JPH0413987A - Approach alarm device - Google Patents

Abstract

PURPOSE:To prevent malfunction by detecting approach according to difference in arrival time between a radio wave signal and a sound wave which are output simultaneously. CONSTITUTION:A radio wave generating device 6 and a synchronous sound wave generating device 8 are provided in a gantry crane 1 and a radio wave receiving device 15, a sound wave receiving device 16, a comparison device 17, a spreader position height detection device 18, and an alarm device 19 are provided at a container carrier 10, thus enabling a distance between the gantry crane 1 and the container carrier 10 to be detected according to distance in arrival time to the container carrier 10 of a radio wave signal X and a sound wave signal y which are output simultaneously and are different in speed and an alarm to be generated if a position height of a spreader 12 is higher than a beam of the gantry crane 1 when the time difference matching this approach distance is within a specified time.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a proximity warning device, particularly to a proximity warning device for a transportation vehicle that carries out transportation work outdoors.

Conventional technology The above-mentioned transport vehicles, for example, container carriers that transport and stack containers at a container yard, are used to handle containers unloaded from a ship by passing through a crane girder and approaching the container. Stacking ms for stacking
In order to prevent the stacking mechanism from colliding with the girder of the crane if the crane approaches with the crane raised, an approach warning device is installed that emits ultrasonic waves, detects approach by the reflected waves, and issues an alarm. ing.

Problems to be Solved by the Invention However, with approach warning devices that use ultrasonic waves, there is a problem in that because the container carrier moves outdoors, the ultrasonic waves reflect off buildings and stacked containers, causing malfunctions.

Another possibility is to detect the approach by reflecting radio waves such as microwaves, but this poses the problem of malfunctions due to fluctuations in the state of the radio waves.

The present invention solves the above-mentioned problems, and aims to provide an approach warning device that enables accurate approach detection and warning in a transportation vehicle that performs transportation work outdoors.

Means for Solving the Problems In order to solve the above problems, the approach alarm device of the first invention transmits a radio wave signal of a predetermined frequency at predetermined time intervals to a device that transfers cargo to and from a movable transport vehicle. The transportation vehicle is provided with a radio wave transmitting means for transmitting a signal, a sound wave output signal for outputting a sound wave signal of a predetermined frequency synchronized with the radio signal, and a radio wave receiving means for receiving the radio signal, and a sound wave output signal for detecting the sound wave signal. a detection means, and a proximity warning means for detecting a time delay between the received radio wave signal and the detected sound wave signal, and issuing an approach warning for the device and the transport vehicle when the time delay is within a predetermined time. It is something.

Furthermore, the approach warning device of the second invention is provided with a radio wave transmitting means that transmits a radio wave signal of a predetermined frequency at predetermined time intervals at the transmitting base, and is provided with a radio wave transmitting means for transmitting a radio wave signal of a predetermined frequency at predetermined time intervals, and is provided with a radio wave transmitting means for transmitting a radio wave signal of a predetermined frequency at a predetermined time interval. , radio wave receiving means for receiving the radio signal;
A sound wave output means for outputting a sound wave signal of a predetermined frequency in synchronization with the received radio wave signal is provided, and the transport vehicle includes a radio wave reception means for receiving the radio wave signal, and a sound wave detection means for detecting the sound wave signal; Approach warning means for detecting a time delay between the received radio wave signal and the plurality of detected sound wave signals, and issuing an approach warning between the device and the transport vehicle when the shortest of the time delays is within a predetermined time. It is made up of the following.

Effect: According to the configuration of the first invention, the distance between the device and the transport vehicle is determined by the time delay ( time difference). When this time difference falls within a predetermined time, that is, within a predetermined approach distance, an alarm is issued to alert the driver.

Further, according to the configuration of the second invention, the transport vehicle inputs the radio wave signal transmitted from the transmission base and the sonic signal synchronized with the radio wave signal output from each of the plurality of devices, and receives the radio wave signal and
When the shortest time difference among the detected time differences of the sound wave signals that arrive with a delay in proportion to the distance between the transport vehicle and each device is within a predetermined time, an alarm is issued to call attention to it. Thus, when the transport vehicle approaches within a predetermined distance of the nearest device, an alarm is triggered.

Embodiment Hereinafter, one embodiment of the approach warning device of the present invention will be described based on the drawings.

FIG. 1 is a perspective view of a container in which the approach warning device of the first invention is installed (an I-recrane and a container carrier are arranged).

In FIG. 1, reference numeral 1 denotes a can 1 to a re-crane that is movable on rails 5 and loads and unloads containers 4 to and from a container 0j) 3 berthed to a quay 2. A container 4 is placed in the center of the girder of guns 1 to recranes 1. Furthermore, as shown in FIG. 2, the gun 1 to the recrane 1 are equipped with a radio wave generator 6 that transmits a radio signal X of a predetermined frequency at predetermined time intervals, which constitutes a radio wave generator, a transmitting antenna 7, and a sound wave output means. A synchronous sound wave generator 8 and a speaker 9, which output a sound wave signal y of a predetermined frequency synchronized with the radio wave signal X, are installed.

In addition, in Fig. 1, 10 is lower in overall height under the country crane 1, and in the container yard 11, a stacking machine m (hereinafter referred to as a spreader) 12, which is a telescopic 1fIIl structure, allows containers 4 to be stacked. It is a movable container carrier that transports and stacks containers 4,
When the container carrier 10 enters the gun 1 to the recrane 1 with the spreader 12 raised, the spreader 12 collides with the girder of the can 1 to the recrane 1. As shown in FIG. 2, this container carrier 10 includes a receiving antenna 13 and a radio wave receiving device 14 that constitute a radio wave receiving means for receiving a radio wave signal X, and a microphone that constitutes a sound wave detection means for detecting a sound wave signal y. 15 and a sound wave receiving device 16,
The time delay between the pulsed radio wave signal output in response to the radio wave signal A comparison device 17 outputs an approach signal 2 when the delay is within a predetermined time commensurate with a set distance, and a comparison device 17 detects the position and height of the spreader 12, and when the approach signal Z is input, the gantry crane 1 detects the position and height of the spreader 12.
A spreader position/height detection device 18 that outputs an alarm signal W when the height is above the height of the digit, and an alarm device 19 such as a buzzer that generates an alarm sound when the alarm signal W is input are installed. .

The detailed configuration and operation of the radio wave generator 6 and the synchronous sound wave generator 8 of the country crane 1 will be explained based on the block diagram of FIG. 3 and the waveform diagram of FIG. 4.

The radio wave generator 6 includes a sine wave oscillation circuit 20 that transmits a sine wave and low frequency oscillation signal a, and a sine wave oscillation circuit 20 that transmits a sine wave and low frequency oscillation signal a at a predetermined time interval, for example, 0.
- A gate oscillation circuit 21 that outputs a gate pulse signal C with a width of 51113 (3 This gate selection signal d
FM modulation circuit 23 that performs FM modulation using a carrier wave of a predetermined frequency.
and an RF amplification circuit 24 which amplifies the output signal of this FM modulation circuit 23 and outputs it to the transmitting antenna 7 to transmit a radio wave signal X. 'With the above configuration, as shown in FIG.
sec, the gate selection signal d for a predetermined time of 5 m5ec is FM modulated, amplified, and transmitted from the transmitting antenna 7 as a radio signal X.

In addition, the synchronous sound wave generation circuit 8 generates a sine wave oscillation circuit 25 which oscillates a high frequency oscillation signal S signal, and a gate oscillation circuit 21 of the radio wave generator 6 to generate the oscillation signal Goo 1 to pulse signal C. The gate circuit 26 outputs the gate selection signal e by passing through the gate selection signal e, and the AF increasing circuit 27 amplifies the gate selection signal e and outputs the sound wave signal y to the speaker 9. Due to the configuration, as shown in FIG. 4, the oscillation signal outputted from the sine wave oscillation circuit 25 is transmitted at a predetermined time interval of 0.15 seconds by the gate pulse signal C.
ec becomes the game I selection signal e for a predetermined time of 5111 SeC, which is amplified and output from the speaker 9 as a sound wave signal -y synchronized with the radio signal X.

Next, detailed configurations and operations of the radio wave receiving device 14, the sonic wave receiving device 16, and the comparison device 17 of the container carrier 10 will be explained based on the block diagram of FIG. 5 and the waveform diagram of FIG. 6.

The radio wave receiving device 14 demodulates the radio wave signal amplified [1] by the RFFM demodulation circuit 29 and the RF amplification circuit 28, which amplifies the radio wave signal X received by the receiving antenna 13, and outputs it as an FM demodulated signal. An FM demodulation circuit 29 outputs the signal, and a bandpass filter circuit 30 applies a filter in a predetermined frequency range to this FM demodulation signal and outputs it as a filter signal g. It is comprised of a tone decoder circuit 31 that holds the signal, converts it into a pulse radio signal, and outputs it.With the above configuration, as shown in FIG. 6, the radio wave signal X received by the receiving antenna 13 is amplified. After that, the demodulated FM demodulation signal is passed through a filter, and 5n+s in the pulse is passed through a filter.
ec, the signal is converted into a pulsed radio wave signal with a pulse interval of 0.15 seconds and output to the comparator 17.

Further, the sound wave receiving device 16 includes a microphone amplifier 32 that amplifies the sound wave signal y input to the microphone 15, and filters the amplified sound wave signal j amplified by the microphone amplifier 32 within a predetermined frequency, and generates a filter signal. 1 (the bandpass filter circuit 33 that outputs the filter signal 1) is tuned to a signal of the same level and outputs the adjusted sound wave signal ρ.
A roll circuit 34 outputs the adjusted sound wave signal ρ as a gain controller (gain controller), and a tone decoder circuit 3 () holds this adjusted sound wave signal ρ at a high ( ) level for a long time and converts it into a pulse sound wave signal 'ln'\ and outputs it. With the above configuration, as shown in FIG. 6, the sound wave signal V input from the microphone 15 is amplified, passes through a filter, the gain is adjusted, and is converted into a pulse sound wave signal m. and output to the comparator 17.

The comparator 17 converts the pulse radio signal 11 inputted from the radio wave receiver 14 into a set pulse signal i of a predetermined time commensurate with the set approach distance, for example, 0.05 sec (approximately 17 m), and outputs the pulse signal i. A timer circuit 3G, an AND circuit 37 that takes the logical sum of the setting pulse signal 1 and the pulse sound wave signal m input from the sound wave receiver 16, and an AN
When the output signal n of the D circuit 37 is at a high (] () level, that is, when the pulse sound wave signal m is input within 0.05 sec of "1" and the approach is detected, from the predetermined interval of the pulse radio wave signal 0.15 sec) Long setup time, e.g. 0.2s
It consists of a timer circuit 38 that converts the EC approach pulse signal 0 and outputs it, a switching element that receives this approach pulse signal 0 as input, and a relay that is driven by this switching element. It is composed of an output circuit 39 for outputting. With the above configuration, as shown in FIG. 6, a pulse radio signal is converted into a set pulse signal i of a predetermined time of 0.05 seconds commensurate with the set approach distance, and when this set pulse signal i is output, a pulse sound wave signal m When input, 0.2 sec approach pulse signal 0 is output and approach signal Z is output. Since the interval of the pulse radio wave signal l] is set to 0.15 sec, when the approach is continuously detected, the approach pulse signal 0 becomes a continuous signal, and the continuous approach signal Z is output. Further, when the pulse sound wave 1a No. m lags the set pulse signal i by (1.05 sec), that is, when it is separated by 17 m or more, the output signal n of the AND circuit 37 becomes a low (L) level, and the approach signal Z is turned off.

As described above, the country crane 1 is equipped with the radio wave generator 2 and the synchronous sound wave generator 8, and the container carrier 10 is equipped with the radio wave receiver 14, the sound wave receiver 16, the comparator 17, and the sprayer position/height detector 18. and alarm device 19
By providing these, the distance between the can 1-recrane 1 and the container carrier 10 can be determined by the radio signal
When the time difference commensurate with the approaching distance is within a predetermined time, a warning is issued if the position height of the sprayer 12 is higher than the girder of the country crane 1.

In this way, the radio wave signal X and the sound wave signal y output at the same time
By detecting approach based on the difference in the arrival time of A warning can be output.

Next, an embodiment of the proximity warning device of the second invention will be described. Note that the same components as those shown in FIGS. 1 to 6 are designated by the same reference numerals, and the description thereof will be omitted. This embodiment assumes a case where a plurality of cans 1-refrains 1 are installed on the quay 2, and when each gun 1 edge crane 1 outputs a radio signal X that is not synchronized, the container carrier 1
This solves the problem of not being able to identify the radio wave signal X to be compared with the sound wave signal y at which 0 has arrived.

FIG. 7 shows a block diagram of an embodiment of this second invention.

A radio wave generator 6 and a transmitting antenna 7 are installed in the office building 40 shown in FIG. 8 as a transmitting base (station) for transmitting the radio signal A synchronous sound wave generator 8 and a speaker 9 are provided to input the pulsed radio wave signal outputted from the radio wave receiver 14 as a pulse gate signal C.

With the above configuration, the radio signal X is transmitted from the office building 4o, and each can I/refrain 1 outputs a sound wave signal y synchronized with the received radio signal X. Therefore, since the container carrier 10 receives the only radio wave signal X from the office building 40 and inputs the sonic signal y synchronized with the radio wave signal The approach distance from the gun 1 to the recrane 1 closest to the container carrier 10 can be detected based on the detection time difference, and a warning can be issued. Note that at this time, the predetermined time interval of the radio signal X needs to be longer than the time required for the radio signal y to reach the distance when the gantry crane 1 and the container carrier 10 are farthest apart.

In this way, the problem of not being able to identify the radio signal X that occurs when a plurality of gantry cranes 1 are installed can be solved, and the container carrier 10 can detect the distance to the closest gantry crane 1 and issue an alarm.

Note that instead of the office building 40, a specific gantry crane 1 may be used as a transmission base, and a radio wave generator 6 and a transmission antenna 7 may be added.

Effects of the Invention As described above, according to the first invention, in a transport vehicle,
The distance between the transport vehicle and the device can be detected based on the time delay when the radio signal and sound wave signal simultaneously transmitted and output from the device are received and detected by the transport vehicle, and an alarm is issued when a predetermined approach distance is reached. can arouse attention. Furthermore, it is possible to provide a highly reliable approach warning device that does not malfunction due to reflection from buildings, such as a proximity warning device that uses reflected waves of radio waves or ultrasonic waves.

Further, according to the second invention, even if a plurality of devices are arranged, the shortest detection time of the radio wave signal transmitted from the transmission base and the sound wave signal synchronized with the radio wave signal output from each of the plurality of devices. Due to the delay (time difference), the distance between the transport vehicle and the nearest device can be detected and a proximity warning can be issued. Additionally, since multiple devices do not transmit radio signals, and only one radio signal is transmitted from the base, the problem of transport vehicles not being able to identify radio signals can be resolved, and accurate approach detection can be performed.

[Brief explanation of drawings]

FIG. 1 is a floor plan of a container yard equipped with a proximity warning device showing an embodiment of the first invention, FIG. 2 is a block diagram of the proximity warning device, and FIGS. 3 and 4 are diagrams of the approach warning device. A block diagram of a radio wave generator and a synchronous sound wave generator, and a waveform diagram of the main parts thereof, and FIGS. 5 and 6 are a block diagram and a waveform diagram of the main parts of the radio wave receiver, sound wave receiver, and comparison device of the approach warning device. 7 is a block diagram of an approach warning device showing an embodiment of the second invention, and FIG. 8 is a sketch of a container yard equipped with the approach warning device. 1... Gantry crane (device), 4... Container, 6... Radio wave generator, 7... Transmission antenna, 8...
...Synchronized sound wave generator, 9...Speaker, 10...
Container carrier (transport vehicle), 12... Stacking mechanism (spreader), 13... Receiving antenna, 14...
Radio wave receiving device, 15... Microphone, 16... Sound wave receiving device, 17... Comparison device, 18... Spreader position/height detection device, 19... Alarm device, 40...
Office building (transmission base), h...pulse radio signal, m...
・Pulse sound wave signal, 0... Approach pulse signal, W...
Alarm signal, X...radio signal, y...sound wave signal, Z...
...Approach signal. Agent Yoshihiro Morimoto 4o-rate sR (starter basis)

Claims (1)

[Scope of Claims] 1. Radio wave transmitting means for transmitting a radio signal of a predetermined frequency at predetermined time intervals to a device that transfers cargo to and from a movable transport vehicle, and a sound wave signal of a predetermined frequency that is synchronized with the radio signal. a sound wave output means for outputting the received radio wave signal and the detected sound wave signal; An approach warning device comprising approach warning means for detecting a time delay and issuing an approach warning between the device and a transport vehicle when the time delay is within a predetermined time. 2. A radio wave transmitting means for transmitting a radio wave signal of a predetermined frequency at a predetermined time interval is provided at the transmitting base, and a radio wave receiving means for receiving the radio wave signal to each of a plurality of devices that transfer cargo to and from a movable transport vehicle. and a sound wave output means for outputting a sound wave signal of a predetermined frequency in synchronization with the received radio wave signal, and the transport vehicle is provided with a radio wave reception means for receiving the radio wave signal, and a sound wave detection means for detecting the sound wave signal. and a time delay between the received radio signal and the detected plurality of sound wave signals, and when the shortest of the time delays is within a predetermined time, an approach alarm is issued for approaching the device and the transport vehicle. An approach warning device equipped with warning means.