspended object and the length of the horizontal movement period required for the horizontal movement of the support point, and the search unit having a search algorithm and, based on the length of the vertical movement period calculated by the period calculation unit and the length of the horizontal movement period, the search unit sets the search range within the vertical movement period or within the horizontal movement period. Using the search algorithm narrowed down within the range, the end time of the earlier period of the vertical movement period and the horizontal movement period that starts earlier and the start time of the later period that ends after the end time of the earlier period It is characterized in that control is performed to search for the start time of the latter period in which the time between and is the longest.

The present invention determines a unique movement route by searching for the start time of a period that starts later by a search algorithm that narrows the search range to either within the vertical movement period or within the horizontal movement period. do. That is, according to the present invention, instead of searching the entire movement route of the suspended object at once, by narrowing down the search range by combining the vertical movement period and the horizontal movement period, Exploration can be done. As a result, it is possible to shorten the time required to search for a movement route that allows the suspended body to move efficiently while avoiding obstacles of various shapes.

1 is a side view illustrating an embodiment of a control system for a crane; FIG. 2 is a block diagram illustrating the control system and moving route search program of FIG. 1; FIG. FIG. 2 is a schematic diagram of FIG. 1; FIG. 4 is a relational diagram illustrating the relationship between the passage of time and the moving speed of the hanging body during the ascending movement period, the horizontal movement period, and the descending movement period of FIG. 3 ; 1 is a first flow diagram illustrating an embodiment of a moving route search method; FIG. FIG. 5 is a second flow diagram showing S200 of FIG. 4; 5 is a third flow diagram showing S300 of FIG. 4; FIG. FIG. 10 is a relational diagram illustrating the relationship between the lapse of time and the moving speed of the hanging object during the ascending movement period, the horizontal movement period, and the descending movement period in the searched movement path.

Embodiments of a movement route search method, a movement route search program, and a crane control system will be described below. In the drawing, the X direction is the horizontal direction in which the trolley 23 of the portal crane 20 moves, the Y direction is the vertical direction, and the Z direction is the horizontal orientation in which the portal crane 20 travels. The direction of travel is defined as the direction of travel. Also, in this disclosure, time refers to a moment in time and indicates a point in the flow of time, and time and duration refer to a period from one time to another time. Furthermore, in the present disclosure, the coordinate system is positive in the direction from left to right in the X direction, and positive in the direction from bottom to top in the Y direction. In other words, the velocity and acceleration are positive when heading rightward or upward, and negative when heading leftward or downward.

As illustrated in FIGS. 1 to 4, the control system 10 of the embodiment moves the suspension body 22 suspended from the suspension cable 21 of the crane 20 in the X direction and the Y direction to move from the departure position Ps to the arrival position Pg. It is a system that searches for a moving route Fsg to move to. An example of the crane 20 is a crane that performs cargo handling of containers 32 between a container ship 30 docked at a quay and a transport vehicle 31 traveling within the premises of a container terminal.

As illustrated in FIG. 1, the control system 10 is installed in an operation room 33 for remotely operating the crane 20, and includes a contour acquisition device 11, a control device 12, a display device 13, and an operation device 14, and controls The device 12 has a travel route search program 40 as a functional element.

The crane 20 includes a sling 21, a sling 22, a trolley 23, a girder 24, a structure 25, a travel device 26, a machine room 27, and a driving device (the sling 22, the trolley 23, and the travel device 26 respective drives) 29 . The suspension cable 21 is exemplified by a wire that is suspended downward using a sheave (not shown) installed on the trolley 23 as a support point, and is wound up and unwound by a drum, which is a driving device 29 installed in the machine room 27 . The suspending body 22 is suspended by the suspending rope 21. When the suspending tool grips the container 32, the suspending tool and the container 32 are shown, and when the suspending tool does not grip the container 32, the suspending tool is shown. show. The hanging body 22 is configured to be movable up and down in the Y direction by winding and unwinding the hanging rope 21 . The trolley 23 is configured to be movable in the X direction along a girder 24 supported on the top of the structure 25 and driven by a drive device 29 installed therein. In the present disclosure, a sheave (not shown) installed on the trolley 23 serves as a support point for the sling 21, so lateral movement, which is movement of the trolley 23 in the X direction, is defined as cross-direction movement. The travel device 26 is a device attached to the lower end of the structure 25 to travel the crane 20 in the Z direction, and is driven by a drive device 29 installed therein.

The outline acquisition device 11 acquires profile information Dxy including the outline of the obstacle 34 existing in the movable range of the suspended body 22 as a parameter for setting the non-violable region Rf, and transmits the acquired profile information Dxy to the control device. 12 is an output device. At least one profile sensor installed on the trolley 23 is exemplified as the contour acquisition device 11 .

In the present disclosure, obstacles 34 are considered to be all or some of what exists within the movable range of suspended body 22 below girder 24 from one end to the other end of girder 24. It is. The obstacle 34 of the embodiment is at least the group of the container ship 30 and the container 32 out of the group of the structure 25, the container ship 30, and the container 32 loaded on the container ship 30, which are present in the movable range described above. is regarded as an integrated entity. For example, as an obstacle 34, a structure 25, a container ship 30, and a group of containers 32 loaded on the container ship 30 are regarded as one unit. As the structural body 25, a horizontal girder connecting the legs of the structural body 25 arranged opposite to each other in the Z direction is exemplified.

The profile information Dxy is information that includes at least the contours of the obstacles 34 that exist within the movable range of the suspended body 22 below the girder 24 from one end to the other end of the girder 24 . The profile information Dxy includes structures 25, container ships 30, transport vehicles 31, and containers 32 that exist within a movable range of suspended bodies 22 below the girder 24 from one end to the other end of the girder 24. It is desirable that the information includes the contour of In the present disclosure, the contour of the obstacle 34 is the contour of the cross section on the XY plane when the movable range of the suspended body 22 is regarded as the XY plane.

The contour acquisition device 11 is not limited to the configuration of the embodiment as long as it can directly or indirectly acquire the profile information Dxy. For example, the contour acquisition device 11 may consist of a plurality of profile sensors spaced along the girder 24 . Further, the contour acquisition device 11 may be configured to indirectly acquire the profile information Dxy based on the management information Dc handled by the management device 35 that manages the container 32 in the container terminal.

The management device 35 is hardware composed of a central processing unit (CPU) that performs various types of information processing, an internal storage device capable of reading and writing programs and information processing results used for performing the various types of information processing, and various interfaces. It is wear. The management device 35 has a functional element that manages each container 32 in the container terminal and a functional element that instructs the cargo handling of the crane 20 .

The functional elements to be managed are the management number, weight and position coordinates of each container 32, the identification number and position coordinates of the transport vehicle 31 to be transported, and the identification number and position coordinates of the container ship 30 to be handled. The management information Dc included is stored in the internal storage device. The management information Dc includes information acquired by sensors installed at various locations in the container terminal and sensors installed on the crane 20, information transmitted from the import source or export destination of the container 32, and information transmitted from the gate (not shown) of the container terminal to the transport vehicle. It is updated at any time according to the information acquired when the crane 20 approaches and the information of cargo handling by the crane 20 .

The instructing functional element transmits the cargo handling instruction Dd to the control device 12, and if the crane 20 is a crane operated by a driver, displays the cargo handling instruction Dd on the display device 13 to instruct the driver. is. The cargo handling instruction Dd includes the current position Qs of the container 32 to be handled by the crane 20 and the target position Qg, which is the destination of the container 32 . As the current position Qs and the target position Qg of the container 32, a predetermined mounting position of the container ship 30 and a stop position of the transport vehicle 31 are exemplified. When the crane 20 is a crane capable of automatic cargo handling, the instructing functional element transmits a cargo handling instruction Dd to the control device 12, and the control device 12 directly transmits a drive signal to the drive device 29 of each device. It is good also as a functional element which makes the crane 20 carry out cargo handling.

As illustrated in FIG. 2, the control device 12 includes a central processing unit (CPU) that performs various types of information processing, an internal storage device that can read and write programs and information processing results used for performing the various types of information processing, and It is hardware configured from various interfaces and the like. The control device 12 is electrically connected to the display device 13 and the operation device 14, and is communicably connected to the contour acquisition device 11, the drive device 29 of each device of the crane 20, and the management device 35. In the drawing, the central processing unit and the internal storage device of the control device 12 are not shown, and each functional element is indicated by a reference numeral.

The control device 12 has a movement route search program 40 as a functional element for searching for the movement route Fsg of the hanging body 22 . The movement route search program 40 is stored in the internal storage device of the control device 12, read out by the central processing unit, and executed as appropriate. The control device 12 also has a display control unit 15 that causes the display device 13 to display the movement route Fsg searched by the movement route search program 40 as the cargo handling instruction Dd. In addition, the control device 12 has a drive control section 16 that transmits an operation signal from the operation device 14 to the drive device 29 of each device to drive each device.

The display device 13 is exemplified by a monitor connected to the control device 12, and is a device that displays at least the moving route Fsg searched by the control device 12 as the cargo handling instruction Dd on the display screen. The operating device 14 is a device that operates the crane 20 .

The movement route search program 40 is a program that is executed when the control system 10 receives the cargo handling instruction Dd transmitted from the management device 35 to the control system 10, and causes the control device 12 to execute a predetermined procedure. The cargo handling instructions Dd for the crane 20 are transmitted from the management device 35 at appropriate times. The management device 35 preferably transmits the management information Dc at the same time as transmitting the cargo handling instruction Dd.

The movement route search program 40 includes a departure/arrival setting unit 41, an area setting unit 42, a highest position calculation unit 43, a period calculation unit 44, a first search unit 45, a second search unit 46, and a movement route setting unit 47 as functional elements. have Each functional element may be composed of individual programs that are independently executed.

The departure/arrival setting unit 41 is a functional element that sets the departure position Ps and the arrival position Pg based on the cargo handling instruction Dd transmitted from the management device 35, and outputs the set departure position Ps and the arrival position Pg to other functional elements. is.

As illustrated in FIG. 3, the departure position Ps and the arrival position Pg are positions set vertically above the current position Qs and the target position Qg of the container 32 instructed by the cargo handling instruction Dd. are the respective positions of For the departure position Ps and the arrival position Pg, X-direction coordinates Xs and Xg and Y-direction coordinates Ys and Yg are set separately.

The X-direction coordinates Xs and Xg are the X-direction coordinates of the current position Qs and the target position Qg of the container 32 indicated by the cargo handling instruction Dd. One of X-direction coordinates Xs and Xg is the X-direction coordinate at the stop position of the transport vehicle 31 stopped below the girder portion 24 in the Y direction, and the other coordinate is the X-direction coordinate at the position where the container ship 30 is placed. This is the X-direction coordinate of the position. The coordinates Xs and Xg in the X direction may be fixed at the position where the transport vehicle 31 is always stopped at the same position. position. Also, the coordinates Xs and Xg in the X direction may be set according to the docking situation of the container ship 30 .

One of the Y-direction coordinates Ys and Yg is higher than the current position Qs of the container 32 indicated by the cargo handling instruction Dd, and the other is higher than the Y-direction coordinate of the target position Qg. The coordinates Ys and Yg in the Y direction are the uppermost edge of the hull of the container ship 30 whose one coordinate is higher than the transport vehicle 31 and which exists on the left side in the X direction of the container 32 instructed by the cargo handling instruction Dd, or the container ship. It is a coordinate lower than the top of the container 32 placed on 30 . Also, the other coordinate is placed on the uppermost edge of the container ship 30 or the container ship 30 that is at a height higher than the upper end of the container 32 instructed by the cargo handling instruction Dd and is located on the left side of the container 32 in the X direction. The coordinate is lower than the top edge of the container 32 that was drawn. Note that the other coordinate is the upper end of the indicated container when the uppermost end of the container 32 existing on the left side in the X direction is lower than the upper end of the indicated container 32 .

The coordinates Ys and Yg in the Y direction are desirably set based on a height ΔY at which safety can be ensured with respect to the transport vehicle 31, and the container 32 loaded on the container ship 30 is set in an inviolable area described later. It is desirable to be set based on Rf. Standards may be provided for each container terminal for the height ΔY at which safety can be ensured, and it is desirable to set the height ΔY based on the standards. Either of the coordinates Ys and Yg in the Y direction should be set above the horizontal girder connecting the legs of the structure 25 that are arranged opposite to each other in the Z direction in the Y direction. When either of the Y-direction coordinates Ys and Yg is set below the horizontal girder in the Y direction, it is preferable that the horizontal girder be included in the obstacle 34 in the region setting section 42 described later.

The starting position Ps in this embodiment is set based on a height ΔY at which the safety of the transport vehicle 31 can be ensured directly above the transport vehicle 31 that has stopped. Also, the arrival position Pg is set based on the outer edge of the impenetrable area Rf set directly above the predetermined container 32 loaded on the container ship 30 . The departure position Ps may be the current position Qs indicated by the cargo handling instruction Dd, and the arrival position Pg may be the target position Qg indicated by the cargo handling instruction Dd.

As illustrated in FIG. 2, the area setting unit 42 sets an impenetrable area Rf based on the profile information Dxy acquired by the contour acquisition device 11, and outputs the set impenetrable area Rf to other functional elements. It is a functional element. More specifically, the area setting unit 42 acquires the corner positions Pe (e=1, . . . , i) based on the profile information Dxy. Next, the area setting unit 42 calculates the separation position Pf (f=1, . . . , i) based on the acquired corner position Pe. Next, the region setting unit 42 sets the impenetrable region Rf based on the plurality of calculated separation positions Pf.

As illustrated in FIG. 3 , the non-violable area Rf is an area extending outward from the outline of the obstacle 34 and has the role of preventing the suspended body 22 from colliding with the obstacle 34 during movement. The impenetrable region Rf is a region formed by connecting adjacent separated positions Pf among a plurality of separated positions Pf, which will be described later, with line segments. That is, the inviolable region Rf is a segment that can be represented by a straight line (Y = ai · X + bi) with a slope a and an intercept b in a small segment i divided between adjacent spaced positions Pf. It is a region set based on a linear function. Both ends of the impenetrable region Rf in the X direction are both ends of the obstacle 34 in the X direction.

The corner position Pe is the position of a plurality of outwardly convex corners present in the contour of the obstacle 34 . In the present disclosure, the outwardly convex corners refer to the corners of the horizontal girder of the structure 25 viewed in the Z direction, the edges of the container ship 30 and the corners of the container 32 viewed in the Z direction.

The separated position Pf is a position separated from the corner position Pe by a predetermined distance B1 or more. The separation position Pf in this embodiment is a position separated from the corner position Pe by a predetermined distance B1 on either one of the left and right sides in the X direction and on the upper side in the Y direction, that is, diagonally above the corner position Pe in the XY plane. 45 degrees apart from each other by a distance obtained by multiplying the predetermined distance B1 by the square root of "2". The predetermined distance B1 is preferably a value that can avoid contact between the suspended body 22 and the obstacle 34 even if the suspended body 22 existing at the outer edge of the non-violable area Rf is shaken to the maximum extent.

The spaced position Pf is set in the X direction with respect to the corner position Pe depending on the positional relationship between the adjacent corner positions Pe or the presence or absence of an inwardly concave corner existing between the adjacent corner positions Pe. Either left or right side is selected. For example, when the Y-direction coordinates of the adjacent corner position Pe and corner position P(e+1) do not substantially change, when the separation position Pf is separated from the corner position Pe to the left in the X direction, the separation position P (f+1) is a position away from the corner position P(e+1) to the right in the X direction. Further, when there is a concave corner toward the inside of the obstacle 34 between the adjacent corner position Pe and corner position P(e+1), the spaced position Pf is on the left side of the corner position Pe in the X direction. , the separation position P(f+1) is positioned to the left in the X direction from the corner position P(e+1).

As illustrated in FIG. 2, the highest position calculator 43 receives the impenetrable region Rf set by the region setting unit 42, calculates the highest position Yh, and outputs the calculated highest position Yh to the period calculator 44. It is a functional element that The highest position Yh is the highest position in the Y direction of the impenetrable region Rf.

The period calculator 44 receives the departure position Ps, the arrival position Pg, and the highest position Yh, and calculates the length of the upward movement period Ta and the length of the downward movement period Tc, which are vertical movement periods, and the horizontal movement period. is a functional element that calculates the length Tb of and outputs the calculated lengths of these periods to the first search unit 45 and the second search unit 46, respectively.

As exemplified in FIG. 4, the length Ta of the upward movement period is required for the vertical movement of the suspended body 22 to raise the suspended body 22 from the Y-direction coordinate Ys of the starting position Ps to the highest position Yh. length. The length Tb of the horizontal movement period is the length required for horizontal movement to move the hanging body 22 from the X-direction coordinate Xs of the departure position Ps to the X-direction coordinate Xg of the arrival position Pg. Note that the horizontal movement is an operation of moving the trolley 23 transversely in the X direction to move the supporting point of the sling 21 in the X direction. The length Tc of the downward movement period is the length required for the downward movement of the suspended body 22 from the highest position Yh to the coordinate Yg of the arrival position Pg in the Y direction.

Furthermore, each period is distinguished into an acceleration period, a maximum speed period, and a deceleration period. The acceleration period is a period during which the suspended body 22 accelerates from zero speed to the maximum speed in the moving direction, and is indicated by the left side of the trapezoid indicating each period. The maximum speed period is a period during which the hanging body 22 moves at the maximum speed in the direction of movement, and is indicated by the shorter side of the upper side or lower side of the trapezoid indicating each period. The deceleration period is a period in which the hanging body 22 decelerates from the maximum speed to zero in the moving direction, and is indicated by the oblique side existing on the right side of the oblique sides of the trapezoid indicating each period. Each period corresponds to acceleration for upward movement, maximum speed for upward movement, deceleration for upward movement, acceleration for horizontal movement, maximum speed for horizontal movement, deceleration for horizontal movement, and downward It is set based on the acceleration for movement, the maximum speed for downward movement, and the deceleration for downward movement. Each acceleration, maximum speed, and deceleration can be arbitrarily set by each device of the crane 20, and in this embodiment, they are set to the theoretical maximum values of each device. Note that each acceleration, maximum speed, and deceleration may be set based on energy consumption.

As exemplified in FIG. 2, the first search unit 45 receives the length Ta of the ascending movement period and the length Tb of the horizontal movement period, narrows down the search range based on these lengths, and uses the search algorithm is a functional element that searches for the start time tb of the horizontal movement period using a binary search algorithm and outputs the searched start time tb to the second search section 46 and the movement route setting section 47 .

In this disclosure, the search range in the search algorithm shall indicate from one time to the other time. Also, the width of the search range indicates the length of time from one point of time to the other point of time.

The first search unit 45 compares the length Ta of the ascending movement period and the length Tb of the horizontal movement period, and narrows the width of the search range within the short period. Next, the first search unit 45 uses a narrowed search range by a binary search algorithm to determine the end time of the upward movement period while satisfying the condition that the suspended body 22 during movement does not enter the non-violable region Rf. A search is made for the start time tb of the horizontal movement period at which the time between (ta+Ta) and the start time tb of the horizontal movement period is the longest. Here, the upward movement period is the preceding period, and the horizontal movement period is the later period ending after the ending time of the preceding period. In the present disclosure, "after a certain time" indicates a range including and after a certain time, and the end time of the later period is not earlier than the end time of the earlier period.

In the search range of the first search unit 45, when the previous period is the upward movement period and the length Ta of the upward movement period is equal to or less than the length Tb of the horizontal movement period, the suspended body 22 is lifted during the upward movement period. The period that can be moved only by movement is narrowed down to the period from the start time ta to the end time (ta+Ta).

In addition, the search range in the first search unit 45 is set when the previous period is the upward movement period and the length Ta of the upward movement period is longer than the length Tb of the horizontal movement period, the upward movement and the The period is narrowed down to the period from the start time (ta+(Ta−Tb)) to the end time (ta+Ta) that can be moved both horizontally.

In the present disclosure, the period in which the suspended body 22 can be moved only by upward movement and the period in which the suspended body 22 can be moved by both upward movement and horizontal movement in the upward movement period are theoretical values. be. That is, the period during which the suspended body 22 can be moved only by the upward movement in the upward movement period is from the start time ta of the upward movement period because there is no period in which the suspended body 22 is moved before the upward movement period. It shows up to the end time (ta+Ta). Further, the period during which the suspended body 22 can be moved both upwardly and horizontally within the upward movement period is from the start time (ta+(Ta−Tb)) of the horizontal movement period to the end time of the upward movement period. Up to (ta+Ta) is shown.

Since the length Ta of the upward movement period is shorter than the length Tb of the horizontal movement period, the search range in the first algorithm of the embodiment is between the start time ta and the end time (ta+Ta) of the upward movement period.

The condition that the moving suspended body 22 does not enter the impenetrable region Rf is based on a predetermined motion equation and the maximum amplitude generated in the suspended body 22 due to a sudden stop during movement. is established when the calculated trajectory F(M) does not enter the impenetrable region Rf, and is not established when the trajectory enters the impenetrable region Rf. As a predetermined equation of motion, the suspended body 22 is regarded as a pendulum, and the swing caused in the pendulum is controlled by changing the speed during the lateral movement of the trolley 23, and the position where the movement is stopped is the target position. preferably includes a positioning control consistent with .

The second search unit 46 receives the length Tb of the horizontal movement period, the length Tc of the downward movement period, and the start time tb of the searched horizontal movement period, and narrows down the search range based on these. Similar to the search unit 45 , it is a functional element that uses a binary search algorithm as a search algorithm to search for the start time tc of the downward movement period Tc and outputs the searched start time tc to the movement route setting unit 47 .

The horizontal movement period in the second search section 46 is a period that does not overlap with the upward movement period searched in the first search section 45, and the length of the horizontal movement period is Td (=(tb+Tb)-(ta+Ta)). In this way, in the second search unit 46 that searches after the first search unit 45, the length Tb of the horizontal movement period calculated by the period calculation unit 44 is not used, but the upward movement period of the horizontal movement period is calculated. It is desirable to set the length of the non-overlapping period to Td.

The second search unit 46 compares the length Td of the horizontal movement period and the length Tc of the downward movement period, and narrows the width of the search range within the short period. Next, the second search unit 46 uses a narrowed search range by a binary search algorithm to determine the end time of the horizontal movement period while satisfying the condition that the suspended body 22 during movement does not enter the non-violable region Rf. A search is made for the start time tc of the downward movement period at which the time between (tb+Tb) and the start time tc of the downward movement period is the longest. Here, the horizontal movement period is the preceding period, and the downward movement period is the subsequent period ending after the ending time of the preceding period.

The search range in the second search unit 46 is the horizontal movement period, and when the length Td of the horizontal movement period is equal to or less than the length Tc of the downward movement period, the suspended body 22 in the horizontal movement period is The period that can be moved only by horizontal movement is narrowed down to the period from the start time (ta+Ta) to the end time (tb+Tb).

Further, the search range in the second search unit 46 is the horizontal movement period in the horizontal movement period when the previous period is the horizontal movement period and the length Td of the horizontal movement period is longer than the length Tc of the downward movement period. It is narrowed down to the period from the start time (tb+(Tb−Tc)) to the end time (tb+Tb) of the period that can be moved in both the downward movement and downward movement.

In the present disclosure, the period in which the suspended body 22 can be moved only by horizontal movement in the horizontal movement period is the end time of the upward movement period (ta + Ta ) to the end time (tb+Tb) of the horizontal movement period. This period is defined as Td. Further, the period during which the hanging body 22 can be moved both horizontally and downwardly in the horizontal movement period is from the start time (tb+(Tb−Tc)) of the downward movement period Tc to the end of the horizontal movement period. It shows the period up to time (tb+Tb).

Since the length Td of the horizontal movement period is longer than the length Tc of the downward movement period, the search range in the second algorithm of the embodiment is from the start time (tb+(Tb−Tc)) of the downward movement period to the horizontal movement period end time (tb+Tb).

The movement route setting unit 47 sets the movement route Fsg based on the start time tb of the horizontal movement period searched by the first search unit 45 and the start time tc of the downward movement period searched by the second search unit 46, It is a functional element that outputs to the display control unit 15 .

As illustrated in FIGS. 5 to 8, the method of searching for the moving route Fsg of the suspended body 22 starts each time the control device 12 receives the cargo handling instruction Dd transmitted from the management device 35, and This is a method of searching for one moving route Fsg for each Dd. At the start, the profile information Dxy is already acquired by the contour acquisition device 11 . For example, when cargo handling is performed on the container ship 30 immediately after it berths, it is necessary to traverse the trolley 23 from one end to the other end of the girder portion 24 to acquire the profile information Dxy before executing the moving route search method. be.

As illustrated in FIG. 5, when cargo handling instructions Dd are received, movement route search program 40 is executed, and departure/arrival setting unit 41 sets departure position Ps and arrival position Pg based on cargo handling instructions Dd (S110). Next, based on the profile information Dxy acquired by the area setting unit 42, the non-violable area Rf is set (S120). More specifically, in this step, the area setting unit 42 acquires the corner positions Pe (e=1, . . . , i) based on the profile information Dxy. Next, the separation position Pf (f=1, . . . , i) is calculated based on the corner position Pe acquired by the area setting unit 42 . Next, an impenetrable region Rf is set as a region in which adjacent separated positions Pf among the plurality of separated positions Pf calculated by the region setting unit 42 are connected by line segments. The impenetrable region Rf is expressed based on a piecewise linear function.

Next, the highest position calculator 43 calculates the highest position Yh of the impenetrable region Rf based on the impenetrable region Rf set by the region setting unit 42 (S130). Next, the period calculator 44 calculates an upward movement period Ta, a horizontal movement period Tb, and a downward movement period Tc based on the departure position Ps, the arrival position Pg, and the highest position Yh (S140). Note that the start time ta of the upward movement period Ta may be set to zero or may be set to the current time.

Next, the first search unit 45 narrows down the search range (S150). Next, the first search unit 45 searches for the start time tb of the horizontal movement period using a binary search algorithm (S200). Next, the second search unit 46 narrows down the search range (S160). Next, the second search unit 46 searches for the start time tc of the downward movement period using a binary search algorithm (S300). Next, the movement path setting unit 47 determines the movement path Fsg ( =F1+F2+F3+F4+F5) is set (S170) and the method ends.

As illustrated in FIG. 6, the method of searching for the start time tb of the horizontal movement period by the first search unit 45 is a method using a binary search algorithm that narrows down the search range within the range of the upward movement period. In addition, this search method uses a binary search algorithm to determine the end time (ta+Ta) of the ascending movement period and the start time tb of the horizontal movement period while satisfying the condition that the suspended body 22 during movement does not enter the inviolable region Rf. This is a method of searching for the start time tb of the horizontal movement period that has the longest time between . Note that j indicates the number of times the search result is output, M indicates the median value, N indicates a preset threshold value, Mj indicates the result in one loop process, and F(M) is the movement The trajectory of the hanging body 22 inside is shown. Note that the unit of the median M, threshold N, and result Mj is time. In the embodiment, the length Ta of the ascending movement period is set to be equal to or longer than the length Tb of the horizontal movement period.

The first search unit 45 assigns the start time ta to the variable L for an array in which the times for each unit time Δt are sorted in ascending order from the start time ta to the end time (ta+Ta) of the upward movement period, The end time (ta+Ta) is input to the variable H (S210). The unit time Δt is a numerical value that can be set arbitrarily, and for example, 0.1 to 1 second is exemplified.

Next, the first search unit 45 performs loop processing (S220). The loop process is a process of repeatedly outputting the result Mj using the binary search algorithm until the difference between the result M(j−1) output last time and the result Mj output this time becomes equal to or less than the threshold value N. The threshold N is set to a value that allows it to be determined that the results Mj have been narrowed down. The threshold N may be set to the unit time Δt. The loop process may be a process of repeatedly outputting the result Mj until the variable L becomes equal to or less than the variable H.

In the loop process, the first search unit 45 calculates the median value M between the variables L and H (S221). Next, the first search unit 45 determines whether or not the trajectory F (M) of the suspended body 22 during movement enters the impenetrable region Rf ( S222).

When it is determined that the trajectory F(M) enters the impenetrable region Rf (S222: <), the first search unit 45 adds the unit time Δt to the current median value M in the array to the end time (ta+Ta). is changed to the search range (S223), and the loop processing is repeated.

On the other hand, when it is determined that the trajectory F(M) does not enter the impenetrable region Rf (S222:≧), the first search unit 45 outputs the median value M as the result Mj, and counts the number of repetitions (S224). . Next, the first search unit 45 changes the search range to a value obtained by subtracting the unit time Δt from the current median value M from the start time ta in the array (S225), and repeats the loop processing.

The above loop processing is repeated, and when the difference between the result M(j−1) output last time and the result Mj output this time becomes equal to or less than the threshold value N, the loop processing ends. Next, the first search unit 45 determines the result Mj at the end of the loop process as the start time tb of the horizontal movement period (S230), and the search ends. Note that the result M(j-1) before the end of the loop process may be determined as the start time tb of the horizontal movement period.

Note that when searching for the start time tb of the horizontal movement period using a binary search algorithm in which the search range is narrowed down to the range of the horizontal movement period, the first search unit 45 sets the result Mj to the ascending movement period in step S230. is determined as the start time tb of the horizontal movement period by subtracting it from the end time (ta+Ta).

As exemplified in FIG. 7, the search method for the start time tc of the downward movement period by the second search unit 46 is a method using a binary search algorithm that narrows down the search range within the range of the downward movement period. Further, in this search method, the end time (tb+Tb) of the horizontal movement period and the start time tc of the downward movement period meet the condition that the suspended body 22 during movement does not enter the inviolable region Rf by a binary search algorithm. This is a method of searching for the start time tc of the descending movement period in which the overlapping period is the longest. Note that, similarly to the search method in the first search unit 45, k indicates the number of times the search results are output, and Mk indicates the result in one loop process.

The search method by the second search unit 46 is the same method as the search method by the first search unit 45, although the values to be input are different, so detailed description thereof will be omitted. In this search method, the horizontal movement period start time tb is determined by subtracting the result Mk from the horizontal movement period end time (tb+Tb) (S330). Note that the second search unit 46 uses a binary search algorithm that narrows down the search range between the end time (ta+Ta) of the upward movement period and the end time (tb+Tb) of the horizontal movement period to determine the start time tc of the downward movement period. , in step S330, the result Mk is determined to be the start time tc of the downward movement period.

As illustrated in FIG. 8, the movement path Fsg searched by the movement path search method described above is a path in which the upward movement period overlaps on the start side of the horizontal movement period and the downward movement period overlaps on the end side of the horizontal movement period. becomes. Therefore, the time required for the movement of the suspended body 22 is shortened in the movement path Fsg due to the overlap of the periods, compared to the movement path without the overlap of the periods.

The moving route Fsg is composed of moving routes F1 to F5. The movement path F1 is a path along which only upward movement is performed, the movement path F2 is a path along which both upward movement and horizontal movement are performed, the movement path F3 is a path along which only horizontal movement is performed, and the movement path F4 is a path along which only horizontal movement is performed. It is a path on which both horizontal movement and downward movement are performed, and the movement path F5 is a path on which only downward movement is performed.

In the movement route search method described above, when the departure position Ps and the arrival position Pg are indicated by the cargo handling instruction Dd, the start time tb of the horizontal movement period is searched by a binary search algorithm in which the search range is narrowed down to the range of the upward movement period. At the same time, the start time tc of the downward movement period is searched by a binary search algorithm in which the search range is narrowed down to the range of the downward movement period. A unique movement path Fsg is then determined based on the separately searched horizontal movement period start time tb and the downward movement period start time tc.

In this way, instead of searching the entire movement path Fsg of the suspended body 22 at once, the search range is narrowed down by combining the upward movement period and the horizontal movement period, or the horizontal movement period and the downward movement period. By doing so, it is possible to perform a search according to the binary search algorithm. As a result, it is possible to shorten the time required to search for the movement route Fsg that allows the suspended body 22 to move efficiently while avoiding obstacles 34 of various shapes.

Further, in the moving route search method, when searching for the moving route Fsg, by setting an inviolable region Rf, the trajectory F(M) of the suspended body 22 during movement deviates from the ideal moving route Fsg due to disturbance. Even if it does, the non-aggression area Rf serves as a buffer to ensure the safety of movement. As an example of the disturbance, vibration of the suspended body 22 caused by a sudden stop of movement of the suspended body 22 is exemplified. Taking this into consideration will be advantageous in ensuring the safety of movement.

The moving route search method may use a linear search algorithm as a search algorithm in addition to the binary search algorithm. When using the linear search algorithm, the search range and conditions should be the same as those of the above binary search algorithm. For example, when searching with a linear search algorithm, the start time of the search is set to the start time ta of the upward movement period, the end time of the search is set to the end time of the upward movement period (ta + Ta), and each unit time Δt This is a method of sequentially searching for the start time tb of the horizontal movement period that satisfies the conditions.

However, it is preferable to search using a binary search algorithm as the moving route search method. The maximum number of iterations of loop processing in a linear search algorithm is (Ta/Δt), and the maximum number of iterations of loop processing in a binary search algorithm is (log ₂ (Ta/Δt)). In other words, the use of the binary search algorithm as the movement route search method is advantageous in reducing the number of iterations of the loop processing, and the time required for the search can be shortened.

The crane 20 is not limited to a crane that unloads the container 32 between the container ship 30 and the transport vehicle 31, but may be a crane that unloads the container 32 between the storage lane of the container terminal and the transport vehicle 31. Further, the crane 20 is not limited to a crane for loading and unloading the container 32, and may be any crane capable of vertically moving the suspended body 22 in the Y direction and horizontally moving in the X direction or the Z direction. It should be noted that the horizontal movement in the X direction or Z direction may be turning movement about the Y direction.

The control device 12 is not limited to the device installed in the operation room 33 . For example, the management device 35 may have the functions of the control device 12 . Moreover, in the case of the crane 20 capable of automatic cargo handling, the control device 12 may be installed in the machine room 27 of the crane 20 .

Further, the control device 12 is not limited to the configuration having the travel route search program 40 . For example, each functional element of the movement route search program 40 is illustrated as an electric circuit that functions independently of the program. Also, each functional element may be configured with a PLC (Programmable Logic Controller), and the control device 12 may be an aggregate of a plurality of PLCs.

When the cargo handling instruction Dd from the management device 35 includes the departure position Ps and the arrival position Pg, the departure/arrival setting section 41 of the movement route search program 40 may be omitted, and step S110 of the movement route determination method may be omitted.

When moving the suspended body 22 from the departure position Ps to the arrival position Pg, the movement route search program 40 selects a combination of upward movement and horizontal movement, or a combination of horizontal movement and downward movement, depending on the departure position Ps and the arrival position Pg. A combination is also applicable. In this case, either step S200 or step S300 may be performed as the moving route search method.

10 Control system 11 Contour acquisition device 12 Control device 40 Movement route search program 20 Crane 21 Hanging rope 22 Suspended body 34 Obstacle Ps Departure position Pg Arrival position Dxy Profile information Rf Inviolable area Yh Highest position Ta Length of ascending movement period Tb Length of horizontal movement period Tc Length of downward movement period ta Start time of upward movement period tb Start time of horizontal movement period tc Start time of downward movement period Fsg Movement path

Claims (8)

When moving the suspended body suspended by the suspension rope vertically in the vertical direction and horizontally moving the support point of the suspension rope in the horizontal direction to move the suspended body from the designated start position to the arrival position. In the method of searching for a movement route,
Narrowing down a search range within the range of the vertical movement period or within the range of the horizontal movement period based on the length of the vertical movement period required for the vertical movement and the length of the horizontal movement period required for the horizontal movement,
Between the end time of the earlier period of the vertical movement period or the horizontal movement period and the start time of the later period that ends after the end time of the earlier period by the search algorithm using the search range A moving route search method, characterized by searching for the start time of the latter period in which the period of time of is the longest. The search range is
When the previous period is the vertical movement period and the length of the vertical movement period is equal to or less than the length of the horizontal movement period, the suspended body is moved only by the vertical movement during the vertical movement period. is narrowed down between the start time and the end time of the possible period,
When the previous period is the vertical movement period and the length of the vertical movement period is longer than the length of the horizontal movement period, the vertical movement period and the horizontal movement period of the vertical movement period overlap. By narrowing down the period from the start time to the end time of the period that can be moved by both the vertical movement and the horizontal movement,
When the previous period is the horizontal movement period and the length of the horizontal movement period is equal to or less than the length of the vertical movement period, the suspended body is moved only by the horizontal movement during the horizontal movement period. is narrowed down between the start time and the end time of the possible period,
When the previous period is the horizontal movement period and the length of the horizontal movement period is longer than the length of the vertical movement period, the vertical movement period and the horizontal movement period of the horizontal movement period overlap. 2. The movement route searching method according to claim 1, wherein the period from the start time to the end time of the period in which the movement is possible by both the horizontal movement and the vertical movement is narrowed down. Acquiring the outline of obstacles present in the movable range of the suspended body,
Set an inviolable area, which is an area that extends outward from the acquired outline of the obstacle,
Calculate the highest position of the set inviolable area,
3. The movement route search according to claim 1 or 2, wherein the length of the vertical movement period and the length of the horizontal movement period are calculated based on the instructed departure position, the arrival position, and the calculated highest position. Method. When setting the inviolable area,
A plurality of outwardly convex corner positions present in the outline of the obstacle are obtained, a spaced position separated by a predetermined distance from the obtained corner positions is calculated, and a line is drawn between the adjacent spaced positions. 4. The moving route search method according to claim 3, wherein an area connected by minutes is set as the non-violable area. According to the search algorithm, the post-period in which the time between the end time of the pre-period and the start time of the post-period is the longest while satisfying the condition that the hanging object during movement does not enter the inviolable area. 5. The movement route search method according to claim 3 or 4, wherein the search is made for the start time of the . The moving route search method according to any one of claims 1 to 5, wherein the search algorithm is a binary search algorithm. When moving the suspended body suspended by the suspension rope vertically in the vertical direction and horizontally moving the support point of the suspension rope in the horizontal direction to move the suspended body from the designated start position to the arrival position. In the program that causes the crane control device to search for the movement route,
has a search algorithm,
to the control device,
a procedure for narrowing down the search range to within the range of the vertical movement period or within the range of the horizontal movement period based on the length of the vertical movement period required for the vertical movement and the length of the horizontal movement period required for the horizontal movement;
According to the search algorithm using the search range, the end time of the earlier period of the vertical movement period or the horizontal movement period and the start time of the later period that ends after the end time of the preceding period A moving route search program characterized by executing a procedure for searching for the start time of the latter period in which the time between and is the longest. A control system for a crane in which a suspended body suspended by a hoisting rope is configured to be movable in the vertical direction, and a supporting point of the hoisting rope is configured to be horizontally movable,
A period calculation unit for calculating the length of the vertical movement period required for vertical movement of the suspended body and the length of the horizontal movement period required for horizontal movement of the support point, and a search unit having a search algorithm,
Based on the length of the vertical movement period and the length of the horizontal movement period calculated by the period calculation section, the search section narrows down the search range to within the range of the vertical movement period or within the range of the horizontal movement period. However, using the search algorithm, between the end time of the earlier period of the vertical movement period and the horizontal movement period and the start time of the later period that ends after the end time of the earlier period A control system for a crane, characterized in that it is configured to perform control to search for the start time of the latter period in which the time is the longest.

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