JPH10152289A - Method for positioning landing of hoisted cargo, and its device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cargo landing positioning method capable of performing the landing with excellent accuracy by correcting the positional deviation based on the inclination, etc., of a hoisted cargo, and its device. SOLUTION: When a container (n) to be hoisted from a trolley through a spreader 5 is landed with the axis in the longitudinal direction of the container (n) aligned with the target landing line (a), a first target 6a and a second target 6b are installed on an upper surface of the spreader 5 with the prescribed intervals, the first landing operation of the cargo is performed to respectively measure the deviations DL1 , DR1 between the target line (a) and the first and second targets 6a, 6b, and the measured value is compared with the allowable value D0 . When D0 <DL1 , DR1 , the second landing operation is performed under the same condition as in the first one, the deviations DL2 , DR2 are respectively measured, the correction quantity ΔD is obtained in terms of the formula ΔD=(DL1 +DL2 +DR1 +DR2 )/4 using these measured values, and the trolley position is corrected by the correction quantity ΔD.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for positioning a suspended load to be applied when a suspended load is landed by a container crane or the like.

[0002]

2. Description of the Related Art Conventionally, for example, in a container crane, as shown in FIG. 7, a container (hanging load) n suspended from a trolley (not shown) by a suspension wire 52 via a spreader 51 is landed on the ground g. To make the spreader 51
The position of the target 53 provided on the upper surface of the trolley is detected by a trolley camera provided on a trolley (not shown), and the position of the trolley is moved so that the target 53 and the landing target point a on the ground g coincide. After the swing amount of the container n is reduced, the container n is accurately landed on the target point a. The trolley is mounted on a girder supported by legs (not shown), and is configured to traverse along the girder.

[0003]

However, in the above-described conventional suspended load landing position positioning apparatus, when the target 53 of the spreader 51 and the target point a of the ground g are made to coincide with each other, landing is performed. When the container n is inclined as shown by the solid line due to the eccentricity of the load amount or other causes, when the container n is grounded as it is, the left edge of the container n comes into contact with the ground g first, and then the entire bottom is grounded, and the two points Since the landing is completed at the position indicated by the dashed line, the landing deviation D occurs between the target point a and the container center point b (the position of the target 53). As a result, a highly accurate landing operation can be performed. There was a problem that it could not be done.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to correct a positional shift based on the inclination of a suspended load or the like, and to achieve a highly accurate landing. The present invention provides a landing positioning method and an apparatus therefor.

[0005]

Means for Solving the Problems The section of the prior art described above.
In order to solve the problem, according to the first aspect of the present invention,
The load suspended from the lorry via the spreader
The center line in the width direction or the center line in the length direction
When spreading the floor, the width of the spreader
The first target and the second target in the direction
At a set interval, first perform the first landing operation of the load.
The deviation D between the target line and the first target
_L1And a deviation amount D between the target line and the second target.
_R1With a trolley camera, and allow
Value D_OD compared to_O<D_L1, D_R1The first time
A second landing operation is performed under the same conditions as in
D _L2, D_R2Are measured, and using these measured values
Correction amount ΔD = (D_L1+ D_L2+ D_R1+ D_R2) / 4, and
By correcting the trolley position by this correction amount ΔD
I have.

According to the present invention, a spreader used to suspend a load from a trolley is provided;
A first target and a second target installed on the upper surface of the spreader at predetermined intervals in the width direction or the length direction, a trolley camera provided on the trolley for photographing the positions of the targets, and the trolley Image processing is performed on the camera image sent from the camera to calculate the amount of deviation between the target and the landing target line and compare the obtained amount with an allowable value, calculate the amount of correction using the amount of deviation, and output the amount of correction. The trolley includes a control device that sends a value to the trolley to correct the position of the trolley, and an encoder that detects an amount of movement of the trolley.

In the method for positioning the landing of a suspended load according to the present invention, first, the first landing operation of the suspended load is performed, and the deviation D _L1 between the target line and the first target and the deviation between the target line and the second target are determined. the deviation amount D _R1 measured by the trolley camera, tolerance D _O
In the case of <D _L1 , D _R1 , the second landing operation is performed under the same conditions as the first time, the displacement amounts D _L2 , D _R2 are similarly measured, and the correction amount ΔD = (D _L1 + D _L2 + D _R1
+ D _R2 ) / 4, and the trolley position is corrected by this correction amount ΔD, so that the landing positioning accuracy of the suspended load is improved.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail based on illustrated embodiments.

1 to 5 show an embodiment of a method and an apparatus for positioning a suspended load on a floor according to the present invention.
The suspended load landing positioning method and apparatus according to the present embodiment are used, for example, in a container crane as shown in FIG. This container crane is a machine that loads a container (hanging load) loaded on land to a ship berthed, or loads a container on a ship to land. A container crane as shown in FIG. 5 has a plurality of support legs 1 erected on the ground g, and is provided above the support legs 1 and extends in a horizontal direction perpendicular to the support legs 1 to support the container legs. And a trolley 3 mounted on the girder 2 and traversing along the girder 2.

However, in such a container crane, the suspension wire 7 from the trolley 3 via the spreader 5 is used.
By moving the trolley 3 along the girder 2 in this state, the suspended container n is transported to a target point (target line) on the ground g and positioned at the target point. Landing with high precision.

FIGS. 1 and 2 are conceptual diagrams illustrating a method for positioning a suspended load on a floor according to an embodiment of the present invention.
As shown in the figure, the width direction of the container n is taken as the x-axis, the height direction is taken as the y-axis, and the length direction is taken as the z-axis, and the container n suspended by the suspension wire 7 via the spreader 5 is shown.
Describes a case in which the robot touches down with its longitudinal center line l aligned with a target line a (in the present embodiment, the z-axis). As shown in FIG. 2, two sets of targets 6a and 6b are placed at a predetermined interval on the center line 1 of the upper surface of the spreader 5 in the y-axis direction. And these first targets 6a
And the position of the second target 6b is photographed and detected by the trolley camera 4 provided on the trolley 3, and as shown in FIG.
The landing is performed so that the first target 6a and the second target 6b coincide with the target line a.

However, at this time, if the container n is inclined for some reason, if the container n is landed as it is, the left edge of the container n first comes into contact with the ground g, then the entire bottom is grounded and is indicated by a two-dot chain line. The target line a and the z-axis direction center line 1 (the first target 6)
(a line connecting the second target 6a and the second target 6b). Therefore, in the method for positioning the landing of the suspended load according to the present embodiment, the landing operation is repeated twice under the same lifting condition, and the amount of displacement between the target line a and the targets 6a and 6b at that time. D _L1 , D _L2 and D _R1 , D _R2 are measured by the trolley camera 4 and a correction amount is obtained using these measurement values.
The position of the trolley 3 is moved by this correction amount.

FIG. 3 shows a procedure of a method for positioning a suspended load on a floor according to an embodiment of the present invention. Describing with reference to the figure, first, a first landing operation of the container n is performed under a certain suspended load condition. That is, the position of the targets 6a and 6b on the spreader 5 is detected by the trolley camera 4, and then the trolley 3 is moved to
After matching the positions of a and 6b (center line 1 in the y-axis direction) with the target line a, the container n is landed, and the trolley camera 4 causes the displacement amount D between the target line a and the first target 6a at that time. _L1 and a deviation amount D _L2 between the target line a and the second target 6b are measured.

Then, these measured values are compared with a separately set allowable deviation amount D _O, and as a result, D _O > D _L1 ,
Implantation at the time of D _R1 is completed. However, D _O <D _L1 ,
When the D _R1 performs a second implantation operation under the same conditions as the first, similarly to the above target line a and the target 6a,
The deviation amounts D _L2 , D _R2 from 6b are measured, and the correction amount ΔD is calculated by the following equation using the measured values at the time of the first and second landing operations. ΔD = ( _DL1 + _DL2 + _DR1 + _DR2 ) / 4 (1) Thus, after the current position of the trolley 3 is moved in the positive or negative direction by this correction amount ΔD, the container n is displaced by landing. Is corrected, and it is possible to perform landing with high accuracy.

On the other hand, FIG. 4 is a block diagram of an apparatus for positioning the landing of a suspended load used in the method of positioning the landing of a suspended load according to the embodiment of the present invention. This positioning device
As shown in FIGS. 4 and 5, a spreader 5 used to suspend the container n from the trolley 3 and a first target 6a installed on the upper surface of the spreader 5 at predetermined intervals in the length direction thereof. And a second target 6b, a trolley camera 4 provided on the trolley 3 and installed downward to capture the positions of the targets 6a and 6b, and a camera image transmitted from the trolley camera 4 as an image. The processing is performed to obtain the respective deviation amounts D _L1 , D _L2 and D _R1 , D _R2 between the targets 6a, 6b and the target line a, compare them with the allowable value D _O, and calculate the correction amount ΔD using each deviation amount. The trolley 3 includes a control device 10 that sends the correction amount output value to the trolley 3 to correct the trolley position, and an encoder 11 that detects the amount of movement of the trolley 3. Therefore, the control device 10 includes an image processing unit, a storage unit, a calculation unit, a comparison unit, an output unit, and the like (not shown).

FIG. 6 is a conceptual diagram illustrating a method for positioning a suspended load on a floor according to another embodiment of the present invention. In the above embodiment, the correction procedure in the case where the suspended container n is inclined in the traversing direction has been described, but in the present embodiment,
As shown in FIG. 6, when the container n has landed while leaning in the traveling direction, as in the above-described embodiment, two landing operations are attempted, and the target 6c and the reference line (in this case, x
3), and the correction amount is calculated in the same procedure as shown in FIG. Other operations and the like are the same as in the above embodiment.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications and changes are possible based on the technical idea of the present invention. is there.

[0018]

As described above, according to the method for positioning a suspended load on the landing according to the present invention, the landing operation of the suspended load is performed twice under the same conditions, and the landing target line and the spreader on the spreader are controlled by the trolley camera. The deviation amounts D _L1 , D _L2 , D _R1 from the first and second targets,
D _R2 is measured, and these measured values are compared with an allowable value D _O to obtain a correction amount ΔD.
Since only the trolley position is corrected, it is possible to correct the positional deviation based on the inclination of the suspended load or the like, thereby making it possible to perform landing with high accuracy and improve workability.

The apparatus for positioning a suspended load according to the present invention captures a first target and a second target installed on an upper surface of a spreader used for suspending a load from a trolley, and images of the positions of these targets. The trolley camera on the trolley and the camera image sent from this trolley camera are image-processed, and the amount of deviation between the target and the landing target line is calculated and compared with an allowable value, and correction is performed using each amount of deviation. It is equipped with a controller that calculates the amount and sends this correction amount output value to the trolley to correct the trolley position, and an encoder that detects the amount of movement of the trolley, so that accurate landing of a suspended load can be quickly performed. It can be carried out.

[Brief description of the drawings]

FIG. 1 is a conceptual diagram illustrating a method of positioning a suspended load on a floor according to an embodiment of the present invention.

FIG. 2 is a conceptual diagram illustrating a state in which a displacement amount between a target line and a target is measured in the method for positioning a suspended load on a landing surface according to an embodiment of the present invention.

FIG. 3 is a flowchart showing a procedure of a method for positioning a suspended load on a floor according to an embodiment of the present invention.

FIG. 4 is a block diagram showing an apparatus for performing a method for positioning a suspended load on a floor according to an embodiment of the present invention.

FIG. 5 is a conceptual diagram showing an entire container crane to which the method for positioning a suspended load on a floor according to an embodiment of the present invention is applied.

FIG. 6 is a conceptual diagram illustrating a state in which a deviation amount between a target line and a target is measured in a method for positioning a suspended load on a floor according to another embodiment of the present invention.

FIG. 7 is a conceptual diagram illustrating a conventional method of positioning a suspended load on the floor.

[Explanation of symbols]

 Reference Signs List 3 trolley 4 trolley camera 5 spreader 6a, 6b, 6c target 7 hanging wire 10 control device 11 encoder n container g ground a landing target line l longitudinal center line

Claims (2)

[Claims] When a load suspended from a trolley via a spreader is landed so that the center line in the width direction or the center line in the length direction of the load is aligned with a landing target line, the width of the load is placed on the upper surface of the spreader. The first target and the second target are installed at a predetermined interval in the direction or the length direction, and first, the landing operation of the load is performed, and the deviation amount D _L1 between the target line and the first target is determined. the deviation amount D _R1 of the said target line second target measured respectively trolley camera, the measured value is compared with the permissible value _{D O D O <D L1,} D
_{In the case of R1,} the second landing operation is performed under the same conditions as the first time, the deviation amounts D _L2 and D _R2 are measured in the same manner, and the correction amount ΔD = (D _L1 + D _L2 + D) using these measured values. _R1 +
D _R2 ) / 4, and the trolley position is corrected by the correction amount ΔD. 2. A spreader used for suspending a load from a trolley, a first target and a second target installed on a top surface of the spreader at predetermined intervals in a width direction or a length direction thereof, and the target And a trolley camera provided on the trolley to photograph the position of the trolley, and image processing of a camera image sent from the trolley camera is performed to obtain each deviation amount between the target and the landing target line, and compare with an allowable value. And a control device that calculates a correction amount using each shift amount, sends the correction amount output value to the trolley, and corrects a trolley position, and an encoder that detects a movement amount of the trolley. A landing positioning device for hanging loads.