JPWO2020059842A1 - Container crane equipment and control method of container crane equipment - Google Patents

Abstract

Prevents contact between the cargo handling section and the tractor head of the truck.
Therefore, in the container crane device 10 in which the container C is mounted on the chassis 101 of the truck 100, the cargo handling section 30 for holding the container, the crane body section 20 for movably supporting the cargo handling section, and the lower side of the crane body section. It includes a position detection unit 41 that detects the position of the tractor head of a truck stopped at a predetermined cargo handling position A2, and a control unit 40 that controls the cargo handling operation of the cargo handling unit. Then, the control unit determines whether or not the truck tractor head detected by the position detection unit is at a position that overlaps the moving range of the cargo handling unit when viewed from the vertical direction, and the truck tractor head is the cargo handling unit. Unless it is determined that the position does not overlap the movement range, the cargo handling unit does not perform the cargo handling operation with respect to the truck.

Description

The present invention relates to a container crane device and a control method for the container crane device.

For example, a container crane device that handles cargo at a port includes a cargo handling section having a trolley for holding the container and a girder that movably supports the cargo handling section. Then, the container crane device carries out the work of placing the container on the chassis from the container storage area in the work area which is the movable area of the cargo handling part by the girder, or receiving the container from the chassis and storing it in the container storage area. (See, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2017-214176

An object of the present invention is to suppress the occurrence of a contact accident between the trailer head of a truck towing a chassis and a cargo handling unit.

The container crane device according to the present invention is
In a container crane device that mounts a container on the chassis of a truck
The cargo handling unit that holds the container and
A crane body that movably supports the cargo handling section, and a crane body
A position detection unit that detects the position of the tractor head of a truck stopped at a specified cargo handling position under the crane body, and a position detection unit.
A control unit that controls the cargo handling operation of the cargo handling unit is provided.
The control unit
It is determined whether or not the tractor head of the truck detected by the position detection unit is at a position overlapping the moving range of the cargo handling unit when viewed from the vertical direction.
Unless it is determined that the tractor head of the truck does not overlap the movement range of the cargo handling section, the cargo handling operation of the cargo handling section with respect to the truck is not performed.

The control method of the container crane device according to the present invention is
In the control method of the container crane device that mounts the container on the chassis of the truck
The container crane device includes a cargo handling unit that holds the container, a crane body that movably supports the cargo handling unit, and a tractor head of a truck that is stopped at a specified cargo handling position under the crane body. A position detection unit for detecting the above and a control unit for controlling the cargo handling operation of the cargo handling unit are provided.
The control unit determines whether or not the tractor head of the truck detected by the position detection unit is at a position that overlaps the moving range of the cargo handling unit when viewed from the vertical direction.
Unless it is determined that the tractor head of the truck does not overlap the movement range of the cargo handling section, the cargo handling operation of the cargo handling section with respect to the truck is not performed.

According to the present invention, there is an effect of suppressing the occurrence of a contact accident between the trailer head of the chassis and the cargo handling portion.

It is a perspective view of the container crane apparatus which is an embodiment of this invention. It is the figure which looked at the container crane device from the front-rear direction. It is a top view of the container crane device. It is a partial perspective view of the container crane device. It is a block diagram which shows a container crane apparatus. It is a flowchart of cargo handling operation control. It is explanatory drawing which shows the position of the plurality of lighting points of the first laser scanner in the state where a truck does not arrive at a mounting work area. It is explanatory drawing which shows the position of the plurality of light arrival points of the 1st laser scanner in the state where a truck is stopped in a mounting work area. It is explanatory drawing which shows the position of the lighting point of the 1st laser scanner with respect to the tractor head of a truck in a mounting work area. It is explanatory drawing which shows the position of the lighting point of the 1st laser scanner with respect to the container mounted on the truck in the mounting work area. It is explanatory drawing which shows the central position obtained from the lighting point of the container mounted on the truck in the loading work area. It is a left side view of the container crane device when the tractor head and the spreader do not interfere with each other. It is a left side view of the container crane device when the tractor head and the spreader interfere with each other. It is the figure which looked at the container crane device with the spreader located in the mounting work area from the front-rear direction. It is explanatory drawing in the case where a plurality of first laser scanners are provided. It is explanatory drawing which shows the example which provided the reflector on the upper surface of the tractor head of a truck. It is a front view which shows the example of the bridge type container crane apparatus.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a perspective view of the container crane device according to the embodiment of the present invention, FIG. 2 is a view of the container crane device from the front-rear direction, FIG. 3 is a plan view of the container crane device, and FIG. 4 is a partial perspective view of the container crane device. It is a figure. FIG. 5 is a block diagram showing the container crane device 10.
The illustrated container crane device 10 is for carrying out the work of mounting the container C on the chassis 101 of the truck 100, and constitutes the container crane system from the container crane device 10 and the truck 100.

[container]
The container C that the container crane device 10 handles is a container such as an ISO standard container. The container C has a long rectangular parallelepiped shape and has a predetermined length such as 20 feet or 40 feet in the longitudinal direction thereof. Although 40 feet of container C is illustrated in this embodiment, the present invention can be applied to other sizes of container C.

The container C constitutes a row R formed by stacking a plurality of stages in the container storage area A1 shown in FIG. A plurality of rows R are formed in the container storage area A1 in the left-right direction and the front-back direction. The rows R are arranged so that the longitudinal directions of the containers C constituting the respective rows R are all parallel to the front-rear direction of the container crane device 10 described later.

In the container storage area A1, the container crane device 10 holds and picks up the container C located at the uppermost stage of any row R, or holds the container at a position that becomes the uppermost stage at the specified position of any row R. Store C.

[Container crane equipment]
The configuration of the container crane device 10 will be described. As shown in FIGS. 1 to 5, the container crane device 10 includes a crane main body 20, a spreader 30 as a cargo handling unit, a control unit 40, and a first laser scanner 41 as a position detection unit. There is.

In the container crane device 10, one of the straight-ahead moving directions is referred to as "front" and the other is referred to as "rear". Further, the left-hand side is defined as "left" and the right-hand side is defined as "right" when facing forward in a direction orthogonal to the straight-ahead movement direction. In other words, the left-right direction coincides with the extension direction of the girder described later. The front-back direction coincides with the left-right direction and the direction orthogonal to the up-down direction.

The crane main body 20 includes a traveling device 21, a frame 22, and a trolley 23. The container crane device 10 is moved to an arbitrary position in the front-rear direction by the traveling device 21.
The traveling device 21 includes wheels 211 composed of tires and wheels, and a driving device thereof.

The drive device is mainly composed of a traveling motor 213 that drives the wheels 211 and a steering mechanism 214 that steers the wheels. The drive device is individually provided at the lower end portion of a pair of leg portions 222 (described later) provided on both the left and right sides of the frame 22.
Each drive unit is individually provided with wheels 211 at both left and right ends of the front and rear axles. It should be noted that a configuration may be configured in which two wheels are provided at both left and right ends of each axle.

The frame 22 has a gantry structure including a pair of girders 221 extending in the left-right direction and a total of four legs 222 that individually support the left and right ends of each girder 221 from below.
The pair of girders 221 are arranged side by side in the front-rear direction and individually support the front end portion and the rear end portion of the trolley 23. The pair of girders 221 movably support the trolley 23 along the left-right direction.

An inner region is defined between the left leg 222 and the right leg 222 of the frame 22. The inner area is divided into a container storage area A1 (left side) and a mounting work area A2 (right side).
The container storage area A1 is a space for storing a plurality of containers. In the container storage area A1, a plurality of waxes R are arranged side by side in the left-right direction.
Further, the loading work area A2 is a cargo handling position for performing a cargo handling operation with respect to the truck 100. In the loading work area A2, the truck 100 on which the cargo handling work of the container C is performed stops with the vehicle body facing in the front-rear direction.
In the embodiment, the mounting work area A2 is set to a width that allows one truck 100 to stop. The mounting work area A2 may be set to a size that allows a plurality of trucks 100 to stop side by side in the left-right direction.

The trolley 23 adjusts the position of the spreader 30 in the left-right direction by moving itself in the left-right direction. The trolley 23 is supported by two girders 221 so as to be movable in the left-right direction. The trolley 23 is provided with a transport device for moving the trolley 23 left and right along the girder 221. Further, the trolley 23 is equipped with a winding device for suspending the spreader 30.
The transfer device includes a transfer motor 231 that positions the trolley 23 and the spreader 30 at arbitrary positions in the left-right direction under the control of the control unit 40.
The trolley 23 has an cab 24 for accommodating an operator who controls the container crane device 10.

The winding device raises and lowers the spreader 30 to an arbitrary height. The winding device includes a wire 232 for suspending the spreader 30, a drum 233 for winding the wire 232, and a winding motor 234 for rotating the drum 233.
The take-up motor 234 can raise and lower the spreader 30 to an arbitrary height under the control of the control unit 40.

[Spreader]
The spreader 30 is a member for holding the container C. The spreader 30 includes a spreader main body 31 and a lock pin 32 which is a member that engages with the container C. The spreader 30 may include a second laser scanner 33 as a sensor for measuring the distance to the container C.
The spreader main body 31 is a rectangular frame having substantially the same width in front, back, left and right as the upper surface of the container C in a plan view. The spreader 30 can be adjusted to a length corresponding to the dimension of the container C to be held. Alternatively, it may be replaced with a spreader 30 corresponding to the size of each container C.

The lock pins 32 are provided so as to project downward from the four corners of the spreader main body 31. Each lock pin 32 is inserted into holding holes (not shown) provided at the upper four corners of the container C to hold the container C against the spreader 30. In FIG. 4, only a part of the lock pin 32 is shown, and the others are omitted.
For example, the lock pin 32 is a twist lock pin, and when it is inserted into the holding hole and then rotated, the locking portion at the tip end is locked inside the holding hole, and the lock pin 32 is in a locked state in which it cannot be removed. Further, the lock pin 32 can be put into a separable state in which the locked state is released by rotating in the direction opposite to that at the time of insertion.

The second laser scanner 33 includes a light source for laser light and a light receiving element, and determines the distance to the container C as the measurement target based on the time until the laser light is reflected from the measurement target and returned. calculate. The second laser scanner 33 scans the laser beam with the left-right direction as the main scanning direction and the front-back direction as the sub-scanning direction, and sets the irradiation direction of each laser beam and the measurement distance at that time for a plurality of landing points. Based on this, it is a three-dimensional sensor that acquires the coordinates of each landing point.
The control unit 40 recognizes the distance from the spreader 30 to the container C by the second laser scanner 33, so that the lock pin 32 can properly hold the container C.

[First laser scanner]
The container crane device 10 includes a sensor that calculates the distance to the truck 100 stopped in the mounting work area A2. The sensor is, for example, the first laser scanner 41. The first laser scanner 41 is a laser scanner having the same structure as the second laser scanner 33, and calculates the distance to the truck 100 stopped in the mounting work area A2, which is the measurement target. The first laser scanner 41 is supported on the upper part of the pair of legs 222 on the right side of the frame 22 so that the irradiation direction of the laser light is directed substantially downward to the left. The first laser scanner 41 also scans the laser beam with the left-right direction as the main scanning direction and the front-back direction as the sub-scanning direction.

The first laser scanner 41 can scan the entire upper part of the truck 100 stopped at an appropriate position in the mounting work area A2 with the laser beam.
The control unit 40 recognizes the distance from the detection output of the first laser scanner 41 to the entire upper part of the track 100, and detects the height over the entire length of the track 100. Run.
In addition, in FIG. 2 and FIG. 14 described later, the direction of the truck 100 in the mounting work area A2 is opposite to that in the other drawings, but as shown in this figure, the orientation of the truck 100 in the mounting work area A2. May be facing either front or back. However, it is desirable to determine in advance which direction the truck 100 should be stopped in the mounting work area A2, and to always perform cargo handling work with each truck 100 facing a certain direction.

[truck]
The truck 100 includes a chassis 101 and a tractor head 102.
The chassis 101 has a frame having a size on which the container C can be placed in a plan view, and biaxial wheels equipped at the rear end of the frame. That is, the front, rear, left and right dimensions of the loading platform on the upper part of the frame are set to be the same as or slightly larger than the front, rear, left and right dimensions of the container C.
Two wheels are provided on each of the left and right ends of each shaft. Further, a kingpin (not shown) is provided at the front end portion of the chassis 101, and can be connected to a coupler (not shown) of the tractor head 102.

The tractor head 102 is a vehicle that includes a drive system and pulls the chassis 101. As shown in FIG. 8, the front portion 103 of the tractor head 102 has a high vehicle height, and the rear portion 104 has a low vehicle height. The front 103 of the tractor head 102 has a cab on which the driver rides, and the rear 104 has a traction that connects the chassis 101 via a coupler.
Therefore, when the state in which the chassis and the tractor head 102 are connected is viewed from the vertical upper side, a part of the rear portion 104 of the tractor head 102 is covered with the chassis 101.
The truck may have a structure in which the chassis and the tractor head are fixedly connected.

[Control unit]
The control unit 40 executes operation control and processing of the container crane device 10. Specifically, although not shown, the control unit 40 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory), and performs cargo handling operations according to various control programs (not shown). Control and process.
Therefore, as shown in FIG. 5, the control unit 40 includes the traveling motor 213 and the steering mechanism 214 of the drive device, the transport motor 231 and the take-up motor 234 of the trolley 23, the lock pin 32 of the spreader 30, and the second. The laser scanner 33 and the first laser scanner 41 are connected.

Further, the cargo handling operation by the container crane device 10 includes the work of mounting the container C arranged in the container storage area A1 on the chassis 101 of the truck 100 stopped in the mounting work area A2 and the work of mounting the container C in the mounting work area A2. This includes the work of storing the container C mounted on the chassis 101 in the container storage area A1.
The control unit 40 controls each device according to the input by the operator of the driver's cab 24. The operator may operate the container crane device 10 from a position away from the container crane device 10. In that case, the control of each device is executed by the operation of the operator through the external operation device 42 provided in the remote place.
Therefore, the control unit 40 is connected to the external operation device 42 through a communication line or a network.
Further, the operation control of the cargo handling work by the spreader 30 on the container storage area A1 side may be autonomously executed by the control unit 40. On the other hand, the operation of the cargo handling work by the spreader 30 on the mounting work area A2 side is preferably executed by the operation of the operator in consideration of safety.
Further, the movement of the spreader 30 from the container storage area A1 to the mounting work area A2 and the movement from the mounting work area A2 to the container storage area A1 may be performed under the control of the control unit 40, or may be operated through the external operating device 42. It may be performed by the operation of a person.

Then, in the control unit 40, in the cargo handling operation control, the front portion 103 of the tractor head 102 of the truck 100 stopped in the loading work area A2 is viewed from the vertical direction, and the movement range M of the spreader 30 (see FIG. 3). ), And it is determined whether or not the position overlaps with). The control unit 40 executes cargo handling operation control so as not to perform the cargo handling operation of the spreader 30 with respect to the truck 100 unless it is determined that the tractor head 102 of the truck 100 does not overlap the movement range M of the spreader 30.
In the following description, the state where the front portion 103 of the tractor head 102 overlaps the moving range M of the spreader 30 when viewed from the vertical direction is described as "the tractor head 102 and the spreader 30 interfere with each other".

In the cargo handling operation control, when it is recognized that the tractor head 102 of the truck 100 and the spreader 30 interfere with each other, it is necessary to guide the driver of the truck 100 forward or backward in the mounting work area A2. be. This guidance is performed, for example, by the operator of the container crane device 10 to the driver of the truck 100 through an audio output means such as a speaker. Therefore, the external operation device 42 or the driver's cab 24 is provided with a display unit 43 that displays the necessity of guidance and whether to guide forward or backward, and the display unit 43 is also attached to the control unit 40. It is connected.

[Cargo handling operation control]
The detailed contents of the cargo handling operation control executed by the control unit 40 will be described with reference to the flowchart shown in FIG.
First, the control unit 40 makes the trolley 23 and the spreader 30 stand by at the arrangement shown in FIG. 2, that is, at the end of the container storage area A1 on the mounting work area A2 side (step S1). The above-mentioned position where the spreader 30 waits is defined as a standby position.

Then, the control unit 40 determines whether or not the truck 100 has arrived at the mounting work area A2 by the first laser scanner 41 (step S3). This determination is repeatedly executed until the arrival of the truck 100.

FIG. 7 shows a state in which the truck 100 has not arrived at the mounting work area A2, and FIG. 8 shows a state in which the truck 100 is stopped in the mounting work area A2.
Since the first laser scanner 41 scans the laser light three-dimensionally with the substantially front-rear direction as the sub-scanning direction, the road surface of the mounting work area A2 is as shown in FIG. 7 when the track 100 has not arrived. The landing points P due to the irradiation of the laser beam are lined up in. Therefore, the control unit 40 detects the height 0 [m] from the detection output of the first laser scanner 41 over the entire irradiation range in the front-rear direction of the mounting work area A2.
On the other hand, when the truck 100 is stopped, as shown in FIG. 8, the light arrival points P due to the irradiation of the laser beam are lined up above the entire length of the truck 100. Therefore, the control unit 40 detects the height of each unit in the total length in the front-rear direction of the track 100 from the detection output of the first laser scanner 41.

In this way, when the control unit 40 detects, for example, a height of 0 [m] from the detection output of the first laser scanner 41 over the entire length in the front-rear direction in the central portion in the left-right direction of the mounting work area A2. Can determine that there is no truck 100 in the mounting work area A2. Further, when a certain height or higher (for example, the height of the upper surface of the chassis 101 of the truck 100) is detected in the central portion of the mounting work area A2 in the left-right direction, it is determined that the truck 100 is present in the mounting work area A2. be able to.

In this case, the control unit 40 may set a predetermined height slightly lower than the height of the upper surface of the chassis 101 of the truck 100 as a threshold value. Then, when a plurality of distances indicating a height equal to or higher than the threshold value are acquired in the front-rear direction of the mounting work area A2, it may be determined that the truck 100 is present in the mounting work area A2.
Further, since the scanning by the first laser scanner 41 is repeated in a short period of time, the mounting operation is performed when a certain height or more is continuously acquired in a certain period in which the scanning is repeated a plurality of times. It may be determined that there is a track 100 in the area A2.

When it is determined that the truck 100 has arrived at the mounting work area A2, the control unit 40 uses the first laser scanner 41 to move the front and rear of the tractor head 102 (more specifically, the front 103) of the truck 100 in the mounting work area A2. The position in the direction is detected (step S5).

FIG. 9 shows a state in which the laser beam is scanned on the track 100 of the mounting work area A2.
As shown in the figure, the light arrival points P due to the irradiation of the laser beam are lined up on the entire length of the track 100, and the control unit 40 receives the tractor head 102 (more specifically) from the detection output of the first laser scanner 41. The height of the light arrival point P at the front part 103) (for example, about 2.7 [m]) is detected.
Further, since the height of the light arrival point P behind the light arrival point P1 at the rear end of the front end 103 (cab) of the tractor head 102 is low and there is a head, from the detection output of the first laser scanner 41 The light arrival point P1 in front of the light arrival point P showing a sharp drop in the front-rear direction can be recognized as the rear end portion of the front portion 103 (cab) of the tractor head 102.

Next, the control unit 40 determines whether or not the truck 100 in the mounting work area A2 has the container C mounted on the chassis 101 by the first laser scanner 41 (step S7).
FIG. 10 shows a state in which the container C is mounted on the truck 100 in the mounting work area A2.

As shown, the container C is sufficiently longer than the tractor head 102 and taller than the tractor head 102 in the front-rear direction.
Therefore, the control unit 40 detects the height of the light arrival point P on the upper surface of the container C (for example, about 4.0 to 4.3 [m]) from the detection output of the first laser scanner 41 by a predetermined distance or more in the front-rear direction. If so, it can be determined that the container C is present.
On the other hand, when the container C is not mounted on the chassis 101, as shown in FIG. 8, the light arrival point P having a height equivalent to that of the container C is not detected. Therefore, it can be determined that there is no container C. can.

Then, when it is determined that the container C is mounted on the chassis 101 of the truck 100, the control unit 40 detects the position of the container C on the chassis 101 in the front-rear direction (step S9).
FIG. 11 is an explanatory diagram for detecting the position of the container C on the truck 100 in the front-rear direction.

As shown in the figure, the light arrival point P on the container C is detected at a height corresponding to the container C in the front-rear direction within a predetermined length range. The height of the light arrival point P3 at the front end of the container C rises sharply as compared with the light arrival point P on the front side thereof, and the light arrival point P3 at the rear end of the container C is on the rear side of the light arrival point P4. The height of the light point P drops sharply as compared with the light arrival point P4. From these height changes, it is possible to specify the positions of the light arrival point P3 at the front end portion and the light arrival point P4 at the rear end portion of the container C in the front-rear direction.
Further, the control unit 40 can obtain the center position H of the container C in the front-rear direction from the positions of the light arrival point P3 and the light arrival point P4 in the front-rear direction.

Then, the control unit 40 determines whether the spreader 30 and the tractor head 102 of the truck 100 interfere with each other in the front-rear direction, and whether the spreader 30 and the container C on the chassis 101 are at appropriate positions in the front-rear direction ( Step S11).
FIG. 12 is a left side view showing a state in which the spreader 30 and the tractor head 102 of the truck 100 do not interfere with each other in the front-rear direction, and FIG. 13 shows a state in which they interfere with each other.

As shown in FIG. 12, if the rear end portion of the front portion 103 of the tractor head 102 is located in front of the front end portion of the spreader 30, when the spreader 30 descends from above the track 100, the tractor head 102 and the tractor head 102 Does not cause interference.
Since the position of the rear end portion of the front portion 103 of the tractor head 102 in the front-rear direction has already been detected in step S5, the control unit 40 can determine the interference from the detected position at this time.
Although FIGS. 12 and 13 show a state in which the spreader 30 holds the container C, interference between the spreader 30 and the tractor head 102 occurs even when the spreader 30 does not hold the container C. The same applies to the positional relationship that does not exist and the positional relationship that causes interference.

Further, when the positions of the front end portion and the rear end portion of the spreader 30 in the front-rear direction are substantially the same as the positions of the front end portion and the rear end portion of the container C on the chassis 101 of the truck 100 in the front-rear direction, the spreader 30 is used. Can hold the container C, so the control unit 40 determines this state as an appropriate position.
Since the front end portion, the rear end portion, and the center position H of the container C have already been detected in step S9, the control unit 40 can determine whether or not the position is appropriate from the detection position at this time. ..

When the control unit 40 does not satisfy either the determination that the spreader 30 and the tractor head 102 do not interfere with each other and the determination that the spreader 30 and the container C are in the proper positions. The display unit 43 executes a warning process for instructing the movement of the track 100 (step S13).
At this time, when the spreader 30 and the tractor head 102 interfere with each other, the control unit 40 displays that the truck 100 should be instructed to move forward.
If the spreader 30 and the container C are not in proper positions, the track 100 should be moved in any direction from the front end, the rear end, and the center position H of the container C detected in step S9. Is determined, and a display is performed to instruct the movement in the moving direction according to the determination.

In response to these indications by the display unit 43, the driver of the driver's cab 24 or the external operation device 42 moves the driver of the truck 100 in either the front-rear direction or the front-back direction through an audio output means such as a speaker. Instruct. The movement instruction is not limited to voice. The direction of movement may be displayed to the truck driver. Alternatively, a signal instructing movement may be transmitted to 100 control devices of the truck.
After displaying the movement command by the display unit 43, the control unit 40 re-executes the processes after step S5 on the truck 100 that has moved in response to the movement command.

Further, when the control unit 40 determines that the positional relationship does not cause interference between the spreader 30 and the tractor head 102 and determines that the spreader 30 and the container C are in appropriate positions, the control unit 40 determines that the positions are appropriate. , The display unit 43 executes a process of instructing the track 100 to stand by at the current position (step S15).
In response to these indications by the display unit 43, the driver of the driver's cab 24 or the external operating device 42 instructs the driver of the truck 100 to stand by at the current position through an audio output means such as a speaker.
In this case as well, the standby instruction is not limited to voice, and the standby instruction may be displayed or the standby command may be input to the control device of the track 100.

Then, the control unit 40 executes the cargo handling work (step S25).
In this case, since the container C is mounted on the chassis 101 of the truck 100, it is held by the spreader 30 and stored in any row R of the container storage area A1.
However, since the spreader 30 is already on standby at the end of the container storage area A1 on the mounting work area A2 side, the control unit 40 switches the operation by the driver's cab 24 or the external operation device 42 to the permitted state. As a result, the subsequent operations are executed based on the operation of the driver's cab 24 or the external operating device 42 by the operator.

That is, as shown in FIG. 14, the operator moves the trolley 23 from the container storage area A1 into the mounting work area A2 by the driver's cab 24 or the external operation device 42.
At this time, in step S9, the position of the container C on the chassis 101 of the truck 100 in the front-rear direction has already been detected. However, since the first laser scanner 41 is a three-dimensional sensor, the detection result at this time. Therefore, the control unit 40 acquires not only the position of the container C in the front-rear direction but also the position of the container C in the left-right direction.
Therefore, the trolley 23 and the spreader 30 are moved to appropriate positions in the left-right direction while referring to the already acquired positions of the container C on the chassis 101 in the left-right direction.
After that, the spreader 30 is lowered by maneuvering, and the container C is connected to the spreader 30 by the fixing operation of each lock pin 32.
Again, by maneuvering, the spreader 30 is raised and moved to the container storage area A1.

When the spreader 30 moves into the container storage area A1 again, the control unit 40 switches the operation by the driver's cab 24 or the external operation device 42 to the disallowed state. After that, the control unit 40 controls the cargo handling operation. That is, the trolley 23 is moved above the predetermined row R, the spreader 30 is lowered, the lock pins 32 are released, and the container C is stored.
Then, the control unit 40 raises the spreader 30 and moves it to the initial standby position, which is the end of the container storage area A1 on the mounting work area A2 side, and ends the cargo handling operation.

On the other hand, if it is determined in step S7 that the container C is not mounted on the chassis 101 of the truck 100, the control unit 40 detects the position of the loading platform on the upper surface of the chassis 101 in the front-rear direction (step S17). ..
In this case, as shown in FIG. 9, the control unit 40 is located at the rearmost position in a state where a plurality of light arrival points P detected at a height corresponding to the height of the loading platform are arranged in the front-rear direction. P2 is recognized as the rear end of the loading platform of the chassis 101.

Then, the control unit 40 determines whether the spreader 30 and the tractor head 102 of the truck 100 interfere with each other in the front-rear direction, and whether the spreader 30 and the loading platform of the chassis 101 are in proper positions in the front-rear direction (step S19). ).

The interference between the spreader 30 and the tractor head 102 is the same as in step S11.
Further, when the rear end portion of the loading platform of the chassis 101 is located more rearward than the position of the rear end portion of the spreader 30 in the front-rear direction and is located within a specified distance range, the control unit 40 is appropriate. Judged as a position.
Since the position of the rear end portion of the loading platform of the chassis 101 has already been detected in step S17, the control unit 40 can determine whether or not the position is appropriate from the detected position at this time.

The control unit 40 does not satisfy either the determination that the spreader 30 and the tractor head 102 do not interfere with each other and the determination that the spreader 30 and the loading platform of the chassis 101 are in the proper positions. If so, the display unit 43 executes a warning process for instructing the movement of the track 100 (step S21).
At this time, when the spreader 30 and the tractor head 102 interfere with each other, the control unit 40 displays that the truck 100 should be instructed to move forward.
If the spreader 30 and the loading platform of the chassis 101 are not in the proper positions, which direction should the truck 100 be moved back and forth from the position of the rear end of the loading platform of the chassis 101 detected in step S17? Is determined, and a display is performed to instruct the movement in the moving direction according to the determination.

The instructions given by the operator of the external operating device 42 based on the display unit 43 are the same as in the case of step S13 described above.
Then, after displaying the movement command by the display unit 43, the control unit 40 re-executes the processes after step S5 on the truck 100 that has moved in response to the movement command.

Further, when the control unit 40 determines that the positional relationship does not cause interference between the spreader 30 and the tractor head 102 and determines that the spreader 30 and the loading platform of the chassis 101 are in proper positions. The display unit 43 executes a process of instructing the track 100 to stand by at the current position (step S23).
In response to these indications by the display unit 43, the driver of the external operating device 42 instructs the driver of the truck 100 to stand by at the current position through an audio output means such as a speaker.
In this case as well, the standby instruction is not limited to voice, and the standby instruction may be displayed or the standby command may be input to the control device of the track 100.

Then, the control unit 40 executes the cargo handling work (step S25).
In this case, since the chassis 101 of the truck 100 is not equipped with the container C, the container C is held by the spreader 30 and the container C stored in any row R of the container storage area A1 is used as the loading platform of the chassis 101. The work of mounting will be done.

First, the control unit 40 moves the trolley 23 above the predetermined row R to lower the spreader 30 and operates each lock pin 32 to hold the container C.
Then, the spreader 30 is raised and the trolley 23 is moved to the end on the mounting work area A2 side in the container storage area A1.

Then, the control unit 40 switches the operation by the driver's cab 24 or the external operation device 42 to the permitted state. As a result, the subsequent operations are executed based on the operation of the driver's cab 24 or the external operating device 42 by the operator.

That is, the operator moves the trolley 23 from the container storage area A1 into the mounting work area A2 by the driver's cab 24 or the external operation device 42 (see FIG. 14).
Then, while referring to the position of the chassis 101 in the left-right direction acquired based on the detection result of the position detection of the chassis 101 in the front-rear direction performed in step S17, the trolley 23 and the spreader 30 are placed in the left-right direction. Move it to the proper position.
After that, the spreader 30 is lowered by maneuvering, and the container C is mounted on the loading platform of the chassis 101 by the unlocking operation of each lock pin 32.
Then, by maneuvering, the spreader 30 is raised and moved to the initial standby position, which is the end on the loading work area A2 side in the container storage area A1, and the cargo handling operation is completed.

[Technical effect in the embodiment of the invention]
As described above, in the container crane device 10, the control unit 40 determines whether or not the tractor head 102 of the truck 100 detected by the first laser scanner 41 interferes with the spreader 30, and the tractor head 102 of the truck 100 is determined. Unless it is determined that the truck does not interfere with the spreader 30, control is performed so that the load handling operation of the spreader 30 with respect to the truck 100 is not performed.
Therefore, it is possible to effectively suppress the occurrence of a contact accident between the spreader 30 and the tractor head 102 of the truck 100, and improve the safety.

Further, unless the control unit 40 determines that the tractor head 102 of the truck 100 does not interfere with the spreader 30, the control unit 40 mounts the spreader 30 within the range of the loading work area A2 (load handling position) in the moving direction (horizontal direction) of the spreader 30. Control is performed so that the truck is kept on standby within the range of the container storage area A1 which is outside.
Therefore, it is possible to more effectively suppress the occurrence of a contact accident between the spreader 30 and the tractor head 102 of the truck 100, and further improve the safety.

Further, unless it is determined by the process of step S7 of the cargo handling operation control of FIG. 6 described above that the container C is not mounted on the chassis 101 of the truck 100, the control unit 40 holds the container C in the spreader 30. Control is performed so that cargo handling is not performed on the chassis 101.
Therefore, it is possible to effectively suppress the occurrence of a contact accident between the container C mounted on the chassis 101 of the truck 100 and the container C held by the spreader 30, and improve the safety.

Further, the control unit 40 executes a warning process for moving the truck 100 when it is determined that the tractor head 102 of the truck 100 interferes with the spreader 30.
This makes it possible to avoid contact between the tractor head 102 and the spreader 30 and promptly resume the cargo handling operation in an appropriate state.

[others]
The embodiments of the present invention have been described above. However, the present invention is not limited to the above-described embodiment, and the details shown in the embodiment can be appropriately changed without departing from the spirit of the invention.

For example, as the light arrival point P by the first laser scanner 41 is separated from the first laser scanner 41 in the front-rear direction, the incident direction of the laser light is greatly inclined with respect to the vertical direction, and the reflected light is the first. The tendency of reflection to the opposite side of the laser scanner 41 becomes remarkable. As a result, the detection accuracy of the distance and height of the light arrival point P far from the first laser scanner 41 is lowered.
Therefore, as shown in FIG. 15, a plurality of first laser scanners 41 may be provided in the front-rear direction.
As a result, in various parts of the track 100, the distance from the first laser scanner 41 to the light arrival point P is shortened, the reflection on the opposite side of the reflected light is suppressed, and the distance and height of the light arrival point P are detected. It is possible to improve the accuracy.
Although the case where two first laser scanners 41 are provided is illustrated in FIG. 15, more first laser scanners 41 may be provided.

Further, as shown in FIG. 16, a reflector 105 as a reflecting member is provided on the upper surface of the front portion 103 of the tractor head 102 of the track 100 to enhance the reflectivity of the laser light from the first laser scanner 41. You may.
Further, as the reflector 105, a reflector having retroreflective property may be used. In that case, as shown by the dotted line arrow in FIG. 16, the laser beam can be more effectively reflected to the first laser scanner 41 side, and the detection accuracy of the distance and height of the landing point P can be improved. Is possible.

Further, in the above-described embodiment, the control unit 40 controls the spreader 30 to stand by outside the mounting work area A2 unless it is determined that the tractor head 102 of the truck 100 does not interfere with the spreader 30 in the cargo handling operation control. Although the case has been illustrated, the standby position of the spreader 30 is not limited to this.
For example, in the cargo handling operation control, the control unit 40 controls the spreader 30 to stand by above the mounting work area A2 (arrangement in FIG. 14) unless it is determined that the tractor head 102 of the truck 100 does not interfere with the spreader 30. You may.
In this case, as soon as it is determined that the tractor head 102 does not interfere with the spreader 30, the spreader 30 can be immediately transferred to the cargo handling work, and the cargo handling work can be speeded up and the work efficiency can be improved. Will be.

Further, for example, when the control unit 40 performs the work of mounting the container C of the container storage area A1 on the truck 100 in which the container C is not mounted on the chassis 101, the spreader 30 previously sets the container C. It may be controlled to stand by in the held state.

Further, in the above-mentioned cargo handling operation control, when the control unit 40 detects the position in the front-rear direction of the tractor head 102 of the truck 100 and the position in the front-rear direction of the loading platform of the chassis 101, the height difference generated at each of these positions is used. The configuration for individually detecting each position is illustrated, but the present invention is not limited to this.
For example, if the control unit 40 stores the dimensional data of each part of the track 100 in advance and detects one or a plurality of specific parts of the track 100, the dimensional data can be referred to to position all other parts. It may be a configuration that requires.

Further, in this case, the control unit 40 stores the dimensional data for each type of the truck 100, identifies the type of the truck 100 before the cargo handling operation control, and then selects the dimensional data for the various trucks 100. On the other hand, the configuration may be such that the positions of a plurality of locations can be obtained. In this case, the type of the track 100 is identified from the reading of characters, symbols, and other display information written on the surface of the track 100, the communication of the identification data from the track 100, and the external features of the captured image of the track 100. It can be performed by various methods such as identification and input of identification information by the driver of the truck 100.

Further, in the above embodiment, the configuration in which the operation of the cargo handling work by the spreader 30 on the mounting work area A2 side is executed by the operation of the operator is illustrated, but the operation of the mounting work area A2 is also controlled by the control unit 40. It may be configured to be performed autonomously.

Further, in the above embodiment, the configuration in which the tractor head of the truck has a cab and is operated by the driver is illustrated, but the truck may be configured to be remotely controlled or automatically operated. In the case of remote control, in the cargo handling operation control of FIG. 6 described above, the truck driver is instructed to move or stand by through a voice output means such as a speaker to the remote control device. It is preferable to notify by voice or display. Further, in the case of automatic operation, it is preferable to perform operation commands to the control device that performs automatic operation.

Further, in the above embodiment, the first laser scanner 41 is illustrated as the position detection unit, but the present invention is not limited to this, and various types capable of detecting the position of the tractor head 102 (front portion 103) of the track 100 in the front-rear direction can be detected. It is possible to use the sensor of. Further, not limited to the sensor, the tractor head 102 may be imaged by an imaging means such as a camera, and the position of the tractor head 102 may be detected by image processing.

Further, in the above embodiment, a portal-type crane is exemplified as a container crane device, but the features of the present invention are applied to various container crane devices that horizontally convey a spreader and perform a container handling operation by an up-and-down operation. It is possible to do.
For example, as shown in FIG. 17, the crane main body 20A in which the girder 221A extends long toward the left and right sides of the frame 22A is provided, and the container storage area A1 and the container storage area A1 and below one of the extending ends of the girder 221A are provided. Even in the so-called bridge-type container crane device 10A or the like in which the loading work area A2 is provided and the cargo handling work is performed, the above-mentioned cargo handling operation control can be effectively performed.

Further, in the above embodiment, the container crane device 10 exemplifies a configuration in which the container crane device 10 is moved by wheels provided with tires, but the present invention is not limited to this. For example, as in the container crane device 10A of FIG. 17, the wheel 211A that does not use tires may be configured to move on the rail.
Further, the present invention can be applied to a crane device having no wheels and having a frame body fixedly installed on the ground.

The container crane device according to the present invention has industrial applicability for a container crane device that horizontally transports a container and raises and lowers it to perform cargo handling work.

10 Container crane device 20 Crane body 21 Traveling device 211 Wheels 22 Frame 221 Girder 222 Legs 23 Trolley 30 Spreader (loading section)
40 Control unit 41 First laser scanner (position detection unit)
100 Truck 101 Chassis 102 Tractor head 103 Front 105 Reflector (reflective member)
A1 Container storage area A2 Loading work area (cargo handling position)
M Movement range P Light point P1 to P4 Light point

Claims (9)

In a container crane device that mounts a container on the chassis of a truck
The cargo handling unit that holds the container and
A crane body that movably supports the cargo handling section, and a crane body
A position detection unit that detects the position of the tractor head of a truck stopped at a specified cargo handling position under the crane body, and a position detection unit.
A control unit that controls the cargo handling operation of the cargo handling unit is provided.
The control unit
It is determined whether or not the tractor head of the truck detected by the position detection unit is at a position overlapping the moving range of the cargo handling unit when viewed from the vertical direction.
A container crane device that does not perform a cargo handling operation of the cargo handling section with respect to the truck unless it is determined that the tractor head of the truck does not overlap the moving range of the cargo handling section. The control unit
Unless it is determined that the tractor head of the truck does not overlap the movement range of the cargo handling unit,
The container crane device according to claim 1, wherein the cargo handling unit is made to stand by outside the range of the cargo handling position in the moving direction of the cargo handling unit. The control unit
Unless it is determined that the tractor head of the truck does not overlap the movement range of the cargo handling unit,
The container crane device according to claim 1, wherein the cargo handling unit is made to stand by above the cargo handling position. The control unit
The invention according to any one of claims 1 to 3, wherein the container held by the cargo handling unit is not handled on the chassis unless it is determined that the container is not mounted on the chassis of the truck. Container crane equipment. The container crane device according to any one of claims 1 to 4, wherein the position detection unit is a laser sensor, and a plurality of the laser sensors are provided along the traveling direction of the truck entering and exiting the cargo handling position. .. The control unit
When it is determined that the tractor head of the truck detected by the position detection unit is at a position overlapping the moving range of the cargo handling unit when viewed from the vertical direction.
The container crane device according to any one of claims 1 to 5, which executes a warning process for moving the truck. The position detection unit is a laser sensor.
The container crane device according to any one of claims 1 to 6, wherein the laser sensor detects a laser reflected from a reflecting member provided on the upper surface of the tractor head of the truck. In the control method of the container crane device that mounts the container on the chassis of the truck
The container crane device includes a cargo handling unit that holds the container, a crane body that movably supports the cargo handling unit, and a tractor head of a truck that is stopped at a specified cargo handling position under the crane body. A position detection unit for detecting the above and a control unit for controlling the cargo handling operation of the cargo handling unit are provided.
The control unit determines whether or not the tractor head of the truck detected by the position detection unit is at a position that overlaps the moving range of the cargo handling unit when viewed from the vertical direction.
A method for controlling a container crane device that does not perform a cargo handling operation of the cargo handling section with respect to the truck unless it is determined that the tractor head of the truck does not overlap the moving range of the cargo handling section. The position detection unit is a laser sensor.
A reflective member is provided on the upper surface of the tractor head of the truck.
The control method for a container crane device according to claim 8, wherein the laser sensor detects a laser reflected from a reflecting member on the upper surface of the tractor head.

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