JPS5877615A - Position detecting device of trackless system crane - Google Patents

Abstract

PURPOSE:To easily execute construction work, by detecting a position by use of plural wayside coils placed in a necessary place on a running road surface in order to display an intrinsic position information, and a proximity switch of a beam suspended by an expansion mechanism. CONSTITUTION:A beam 10 on which wheels 11a, 11b and proximity switches 121-129 have been provided is suspended by an expansion mechanism 13, from the lower end part of a trackless system crane structure 8. Subsequently, wayside coils 51-59 made of a steel plate, etc. are provided on a road surface so as to be opposed to the proximity switches 121-129, which are used as a wayside equipment 5. It is constituted so that a place where said wayside coils 51-59 are provided can be discriminated by combination of existence of the wayside coils 51-59.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a trackless crane position detection device that can automatically detect the position of a running trackless crane.

In recent years, many trackless cranes driven by rubber wheels have been used in container yards V. There are many container storage areas in the container yard.
Trackless cranes are used to carry out cargo handling operations, 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 not at a container yard.

As the world expands and the number of trackless cranes increases, it becomes more efficient to use computers to manage the operation of these trackless cranes, even though it is performed by humans.

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

Conventional position detection involves burying coils that transmit signals to identify the location at approximately 50 m intervals in the ground of trackless crane travel paths in container yards, and using them as position correction points. Transmission lines for data transmission are buried along the crane running path, and the transmission lines themselves are crossed at appropriate intervals to form intersections. and.

By counting the number of transmission line intersections that the trackless crane passes from the position correction point, the position of the trackless crane is detected, and ultimately a detection accuracy of o.sms degrees is obtained.

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 high construction costs and a long construction period. However, it has the disadvantage that it is extremely difficult to carry out construction work while carrying out cargo handling.

Therefore, it is an object of the invention to provide a position detection device for a trackless crane that does not require burying electric wires and coils in a container yard.

In order to achieve such an object, the present invention provides a ground device consisting of a plurality of ground elements for displaying positional information specific to that location at necessary locations on the road surface of a trackless crane travel path, and This is an on-vehicle device installed on a type crane that reads the position information of this ground device. The on-board equipment has a beam suspended below the trackless crane structure by a telescoping mechanism, and at both ends of the lower side of the beam, the load is applied to the trackless crane, and when the beam descends, it lands. It has two wheels, and is further provided with a detection means for detecting a ground element at the location where both wheels are sandwiched. The present invention will be described in detail below with reference to drawings showing practical examples.

FIG. 1 is a plan view showing an example of a container yard.

The container yard 9 in this example has six lanes from A to F, and one lane has two container storage areas 1a and 1b.
The trackless crane 2 can move to another lane by passing through a travel path 3 provided in the longitudinal direction of the container storage area 1m and a shift path 4 provided at right angles thereto. It has become. Then, in the traveling path 3, ground equipment ft5 is installed approximately every 50m at positions up to a%-h.
Or is provided.

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

In the figure, reference numerals 5a and 5b denote rubber wheels for running, which can be fixed in two positions, 0 degree and 90 degree, and FIG. 2 shows the state in which they are fixed in the 0 degree position. And 7
This is an on-vehicle device provided below the trackless crane structure 8, and detects the position of the trackless crane 2 together with the ground device 5.

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

FIG. 3 is a side view showing details of the ground equipment 5 and the on-board equipment 7. In the figure, 10 is a beam, and wheels 11a and llb are provided at both lower ends of the beam.
Proximity switches 121 to 12 as detection means for detecting the ground equipment 5 are provided between 1m and 11b, and the lower end of these proximity switches 121 to 129 are connected to the wheels 11m.
, 11b is located above the lower end. In this way, the wheels 1tae11b, the proximity switches 121 to 129
The beam 10 provided with this is suspended from the lower end of the trackless crane structure 8 by a telescoping mechanism 13.

The ground equipment 5 includes ground elements 51 to 5 made of steel plates or the like.
9 (in the example shown in FIG. 3, ground switches 54 and 56 are not provided), these ground switches 51 to 59 are provided on the road surface so as to face proximity switches 121 to 129,
The location where the ground coils 51 to 59 are installed can be identified by matching the presence or absence of the ground coils 51 to 5g. Further, when no load is applied to the trackless crane 2, the wheels 11&', 11b are far from the road surface as shown in the figure, and even at this distance, the proximity switches 121 to 129 are activated by the ground coils 51 to 129. 59 can be detected.

FIG. 4 is a plan view of the ground equipment 5, showing the ground equipment 51 and 59.
are for information reading commands, and both are necessarily provided. The ground coils 52 to 54 (the ground coil 54 is not provided in the example of FIG. 4) represent lane numbers, that is, lanes A to F in FIG. 1, and the ground coils 55 to 57
(In the example of FIG. 4, the ground switch 55 is not provided) represents the address, that is, a%h in FIG. i9, ground child 5
8 is used as a parity code for error detection. In this case, the lane number and address are each represented by a combination of three ground pins 52 to 54 and three ground pins 55 to 570, so up to eight types of each can be identified. I can do it.

The position information detected by the position detection device constituted by the ground device 5 and the on-vehicle device T 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.

The operation of the device according to the present invention configured as described above is as follows. Trackless crane 2 has rubber wheels of 6m and 6bf.
(The vehicle travels on the traveling path 3 while fixing it at a 0 degree angle. At this time, if no load is applied to the trackless crane 2, the proximity switches 121 to 129 are moved away from the road surface as shown in FIG. There is no problem because it is trackless clay y″2
When a load is applied to the rubber wheel sa*s for driving
Since b is compressed, the entire trackless crane structure 8 descends.

At this time, the proximity switch (:/+
123 to 129 are also lowered together, but since the wheels 6m and 6b provided at both ends of the beam 1° land on the road surface, the lowering of the proximity switches 121 to 129 is stopped at this stage. Since the lower end surfaces of the proximity switches 121 to 129 are located above the lower end surfaces of the wheels 11a and 11b, the proximity switches 121 to 129 maintain a predetermined distance from the road surface and do not come into contact with the road surface. It seems like it never happens.

(This letter) When a heavy load is applied, the rubber wheel 6a*
6b further contracts, and the trackless crane structure 8 expands and descends. However, since the wheels 11m and 11b have already landed on the road surface, the beam 1o will not be lowered any further, so the telescoping mechanism 13 will instead contract and the beam 10 will be lowered.
A force exceeding a predetermined amount is not applied to the .

In this way, the trackless crane 2 uses the proximity switch 121
- Always drive on 129, keeping your distance from the road. Then, when the onboard device T comes directly above the ground device 5 and detects both the beacon 52 and 59, the information represented by the beacon 52 to 5B is read by the onboard device gt, 7.

The current position of the trackless crane is detected.

As mentioned above, the ground equipment R5 is provided at approximately every 5 orns, so the positions between them are precisely detected by the mileage detector 9 that works with the rubber wheels 6b.
Accuracy on the order of m is obtained.

When the trackless crane 2 reaches the top of the shift passage 4, the rubber wheels 5m, (ib) are fixed at a 90 degree position and the trackless crane 2 is moved to the appropriate lane, then the rubber wheels 6a, 6b are moved. Fix it at 0 degrees again and drive through the designated lane running path 3. At the time of the race.

The trackless crane 2 can detect the position in the shifted lane in the same way as in the lane before shifting.

As explained above, the position detection device for a trackless crane according to the present invention is provided with a plurality of ground elements for displaying specific electrical energy information at necessary locations on the road surface of a trackless crane travel path, and Below the crane structure is a beam that has wheels at both ends and is suspended by a telescoping mechanism.
Since position detection is performed using multiple proximity switches and ground elements installed at the lower end of the beam, it is not necessary to perform large-scale construction work such as burying electric wires and coils in the container yard as in the past. Since there is no need to install the ground element and only the ground element needs to be installed, it has an excellent effect in that position detection can be performed with extremely simple construction.

[Brief explanation of drawings]

Fig. 1 is a plan view of a container yard, Fig. 2 is a side view of a trackless crane, Fig. 3 is a side view showing an embodiment of a position detection device for a trackless crane according to the present invention, and Fig. 4 is a ground view of a trackless crane. FIG. 1 is a plan view showing one embodiment of the device. 1 aelb...Container storage area, 2...Trackless crane, 3...Traveling path, 4...Shift path, 5...Ground equipment, 51-59...Fist e ground Child*
6ae8b...Rubber wheel, 1...Vehicle exterior ff
i, 8...Trackless crane structure, 9...
Travel distance detector, 10...- Beam* 11a #
llb a @ II m wheels * 12x~126
@ Proximity switch 213... Telescopic mechanism. Patent applicant Mitsui Engineering & Shipbuilding Co., Ltd. Agent Masaki Yamakawa (and 1 other person) Figure 1 Figure 2

Claims (1)

[Claims] A plurality of ground elements arranged to display unique positional information at necessary locations on the path surface along which the trackless crane runs on rubber wheels, and a plurality of ground elements arranged below the trackless crane structure. a telescopic mechanism, a beam provided below the telescopic mechanism, wheels provided at both lower ends of the beam; 1. A position detection device for a trackless crane, comprising: detection means for detecting the presence or absence of a child.