JPH05319781A - Operation control device for container crane - Google Patents

Abstract

PURPOSE:To perform a work with high cargo handling efficiency without depending on experience and art by deciding the moving progress of a spreader based on the height of containers stacked on a ship. CONSTITUTION:An operation control device 12 comprises mainly a reference setting means 21 to decide the reference position of containers stacked on a ship, an address setting means 22 to set an address to the stacking position of each of the containers, a stacking height detecting means 23 to detect the height of containers stacked on a ship, a progress deciding means 25 to decide the moving progress of a spreader from a stacking height, and an operation command means 26 to output an operation command responding to the decided progress to a motor driving means 13. This constitution causes automatic movement of a spreader along a route decided according to the height of containers stacked on a ship, whereby a cargo is accurately conveyed as collision is prevented and constantly high cargo handling efficiency can be obtained regardless of capacity and experience of a worker.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a container crane operation control device for loading and unloading containers on ships moored on a quay or the like.

[0002]

2. Description of the Related Art Generally, when a container crane is used to load containers on a ship, the spreader suspended on a trolley holds the container, and in this state the spreader is rolled up to traverse the trolley to a target position on the ship. After that, a series of operations of lowering the spreader and landing the container on the vessel are performed. Conventionally, such cargo handling operation has been performed manually from the operator's cab provided on the trolley, and the driver can move the trolley or spreader as appropriate by operating the traverse operator or hoisting operator while looking at the load. I was carrying the container.

[0003]

However, in the conventional loading and unloading method, the traverse of the trolley, the opening and closing of the spreader and the winding of the trolley are completely left to the judgment of the driver. There is a problem of changing. In particular, the situation of container loading on the ship changes as the cargo handling progresses, but it is difficult for the driver to grasp this and it is difficult for even a skilled worker to carry out the cargo handling promptly.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a semi-automatic operation control device for a container crane that can always perform work with high cargo handling efficiency without relying on experience or skill. Especially.

[0005]

In order to achieve the above object, the present invention holds a container by a spreader suspended on a trolley, hoists the spreader in this state, and traverses the trolley, thereby mooring the vessel. In the operation control device of the container crane that conveys the container above, the loading height detection means for detecting the loading height of the container on the vessel with respect to the traverse position of the trolley, and the loading height detected by the loading height detection means. Path determining means for determining the movement path of the spreader based on the above, and driving command means for outputting a driving command according to the path determined by the path determining means.

[0006]

According to the above construction, since the container stowage height on the ship is detected in advance and the spreader movement path is determined based on this stowage height, the container held by the spreader is prevented from colliding. In consideration of the above, it is possible to transport safely and promptly regardless of experience and ability.

[0007]

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

FIG. 1 shows a schematic structure of a container crane and a container ship to which the present invention is applied. In the figure,
Reference numeral 1 denotes a container ship moored to a quay 2, on which a container C is loaded by a container crane 3. In the container crane 3, a girder 5 is provided so as to extend to the sea side above a traveling part 4 that can travel along the quay 2, and a trolley 6 is provided on the girder 5 so as to be traversable. The trolley 6 is connected to a traverse drum (not shown) in a machine room and is traversed by rotationally driving the drum. Further, a spreader 7 is suspended from the trolley 6 via a rope 8, and the spreader 7 is lifted and lowered by winding and lowering the rope 8 by a hoisting drum in the machine room.

FIG. 2 shows a structural example of a drive control system for the container crane 3. In the figure, 10 is a group of various sensors that detect the position / posture of the spreader 7 and the trolley 6, and a traverse position sensor 15 that detects the traverse position x of the trolley 6 and a winding position that detects the hoisting height position of the spreader 7. It has an upper position sensor 16, a swing angle sensor 17 that detects the swing angle of the spreader 7 from the inclination of the rope 8, and a height sensor 18 that is attached to the trolley 6 and that detects the height dimension H to the top of the ship 1. Reference numeral 11 is an operation box operated by an operator, and various keys as shown in FIG. 4 are provided on the surface panel thereof. These sensor groups 1
The detection signal from 0 and the key operation signal from the operation box 11 are taken into the operation control device 12.

The operation control device 12 is composed of, for example, a computer, performs arithmetic processing based on signals from various sensors 15 to 18 and signals from the operation box 11, and outputs a predetermined operation command to the motor drive device 13. The motor drive device 13 drives the traverse motor M ₁ and the hoisting motor M ₂ based on the operation command from the device 12, and traverses the trolley 6 and hoists and lowers the spreader 7. Reference numeral 14 is a monitor display for allowing the driver to grasp necessary information.

FIG. 3 is a functional block diagram of the operation control device 12. This operation control device 12 is
Mainly, a standard setting means 21 for setting a standard position of a container to be loaded on the ship 1, an address setting means 22 for setting an address at each loading position of the container, and a load height for detecting a container loading height on the ship. Detection means 23, cargo height detection means 2
The display means 24 for displaying the stowage height detected by 3 on the display 14, the route determining means 25 for determining the traveling route of the spreader 7 from the stowage height by the load height detecting means 23, and the route determining means 25. It is provided with a driving command means 26 for outputting a driving command corresponding to the determined route to the motor driving means 13.

The reference setting means 21 takes in a signal from the transverse position sensor 15 in response to a key operation signal from the position storage key 31 (FIG. 4) of the operation box 11, and the trolley 6 at that time.
The traverse position x of is stored in the memory as the reference position of the onboard container. Particularly, in this example, the reference position x ₁₀ on the most land side and the reference position x ₂₀ on the most sea side shown in FIG. 5 are set in order.

The address setting means 22 obtains a distance Δx between the most land side reference position x ₁₀ and the most sea side reference position x _20, and the distance Δx is determined by a predetermined number of rows n (container row of vessels on board).
And the container loading positions x _{s1 to} x _sn as shown in FIG.
Look, the address AD ₁ to AD _n with respect to the position x _s1 ~x _sn with each product
Assign

The load height detecting means 23 is a height sensor 18
And the height h _si (FIG. 6) of the container with respect to the traverse position x based on the signal from the traverse position sensor 15,
Container loading height h _s1 to h _sn for each of the above addresses AD _{1 to} AD _n
And stores it in memory. With this container product height h _s1
~ H _sn is displayed on the display 14 by the display means 24.

The route determining means 25 determines routes of the spreader 7 for sea and land. Operation box 11 for sea travel
Destination number AD on the ship side by pressing the ship side number key 32 (Fig. 4)
_{When i} is specified, the current position x
_a, determines the movement path A from the transverse target position x _si and the target position x with a container volume of up to _si height h _s1 to h _si. Here, the movement route A is determined in consideration of traverse / winding lap operation and load collision prevention in order to improve cargo handling efficiency. That is, in order to prevent a load collision, the distance between the landing side loading position x _s1 and the current position x _a , the traverse target position x _si and the current position x _a
The route is such that at least the winding of the spreader 7 is completed by traversing the shorter one of the half distances. Further, the hoisting target height is set so as to clear the maximum height of the transverse target position x Stowage up _si height h _s1 to h _si.

Similarly, when traveling by land, the land side number key 33
When the destination address on the land side is specified by (Fig. 4),
As shown in (b), the moving route B is determined from the current position x _si , the land-side target position x _a, and the container loading heights h _si to h _s1 .

The operation command means 26 is operated by the motor drive device 1 in response to a key operation signal from the activation key 34 (FIG. 4) of the operation box 11.
3 outputs a predetermined operation command to the traverse / winding motor M ₁ ,
The spreader 7 is moved along the paths A and B by driving and controlling M ₂ . At this time, in order to reduce the swing of the spreader 7, a speed pattern as shown in FIG. 8 (a) is created and a traverse command of the trolley 6 is output in accordance with this pattern.

The speed pattern shown in FIG. 8 (a) is a two-step acceleration / deceleration pattern. By adjusting the intermediate acceleration speed V ₁ and the re-acceleration timing T ₁ , the steady-state during the maximum speed V _max operation is performed to reduce the deceleration timing. D _X, is prepared to perform the steady rest at the target position stop by adjusting the deceleration intermediate speed V ₂ and re deceleration timing T _2. Here, each value of deceleration intermediate velocity V _1, V _2, re-acceleration time T _1, T _2, the deceleration timing D _X is the load M the container, transverse starting rope length during L ₁ (FIG. 7) and Final winding rope length L ₂
It is obtained by fuzzy inference with the input signal as.

Next, a cargo handling operation on the ship having the above-mentioned structure will be described.

[Preparatory Operation] Prior to the operation of the container crane 2, first, as a preparatory operation, the reference positions on the most land side and the most sea side of the onboard container are set. That is, as shown in FIG. 5 (a), the trolley 6 is traversed to the most landed position on the ship, the spreader 7 is lowered to land on the ship, and then the position memory key 31 and the address number of the operation box 11 are set. Key 3
Press 2 (step 105 in Fig. 9). Then, by the standard setting means 21, the most land side position x ₁₀ of the shipboard container and the address
AD ₁ is set. After that, similarly, as shown in FIG. 5 (b), the trolley 6 is moved to the position on the most sea side, the spreader 7 is landed on the ship, and the position memory key 31 and the key 32 are pressed again, so that the position x Set address ₂₀ and address AD _sn (step
110). When the positions x ₁₀ and x ₂₀ on both the most land side and the most sea side are set, the container setting positions x _{s1 to} x _sn (FIG. 6) are obtained by the address setting means 22 and each loading position x _s1 ~ x _sn
Addresses AD _{1 to} AD _sn are assigned to.

When the address setting for the stowage position of the container is completed in this way, next, the trolley 6 is traversed and the height sensor 18 senses the height of the ship (step 115). That is, when the trolley 6 is traversed from the land side to the sea side, the signal from the height sensor 18 is taken into the load height detecting means 23, and the loading height of the container for each loading position x _{s1 to} x _sn . The sizes h _s1 to h _sn are calculated and displayed on the display 14. It is needless to say that the spreader 7 is wound up for safety during the above sensing.

[Driving Operation] When the preparatory operation is completed as described above, the spreader 7 is then manually wound on the land side to grab the container. And the ship side number key 32 (Fig. 4)
Specify the destination address on the sea side and press the start key 34
(Steps 125,130). Then, the container crane 2 enters the automatic operation state, and the spreader 7 travels along the predetermined route A as shown in FIG. 7 (a) (step 135).
. In this sea line, first, a lapping operation for traverse / winding is performed, then a traverse operation is performed to the sea-side target position x _si , and then the vehicle is unwound at a predetermined position. At this time, the traverse of the trolley 6 is controlled according to the traverse pattern of the two-step acceleration / deceleration, so that the spreader 7 is steady.

That is, as shown in FIGS. 8 (a) and 8 (b), the trolley 6 is first accelerated to an intermediate speed V ₁ to be a uniform speed operation, and then re-accelerated at a predetermined re-acceleration timing T _1. Turning to a constant speed operation at the maximum speed V _max Te. At this time, the spreader 7 once swings largely backward in the transverse direction due to the inertial mass, and then the shake is converged. At the time of this convergence, the swing-back is performed by the re-acceleration of the trolley 6, and the swing angle θ becomes almost zero at the maximum speed V _max . After that, the trolley 6
By checking the traverse destination address, deceleration is started at deceleration timing D _X , constant speed operation is performed at intermediate speed V ₂ , and further deceleration is performed at timing T ₂ to stop at the target position. In this case, contrary to the above, the spreader 7 once swings largely forward, and then the swing converges. In this case as well, swingback is performed by re-deceleration of the trolley 6, and the swing angle θ is almost zero when the trolley is stopped. It is said that.

When the trolley 6 is thus positioned at the target position on the sea side, the container is manually removed from the spreader 7 and lowered onto the ship, and then the land side number key 33 is used to specify the land side destination address and start. Press the key 34 (steps 140 and 150). Then, as shown in FIG. 7 (b), the spreader 7 starts to land. This go by land, contrary to the case of Umigyo described above, after the winding up to a height that does not conflict with load spreader 7, subjected to lap operation under transverse-wound, is moved to the land-side target position x _a. In addition, in the case of this land trip,
Although the spreader 7 is empty, the spreader 7 is swayed by the fuzzy automatic operation of the trolley 6.

After that, when another container is loaded, the above-mentioned operation is repeated again to load the container on board.
(Steps 125-160). When finishing the cargo handling work, the trolley 6 is returned to the fixed position and the work is finished (step 165).

Incidentally, during the above-mentioned landing, the load height detecting means 2
The loading height of the onboard container with respect to the traverse distance x is detected by 3, and the new loading height is updated and stored. That is, the stowage height data is updated to the latest data, and the travel paths A and B of the spreader 7 are always determined based on the latest stowage height. Further, the latest load height is displayed on the display 14 so that the operator can grasp it.

As described above, in this embodiment, the load height detecting means 2
3, the container loading height on the ship with respect to the traverse position x of the trolley 6 is detected in advance, and the traveling route of the spreader 7 is determined based on this loading height in consideration of collision prevention, and the spreader is moved according to this route. Since 7 is moved, even an inexperienced worker can accurately convey the container to the sea-side target position while preventing a collision with the load. Therefore, regardless of the experience and skill of the worker, the container can be quickly and accurately transported, and high cargo handling efficiency can always be obtained. Moreover, since the movement route is up to a predetermined position above the container ship 1 and the entire cargo handling work is not automated, it is possible to effectively deal with the vertical movement of the boat 1 due to the progress of cargo handling. At this time, the operator does not have to reduce the efficiency because the operator only has to perform an extremely simple manual operation such as opening and closing of the spreader 7.

Further, in this embodiment, since the speed pattern for spreader steadying is prepared in advance and the speed of the trolley 6 is controlled according to this pattern, the shake of the trolley 6 when the target position is stopped can be minimized. Therefore, the spreader 7 can be immediately lowered after the trolley 6 is stopped. Therefore, also from this point, the cargo handling efficiency can be improved. That is, when the traverse / winding lap operation is performed, the shake of the spreader 7 cannot be solved by a simple simple pendulum equation, and the shake cannot be effectively suppressed by the normal sequential control. On the other hand, in this example, by creating the velocity pattern by fuzzy inference, the shake of the spreader 7 can be reduced as much as possible.

In the above embodiment, the case of on-deck cargo handling has been described, but it is of course applicable to the case of hold cargo handling.

[0030]

In summary, according to the present invention, the spreader path is determined according to the loading height of the container on the ship, and the spreader is automatically moved along this path, thus preventing collision. However, the load can be accurately conveyed, and high cargo handling efficiency can always be obtained regardless of the ability and experience of the worker.

[Brief description of drawings]

FIG. 1 is a diagram showing a schematic configuration of a container crane to which the present invention is applied.

FIG. 2 is a diagram showing a drive control system of a container crane.

FIG. 3 is a functional block diagram showing a drive control device applied to a drive control system.

FIG. 4 is a front view showing an example of an operation box applied to the drive control system.

FIG. 5 is a diagram showing a setting state of a most land side reference position and a most sea side reference position by a reference setting means.

FIG. 6 is a diagram showing an address setting state by an address setting means.

FIG. 7 is a view showing a sea route and a land route of the spreader.

FIG. 8 is a diagram showing the relationship between the speed pattern of the trolley and the deflection angle of the spreader.

FIG. 9 is a flowchart showing an operation procedure when operating a container crane.

[Explanation of Codes] 1 Container Ship 2 Container Crane 6 Trolley 7 Spreader 12 Operation Control Device 21 Standard Setting Means 22 Address Setting Means 23 Load Height Detecting Means 25 Route Determining Means 26 Operation Command Means

Claims (1)

[Claims] 1. An operation control device for a container crane, in which a container is held by a spreader suspended on a trolley, the spreader is rolled up, and the trolley is traversed to convey the container onto a moored ship. A cargo height detecting means for detecting a container stowage height on a ship with respect to a traverse position, and a route determining means for determining a moving route of the spreader based on the stowage height detected by the cargo height detection means An operation control device for a container crane, comprising: an operation command unit that outputs an operation command according to the route determined by the route determination unit.