JP7290422B2 - Cargo handling equipment and collision monitoring equipment - Google Patents

Description

The present invention relates to a cargo handling device and a collision monitoring device.

For example, Patent Literature 1 describes a cargo handling device for hatch ships. The cargo handling apparatus has a collision monitoring unit that monitors the portion inserted into the hatch to prevent it from colliding with the edge of the hatch opening. This cargo handling apparatus has a sensor on the upper end side of a portion to be monitored, and a reflector that reflects a detected wave at a position spaced downward from the sensor. When the edge of the hatch mouth is away from the sensor, the sensor receives high intensity reflected waves from the reflector. On the other hand, the intensity of the reflected wave received by the sensor is reduced because the detected wave of the sensor is blocked by the edge of the hatch opening. In this way, collision monitoring is performed based on the intensity of the reflected wave received by the sensor.

JP 2014-223989 A

Cargo handling devices such as those described above require reflectors placed inside the hatch vessel for collision monitoring. However, since the inside of the hatch ship is a place where powder and coal are often dropped, the surface of the reflector may be stained or damaged. In this case, there is a problem that the accuracy of collision monitoring is lowered. Besides inside the hatch ship, at the work site of cargo handling equipment for hatch ships, there is a possibility that the accuracy of collision monitoring may be lowered due to staining, damage, etc. on the surface of the reflector. Therefore, it has been required to improve the accuracy of collision monitoring.

The present invention has been made to solve such problems, and is capable of improving the accuracy of monitoring collisions of interfering objects with objects to be monitored, and a collision monitoring device.

A cargo handling apparatus according to the present invention is a cargo handling apparatus for a hatch ship, and includes a cargo handling section that is inserted into the hatch ship; a collision monitoring unit that monitors a collision of an interfering object with the part, the collision monitoring unit is provided on the upper end side of the connecting part and measures a distance, and based on the detection result of the rangefinder, and a determination unit that determines the presence or absence of an interfering object within a predetermined distance range from .

A cargo handling apparatus according to the present invention includes a collision monitoring section that monitors a collision of an interfering object with a connecting section. This collision monitoring unit is provided on the upper end side of the connecting portion and has a rangefinder for measuring the distance. A rangefinder measures the distance to an object existing in the measurement direction. Therefore, since the rangefinder does not use a reflector to detect reflected waves, no other member such as a reflector is required at the lower end of the connecting portion. The judging section of the collision monitoring section judges whether or not there is an interfering object within a predetermined distance from the rangefinder based on the detection result of the rangefinder. In other words, the determination section can determine whether or not an interfering object is close to the connection section without being affected by the state of other members such as the reflector. As described above, it is possible to improve the accuracy of monitoring collision of an interfering object with a monitored object.

In the cargo handling apparatus, the rangefinder may be provided at a position always above the hatch opening of the hatch regardless of the position of the cargo handling section inside the hatch. This prevents the rangefinder from being affected by falling powder or falling coal inside the hatch ship. Therefore, it is possible to suppress damage to the rangefinder and suppress deterioration in the accuracy of collision monitoring.

In the cargo handling apparatus, the collision monitoring section may include a plurality of uniaxial laser rangefinders or microwave rangefinders as rangefinders at a predetermined pitch in the circumferential direction of the connecting section. In this case, a single-axis laser or microwave rangefinder does not move the laser or microwave for detection, unlike scanning-type rangefinders. Therefore, when an interfering object approaches the connecting portion from a certain angle in the circumferential direction, the rangefinder can measure the distance to the interfering object without time lag.

In the cargo handling apparatus, the determination unit may determine the presence or absence of an interfering object within a range near the cargo handling unit from the distance meter. In this case, the collision monitoring section can monitor a wide range of the connecting section.

A collision monitoring device according to the present invention is a collision monitoring device for monitoring a collision of an interfering object with an object to be monitored. a determination unit that determines whether or not there is an interfering object within a range of a predetermined distance from the rangefinder based on the determination.

A collision monitoring device according to the present invention monitors a collision of an interfering object with an object to be monitored. This collision monitoring device has a rangefinder that is provided on an object to be monitored and measures a distance. A rangefinder measures the distance to an object existing in the measurement direction. Therefore, since the rangefinder does not use a reflector to detect reflected waves, the object to be monitored does not require any other member such as a reflector. The judging unit of the collision monitoring device judges the presence or absence of an interfering object within a predetermined distance range from the rangefinder based on the detection result of the rangefinder. In other words, the determination section can determine whether or not an interfering object is close to the connection section without being affected by the state of other members such as the reflector. As described above, it is possible to improve the accuracy of monitoring collision of an interfering object with a monitored object.

ADVANTAGE OF THE INVENTION According to this invention, the cargo handling apparatus and collision monitoring apparatus which can improve the precision of a monitoring of the collision of the interfering object with respect to a monitored object can be provided.

1 is a schematic diagram showing a cargo handling device according to an embodiment; FIG. 1 is a schematic diagram showing a cargo handling device according to an embodiment; FIG. It is a schematic diagram showing a material handling device according to a comparative example. It is a schematic diagram showing a cargo handling device concerning a modification. It is a schematic diagram showing a cargo handling device concerning a modification. It is a schematic diagram showing a cargo handling device concerning a modification.

A preferred embodiment of a crane system according to the present invention will be described below with reference to the drawings. FIG. 1 is a schematic diagram showing a cargo handling apparatus according to this embodiment.

A cargo handling device 100 according to this embodiment is a cargo handling device for a hatch ship 50 . The cargo handling device 100 is provided on the wharf and takes out cargo from the moored hatch boat 50 . In this embodiment, a bucket elevator type continuous unloader is exemplified as the cargo handling device 100 . As shown in FIG. 1 , the cargo handling device 100 includes a main body 1 , a cargo handling portion 2 , a connecting portion 3 , and a control portion 40 .

The main body 1 has a traveling portion (not shown) that travels along the wharf along the quay, and a boom 11 that is provided on the traveling portion so as to be freely rotatable and vertically movable. The boom 11 extends above the hatch mouth 51 of the hatch vessel 50 when unloading the hatch vessel 50 .

The cargo handling section 2 is inserted into the hatch ship 50 and scrapes cargo in the hatch ship 50 . The connecting portion 3 extends vertically and connects the cargo handling portion 2 and the main body portion 1 . The connecting portion 3 is provided at the tip of the boom 11 of the main body portion 1 . The cargo handling section 2 is provided at the lower end of the connecting section 3 . A lower end portion of the cargo handling section 2 extends horizontally. A bucket elevator (not shown) that is endlessly wound around the cargo handling section 2 and the connecting section 3 is provided.

The control unit 40 is a device that controls the entire cargo handling device 100 . The control unit 40 is configured as a general computer including a processor, memory, storage, communication interface, user interface, and the like. The processor is a calculator such as a CPU (Central Processing Unit). The memory is a storage medium such as ROM (Read Only Memory) or RAM (Random Access Memory). The storage is a storage medium such as an HDD (Hard Disk Drive). A communication interface is a communication device that implements data communication. The processor integrates memory, storage, communication interface and user interface, and implements the functions described below. The control unit 40 implements various functions by, for example, loading programs stored in the ROM into the RAM and executing the programs loaded into the RAM by the CPU. The control unit 40 may be composed of a plurality of computers.

The control unit 40 includes an operation control unit 41 that controls the operation of the cargo handling device 100, and a determination unit 42 and a warning unit 43 that constitute the collision monitoring device 20, which will be described later. The control unit 40 controls the bucket elevator to circulate and scrape cargo in the hatch boat 50 . Each bucket (not shown) that has scraped off the load is turned over at the upper portion of the connecting portion 3, and the material dropped from the bucket is transferred to a conveyor (not shown) on the boom 11 via a rotary feeder (not shown). The control unit 40 transports and collects the cargo collected by the conveyor. The control unit 40 moves the cargo handling unit 2 in the horizontal direction and the vertical direction according to the condition of the cargo on the hatch ship 50 .

The cargo handling apparatus 100 includes a collision monitoring device 20 (collision monitoring unit) that monitors a collision of an interfering object with an object to be monitored. In this embodiment, the collision monitoring device 20 monitors the connecting portion 3 as the monitored object. The collision monitoring device 20 monitors the edge portion 51 a of the hatch opening 51 as an obstacle so as not to collide with the connecting portion 3 . Also, the collision monitoring device 20 monitors the boom 11 as an object to be monitored. The collision monitoring device 20 monitors structures around the cargo handling device 100 as interfering objects so as not to collide with the boom 11 . Specifically, the collision monitoring device 20 includes a monitoring section 30A, a monitoring section 30B, and the control section 40 described above.

30 A of monitoring parts monitor the connection part 3 as a monitoring target object. The monitoring section 30A includes a plurality of rangefinders 31A and a support section 32A. The monitoring unit 30B monitors the boom 11 as an object to be monitored. The monitoring section 30B includes a plurality of rangefinders 31B and a support section 32B. Note that the monitoring units 30A and 30B may be collectively called a monitoring unit. Similarly, the support portion 32A and the support portion 32B may be collectively called a support portion. Similarly, the rangefinder 31A and the rangefinder 31B may be collectively called a rangefinder. If it is simply referred to as "rangefinder 31", it is assumed that it is describing the contents common to rangefinder 31A and rangefinder 31B.

The support portion 32A is a member for supporting the rangefinder 31A. 32 A of support parts are provided in the upper end side of the connection part 3. As shown in FIG. 32 A of support parts are arrange|positioned below the connection part with the main-body part 1 among the connection parts 3 at some gaps. 32 A of support parts are provided so that the circumference|surroundings of the outer peripheral surface of the connection part 3 may be surrounded. The support portion 32A can also be used as a foothold for the operator. The operator can perform maintenance or replacement of the rangefinder 31A at the support portion 32A. Note that the support portion 32A may be provided only on a part of the outer peripheral surface of the connecting portion according to the arrangement of the rangefinder 31A. The support portion 32A may be L-shaped, for example.

The rangefinder 31 is a device that measures the distance of an object from the rangefinder 31 when the object exists within the measurement range. The rangefinder 31 emits a detection signal such as laser light in the measurement direction. When the detection signal strikes an object and is reflected, the rangefinder 31 receives the reflected detection signal to measure the distance to the object. The rangefinder 31 can perform non-contact measurement using detection signals without physically contacting an object like a wire (see FIG. 3). As such a rangefinder 31, a single-axis laser rangefinder, a two-axis laser rangefinder (laser scan sensor), a microwave rangefinder, an ultrasonic rangefinder, and various other sensors that can be used as a rangefinder can be used. . In this embodiment, a uniaxial laser range finder is used as the range finder 31, but this description can also be applied to a case where a uniaxial microwave range finder is used. Therefore, the rangefinder 31 emits laser light in the measurement direction.

The rangefinder 31A is attached to the lower surface side of the support portion 32A. Therefore, the rangefinder 31A is provided on the upper end side of the connecting portion 3. As shown in FIG. The rangefinder 31A is arranged below the joint portion 3 with a slight gap from the joint portion with the main body portion 1 . The rangefinder 31A is always provided at a position above the hatch opening 51 of the hatch 50 regardless of the position of the cargo handling section 2 inside the hatch 50 . Specifically, even when the lower end of cargo handling section 2 is positioned at the lowest position within the movable range within hatch ship 50 , rangefinder 31 A is positioned above hatch opening 51 .

The rangefinder 31A emits a laser downward. The rangefinder 31A may emit a laser beam parallel to the vertical direction, or may emit a laser beam in a direction inclined from the vertical direction. In addition, a plurality of rangefinders 31A are provided at a predetermined pitch in the circumferential direction of the connecting portion 3 . That is, the collision monitoring device 20 includes a plurality of uniaxial laser rangefinders as the rangefinder 31A at a predetermined pitch in the circumferential direction of the connecting portion 3 . Although the circumferential pitch at which the rangefinders 31A are provided is not particularly limited, they may be provided at pitches of about 60°, 90°, and 120°, for example. Further, the rangefinder 31A is provided at a position radially spaced apart from the outer peripheral surface of the connecting portion 3 toward the outer peripheral side. As a result, the interfering object can be detected before the interfering object contacts the connecting portion 3 . Although the distance between the rangefinder 31A and the outer peripheral surface of the connecting portion 3 is not particularly limited, it may be, for example, about 30 cm to 100 cm. If the range finder 31A is too far from the outer peripheral surface of the connecting portion 3, it will detect an interfering object more than necessary even at a position where the possibility of collision with the connecting portion 3 is low. On the other hand, if the rangefinder 31A is too close to the outer peripheral surface of the connecting portion 3, the interfering object will be in a state of being considerably close to the connecting portion 3 when the interfering object is detected.

Note that the rangefinder 31 is a sensor for measuring the distance to an object, unlike a sensor that uses a reflector to detect an interfering object between the reflector and the sensor. A sensor that detects an interfering object emits radio waves from the sensor toward the reflector and detects the intensity of the reflected wave reflected by the reflector. If an interfering object exists between the sensor and the reflector, the intensity of the reflected wave detectable by the sensor is reduced. A sensor detects the presence of an interfering object based on such a decrease in the intensity of the reflected wave. On the other hand, the rangefinder 31 measures the distance to the object based on the laser beam itself reflected by the object. Therefore, no reflector is provided at a position spaced apart from the rangefinder 31 in the measurement direction.

The support portion 32B is provided near the end portion of the boom 11 on the main body side. Accordingly, a plurality of rangefinders 31B are provided on the boom 11 near the end of the boom 11 on the main body side. Rangefinder 31B emits a laser toward the tip side of boom 11 . As a result, when an interfering object approaches the boom 11, the rangefinder 31B can detect the interfering object. For example, the rangefinders 31B may be provided on both sides of the boom 11 in the turning direction.

Based on the detection result of the rangefinder 31 , the determination unit 42 determines the presence or absence of an interfering object within a predetermined distance range from the rangefinder 31 . The determination unit 42 virtually sets the reference position SL at a position separated from the rangefinder 31 by a predetermined distance in the measurement direction. Thereby, the determination unit 42 can set the range between the rangefinder 31 and the reference position SL as the monitoring range E. FIG. The determination unit 42 sets a reference position SL near the upper end of the cargo handling unit 2 for the monitoring unit 30A that monitors the coupling unit 3 . Accordingly, the determination unit 42 can monitor the entire range from the vicinity of the upper end to the vicinity of the lower end of the connecting portion 3 as the monitoring range E. FIG. The determination unit 42 sets a reference position SL near the tip of the boom 11 for the monitoring unit 30B that monitors the boom 11 . Accordingly, the determination unit 42 can monitor the entire range from the vicinity of the base of the boom to the vicinity of the tip thereof as the monitoring range E. FIG.

By determining that no interfering object exists within the monitoring range E, the determination unit 42 can confirm that the interfering object is not approaching the monitored object. When no interfering object exists in the monitoring range E, the multiple rangefinders 31 detect the distance of objects (for example, the cargo handling section 2 and the bottom of the ship) that exist farther than the reference position SL. Alternatively, when an object existing in the measurement direction of the rangefinder 31 exceeds the detectable distance of the rangefinder 31, the rangefinder 31 cannot confirm the reflection of the laser beam (lost), and the object in front of the measurement direction does not exist. The determination unit 42 acquires the measurement results of all the rangefinders 31 . If the determination unit 42 confirms that none of the objects detected by the rangefinder 31 exists at a position closer than the reference position SL, it determines that there is no interfering object within the monitoring range E. judge.

By determining that an interfering object exists within the monitoring range E, the determining unit 42 can determine that the interfering object is approaching the monitored object. When an interfering object exists in the monitoring range E, at least one of the multiple rangefinders 31 detects the distance of the object existing at a position closer than the reference position SL. The determination unit 42 acquires the measurement results of all the rangefinders 31 . If the determining unit 42 confirms that even one of the objects detected by the rangefinder 31 exists at a position closer than the reference position SL, the interfering object exists within the monitoring range E. I judge.

For example, as shown in FIG. 2, when the edge 51a of the hatch opening 51 approaches the connecting portion 3, the edge 51a enters the monitoring range E. As shown in FIG. At this time, part of the laser of the rangefinder 31A is reflected near the edge 51a and detected by the rangefinder 31A. Thereby, the rangefinder 31A detects the distance to the object. The determination unit 42 determines that an interfering object exists within the monitoring range E based on the detection of a distance closer than the reference position SL.

The warning unit 43 outputs a warning to the operator when the determination unit 42 determines that an interfering object exists within the monitoring range E. FIG. The warning unit 43 calls the operator's attention by display on the monitor, warning sound, warning light, or the like. Moreover, the warning part 43 may control the cargo handling apparatus 100 to make an emergency stop.

Next, actions and effects of the cargo handling device 100 and the collision monitoring device 20 according to the present embodiment will be described.

A cargo handling apparatus 100 according to the present embodiment is a cargo handling apparatus 100 for a hatch ship, and includes a cargo handling section 2 inserted into a hatch ship 50, a cargo handling section 2 extending vertically, and a main body section 1 of the cargo handling apparatus 100. and a collision monitoring device 20 for monitoring a collision of an interfering object against the connecting portion 3. The collision monitoring device 20 is provided on the upper end side of the connecting portion 3 and measures the distance and a determination unit 42 that determines the presence or absence of an interfering object within a predetermined distance range from the rangefinder 31A based on the detection result of the rangefinder 31A.

The cargo handling apparatus 100 according to the present embodiment includes a collision monitoring device 20 that monitors collisions of interfering objects with the connecting portion 3 . This collision monitoring device 20 is provided on the upper end side of the connecting portion 3 and has a rangefinder 31A for measuring the distance. The rangefinder 31A measures the distance to an object present in the measurement direction. Therefore, since the rangefinder 31A does not use a reflector to detect reflected waves, another member such as a reflector is not required at the lower end of the connecting portion 3. FIG. Since the inside of the hatch ship 50 is a place where dust and coal are often dropped, if a reflector is used, the surface of the reflector may be stained or damaged. In this case, there is a problem that the accuracy of collision monitoring is lowered. However, the distance meter 31A of this embodiment does not have such a problem. The determination unit 42 of the collision monitoring device 20 determines the presence or absence of an interfering object within a predetermined distance range from the rangefinder 31A based on the detection result of the rangefinder 31A. That is, the determination unit 42 can determine whether an interfering object is close to the connection unit 3 without being affected by the state of other members such as reflectors. As described above, it is possible to improve the accuracy of monitoring collision of an interfering object with the monitored object (connecting portion 3 in this case).

Here, as a comparative example, the material handling apparatus 150 shown in FIG. 3 will be described. This cargo handling device 150 has a collision monitoring device 130 using a wire 131 . The connecting portion 3 is provided with a support portion 132 at the upper end of the monitoring range and a support portion 133 at the lower end thereof. Wire 131 extends vertically between support portions 132 and 133 . When the edge 51 a of the hatch opening 51 approaches the connecting portion 3 , the edge 51 a comes into contact with the wire 131 and tension acts on the wire 131 . Thereby, the collision monitoring device 130 can monitor the collision of the interfering object based on the tension of the wire 131 . Since such a collision monitoring device 130 is a contact-type detection mechanism, accurate collision monitoring cannot be performed if the detection mechanism is bent and cannot be restored. On the other hand, since the collision monitoring device 20 according to the present embodiment is a non-contact detection mechanism using the rangefinder 31A, problems due to defects in the detection mechanism are less likely to occur. In addition, the wire of the collision monitoring device 130 must be bent to some extent for detection, which lowers detection responsiveness. On the other hand, since the collision monitoring device 20 uses the rangefinder 31A, it is possible to detect a collision immediately after detecting a change in distance of a certain value or more, and therefore has good responsiveness. In addition, since the collision monitoring device 130 requires the supporting portion 133, if the supporting portion 133 is close to the cargo handling portion 2, the workability is lowered. Therefore, the support portion 133 must be arranged on the upper side to some extent, which limits the monitoring range. On the other hand, since the collision monitor 20 uses the rangefinder 31A, other members such as the support portion 133 are unnecessary. Therefore, the monitoring range E can be expanded to near the boundary between the cargo handling section 2 and the connecting section 3 .

In the cargo handling apparatus 100 , the rangefinder 31</b>A is always provided above the hatch opening 51 of the hatch 50 regardless of the position of the cargo handling section 2 within the hatch 50 . As a result, the range finder 31A can be prevented from being affected by falling powder, falling coal, etc. inside the hatch ship 50. FIG. Therefore, it is possible to suppress the damage to the rangefinder 31A and suppress the decrease in accuracy of collision monitoring.

In the cargo handling apparatus 100 , the collision monitoring device 20 includes a plurality of uniaxial laser rangefinders as the rangefinders 31 at a predetermined pitch in the circumferential direction of the connecting portion 3 . In this case, a uniaxial laser rangefinder does not move the laser for detection, unlike laser scanning type rangefinders. Therefore, when an interfering object approaches the connecting portion from a certain angle in the circumferential direction, the laser rangefinder can measure the distance to the interfering object without time lag. If a laser scan type rangefinder 31 is used, collision monitoring can be performed with a small number of rangefinders 31. FIG. Note that this effect also holds when a microwave rangefinder or the like is applied as the rangefinder 31 .

In the cargo handling apparatus 100 , the determination unit 42 determines the presence or absence of an interfering object within a range near the cargo handling unit 2 from the rangefinder 31 . In this case, the collision monitoring device 20 can monitor a wide range of the connecting portion 3 .

A collision monitoring device 20 according to the present embodiment is a collision monitoring device 20 that monitors collision of an interfering object with a monitored object, and is provided with respect to the monitored object to measure a distance. and a determination unit 42 that determines presence/absence of an interfering object within a predetermined distance range from the rangefinder 31 based on the detection result of the rangefinder 31 .

A collision monitoring device 20 according to the present embodiment monitors a collision of an interfering object with an object to be monitored. This collision monitoring device 20 has a rangefinder 31 that is provided on an object to be monitored and measures a distance. The rangefinder 31 measures the distance to an object existing in the measurement direction. Therefore, since the rangefinder 31 does not use a reflector to detect reflected waves, the object to be monitored does not require any other member such as a reflector. The determination unit 42 of the collision monitoring device 20 determines the presence or absence of an interfering object within a predetermined distance range from the rangefinder 31 based on the detection result of the rangefinder. That is, the determination unit 42 can determine whether or not an interfering object is close to the connecting portion without being affected by the state of other members such as the reflector. As described above, it is possible to improve the accuracy of monitoring collision of an interfering object with a monitored object.

The invention is not limited to the embodiments described above.

For example, in the above-described embodiments, the bucket elevator type continuous unloader was illustrated as the cargo handling device. Alternatively, as shown in FIG. 4, a collision monitoring device may be applied to the cargo handling device 200 of the twin-belt continuous unloader. The cargo handling device 200 has a cargo handling section 202, a main body section 201, and a connection section 203 that connects the two. The cargo handling section 202 scrapes the load while moving the cargo handling section 202 by actions such as traveling of the main body, turning and raising and lowering of the boom, and swinging of the connecting section. Rangefinder 31 is provided near the upper end of connecting portion 203 , and determination portion 42 sets reference position SL near the upper end of cargo handling portion 202 . The body part 201 has a traveling part (not shown) that travels along the wharf along the wharf, and a boom that is provided on the traveling part so as to be able to turn freely and to be raised and lowered. When unloading the hatch 50 , the boom extends above the hatch mouth 51 of the hatch 50 .

Further, as shown in FIG. 5, a collision monitoring device may be applied to the cargo handling device 300 of the vertical screw type continuous unloader. The cargo handling device 300 has a cargo handling section 302, a body section 301, and a connection section 303 that connects the two. The cargo handling section 302 scrapes and conveys the cargo upward by rotating the screw and the excavating blade. The distance meter 31 is provided near the upper end of the connecting portion 303 , and the determination portion 42 sets the reference position SL near the upper end of the cargo handling portion 302 .

Further, as shown in FIG. 6, a collision monitoring device may be applied to the cargo handling device 400 of the ship loader. The cargo handling device 400 has a cargo handling section 402, a body section 401, and a connection section 403 that connects the two. The cargo handling section 402 supplies cargo conveyed by the conveyor of the main body section 401 to the interior of the hatch ship 50 via the connecting section 403 . The distance meter 31 is provided near the upper end of the connecting portion 403 , and the determination portion 42 sets the reference position SL near the upper end of the cargo handling portion 402 .

DESCRIPTION OF SYMBOLS 1,201,301,401...Main-body part 2,202,302,402...Cargo-handling part 3,203,303,403...Connecting part 20...Collision monitoring apparatus (collision monitoring part) 31...Range meter 50 ... hatch ship, 51 ... hatch opening, 100, 200, 300, 400 ... cargo handling equipment.

Claims (6)

A cargo handling device for a hatch ship, comprising:
a cargo handling section inserted into the hatch ship;
a connecting portion that extends in the vertical direction and connects the cargo handling portion and the main body portion of the cargo handling device;
a collision monitoring unit that monitors a collision of an interfering object with the connecting unit;
The collision monitoring unit
a rangefinder provided on the upper end side of the connecting portion for measuring a distance;
a determination unit that determines the presence or absence of the interfering object within a predetermined distance range from the rangefinder based on the detection result of the rangefinder.
A virtual reference position is set at a position separated from the rangefinder by a predetermined distance in a measurement direction, and a range between the rangefinder and the reference position is set as a monitoring range,
When the determining unit confirms that none of the objects detected by the rangefinder exists at a position closer than the reference position, the interfering object does not exist within the monitoring range. Cargo handling equipment that determines . The cargo handling apparatus according to claim 1, wherein said rangefinder is always provided at a position above a hatch opening of said hatch vessel regardless of the position of said cargo handling section in said hatch vessel. 3. The cargo handling apparatus according to claim 1, wherein said collision monitoring unit includes a plurality of uniaxial laser rangefinders or microwave rangefinders as said rangefinders at a predetermined pitch in the circumferential direction of said connecting section. The cargo handling apparatus according to any one of claims 1 to 3, wherein the determining section determines the presence or absence of an obstacle within a range near the cargo handling section from the rangefinder. The cargo handling apparatus according to any one of claims 1 to 4, wherein the cargo handling section is provided with an endlessly wound bucket elevator. A collision monitoring device for monitoring a collision of an interfering object with an object to be monitored,
a rangefinder provided for the object to be monitored and measuring a distance;
a determination unit that determines the presence or absence of the interfering object within a predetermined distance range from the rangefinder based on the detection result of the rangefinder;
A virtual reference position is set at a position separated from the rangefinder by a predetermined distance in a measurement direction, and a range between the rangefinder and the reference position is set as a monitoring range,
When the determining unit confirms that none of the objects detected by the rangefinder exists at a position closer than the reference position, the interfering object does not exist within the monitoring range. A collision monitoring device that judges .

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