JPS5877603A - Detection of position for trackless type crane - Google Patents

Abstract

PURPOSE:To detect positions with simple work by providing optical reflectors which display position information on the surfaces of traveling roads for a trackless type crane and reading the position information of the light reflectors with an on-vehicle device provided to the crane. CONSTITUTION:Ground devices 5 are installed in necessary places of traveling roads for a trackless type crane. The devices 5 have 10 pieces of projecting parts 12 and 9 pieces of recesses 131-139, and all the parts 12 are coated with black paint. Some of the recesses 131-139 are coated with black paint and some are adhered with reflection tapes to indicate position information. Optical transmitters and receivers 101-109 which detect the devices 5 and hoods 111- 119 are provided to an on-vehicle device 7 of the trackless type crane to detect the position of said crane.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for detecting the position of a trackless crane that can dynamically detect the position of a running trackless crane.

In recent years, a large number of trackless cranes driven by rubber wheels have been used in container yards. There are many container storage areas in the container yard.
Trackless cranes carry out cargo handling work, and these trackless cranes are sent to container yards with a large volume of cargo handling as appropriate to improve the efficiency of cargo handling operations.

Operation management of these trackless cranes is carried out at a central operation control center, but as container yards become larger and the number of trackless cranes increases, the operation management work of these trackless cranes becomes more difficult than that performed by humans. It also makes the work done by the computer more efficient.

In order to perform this operation management work on a computer,
It is necessary to input the position of each trackless crane into the computer every moment, and therefore it is necessary to automatically detect the position of the trackless crane.

Conventional position detection involves embedding a coil that transmits a signal to identify the location at approximately 50 m intervals in the ground of the trackless Tarenine running track in the container yard. Transmission lines for data transmission were buried along the crane travel path, and the transmission lines themselves were crossed at appropriate intervals to form intersections. The position of the trackless crane was then detected by counting the number of transmission line intersections through which the trackless crane passed from the position correction point, with a final detection accuracy of about 0.5 m.

The position information detected in this way was transmitted to a central computer via a transmission line.

However, with this conventional method, the coils and transmission lines must be buried underground in the container yard, which requires expensive construction fees and a long construction period, as well as the need to bury the coils and transmission lines underground in the container yard. However, it has the disadvantage that it is extremely difficult to carry out construction work while carrying out cargo handling.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a method for detecting the position of a trackless crane that does not require burying electric wires and coils in a container yard.

To achieve such an object, the present invention provides a structure consisting of a plurality of convex portions and a plurality of concave portions, in order to display positional information specific to a necessary point on a trackless crane travel path at a necessary point on the road. All convex parts and some concave parts are treated to prevent light reflection, and the remaining concave parts are treated to improve the reflectance of light. The position is detected by reading the information of this recess using a device. EMBODIMENT OF THE INVENTION Hereinafter, the present invention will be described in detail using drawings showing examples.

FIG. 1 is a plan view showing an example of a container yard. The container yard in this example has six lanes from A to F, one lane is provided with two container storage areas 1a and Ib, and the trackless crane 2 is provided with two container storage areas 1a and 1b.
The vehicle can move to another lane by passing through a travel path 3 provided in the longitudinal direction of b and a shift path 4 provided at right angles thereto. And there is about 50m in the driving path 3.
The ground equipment 5 is provided at a position up to Bx h every 30 minutes.

FIG. 2 is a side view of the trackless crane 2. FIG.

In the figure, reference numerals 6m and 6b denote rubber wheels for running, which can be fixed at two positions of 0 degrees and 90 degrees, and FIG. 2 shows the state where they are fixed at the 0 degree position. 7 is an on-vehicle device provided below the trackless crane structure 8, which is attached to the trackless crane 2 together with the ground device 5.
Detects the position of

9 is a travel distance detector driven by the rubber wheels 6bK.

FIG. 3 is a side view showing details of the ground equipment 5 and the on-board equipment 7. In the figure, below the trackless crane structure 8 are optical transceivers 101°, 10. and the corresponding hood 11
1-11. is provided. And the optical transceiver 10
．． ~10• uses, for example, infrared rays as the light transmitted and received.

Furthermore, the ground equipment 5 has ten convex portions 12 and nine concave portions 13.
, 1 to 13. Among these, all the convex portions 12 are coated with, for example, black paint so as not to reflect light, and the concave portions 131 to 13. are coated with the same black paint as the convex portions so as not to reflect light. There are types that are non-reflective and types that have a reflective tape attached that reflects light well. Note that this convex portion 12 is used so that even if the rubber wheels 5a, (ib) of the trackless crane pass over the ground equipment 5, the attached tape will not be soiled or damaged.

FIG. 4 is a front view of the ground equipment 5 and the onboard equipment 7 shown in FIG. It shows a state in which is reflected and a state in which sunlight 15 is reflected.

FIG. 5 is a plan view of the ground equipment 5, in which the white parts 12 and the open parts 13 are arranged alternately, and the open parts 13. ~13, the shaded areas are treated to reflect light, and the other areas are treated to not reflect light.
and each open portion 13. ~13° is the optical transceiver 101~10
- is provided at a position opposite to.

The open portions 131 and 13- are for reading information, and both necessarily reflect light.

and open portion 13. ~134 is the lane number, i.e. stripe 1
Representing lanes A to F in the figure, open portions 131 to 13
y represents the number -1, ie, a%h in FIG. Further, the open portion 138 is used for a parity code for error detection. In this case, since the lane number and address are each represented by a combination of the presence or absence of the reflective state of the three openings, up to eight types can be identified.

The position information detected by the position detection device constituted by the ground device 5 and the on-vehicle device 7 is transmitted to a computer (not shown) that centrally manages the trackless crane 2 via a wireless transmission device (not shown) provided in the trackless crane 2. transmitted to.

Note that the optical transceivers 101 to 10. transmit light intermittently and receive the light, thereby reducing the chance of detecting unnecessary light.

The operation of the method according to the present invention configured as described above is as follows. The trackless crane 2 has rubber wheels (ia, lb
The vehicle travels on the traveling path 3 while fixing the angle at 0 degrees. Then, the on-board device 7 comes directly above the ground device 5, and the optical transceiver 10. Of the light emitted from ~10, the open portion 13
．． and 13I are both detected, the other open portion 13. The information represented by the reflected light from 138 to 138 is read to detect the position. In this case, as shown in FIG. 4, the sunlight 13 is transmitted to the hood 11. ~11. Kfi is shielded so that it cannot be detected by the optical transmitters/receivers 103-10.

As mentioned above, the ground equipment 5 is installed approximately every 50 m, so the position between them is precisely detected by the travel distance detector 9 that works with the rubber wheels 6b, and ultimately the distance between them is 1 m.
A certain degree of detection accuracy was obtained.

When moving the trackless crane 2 to another lane, the trackless crane 2 is moved to the shift passage 4, and when it reaches the shift passage 4, the rubber wheels 15a and 5b are fixed at 90 degrees and the trackless crane 2 is moved to another lane. The crane 2 is moved on the shift path 4 to the target lane. When the target lane is reached, the rubber wheels 5a.

When 6b is returned to the 0 degree state, the trackless crane 2 travels on the new lane! 3, and the position can be detected every time it passes over the ground equipment 5 even in a new lane.As explained above, 1. The position detection method of the trackless crane according to the present invention is In order to display positional information specific to that location at the necessary location on the road surface, we will use a process that does not include multiple convex parts and multiple concave parts, and that all convex parts and some concave parts do not reflect light. After that, the remaining recesses are treated to improve the reflectance of light, and the position is detected by reading the information of these recesses using a single overlay FTK installed on the trackless crane. , there is no need to carry out costly construction work such as burying electric wires and coils in the ground, unlike conventional methods, and all that is required is to install the ground equipment, so it has the excellent effect of being able to detect the position with extremely simple construction work. has.

[Brief explanation of drawings]

FIG. 1 is a plan view of a container yard, FIG. 2 is an inside view of a trackless crane, and FIGS. 3 and 4 are side views showing an embodiment of the trackless crane position detection method according to the present invention. The front view and Figure 5 are plan views showing one embodiment of the ground equipment. la, lb...Container storage area, 2...Trackless crane, 3@...Traveling path, 4...Shift path, 5...Ground equipment, 46a, sb... Rubber wheels, 7...on-vehicle equipment, 8...trackless crane structure, 9... race distance detector, 10. ~10.・・・
...Optical transceiver, 11°~11. Fist...hood, 12
・・Convex portion, 131~13°・・Concave portion, 14・・
...Light (infrared) 15...Sunlight. Patent Applicant: Mitsui Engineering Shipbuilding 2 Company Agent: Kazuo Yamakawa (and 1 other person) Figure 1 ABCDEF Figure 2 61) 7

Claims (1)

[Claims] A device consisting of a plurality of square parts and a plurality of heel parts at necessary locations on a trackless crane travel path, and an optical transmitter/receiver installed at a position below the trackless crane structure and facing the heel parts. The heel part is processed to reflect light only to a predetermined object, and the position is detected by reading the information of the light emitted from the optical transmitter/receiver reflected from the heel part. A method for detecting the position of a trackless crane, characterized in that: