JPWO2016088253A1 - Crane system and processing method - Google Patents

Abstract

In this crane system, the storage block is provided with a bus bar (191) that is provided at one end in the width direction of the storage block along the extending direction of the row region and supplies power to the crane body. The crane detection unit (190) is attached to the spreader (152) so as to face the bus bar (191), and the distance between the bus bar (191) and the bus bar in the width direction of the storage block is constant. One of the marks is detected.

Description

  The present invention relates to a crane system and a processing method.

There is a crane which arranges a container in a storage block indicating an area provided on the ground. The crane has a mechanism called a spreader that holds the container and places the container in the storage block. When the crane places the containers on the storage block, it is necessary to pay attention to the collision between the containers and the spreader that holds the containers.
Patent Document 1 describes a technique for preventing a collision between a spreader and a container as a related technique.

Japanese Patent No. 4115774

By the way, there exists a crane which uses the electric power supplied through the bus bar which has an electroconductive contact part which contacts a crane and supplies electric power to a crane as a power source. In the case of such a crane, in addition to the collision between the spreader and the container, it is necessary to prevent the spreader and the bus bar or the collision between the spreader and the container.
The present invention provides a crane system that can prevent a container or a spreader from colliding with a bus bar when the crane places the container on the storage block.

  According to the first aspect of the present invention, the crane system travels in the extending direction of the row area of the storage block which is an area provided on the ground and has at least one row area in which a plurality of containers can be stored. A traveling unit having a traveling mechanism, a crane main body supported by the traveling unit, a trolley supported by the crane main body so as to be able to travel in the width direction of the storage block, and suspended from the trolley so as to be vertically movable. A spreader capable of gripping a container; a bus bar provided at one end in the width direction of the storage block along the extending direction of the row region; and supplying power to the crane body; and attached to the spreader so as to face the bus bar The bus bar and the mark provided so that the distance from the bus bar in the width direction of the storage block is constant. Comprising a detector for detecting one of out, the.

  According to a second aspect of the present invention, the crane system described above is based on an angle formed by a vertically downward direction and a laser beam or ultrasonic radiation direction of the detection unit, and a distance to the top of the bus bar. A distance calculation unit that calculates a distance in the width direction of the storage block to the bus bar;

  According to a third aspect of the present invention, in the crane system described above, the detection unit is a camera, the pattern data of the mark corresponding to a relative distance between the detection unit and the mark, and the detection unit The captured image data is compared, the matching data in the image data is detected as the mark, and the bus bar is moved from the spreader to the bus bar based on the position of the mark center in the image based on the pixel indicated by the mark center. A distance calculation unit that calculates a distance in the width direction of the storage block until.

  According to the fourth aspect of the present invention, in the crane system described above, the mark includes a reflective material that reflects light, and the detection unit detects the emitted mark.

  According to a fifth aspect of the present invention, in the crane system described above, the crane includes an illumination unit that illuminates the bus bar or the mark.

  According to the sixth aspect of the present invention, in the crane system described above, the illumination unit irradiates infrared light, and the detection unit can detect infrared light.

  According to a seventh aspect of the present invention, in the crane system described above, the mark is provided according to a pitch of the container arranged in the row region.

  According to the 8th aspect of this invention, it has the driving | running | working mechanism which drive | works in the extension direction of the said row | line | column area | region of the storage block which is an area | region provided on the ground and which can store a some container at least 1 row | line | column. A traveling unit, a crane main body supported by the traveling unit, a trolley supported so as to be able to travel in the width direction of the storage block in the crane main body, and suspended from the trolley so as to be vertically movable, and can hold a container And a bus bar provided at one end in the width direction of the storage block along the extending direction of the row region to supply power to the crane body, the processing method in a crane system comprising: The bus bar and the bus bar are spaced apart from each other by a distance in the width direction of the storage block. And detecting either one of the marks provided so as to be.

  According to the above-described crane system, it is possible to prevent the container and the spreader from colliding with the bus bar when the crane places the container on the storage block.

The top perspective view showing an example of a crane system provided with the RTG crane by a first embodiment of the present invention. The top perspective view showing an example of the bus bar with which the crane system by a first embodiment of the present invention is provided. The figure which shows an example of a structure of the collision prevention control apparatus with which the RTG crane by 1st embodiment of this invention is provided. The top perspective view which shows an example of a spreader provided with a detection part. The top perspective view which shows an example of a spreader provided with a detection part. The top perspective view which shows an example of the spreader suspended from the trolley provided with the shake sensor. The figure explaining the process in which a distance calculation part calculates the distance of the width direction of the storage block from a spreader to a bus bar. The figure which shows an example of the processing flow of the collision prevention control apparatus with which the RTG crane by 1st embodiment of this invention is provided. The top view which shows an example of the detection part by which the mark was provided in the top part of the bus-bar. The figure explaining the process in which a distance calculation part calculates the distance of the width direction of the storage block from a spreader to a bus bar. The figure which shows an example of the processing flow of the collision prevention control apparatus with which the RTG crane by 2nd embodiment of this invention is provided.

Hereinafter, embodiments will be described with reference to the drawings.
<First embodiment>
A crane system including an RTG crane according to a first embodiment of the present invention will be described.
First, the configuration of an RTG (Rubber Tired Gantry) crane, which is an example of a crane according to the first embodiment of the present invention, will be described.
A crane system 1 according to the first embodiment of the present invention shown in FIG. 1 includes a storage block 101, an RTG crane 100, and a bus bar 191.
The storage block 101 has at least one row in which a plurality of containers C can be stored along the traveling direction of the RTG crane 100. In the case of FIG. 1, the storage block 101 is composed of seven columns 101a to 101g.
The RTG crane 100 can travel in the extending direction of the rows in the storage block 101. The RTG crane 100 arranges a container in a storage block 101 indicating an area provided on the ground.
The bus bar 191 is provided at one end in the width direction of the storage block 101 along the extending direction of the row. As will be described later, the bus bar 191 includes a pair of conductive contact portions 193 and 194 that contact the RTG crane 100 to supply power to the RTG crane 100 and a support portion 197 that supports the pair of contact portions 193 and 194. It is configured.

In FIG. 1, the RTG crane 100 includes a traveling unit 131, a traveling unit 132, a crane body 110, a trolley 151, a spreader 152, and a detection unit provided in the spreader 152.
As shown in FIG. 1, the traveling unit 131 and the traveling unit 132 are provided at positions separated in a direction intersecting the traveling direction of the RTG crane 100. In FIG. 1, based on the operation direction of the trolley 151, the direction in which the bus bar 191 is located from the trolley 151 is the front (“F” in FIG. 1), and the opposite direction is the rear (“B” in FIG. 1). In FIG. 1, the left direction when the trolley 151 is directed from the trolley 151 in the direction in which the bus bar 191 is located is left (“L” in FIG. 1), and the direction in which the bus bar 191 is from the trolley 151 in FIG. The right direction when facing is the right ("R" in FIG. 1).
The traveling unit 131 and the traveling unit 132 can travel in the extending direction of the row.
The crane body 110 is supported by the traveling unit 131 and the traveling unit 132.
The trolley 151 is supported by the crane body 110 so as to be able to travel in the width direction.
The spreader 152 is a mechanism that can be suspended from the trolley 151 so as to be vertically movable and can hold the container C.
The detection unit is attached to one side in the width direction of the spreader 152 and opposite to the bus bar 191 and detects the distance from the detection unit to the bus bar 191.

The RTG crane 100 includes a crane body 110 and a suspension mechanism 150. The crane body 110 includes a beam portion 111, a pair of leg portions 121 and 122, a traveling portion 131, a traveling portion 132, a power receiving portion 141, a position information acquisition device 160, an encoder 164, and an encoder 170. Prepare. The traveling unit 131 includes a tire 133. The traveling unit 132 includes a tire 134. The suspension mechanism 150 includes a trolley 151, a spreader 152, a suspension rope 153, and a hoisting machine 154. Furthermore, the RTG crane 100 includes a driver's seat 180 provided on the trolley 151.
Further, FIG. 1 shows the front-rear and left-right directions. This direction is a direction from the driver's seat 180.

The RTG crane 100 corresponds to an example of a moving body, and proceeds when the tires 133 and 134 rotate. The progress of the RTG crane 100 is referred to as traveling.
However, in the present embodiment, the moving body is not limited to the RTG crane, and may be various moving bodies in which the shape of the moving body changes when the traveling direction changes.

  In the crane main body 110, each of the pair of leg portions 121 and 122 is arranged approximately vertically, and a beam portion 111 is provided between the upper ends of the pair of leg portions 121 and 122 to form a gate-shaped frame. A traveling part 131 is provided below the leg part 121. A traveling part 132 is provided below the leg part 122. By rotating the tire 133 of the traveling unit 131 and the tire 134 of the traveling unit 132, the RTG crane 100 travels in the left-right direction as defined with respect to FIG. When the RTG crane 100 travels, the traveling direction of the RTG crane 100 is shifted in the front-rear direction defined with respect to FIG. 1 due to the difference in rotational speed between the tire 133 and the tire 134.

  The line L11 is a reference line indicating an example of the target travel direction (target travel direction) when the RTG crane 100 travels straight. This reference line need not be explicitly specified. The collision prevention control device of the RTG crane 100 controls the pair of traveling units 131 and 132 so as to travel along the reference line. For example, the collision prevention control device detects the magnetic force of the magnets arranged along the reference line, and performs control so that each of the pair of traveling units 131 and the traveling unit 132 travels along the detected magnetic force.

  In addition, a pair of driving | running | working parts 131 and 132 are not restricted to what is equipped with a tire. For example, each of the pair of traveling units 131 and 132 may include a caterpillar instead of the tire.

In addition, a power receiving unit 141 is installed on the leg 121. The power receiving unit 141 supplies the power supplied via the bus bar to each part of the RTG crane 100.
However, the RTG crane 100 may include a generator and a storage battery. Alternatively, the RTG crane 100 may include an engine or a hybrid power source including an engine and a storage battery.
The installation location of the mobile control device may be provided, for example, in the driver's seat 180, or provided outside the RTG crane 100 to communicate with the RTG crane 100. May be.

The position information acquisition device 160 acquires position information for each of a plurality of positions of the RTG crane 100. Specifically, the position information acquisition device 160 includes a GNSS (Global Navigation Satellite System) receiver, receives radio waves from satellites with an antenna provided in the crane main body 110, and determines the position of each antenna. To detect.
However, the position information acquisition device 160 is not limited to the one including the GNSS receiver. For example, a system for monitoring the RTG crane 100 and detecting the position is installed outside the RTG crane 100, and the position information acquisition device 160 performs wireless communication with the system, and the left front and the right rear of the crane body 110. Each position information may be acquired.
Further, the position where the position information acquisition device 160 acquires the position information is not limited to the position illustrated in FIG. 1, and may be two or more positions that are shifted in both the front-rear direction and the left-right direction. For example, the position where the position information acquisition device 160 acquires the position information may be set inside the end of the beam portion 111.

The encoder 164 converts the winding amount and the lowering amount into the height of the spreader 152.
The encoder 170 is provided in each of the traveling unit 131 and the traveling unit 132, and measures the traveling speed of each of the traveling unit 131 and the traveling unit 132. Specifically, the encoder 170 measures the rotational speed of the tire 133 and converts it into the traveling speed of the traveling unit 131. The encoder 170 measures the rotational speed of the tire 134 and converts it into the traveling speed of the traveling unit 132.
The traveling speeds of the traveling unit 131 and the traveling unit 132 acquired by the encoder 170 correspond to examples of information indicating the degree of progress of the traveling unit 131 and the traveling unit 132, respectively.

  However, the data measured and output by the encoder 170 is not limited to the traveling speeds of the traveling unit 131 and the traveling unit 132, but may be any data that can acquire the traveling distances (traveling distances) of the traveling unit 131 and the traveling unit 132. Good. For example, the encoder 170 may output the rotational speeds of the tires 133 and 134, respectively. Alternatively, the encoder 170 may integrate the traveling speeds of the traveling unit 131 and the traveling unit 132 to calculate the traveling distances of the traveling unit 131 and the traveling unit 132, and output the obtained traveling distance.

The suspension mechanism 150 suspends and holds the container C. When the RTG crane 100 travels in a state where the suspension mechanism 150 suspends the container C, the RTG crane 100 carries the container C.
The trolley 151 is provided on the beam portion 111 so as to be movable along the beam portion 111. The spreader 152 holds the container C. The suspension rope 153 suspends the spreader 152 from the trolley 151. The hoisting machine 154 is provided on the trolley 151 and performs hoisting and unwinding of the hanging rope 153. When the hoist 154 winds the suspension rope 153, the spreader 152 rises. Moreover, the spreader 152 descends when the hoist 154 unwinds the suspension rope 153.

The driver's seat 180 is provided with an operation panel that receives an operation of the RTG crane 100 and an operation of the suspension mechanism 150 by an operator, and a display device that displays various information.
Here, in order to improve drainage of the travel lane of the RTG crane 100, even if the tires 133 and 134 are rotated at the same rotational speed, such as when the travel lane is inclined in the front-rear direction of FIG. As a result, the RTG crane 100 may not go straight. Therefore, the RTG crane 100 corrects the rotational speeds of the tires 133 and 134 in order to assist the operation by the operator, for example, by performing an automatic linear advance control of the RTG crane 100 itself by the collision prevention control device.
Alternatively, the RTG crane 100 may be operated unattended without the driver's seat 180, and the RTG crane 100 may automatically travel.
When the RTG crane 100 places the container C on the storage block 101 near the bus bar, the container C may collide with the bus bar.
The crane system 1 of the present invention prevents the container C and the spreader 152 from colliding with the bus bar when the RTG crane 100 places the container C on the storage block 101.

Next, the configuration of the bus bar 191 according to the first embodiment of the present invention will be described.
The bus bar 191 illustrated in FIG. 2 includes a support portion 197 and a pair of contact portions 193 and 194. A pair of contact portions 193 and 194 included in the bus bar 191 is attached to the vertical surface of the support portion 197 and supplies power to the RTG crane 100 by contacting the power receiving portion 141 included in the RTG crane 100.

Next, the structure of the collision prevention control apparatus 200 with which the RTG crane 100 by 1st embodiment of this invention is provided is demonstrated.
The collision prevention control device 200 provided in the RTG crane 100 according to the first embodiment of the present invention shown in FIG. 3 includes a travel control unit 201, a trolley control unit 202, a spreader control unit 203, a distance calculation unit 204, and a distance. The determination part 205, the alerting | reporting part 206, and the memory | storage part 207 are provided.

  The traveling control unit 201 included in the collision prevention control device 200 according to the first embodiment controls the traveling unit 131 and the traveling unit 132 that can travel in the extending direction of the rows of the storage blocks 101, and the reference position indicated by the reference line. Control so as not to run away from the vehicle. In addition, the traveling control unit 201 corrects the rotational speeds of the tires 133 and 134 in order to assist the operation by the operator, such as performing an automatic linear advance control of the RTG crane 100 itself. Note that the traveling control unit 201 may control the RTG crane 100 so that the RTG crane 100 automatically operates without being provided with the driver's seat 180 and operated unattended.

The trolley control unit 202 controls the trolley 151 supported so as to be able to travel in the width direction of the storage block 101, and controls the lateral position of the trolley 151. When the trolley 151 moves, the spreader 152 also moves, and the relative distance between the spreader 152 and the bus bar 191 changes. When the distance determination unit 205 determines that the distance in the width direction of the storage block 101 from the spreader 152 to the bus bar 191 is shorter than the predetermined distance, the trolley control unit 202 moves the spreader 152 away from the bus bar 191 by a predetermined distance. The trolley 151 is controlled. When the trolley control unit 202 inputs a determination result that determines that the distance in the width direction of the storage block 101 from the distance determination unit 205 to the spreader 152 to the bus bar 191 is shorter than a predetermined distance, the trolley control unit 202 receives from the distance determination unit 205 to the spreader 152. The position of the trolley 151 is controlled so that the distance in the width direction of the storage block 101 to the bus bar 191 is longer than a predetermined distance.
The spreader control unit 203 controls the hoisting machine 154 so as to be suspended from the trolley 151 so as to be vertically movable and to control the vertical position of the spreader 152 capable of supporting the container C. The spreader control unit 203 forcibly stops the lowering when the distance determination unit 205 inputs a determination result that determines that the distance in the width direction of the storage block 101 from the spreader 152 to the bus bar 191 is shorter than a predetermined distance. .
The distance calculation unit 204 is based on the angle (scan angle) formed by the vertically downward direction and the laser light or ultrasonic radiation direction of the detection unit 190, and the distance to the top of the bus bar 191 detected by the detection unit 190. The distance in the width direction of the storage block 101 from the spreader 152 to the bus bar 191 is calculated.
The distance determination unit 205 determines whether the distance in the width direction of the storage block 101 from the spreader 152 to the bus bar 191 calculated by the distance calculation unit 204 is shorter than a predetermined distance. When the distance determination unit 205 determines that the distance in the width direction of the storage block 101 from the spreader 152 to the bus bar 191 calculated by the distance calculation unit 204 is shorter than a predetermined distance, the trolley control unit 202 and the spreader control To the unit 203 and the notification unit 206.
When the distance determination unit 205 determines that the distance in the width direction of the storage block 101 from the spreader 152 to the bus bar 191 calculated by the distance calculation unit 204 is shorter than a predetermined distance, the notification unit 206 warns the driver. Inform.
The storage unit 207 stores information necessary for various processes performed by the collision prevention control device 200.

Next, the installation position of the detection unit 190 in the spreader 152 will be described.
Each of the detection units 190 (190 a and 190 b) illustrated in FIG. 4 is installed on both ends of the spreader 152 in the column direction of the storage block 101 and on the side facing the bus bar 191.
When each of the detection units 190 (190a and 190b) is installed at both ends of the spreader 152, the distance calculation unit 204 calculates the distance in the width direction of the storage block 101 from each of both ends of the spreader 152 to the bus bar 191. The shorter distance is the shortest distance from the spreader 152 to the bus bar 191.
5 is installed in the center of the spreader 152 in the column direction of the storage block 101. When the detection unit 190 is installed in the center of the spreader 152, a pair of shake sensors 155 are provided in the trolley 151 as shown in FIG. The distance calculation unit 204 calculates the distance in the width direction of the storage block 101 from the center of the spreader 152 to the bus bar 191. The pair of shake sensors 155 irradiate laser light upward from the spreader 152 to the trolley 151 and detect horizontal twist based on the deviation of the irradiation position. Based on the distance in the width direction of the storage block 101 from the center of the spreader 152 to the bus bar 191 and the skew detected by the pair of shake sensors 155, the distance calculation unit 204 extends from each end of the spreader 152 to the bus bar 191. The distance in the width direction of the storage block 101 is calculated, and the shortest distance from the spreader 152 to the bus bar 191 is calculated.
4 and 5 also illustrate an example of the illumination unit 210 described later.

Next, calculation of the distance in the width direction of the storage block 101 from the spreader 152 to the bus bar 191 performed by the distance calculation unit 204 according to the first embodiment will be described.
FIG. 7 shows the crane system 1 according to the first embodiment when the right direction is viewed from the left direction defined with respect to FIG. 1, and the appearance of the detection unit 190 and the surroundings of the bus bar 191. The detection unit 190 illustrated in FIG. 7 is, for example, a two-dimensional laser sensor or a two-dimensional ultrasonic sensor, and is attached to one side in the width direction of the spreader 152 and facing the bus bar 191, and extends in the width direction of the storage block 101. to scan. Then, the detection unit 190 specifies the distance d from the detection unit 190 to the top of the bus bar 191 and the angle θ formed by the vertically downward direction and the radiation direction of the laser light or the ultrasonic wave of the detection unit 190. The distance calculation unit 204 acquires the distance d and the angle θ from the detection unit 190 to the top of the bus bar 191. The distance calculation unit 204 calculates the distance x in the width direction of the storage block 101 from the detection unit 190 to the bus bar 191 based on the distance d to the top of the bus bar 191 and the angle θ using the formula d × sin θ. .
As shown in FIG. 4, when each of the detection units 190 (190a, 190b) is installed at both ends of the spreader 152, the distance calculation unit 204 calculates for each of the detection unit 190a and the detection unit 190b. The shorter one of the distances x is calculated as the shortest distance from the spreader 152 to the bus bar 191.
Further, as illustrated in FIG. 6, when the detection unit 190 is installed at the center of the spreader 152, the distance calculation unit 204 calculates the half length of the spreader 152 in the column direction of the storage block 101 from the calculated distance x. Then, l × sin α calculated from the length l and the twist angle α of the spreader 152 with respect to the column direction of the storage block 101 is subtracted to obtain xl × sin α.

Next, a process for preventing the container C and the spreader 152 from colliding with the bus bar 191 performed by the collision prevention control device 200 included in the RTG crane 100 according to the first embodiment of the present invention will be described.
The traveling control unit 201 included in the collision prevention control device 200 according to the first embodiment of the present invention illustrated in FIG. 8 controls the traveling unit 131 and the traveling unit 132 that can travel in the extending direction of the rows of the storage blocks 101, Control to travel along the reference line. For example, the traveling control unit 201 detects the magnetic force of the magnets arranged along the reference line, and performs control so as to travel along the magnetic force detected by the traveling unit 131 and the traveling unit 132. In addition, the traveling control unit 201 corrects the rotational speeds of the tires 133 and 134 in order to assist the operation by the operator, such as performing an automatic linear advance control of the RTG crane 100 itself. Then, the traveling control unit 201 moves the RTG crane 100 to a predetermined position in the row direction in the storage block 101 in which the container C before being placed at the predetermined position is placed (step S1). Note that the traveling control unit 201 may control the RTG crane 100 so that the RTG crane 100 automatically operates without being provided with the driver's seat 180 and operated unattended.

  The trolley control unit 202 controls the horizontal position of the storage block 101 in the trolley 151, and moves the trolley 151 to the position where the container C is placed (step S2). Then, the spreader control unit 203 lowers the spreader 152 and grips the container C (step S3). The spreader control unit 203 winds up the spreader 152 (step S4). The trolley control unit 202 controls the horizontal position of the storage block 101 in the trolley 151, and brings the trolley 151 closer to the row 101a of the storage block 101 adjacent to the bus bar 191 (step S5). During this time, the detection unit 190 installed on the spreader 152 specifies the distance d to the top of the bus bar 191 and the angle θ with respect to the vertical direction when the distance d to the top of the bus bar 191 is detected (step S6). . The distance calculation unit 204 acquires the distance d and the angle θ from the detection unit 190 to the top of the bus bar 191 detected by the detection unit 190. The distance calculation unit 204 calculates the distance x in the width direction of the storage block 101 from the detection unit 190 to the bus bar 191 based on the distance d to the top of the bus bar 191 and the angle θ using the formula d × sin θ. (Step S7). Then, the distance calculation unit 204 calculates the distance in the width direction of the storage block 101 from the spreader 152 to the bus bar 191 based on the distance x in the width direction of the storage block 101 from the detection unit 190 to the bus bar 191 (step S8). ). For example, as illustrated in FIG. 4, when the detection units 190 (190 a and 190 b) are installed at both ends of the spreader 152, the distance calculation unit 204 performs the detection for the detection units 190 a and 190 b. The shorter one of the calculated distances x is calculated as the shortest distance from the spreader 152 to the bus bar 191. Further, for example, as illustrated in FIG. 6, when the detection unit 190 is installed at the center of the spreader 152, the distance calculation unit 204 calculates the half of the spreader 152 in the column direction of the storage block 101 from the calculated distance x. Is calculated by subtracting l × sin α calculated from the length l of the spreader 152 and the twist angle α of the storage block 101 with respect to the column direction.

The distance calculation unit 204 outputs the calculated distance in the width direction of the storage block 101 from the spreader 152 to the bus bar 191 to the distance determination unit 205.
When the distance determination unit 205 inputs the distance in the width direction of the storage block 101 from the spreader 152 to the bus bar 191 from the distance calculation unit 204, the distance determination unit 205 determines whether the input distance is shorter than a predetermined distance (step S9). . When the distance determination unit 205 determines that the distance input from the distance calculation unit 204 is shorter than the predetermined distance (YES in step S9), the determination result is output to the trolley control unit 202, the spreader control unit 203, and the notification unit 206. (Step S10).
When the spreader control unit 203 inputs a determination result that the distance in the width direction of the storage block 101 from the distance determination unit 205 to the spreader 152 to the bus bar 191 is shorter than a predetermined distance, the spreader control unit 203 forcibly stops the lowering. (Step S11).
When the distance determination unit 205 determines that the distance in the width direction of the storage block 101 from the spreader 152 to the bus bar 191 calculated by the distance calculation unit 204 is shorter than a predetermined distance, the notification unit 206 warns the driver. Notification is made (step S12).
The trolley control unit 202 controls the horizontal position of the storage block 101 in the trolley 151 and moves the trolley 151 behind so that the distance in the width direction of the storage block 101 from the spreader 152 to the bus bar 191 is longer than a predetermined distance. Control to move in the direction is performed (step S13). The trolley control unit 202 returns to the process of step S8.
When the distance determination unit 205 determines that the distance input from the distance calculation unit 204 is longer than the predetermined distance (step S9, NO), the spreader control unit 203 unwinds the currently suspended container C. Then, the spreader control unit 203 determines whether or not the container C has landed on the ground (step S14).
When the spreader control unit 203 determines that the container C has not landed on the ground (step S14, NO), the spreader control unit 203 returns to the process of step S8.
If the spreader control unit 203 determines that the container C has landed on the ground (step S14, YES), the process ends.

The processing of the collision prevention control device 200 provided in the RTG crane 100 in the crane system 1 according to the first embodiment of the present invention has been described above. The crane system 1 described above includes a storage block 101 having at least one row in which a plurality of containers C can be stored, an RTG crane 100 capable of traveling in the extending direction of the row in the storage block 101, and one of the storage blocks 101 in the width direction. And a bus bar 191 that is provided along the extending direction of the row and supplies power to the RTG crane 100. The RTG crane 100 includes traveling units 131 and 132 capable of traveling in the extending direction of the rows, a crane main body 110 supported by the traveling units 131 and 132, and a trolley 151 supported by the crane main body 110 so as to travel in the width direction. And a spreader 152 that can be hung up and down on the trolley 151 and can hold the container C, and a detection unit 190 that is attached to one side in the width direction of the spreader 152 and detects the bus bar 191.
In this way, the crane system 1 can prevent the container C and the spreader 152 from colliding with the bus bar when the RTG crane 100 places the container C on the storage block 101.
Note that the detection unit 190 according to the first embodiment may be a camera. For example, the detection unit 190 detects the bus bar 191 from the image using the pattern matching method. The detection unit 190 knows the actual shape and actual size of the bus bar 191 in advance. Based on the number of pixels indicated by the detected image of the bus bar 191 and the actual size of the bus bar 191, the detection unit 190 transmits the bus bar 191. It is also possible to detect the distance up to.

<Second Embodiment>
Next, the crane system 1 by 2nd embodiment of this invention is demonstrated.
The difference between the crane system 1 according to the second embodiment of the present invention and the crane system 1 according to the first embodiment is that the detection unit 190 included in the crane system 1 according to the first embodiment is a laser sensor or an ultrasonic sensor. On the other hand, the detection unit 190 provided in the crane system 1 according to the second embodiment of the present invention is a camera.

As shown in FIG. 9, a mark M is provided on the top of the bus bar 191, and the detection unit 190 detects the distance to the bus bar 191 by image processing. More specifically, the detection unit 190 is a camera, for example, and is attached to one side in the width direction of the spreader 152 and scans in the width direction of the storage block 101 as shown in FIG. And the detection part 190 detects the mark M of the top part of the bus-bar 191 with a pattern matching method, for example. If the position of the mark M moves to the right side on the image, the suspended container position approaches. Quantitatively, the encoder 164 knows the height of the spreader 152 and subtracts the height of the bus bar 191 to find the relative distance in the height direction. Since the size of the mark M is known in advance, the detection unit 190 detects the mark M within the range of the viewing angle of the camera at the relative distance in the height direction, and the center of the detected mark M is the container front end position P. The number of pixels deviated from is specified. Since the corresponding distance per pixel is known, the distance calculation unit 204 can calculate the distance from the container front end position P to the bus bar 191 from the number of pixels indicated by the mark M. The distance calculation unit 204 knows the relative position between the container front end position P and the detection unit 190, and can calculate the distance x in the width direction of the storage block 101 from the detection unit 190 to the bus bar 191.
The detection unit 190 is attached to one side in the width direction of the spreader 152 and opposite to the bus bar 191 and detects a mark attached at a predetermined distance from the bus bar 191 in the width direction.

  The detection unit 190a may detect a ground mark provided at a predetermined distance in the width direction from the bus bar 191 instead of the mark M at the top of the bus bar 191 shown in FIG.

The processing flow of the collision prevention control device 200 provided in the RTG crane 100 according to the second embodiment of the present invention shown in FIG. 11 is the same as the processing flow of steps S6 and S7 of the collision prevention control device 200 according to the first embodiment. This flow is replaced from step S15 to step S17.
In the process flow of the collision prevention control apparatus 200, the same processes as those in steps S1 to S5 in the process flow of the collision prevention control apparatus 200 according to the first embodiment are performed. Thereafter, the detection unit 190 installed in the spreader 152 detects the mark M on the top of the bus bar 191 (step S15). For example, the detection unit 190 uses a pattern matching method that compares the pattern data of the mark M corresponding to the relative distance between the spreader 152 and the bus bar 191 with the captured image data, and uses the pattern matching method to compare the mark M at the relative distance between the spreader 152 and the bus bar 191. M is detected. In addition, the detection unit 190 detects the front end of the container as a predetermined position based on the installation position in the detection unit 190. Then, the detection unit 190 specifies how many pixels the center of the detected mark M is shifted from the container front end position P (step S16). The detection unit 190 outputs the specified shift in the number of pixels to the distance calculation unit 204.
Since the distance corresponding to one pixel corresponding to the winding height indicated by the winding amount is known, the distance calculation unit 204 converts the pixel into the distance from the current winding height (step S17). The distance calculation unit 204 calculates the distance from the container front end position P to the bus bar 191 by multiplying the deviation of the number of pixels input from the detection unit 190 by a distance corresponding to one pixel, and the pixel is detected from the detection unit 190 to the bus bar 191. The distance x in the width direction of the storage block 101 is calculated (step S8).

The crane system 1 according to the second embodiment of the present invention has been described above. In the crane system 1 described above, the detection unit 190 is a camera. The detection unit 190 detects the mark M according to the relative distance between the spreader 152 and the bus bar 191 and the viewing angle of the camera.
The detection unit 190 specifies how many pixels the center of the detected mark M is shifted from the container front end position. Since the distance calculation unit 204 knows the distance corresponding to one pixel, the distance in the width direction of the storage block 101 from the detection unit 190 to the bus bar 191 is calculated by multiplying the shift in the number of pixels by the distance corresponding to one pixel. The distance x is calculated.
In this way, the crane system 1 can prevent the container C and the spreader 152 from colliding with the bus bar when the RTG crane 100 places the container C on the storage block 101.

<Third embodiment>
Next, the crane system 1 by 3rd embodiment of this invention is demonstrated.
The difference between the crane system 1 according to the third embodiment of the present invention and the crane system 1 according to the second embodiment is that the crane system 1 according to the third embodiment includes an illumination unit 210 next to the detection unit 190, The mark M emits light, for example, a fine particle glass coating material. Then, the detection unit 190 detects the emitted mark M. The detection unit 190 may detect the bus bar 191 by causing the bus bar 191 to emit light.
By doing so, the mark M and the bus bar 191 can be detected even at night.

<Fourth embodiment>
Next, a crane system 1 according to a fourth embodiment of the present invention will be described.
The difference between the crane system 1 according to the fourth embodiment of the present invention and the crane system 1 according to the third embodiment is that, in the crane system 1 according to the fourth embodiment, the illumination unit 210 is infrared illumination, and the detection unit The infrared light transmission filter is provided on the front surface of 190. The illumination unit 210 irradiates the mark M and the bus bar 191 with infrared light. Then, the detection unit 190 detects the mark M and the bus bar 191 by detecting infrared light.
By doing so, the mark M can be detected even when the image becomes too bright due to direct reflection of sunlight during the summer solstice (the entire image becomes whitish).

In addition, although embodiment of this invention was described, the color of the above-mentioned mark M is not limited to white or black. For example, the color of the mark M may be a single color, or may be a color in which the center and the periphery of the mark M are different. Further, the shape of the mark M is not limited to a quadrangle. Further, the distance may be detected using a line instead of the mark M. For example, the distance may be detected by detecting the edge of a line extending in the row direction of the bus bar 191. Any mark or line can be used as long as the distance can be detected appropriately.
Moreover, the above-mentioned mark M may be provided according to the pitch of the container arrange | positioned in the row direction of a storage block.

  In addition, although embodiment of this invention was described, the above-mentioned collision prevention control apparatus 200 has a computer system inside. The process described above is stored in a computer-readable recording medium in the form of a program, and the above process is performed by the computer reading and executing this program. Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.

  The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, what is called a difference file (difference program) may be sufficient.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. Various omissions, replacements, and changes can be made without departing from the scope of the invention.

  According to the above-described crane system, it is possible to prevent the container and the spreader from colliding with the bus bar when the crane places the container on the storage block.

DESCRIPTION OF SYMBOLS 1 Crane system 100 RTG crane 101 Storage block 110 Crane main body 111 Beam part 121,122 Leg part 131,132 Traveling part 133,134 Tire 141 Electric power receiving part 150 Suspension mechanism 151 Trolley 152 Spreader 153 Suspension rope 154 Hoisting machine 155 Shake sensor 160 Position information acquisition device 164, 170 Encoder 180 Driver's seat 190 Detection unit 191 Bus bar 193, 194 Contact unit 197 Support unit 200 Collision prevention control device 201 Travel control unit 202 Trolley control unit 203 Spreader control unit 204 Distance calculation unit 205 Distance Determination unit 206 Notification unit 207 Storage unit 210 Illumination unit C Container L11 line

[0003]
Is provided according to the pitch of the containers arranged in the row region.
[0012]
According to the 8th aspect of this invention, it has the driving | running | working mechanism which drive | works in the extension direction of the said row | line | column area | region of the storage block which is an area | region provided on the ground and which can store a some container at least 1 row | line | column. A traveling unit, a crane main body supported by the traveling unit, a trolley supported so as to be able to travel in the width direction of the storage block in the crane main body, and suspended from the trolley so as to be vertically movable, and can hold a container A spreader, a bus bar provided at one end in the width direction of the storage block along the extending direction of the row region and supplying power to the crane body, and a detection unit attached to the spreader so as to face the bus bar A method of processing in a crane system comprising: the bus bar; and the storage block from the bus bar. Wherein the separation distance in the width direction of detecting either one of the marks provided to be constant.
Effects of the Invention [0013]
According to the above-described crane system, it is possible to prevent the container and the spreader from colliding with the bus bar when the crane places the container on the storage block.
BRIEF DESCRIPTION OF THE DRAWINGS [0014]
FIG. 1 is a top perspective view showing an example of a crane system including an RTG crane according to a first embodiment of the present invention.
FIG. 2 is a top perspective view showing an example of a bus bar provided in the crane system according to the first embodiment of the present invention.
FIG. 3 is a diagram showing an example of the configuration of a collision prevention control device provided in the RTG crane according to the first embodiment of the present invention.
FIG. 4 is a top perspective view illustrating an example of a spreader including a detection unit.
FIG. 5 is a top perspective view illustrating an example of a spreader including a detection unit.
FIG. 6 is a top perspective view showing an example of a spreader suspended from a trolley including a shake sensor.

Claims (8)

A traveling unit having a traveling mechanism that travels in an extending direction of the row area of the storage block that is an area provided on the ground and has at least one row area in which a plurality of containers can be stored;
A crane body supported by the traveling unit;
A trolley supported so as to be able to travel in the width direction of the storage block in the crane body;
A spreader that can be suspended up and down on the trolley and can hold a container;
A bus bar that is provided along the extending direction of the row region at one end in the width direction of the storage block and supplies power to the crane body;
A detector that is attached to the spreader so as to face the bus bar, and that detects any one of the bus bar and a mark provided so as to have a constant separation distance from the bus bar in the width direction of the storage block; ,
Crane system with Distance calculation for calculating the distance in the width direction of the storage block from the spreader to the bus bar based on the angle formed by the vertically downward direction and the laser beam or ultrasonic wave emission direction of the detection unit and the distance to the top of the bus bar Part,
A crane system according to claim 1. The detection unit is a camera;
The pattern data of the mark corresponding to the relative distance between the detection unit and the mark is compared with the image data captured by the detection unit, and the matching data in the image data is detected as the mark. A distance calculation unit that calculates the distance in the width direction of the storage block from the spreader to the bus bar based on the position of the center of the mark in the image based on the pixel indicated by the center;
A crane system according to claim 1. The mark includes a reflective material that reflects light,
The detection unit detects the emitted mark.
The crane system according to claim 3. The crane is
An illumination unit that illuminates the bus bar or the mark,
The crane system according to claim 3 or claim 4. The illumination unit emits infrared light,
The detection unit is capable of detecting infrared light.
The crane system according to claim 5. The mark is
Provided according to the pitch of the containers arranged in the row region,
The crane system according to any one of claims 1 to 6. A traveling unit having a traveling mechanism that travels in an extending direction of the row area of the storage block that is an area provided on the ground and has at least one row area in which a plurality of containers can be stored;
A crane body supported by the traveling unit;
A trolley supported so as to be able to travel in the width direction of the storage block in the crane body;
A spreader that can be suspended up and down on the trolley and can hold a container;
A bus bar that is provided along the extending direction of the row region at one end in the width direction of the storage block and supplies power to the crane body;
A processing method in a crane system comprising:
It is attached to the spreader so as to face the bus bar, and detects any one of the bus bar and a mark provided so that a separation distance from the bus bar in the width direction of the storage block is constant. Processing method.

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