WO2011099212A1

WO2011099212A1 - Power feeding system

Info

Publication number: WO2011099212A1
Application number: PCT/JP2010/071110
Authority: WO
Inventors: 内田　浩二; 伸郎吉岡; 久也明神
Original assignee: 三菱重工業株式会社
Priority date: 2010-02-15
Filing date: 2010-11-26
Publication date: 2011-08-18
Also published as: TW201202072A; JP2011167042A

Abstract

Disclosed is a power feeding system that feeds power to a rechargeable battery mounted on a self-propelled crane apparatus, from a feeding line wired along a traveling lane of the self-propelled crane apparatus, and that is provided with: targets arranged in the vicinity of the traveling lane; current collectors installed on the self-propelled crane apparatus; an image pickup unit that is installed on the self-propelled crane apparatus, and picks up a video of the target; a position adjustment unit that adjusts the position of the current collector; and a calculation unit that calculates the amount of deviation in the position of the current collector in the width direction thereof, on the basis of the video of the target picked up by the image pickup unit. The position adjustment unit adjusts the position of the current collector on the basis of the amount of deviation in the position of the current collector calculated by the calculation unit.

Description

Power supply system

The present invention relates to a power feeding system.
This application claims priority based on Japanese Patent Application No. 2010-030423 filed on Feb. 15, 2010, the contents of which are incorporated herein by reference.

Conventionally, as a crane for transporting a container stored in a container yard or the like, a self-propelled crane device that self-propels along a traveling lane of the container yard is known. Further, when a plurality of traveling lanes are provided in the container yard, there is also a self-propelled crane device that travels from one traveling lane to another traveling lane and travels in another traveling lane.

As an example of such a self-propelled crane apparatus, Patent Document 1 describes a self-propelled crane apparatus provided with a power receiving device that contacts a rail for power feeding formed in the vicinity of a lane in which a container is stored. Yes.
According to the self-propelled crane device described in Patent Document 1, it is possible to receive power from the power supply line through the current collection by pressing the current collector against the power supply line in the extending and contracting direction of the power receiving device.
It is also known to feed power to a hoist type crane or the like using an insulated trolley wire in which a part of the outer surface of the feeder line is covered with an insulator (see, for example, Patent Document 2).

JP 2009-242101 A JP 7-255102 A

However, in the apparatus described in Patent Document 1, when an insulated trolley wire is used instead of a power supply rail, once the current collector and the insulated trolley wire are separated from each other, the current collector is accurately aligned with the insulated trolley wire. This may have to be done manually by the operator in order to contact the feeder. For this reason, there is a problem in that it takes time and effort to align and contact the current collector with the insulated trolley wire with high accuracy.

The present invention has been made in view of the above-described circumstances, and an object of the present invention is to provide a power feeding system that can easily perform an operation of bringing a current collector into contact with an insulated trolley wire.

In order to solve the above problems, the present invention proposes the following means.
The power supply system of the present invention is a power supply system that supplies power to the rechargeable battery from a power supply line provided along a traveling lane of a self-propelled crane apparatus equipped with a rechargeable battery, and is positioned with respect to the power supply line. In order to supply power to the rechargeable battery in contact with the power supply line and a target disposed in the vicinity of the traveling lane, the self-propelled crane device is movable in the width direction perpendicular to the traveling direction. A current collector provided in the traveling crane device; an imaging unit that is positioned with respect to the current collector and provided in the self-propelled crane device; and that captures an image of the target; and A position adjustment unit that adjusts the position, and a displacement amount of the current collector in the width direction with respect to the power supply line is calculated based on the target image captured by the imaging unit Comprising a calculation unit that, the, the position adjusting unit adjusts the position of the current electronic for said self-traveling crane device based on the position shift amount calculated in the calculating unit.

It further includes a distance detection unit that detects a longitudinal distance in the longitudinal direction of the traveling lane between the self-propelled crane device and the power supply line, and the calculation unit includes the target in the video imaged by the imaging unit. Is converted into an actual position based on the distance detected by the distance detector, and the amount of misalignment in the width direction of the current collector with respect to the feeder line positioned with respect to the target is calculated. May be.

The calculation unit may cancel the calculation of the positional deviation amount when the self-propelled crane device becomes unable to travel in the travel lane.

The calculation unit includes a height detection unit that detects a height shift amount of the current collector with respect to the feeder line in a height direction of the self-propelled crane device based on an image captured by the imaging unit, The height detecting unit detects that the amount of positional deviation in the height direction of the current collector with respect to the power supply line deviates from a range in which the current collector can contact the power supply line. In this case, it is preferable to cancel the calculation based on the video.

When the target moves out of the imaging area of the imaging unit, the calculation unit is configured to move the target in the same direction as the moving direction of the target with respect to the video just before the target moves out of the imaging area of the imaging unit. The current collector may be moved.

The target may include a laser light source that emits a laser beam, which is a divergent beam, in a direction along the longitudinal direction of the travel lane.

The laser beam may be infrared light.

A height detection mechanism for detecting a height deviation amount and a height deviation direction of the self-propelled crane apparatus in a height direction of the self-propelled crane apparatus; the height deviation amount detected by the height detection mechanism; An elevating mechanism that moves the imaging unit by the same distance as the height deviation amount in a direction opposite to the height deviation direction of the self-propelled crane device may be further provided based on the height deviation direction.

According to the power supply system of the present invention, the current collector can be moved to a position where it can come into contact with the power supply line based on the position of the target positioned with respect to the current collector. Can be contacted.

1 is an overall view showing a crane system including a power feeding system according to a first embodiment of the present invention. It is a block diagram which shows the structure of the said crane system. It is a perspective view which shows the self-propelled crane apparatus in the said crane system. It is a perspective view which shows the structure of the charging terminal part in the said crane system. It is a perspective view which shows the structure of the power receiving apparatus in the said crane system. It is a flowchart for demonstrating operation | movement of the said electric power feeding system at the time of use of the said crane system. It is operation | movement explanatory drawing for demonstrating operation | movement at the time of use of the said crane system. It is a schematic diagram which shows the image | video of the camera at the time of use of the said crane system. It is a schematic diagram which shows the image | video of the camera at the time of use of the said crane system. It is operation | movement explanatory drawing for demonstrating operation | movement at the time of use of the said crane system. It is operation | movement explanatory drawing for demonstrating operation | movement at the time of use of the said crane system. It is a flowchart for demonstrating operation | movement of the electric power feeding system of 2nd Embodiment of this invention. It is a general view which shows a crane system provided with the electric power feeding system of 3rd Embodiment of this invention. It is a fragmentary sectional view which shows the structure of a part of said crane system. It is a block diagram which shows the structure of the said crane system. It is a flowchart for demonstrating operation | movement of the said electric power feeding system. It is a perspective view which shows the charge terminal part in the electric power feeding system of 4th Embodiment of this invention. It is a perspective view which shows the charge terminal part in the electric power feeding system of 4th Embodiment of this invention. It is a side view which shows the structure of a part of electric power feeding system of 5th Embodiment of this invention. It is a side view which shows the structure of a part of electric power feeding system of 5th Embodiment of this invention.

(First embodiment)
Hereinafter, the electric power feeding system 30 of 1st Embodiment of this invention is demonstrated with the crane system 1 provided with this electric power feeding system 30. FIG.
FIG. 1 is an overall view showing a crane system 1. FIG. 2 is a block diagram showing the configuration of the crane system 1. FIG. 3 is a perspective view showing the self-propelled crane device 10 in the crane system 1. FIG. 4 is a perspective view illustrating a configuration of the charging terminal portion 33 in the crane system 1. FIG. 5 is a perspective view showing the configuration of the power receiving device 40 in the crane system 1.
As shown in FIG. 1, in this embodiment, the crane system 1 is provided in a container yard 3 in which a container 2 is stored.
In the container yard 3, the ground R is divided into a plurality of rectangular sections (travel lanes 4). Inside each traveling lane 4 is a storage area 5 for stacking and storing a plurality of containers 2.

As shown in FIGS. 1 and 2, the crane system 1 includes a self-propelled crane device 10, a power feeding system 30, and a crane management system 80 in the container yard 3.

As shown in FIG. 3, the self-propelled crane device 10 conveys the container 2 stored inside the travel lane 4. In this embodiment, the self-propelled crane device 10 is a tire-type portal crane (Rubber Tired Gantry Crane) that self-propels along the extending direction of the travel lane 4 using tires.
In FIG. 3, an XYZ coordinate system is defined by an X axis, a Y axis, and a Z axis that are orthogonal to each other for ease of explanation. The X-axis is an axis along the width direction of the self-propelled crane device 10, the Y-axis is an axis along the front-rear axis direction of the self-propelled crane device 10, and the Z-axis is an axis along the height direction of the self-propelled crane device 10. It is.

The self-propelled crane device 10 includes a crane body 11, a traveling mechanism 15, a suspension mechanism 19, a rechargeable battery 24, a traveling position detection mechanism 25, a control unit 27, and a communication system 28.

The crane body 11 includes a pair of leg portions 12 erected substantially in parallel and a beam portion 13 spanned over the upper ends of the leg portions 12, and is formed in a gate shape straddling the storage region 5.

The beam portion 13 is a support member that supports the suspension mechanism 19. The beam part 13 is provided with a guide rail 14 for moving the suspension mechanism 19 in the longitudinal direction of the beam part 13.

The traveling mechanism 15 causes the self-propelled crane device 10 to travel along the ground surface R.
The traveling mechanism 15 is provided at the lower end of the leg portion 12. The traveling mechanism 15 includes an axle portion 17 that is connected to the leg portion 12 via a vertical rotation shaft 16, and traveling wheels 18 that are provided on the axle portion 17.

The axle portion 17 is rotated around the vertical rotation shaft 16 by a motor (not shown). For this reason, the direction of the traveling wheel 18 can be changed around the vertical axis by the axle portion 17.
The traveling wheel 18 is a hollow tire formed of, for example, rubber or resin. Four traveling wheels 18 are provided for each leg of the leg portion 12.
The traveling mechanism 15 is controlled by a control unit 27 described later, and the axle unit 17 is rotated or the rotational speed of the traveling wheel 18 is adjusted based on a drive signal transmitted from the control unit 27.

The suspension mechanism 19 performs an operation of loading and unloading the container 2 using electric power received from the rechargeable battery 24 as a power source. The suspension mechanism 19 includes a trolley 20 that moves along the guide rail 14 of the beam portion 13, a spreader 21 that holds the container 2, a suspension rope 22 that suspends the spreader 21 from the trolley 20, and a suspension rope And a hoisting machine 23 for winding and unwinding 22.

The operations of the trolley 20, the spreader 21, and the hoisting machine 23 are controlled by the control unit 27.

The rechargeable battery 24 stores drive power for driving the self-propelled crane device 10. The rechargeable battery 24 is connected to the charging circuit 24a. Charging and discharging of the rechargeable battery 24 are managed by controlling the charging circuit 24a by the control unit 27 described later.

The traveling position detection mechanism 25 detects the position of the self-propelled crane device 10 in the container yard 3.
The traveling position detection mechanism 25 includes a GPS (Global Positioning System) device 26. The GPS device 26 receives a signal emitted from a GPS satellite and detects the position of the self-propelled crane device 10 on the ground. The GPS device 26 is electrically connected to the control unit 27. The control unit 27 stores map information of the container yard 3 in advance in a storage unit 78 described later. Thereby, the GPS device 26 can detect the traveling lane 4 in which the self-propelled crane device 10 is located in the container yard 3 and the position of the self-propelled crane device in the longitudinal direction of the traveling lane 4.

As shown in FIG. 2, the control unit 27 can control the operations of the traveling mechanism 15 and the suspension mechanism 19 of the self-propelled crane device 10. Furthermore, the control unit 27 can receive the position information from the GPS device 26 transmitted from the traveling position detection mechanism 25 and output the position information to the position information input unit 71 of the current collecting position control system 60 described later.

The communication system 28 communicates with the crane management system 80. The communication system 28 can receive from the crane management system 80 a cargo handling instruction and a cargo handling schedule for transporting the container 2. In the present embodiment, the communication system 28 can wirelessly communicate with the crane management system 80.

Next, the power supply system 30 of this embodiment will be described.
The power feeding system 30 supplies driving power for operating the self-propelled crane device 10 to the self-propelled crane device 10. The power feeding system 30 stores driving power in the rechargeable battery 24 provided in the self-propelled crane device 10.

The power feeding system 30 includes a power transmission device 31 provided in the container yard 3, a power receiving device 40 provided in the self-propelled crane device 10, and a current collecting position control system 60.

The power transmission device 31 includes a power supply wiring portion 32 and a charging terminal portion 33.
As shown in FIG. 1, the power supply wiring section 32 supplies electricity from a commercial power supply (for example, a 100-volt AC power supply) to the charging terminal section 33. The power supply wiring unit 32 includes a power supply device 32a that receives power from a commercial power supply, and a wiring unit 32b that is connected to the power supply device 32a and extends along the ground surface R. A part of the wiring part may be embedded in the ground R of the container yard 3.

As shown in FIGS. 3 and 4, the charging terminal portion 33 is provided in a part of the traveling lane 4 in order to supply driving power to the self-propelled crane device 10 traveling in the traveling lane 4.
The charging terminal portion 33 includes a ground post 34 provided on one side of the travel lane 4 in the longitudinal direction of the travel lane 4 and an insulating trolley wire 35 fixed to the ground post 34. In the present embodiment, a stop target position P1 for temporarily stopping the self-propelled crane device 10 is set in the vicinity of the charging terminal portion 33 at a position separated by a predetermined distance as measured in the longitudinal direction of the traveling lane 4. . The distance between the stop target position P1 and the charging terminal portion 33 is at least a distance longer than the idling distance necessary for safely stopping the self-propelled crane device 10.

As shown in FIG. 4, the insulation trolley wire 35 includes a power supply line 36 and an insulation cover 37.
The power supply line 36 is in contact with a current collector 53 described later and transmits drive power to the current collector 53. The power supply line 36 is provided so as to extend in the longitudinal direction of the traveling lane 4. In addition, the power supply line 36 is formed in an arch shape in which both end portions in the longitudinal direction and the lower surface side facing the ground R are opened.
The material of the power supply line 36 is preferably a material having electrical conductivity and low electrical resistance. Specifically, iron, copper, aluminum, or the like can be used as the material of the feeder line 36. Further, as the material of the power supply line 36, a material having high corrosion resistance against rain or the like may be employed.

The insulating cover 37 is provided for the purpose of preventing, for example, an operator from touching the power supply line 36. The insulating cover 37 has an opening facing the ground R side, and the current collector 53 can be inserted into the insulating cover 37 through the opening. The insulating cover 37 is open at both ends in the longitudinal direction. The cross-sectional shape orthogonal to the longitudinal axis of the insulating cover 37 is arched. The upper end side of the insulating cover 37 is formed in a shape that is covered so that rain does not fall on the power supply line 36 disposed inside. As a material of the insulating cover 37, for example, an insulating material such as resin or ceramics can be used.

As illustrated in FIG. 5, the power receiving device 40 includes a moving mechanism (position adjustment unit) 41 and a current collector 53.
The moving mechanism 41 includes a horizontal moving mechanism 42 that moves the current collector 53 in the width direction of the self-propelled crane device 10, and a vertical moving mechanism 49 that supports the current collector 53 movably in the height direction of the self-propelled crane device 10. I have.
The horizontal movement mechanism 42 includes a support member 43, a first support portion 44 fixed to the support member 43, links 45 (link 45a, link 45b) and links 46 (link) connected to both ends of the first support portion 44. 46a, the link 46b), and the link 45 and the second support portion 47 connected to the link 46.

Between the 1st support part 44 and the 2nd support part 47, the actuator 48 which expands-contracts toward the width direction of the self-propelled crane apparatus 10 is provided. In this embodiment, the actuator 48 is an air cylinder that extends and contracts using air pressure, in which the cylinder 48 A is fixed to the first support portion 44 and the piston rod 48 B is fixed to the second support portion 47.

The column member 43 is provided so as to protrude from the leg portion 12 of the crane body 11 toward the outer side in the width direction of the self-propelled crane device 10 orthogonal to the traveling direction of the self-propelled crane device 10. In the present embodiment, one end of the support member 43 is fixed to the outer surface on the outer side in the width direction of the leg portion 12 at two locations separated from each other in the traveling direction of the self-propelled crane device 10. The support member 43 is made of, for example, a prismatic metal material.

The first support portion 44 is formed of a rod-shaped metal material whose longitudinal direction is in the traveling direction of the self-propelled crane device 10. At both ends in the longitudinal direction of the first support portion 44, a recess 44a into which one end of the link 45 is inserted, and extending in the height direction of the self-propelled crane device 10, the link 45 and the first support portion 44 are connected. A rotating shaft member 44b to be connected is provided. The cylinder 48 A of the actuator 48 is fixed to the outer surface of the intermediate portion in the longitudinal direction in the first support portion 44.

The link 45 is a rod-shaped member that can rotate around the rotation shaft member 44b with respect to the first support portion 44 in a plane parallel to the ground R (see FIG. 1) of the container yard 3. The link 45 is made of, for example, a prismatic metal material. Further, one end of the link 45 is connected to an end portion in the longitudinal direction of the first support portion 44, and the other end is connected to an end portion of the link 46. Similarly to the link 45, the link 46 is formed of, for example, a prismatic metal material, and one end of the link 46 is connected to the link 45 via a rotation shaft extending in the height direction of the self-propelled crane device 10. . The other end of the link 46 is connected to each of both end portions of the second support portion 47 via a rotation shaft extending in the height direction of the self-propelled crane device 10.

The second support portion 47 is formed of, for example, a metal material extending in the traveling direction of the self-propelled crane device 10. The other end of the link 46 is connected to the second support portion 47, and a piston rod S 2 of the expansion / contraction operation portion S is fixed to an intermediate portion in the longitudinal direction of the second support portion 47. As a result, when the telescopic operation unit S performs the telescopic operation, the second support unit 47 remains in a positional relationship parallel to the first support unit 44 and moves toward the width direction of the self-propelled crane device 10. It moves forward and backward.

The vertical movement mechanism 49 includes a support member 50 fixed to the second support portion 47, and a connection member 51 (connection member 51a, connection member) having one end connected to the support member 50 and extending in the traveling direction of the self-propelled crane device 10. 51b), a column member 52 (column member 52a, column member 52b) that is coupled to the other end of the coupling member 51 and extends in the height direction of the self-propelled crane device 10, and an upper end portion of the column member 52 Fixed current collector 53 (current collector 53a, current collector 53b).

The strut member 50 is fixed to the side surface of the second support portion 47 and is formed to extend upward in the height direction of the self-propelled crane device 10. The strut members 50 are fixed to the second support portion 47 at two locations that are separated in the traveling direction of the self-propelled crane device 10.

The connecting member 51 is connected to the column member 50 so as to be rotatable around a rotation axis whose central axis is oriented in the width direction of the self-propelled crane device 10. Further, between the connecting member 51 and the support member 50, when the side of the connecting member 51 connected to the support member 52 is pressed downward in the height direction of the self-propelled crane device 10, the connecting member 51 is moved upward. It has an urging means (not shown) that pushes back to. Note that the connecting member 51 itself may be formed of an elastic material.

In the present embodiment, two connection members 51 are provided between the support member 50 and the support member 52a, and two connection members 51 are provided between the support member 50 and the support member 52b. The connecting member 51 has a parallel link structure between the column member 50 and the column member 52a and between the column member 50 and the column member 52b. For this reason, the current collector 53 can be translated in the vertical direction.

The strut member 52 extends in the height direction of the self-propelled crane device 10 and is formed of, for example, a prismatic metal material.
The current collector 53 is formed in a rod shape whose longitudinal direction faces the traveling direction of the self-propelled crane device 10. Further, the outer surface of the current collector 53 has a curved upper surface in the height direction of the self-propelled crane device 10, and the upper contour shape when viewed in a vertical section along the width direction of the self-propelled crane device 10 is substantially an arc shape. It has become. Further, both end portions of the current collector 53 in the longitudinal direction are formed in a tapered shape that is inclined downward toward the both end sides of the self-propelled crane device 10 in the traveling direction of the self-propelled crane device 10.
The width dimension of the current collector 53 measured in the width direction of the self-propelled crane device 10 is smaller than the opening width on the lower surface side of the feeder line 36. Further, the dimensions of the current collector 53 are appropriately set according to the shape of the power supply line 36.

As shown in FIG. 2, the current collection position control system 60 includes a target device 61, a target detection device 63, and a position control device 70.
The target device 61 indicates a control target position for causing the self-propelled crane device 10 to travel to the charging terminal 33 in the operation of supplying driving power to the self-propelled crane device 10.
As shown in FIG. 4, in this embodiment, the target device 61 is a divergent laser device that emits a divergent laser beam.
The target device 61 has a laser light source 62 that emits laser light. The target device 61 is fixed to both ends of the insulated trolley wire 35 at the charging terminal portion 33 provided on one side of the traveling lane 4 in the short width direction. In the present embodiment, the target device 61 can irradiate laser beams to both ends in the longitudinal direction of the traveling lane 4 along the longitudinal direction of the traveling lane 4 from the emitting portions provided at both ends of the insulating trolley wire 35.

Laser light that can be irradiated by the target device 61 is divergent light. Specifically, the optical axis is directed to a straight line parallel to the longitudinal direction of the traveling lane 4, and the light is irradiated in a range of an angle θ with respect to the optical axis. The magnitude of the angle θ is preferably 30 degrees or less. In the present embodiment, the angle θ is 30 degrees.
The wavelength of the laser beam that can be irradiated by the target device 61 may be any wavelength such as ultraviolet light, visible light, and infrared light. In this embodiment, the wavelength of the laser beam is an infrared wavelength.
The target device 61 is not limited to one that can irradiate laser light, and may be one that can irradiate ultraviolet light, visible light, infrared light, or the like using an LED (light emitting diode), for example. .

As shown in FIG. 5, the target detection device 63 has a camera 64 in which shooting areas are directed to both ends in the longitudinal direction of the traveling lane 4 in order to detect the position where the laser light emitted from the laser light source 62 is emitted. It has.

The camera 64 is fixed to an upper end portion of a camera support portion 65 formed to extend upward in the height direction of the self-propelled crane device 10 from the second support portion 47 of the moving mechanism 41. In the present embodiment, the camera support portion 65 is formed in a shape protruding toward the outside in the width direction of the self-propelled crane device 10 on the upper end side. Thereby, the position of the current collector 53 and the camera 64 in the width direction of the self-propelled crane device 10 is aligned.

The camera 64 moves in the width direction integrally with the second support portion 47 when the second support portion 47 moves in the width direction of the self-propelled crane device 10 with respect to the first support portion 44. Since the current collector 53 also moves in the width direction integrally with the second support portion 47, the camera 64 is positioned with respect to the current collector 53 in the width direction of the self-propelled crane device 10 in this embodiment.
In the present embodiment, the camera 64 can capture a video of the shooting area, acquire it as digital video data, and transmit it to the video input unit 72 of the position control device 70.

As shown in FIG. 2, the position control device 70 includes a position information input unit 71, a video input unit 72, a video processing unit 73, a distance detection unit 74, a calculation unit 75, a determination unit 76, and an output unit. 77 and a storage unit 78.

The position information input unit 71 receives position information of the self-propelled crane device 10 detected by the GPS device 26 of the traveling position detection mechanism 25. The position information input unit 71 can transmit the position information of the self-propelled crane device 10 to the distance detection unit 74.
The video input unit 72 receives digital video data acquired by the camera 64.
The video processing unit 73 generates a still image from the digital video data input to the video input unit 72.
The distance detection unit 74 detects the longitudinal distance in the longitudinal direction of the traveling lane 4 between the charging terminal unit 33 and the current collector 53 based on the position information transmitted from the position information input unit 71.

The calculation unit 75 calculates the amount of displacement between the current collector 53 and the insulated trolley wire 35 based on the still image generated by the video processing unit 73. In the present embodiment, the amount of misalignment between the current collector 53 and the insulated trolley wire 35 is the distance between the current collector 53 and the insulated trolley wire 35 in the width direction of the self-propelled crane device 10.

The determination unit 76 compares the positional deviation amount calculated by the calculation unit 75 with an allowable value of the positional deviation amount stored in the determination unit 76 in advance, and the positional deviation amount between the current collector 53 and the insulated trolley wire 35. It is determined whether or not is less than the allowable value. The allowable value stored in the determination unit 76 is a value set in advance based on the amount of misalignment between the current collector 53 and the insulated trolley wire 35 that can be absorbed by bending or the like in the power receiving device 40.

Based on the determination in the determination unit 76, the output unit 77 generates a drive signal that drives the movement mechanism 41 so that the positional deviation amount calculated by the calculation unit 75 is equal to or less than an allowable value, and transmits the drive signal to the movement mechanism 41. .

The storage unit 78 stores the positional relationship between the current collector 53 and the camera 64, the positional relationship between the laser device and the insulated trolley wire 35, the positional information of the charging terminal unit 33 in the traveling lane 4, and the current collector 53. The allowable value of the amount of positional deviation between the current collector 53 and the insulating trolley wire 35 when inserted into the insulating trolley wire 35 is stored in advance. The storage unit 78 includes a temporary storage area for temporarily storing various data when the position control device 70 operates.
The positional relationship between the current collector 53 and the camera 64 stored in the storage unit 78 and the positional relationship between the laser device and the insulated trolley wire 35 are respectively the distance in the longitudinal direction of the traveling lane 4 and the traveling lane 4. It is expressed by using three values of the distance in the short width direction and the distance in the vertical direction with respect to the ground surface R.
The position information of the charging terminal unit 33 stored in the storage unit 78 is information calculated in advance for each traveling lane 4 based on, for example, the distance from the one end in the longitudinal direction of the traveling lane 4 to the charging terminal unit 33. It is.

The crane management system 80 manages a plurality of self-propelled crane apparatuses 10 provided in the container yard 3. The crane management system 80 can communicate with the self-propelled crane device 10.
The crane management system 80 can run the self-propelled crane device 10 in the container yard 3 based on a cargo handling schedule managed by a cargo handling management server (not shown). In addition, the crane management system 80 can transmit a crane control signal for causing the container 2 to unload and convey the container 2 to the control unit 27 of the self-propelled crane device 10. Thereby, the self-propelled crane apparatus 10 of this embodiment can be remotely operated by the crane management system 80.

The operation of the crane system 1 of the present embodiment having the above-described configuration will be described focusing on the operation of the power feeding system 30. FIG. 6 is a flowchart for explaining the operation of the power feeding system 30 when the crane system 1 is used. FIG. 7 is an operation explanatory diagram for explaining an operation when the crane system 1 is used. FIG. 8 is a schematic diagram showing an image of the camera 64 when the crane system 1 is used. FIG. 9 is a schematic diagram showing an image of the camera 64 when the crane system 1 is used. FIG. 10 is an operation explanatory diagram for explaining an operation when the crane system 1 is used. FIG. 11 is an operation explanatory diagram for explaining an operation when the crane system 1 is used.

The self-propelled crane apparatus 10 travels in the container yard 3 by remote operation by receiving a crane control signal transmitted by the crane management system 80, and loads and conveys the container 2 (loading and conveying step).
In the cargo handling process, the self-propelled crane device 10 travels by rotating the traveling wheels 18 using the electric power stored in the rechargeable battery 24.

While the self-propelled crane device 10 is operating, the control unit 27 manages the rechargeable battery 24 by monitoring the remaining power of the rechargeable battery 24 provided in the self-propelled crane device 10 at a predetermined frequency. To do.

When it is detected by the control unit 27 that the electric power stored in the rechargeable battery 24 has fallen below a predetermined lower limit value, a charging step S3 for charging the rechargeable battery 24 is started. The timing at which the charging step S3 can be started is when the self-propelled crane device 10 is in a position in the container yard 3 other than the traveling lane 4 or when the suspension mechanism 19 performs the operations of lifting and hanging the container 2. If not, an appropriate timing may be used.
When the rechargeable battery 24 stores power equal to or higher than the lower limit value, the cargo handling is continued.

Below, operation | movement of the crane system 1 in charge process S3 is demonstrated with reference to FIG. 7 thru | or FIG.
When the electric power stored in the rechargeable battery 24 falls below a predetermined lower limit value, the control unit 27 of the self-propelled crane device 10 starts a charging step S3 for charging the rechargeable battery 24 of the self-propelled crane device 10.

In the charging step, first, the control unit 27 determines the charging terminal unit 33 used for charging the rechargeable battery 24.
In step S 101, the control unit 27 detects the position of the charging terminal unit 33 closest to the self-propelled crane device 10 based on the position of the self-propelled crane device 10 in the traveling lane 4 detected by the GPS device 26. The control unit 27 transmits a drive signal for causing the self-propelled crane device 10 to travel from the self-propelled crane device 10 toward the nearest charging terminal unit 33 to the traveling mechanism 15. In the present embodiment, for example, the self-propelled crane device 10 travels toward the charging terminal portion 33 illustrated in FIG. 7.
Step S101 is complete | finished now and it transfers to step S102.

Step S102 is a step of determining whether or not the self-propelled crane device 10 is at the stop target position P1.
In step S102, based on the position of the self-propelled crane device 10 in the longitudinal direction of the travel lane 4 detected by the GPS device 26, it is determined whether or not the self-propelled crane device 10 is located at the stop target position P1. Judgment.
As shown in FIG. 7, when the self-propelled crane apparatus 10 has reached the target stop position P1, step S102 ends, and the process proceeds to step S103. On the other hand, when the self-propelled crane device 10 has not reached the stop target position P1, step S102 ends and the process returns to step S101.

Step S103 is a step of stopping the self-propelled crane device 10 at the stop target position P1 before the charging terminal portion 33.
In step S 103, based on a remote operation from the crane management system 80, the control unit 27 transmits a drive signal for stopping the rotation of the traveling wheels 18 to the traveling mechanism 15 of the self-propelled crane device 10.
Then, the self-propelled crane device 10 stops in the travel lane 4.
Step S103 is ended now and it shifts to Step S104.

Step S 104 is a step of detecting the position of the insulating trolley wire 35 of the charging terminal portion 33.
In step S104, the camera 64 of the target detection device 63 detects the laser light of the target device 61. The camera 64 images the laser beam emission position of the target device 61, encodes it into digital video data, and transmits it to the control unit 27. For example, as shown in FIG. 8, the power receiving terminal portion 33A is shown in the imaging region of the camera 64, and the emission position of the laser light L emitted from the laser light source 62 of the target device 61 provided in the charging terminal portion 33A. Is captured by the camera 64.
Step S104 is ended now and it shifts to Step S105.

Step S 105 is a step of generating a still image from the digital video data photographed by the camera 64 and transmitted to the control unit 27.
In step S 105, the control unit 27 transmits digital video data to the video input unit 72 of the position control device 70 provided integrally with the control unit 27.
The video input unit 72 of the position control device 70 stores the digital video data in the temporary storage area of the storage unit 78.
Subsequently, the video processing unit 73 analyzes the digital video data. The video processing unit 73 extracts images from the digital video data at regular intervals in time series, and transmits each image to the calculation unit 75 as a still image.
Step S105 is ended now and it shifts to Step S106.

Step S 106 is a step of calculating the amount of positional deviation between the current collector 53 and the insulated trolley wire 35 based on the still image transmitted from the video processing unit 73.
In step S 106, the distance detection unit 74 determines the travel lane from the position of the self-propelled crane device 10 in the travel lane 4 detected by the GPS device 26 and the position information of the charging terminal unit 33 stored in the storage unit 78. The longitudinal distance between the self-propelled crane device 10 and the charging terminal portion 33 in the longitudinal direction 4 is detected.
Subsequently, the calculation unit 75 calculates the width direction of the self-propelled crane device 10 based on the center position of the still image (the position of the center line M shown in FIGS. 8 and 9) and the position of the laser beam in the still image. The length on the still image between the center position in the (X-axis direction) and the laser beam is calculated. Further, the calculation unit 75 determines the scale of the still image based on the longitudinal distance detected by the distance detection unit 74, and converts the length on the still image into an actual distance.
The calculation unit 75 also determines the current collector 53 and the insulating trolley based on the positional relationship between the current collector 53 and the camera 64 stored in the storage unit 78 and the positional relationship between the target device 61 and the insulating trolley wire 35. The distance between the current collector 53 and the insulated trolley wire 35 in the width direction (X-axis direction) of the self-propelled crane device 10 is calculated. The calculation unit 75 sets the position of the insulated trolley wire 35 to 0 so that the inner side in the width direction of the self-propelled crane device 10 is negative and the outer side in the width direction of the self-propelled crane device 10 is positive. The positional deviation amount is calculated by adding information on the direction with respect to the insulated trolley wire 35 to the distance to the distance 35, and is transmitted to the determination unit 76 as the positional deviation amount.
Step S106 is ended now and it shifts to Step S107.

Step S 107 is a step in which the determination unit 76 determines whether to move the moving mechanism 41 based on the positional deviation amount calculated by the calculation unit 75.
In step S 107, the determination unit 76 receives the amount of positional deviation from the calculation unit 75. Furthermore, if the amount of positional deviation is equal to or less than the allowable value stored in advance in the storage unit 78 (for example, the length D1 shown in FIGS. 8 and 9), the self-propelled crane device 10 is caused to travel toward the charging terminal unit 33. A travel permission signal indicating that the vehicle can be used is transmitted to the control unit 27.
Further, when the amount of displacement is larger than the above-described allowable value, the determination unit 76 sends a travel prohibition signal indicating that the self-propelled crane device 10 cannot travel toward the charging terminal unit 33 to the control unit 27. Send. Further, in this case, the determination unit 76 transmits an adjustment instruction signal for operating the moving mechanism 41 of the power receiving device 40 to the output unit 77.
This ends step S107. Further, if the amount of positional deviation is less than the allowable value stored in advance in the storage unit 78, the process proceeds to step S109. If the amount of positional deviation is greater than the allowable value stored in advance in the storage unit 78, the process proceeds to step S108.

Step S108 is a step of transmitting a drive signal from the output unit 77 to the moving mechanism 41 to move the current collector 53 in the width direction of the self-propelled crane device 10.
In step S 108, when the output unit 77 receives the adjustment instruction signal from the determination unit 76, the output unit 77 moves the current collector 53 in the width direction of the self-propelled crane device 10 based on the amount of misalignment calculated by the calculation unit 75. The signal is transmitted to the moving mechanism 41 (see FIG. 5).
The moving mechanism 41 expands and contracts the actuator 48 of the horizontal moving mechanism 42 based on the drive signal received from the output unit 77. Then, the current collector 53 moves in the width direction of the self-propelled crane device 10.
Step S108 is ended now and it returns to Step S104. In step S104, a new positional deviation amount is calculated based on the still image after the current collector 53 is moved in step S108.

Step S109 is a step of causing the self-propelled crane device 10 to travel toward the charging terminal portion 33 side.
In step S 109, the control unit 27 transmits a traveling start signal for starting traveling of the self-propelled crane device 10 by the traveling mechanism 15 to the traveling mechanism 15.
Then, as illustrated in FIG. 10, the traveling mechanism 15 rotates the traveling wheels 18 to cause the self-propelled crane device 10 to travel toward the charging terminal portion 33. When the self-propelled crane device 10 reaches the charging terminal portion 33, the position of the current collector 53 is aligned with the position of the insulated trolley wire 35. Therefore, the current collector 53 passes through the opening of the insulating cover 37 of the insulated trolley wire 35 from the inside. Is inserted. Further, the current collector 53 is urged toward the power supply line 36 by the vertical movement mechanism 49 of the movement mechanism 41, and the current collector 53 is pressed against the power supply line 36 (see FIG. 11).
Step S109 is ended now and it shifts to Step S110.

Step S 110 is a step of determining whether or not the position of the self-propelled crane device 10 is at the position of the charging terminal unit 33.
In step S110, when the control unit 27 detects that the two current collectors 53 have contacted the power supply line 36, step S110 is ended and the process proceeds to step S111. If the control unit 27 does not detect that the two current collectors 53 have contacted the power supply line 36, step S110 ends and the process proceeds to step S109.

Step S 111 is a step of stopping the traveling of the self-propelled crane device 10 at the position of the charging terminal portion 33.
In step S 111, the control unit 27 transmits a travel stop signal for stopping travel of the self-propelled crane device 10 by the travel mechanism 15 to the travel mechanism 15.
Then, the traveling mechanism 15 stops the rotation of the traveling wheel 18. As a result, the self-propelled crane device 10 stops at the position of the charging terminal portion 33.
Step S111 is ended now and it shifts to Step S112.

Step S 112 is a step of charging the rechargeable battery 24.
The control unit 27 transmits a charging start signal for starting an operation of sending the power transmitted from the current collector 53 to the rechargeable battery 24 to the charging circuit 24 a connected to the rechargeable battery 24. Then, electric power is supplied to the rechargeable battery 24 by the charging circuit 24a.
When the rechargeable battery 24 is charged, the self-propelled crane device 10 can again carry and carry the container 2 by automatic operation based on the cargo handling schedule transmitted from the crane management system 80.
This ends step S112.

Thus, the charging step S3 ends, and the self-propelled crane device 10 leaves the charging terminal portion 33 and returns the container 2 to the cargo handling step S1 within the traveling lane 4.

As described above, according to the power feeding system 30 of the present embodiment, an image of the target device 61 is captured using the camera 64, and the current between the current collector 53 and the insulated trolley wire 35 is captured using the captured image. The amount of displacement can be calculated by the calculation unit 75. For this reason, based on the position of the target device 61 positioned with respect to the current collector 53, the current collector 53 can be moved to a position where the power supply line 36 can be contacted. As a result, the current collector 53 can be easily positioned and brought into contact with the insulated trolley wire 35.

Further, since the current collector 53 can be easily positioned and brought into contact with the insulated trolley wire 35, the current collector 53 can be easily transferred between the insulated trolley wires 35 provided in the plurality of traveling lanes 4 respectively. it can.

Further, since the position of the self-propelled crane device 10 in the longitudinal direction of the traveling lane 4 can be detected by the GPS device 26, the longitudinal distance between the self-propelled crane device 10 and the charging terminal portion 33 in the longitudinal direction of the traveling lane 4 is detected. it can. For this reason, the actual positional deviation amount between the current collector 53 and the insulated trolley wire 35 can be calculated based on the video imaged by the camera 64.

Further, since the target device 61 has a laser light source 62 that emits a laser beam, which is a divergent beam, in a direction along the longitudinal direction of the travel lane, the camera 64 can be operated even if the self-propelled crane device 10 meanders in the travel lane 4. Easy to receive laser light.

Further, since the laser light irradiated by the target device 61 is infrared light, the laser light of the target device 61 and sunlight and reflected light of sunlight can be distinguished.

(Second Embodiment)
Below, the electric power feeding system 30 of 2nd Embodiment of this invention is demonstrated. In each embodiment described below, the same reference numerals are assigned to portions common to the above-described first embodiment, and redundant description is omitted.
FIG. 12 is a flowchart for explaining an operation at the time of using the power supply system 30 of the present embodiment.
In the present embodiment, the control method in the position control device 70 is different from the control method described in the first embodiment. That is, the position control device 70 operates to perform the charging step S13 instead of the charging step S3. While the self-propelled crane device 10 is stopped at the stop target position P1 in the charging step S3 described above, the deceleration target position P2 set in advance at the same position as the stop target position P1 (see FIGS. 7 and 10). The charging step S3 is different from the charging step S13 in that the self-propelled crane device 10 is decelerated.

Hereinafter, the charging step S13 in the present embodiment will be described. In addition, the step which performs the same operation | movement as charging process S3 demonstrated in 1st Embodiment attaches | subjects the same code | symbol, and abbreviate | omits description.

Step S201 is the same process as step S101 described in the first embodiment.
When step S201 ends, the process proceeds to step S202.

Step S 202 is a step of determining whether or not the self-propelled crane device 10 is in a position in front of the charging terminal portion 33.
In step S202, the self-propelled crane device 10 is positioned at the deceleration target position P2 described above based on the position of the self-propelled crane device 10 in the longitudinal direction of the travel lane 4 detected by the GPS device 26 of the travel position detection mechanism 25. It is determined whether or not.
If the self-propelled crane device 10 has reached the deceleration target position P2, step S102 ends, and the process proceeds to step S203. If the self-propelled crane device 10 is positioned before the deceleration target position P2, step S202 is terminated and the process returns to step S201.

Step S203 is a step of decelerating the traveling of the self-propelled crane device 10.
In step S 203, the control unit 27 of the self-propelled crane device 10 transmits to the travel mechanism 15 a drive signal that decreases the speed of the rotation operation of the travel wheels 18 by the travel mechanism 15. Then, the traveling mechanism 15 decreases the rotational speed of the traveling wheel 18, and thereby the self-propelled crane device 10 is decelerated. In the present embodiment, the traveling speed of the self-propelled crane apparatus 10 is the traveling speed of the self-propelled crane apparatus 10 up to a slow speed calculated in advance so that the self-propelled crane apparatus 10 can be stopped within 50 cm, for example, in step S203A. Reduce speed.
Step S203 is ended now and it shifts to Step S204.

Step S204 is a step of determining whether or not the traveling speed of the self-propelled crane device 10 has decreased to the above-described slow speed.
In step S204, the control part 27 detects the traveling speed of the self-propelled crane apparatus 10, and if it is less than a slow speed, step S204 will be complete | finished and it will transfer to step S205. If the traveling speed of the self-propelled crane device 10 is equal to or higher than the above-described slowing speed, step S204 ends and the process returns to step S203.

Steps S205 to S208 are similar to steps S104 to S107 described in the first embodiment.
In the present embodiment, the self-propelled crane device 10 travels in the travel lane 4 in any of the steps S205 to S208.
If it is determined in step S208 that the positional deviation amount is greater than or equal to the allowable value, step S208 ends and the process proceeds to step S209.

In step S209, the current collector 53 is moved as in the first embodiment.
When the current collector 53 has been moved, step S209 ends and the process proceeds to step S210.

Step S210 is a step of branching the process by detecting the longitudinal distance between the self-propelled crane device 10 and the charging terminal portion 33 in the longitudinal direction of the traveling lane 4.
In step S210, the position of the self-propelled crane device 10 detected by the GPS device 26 is transmitted to the control unit 27, and the control unit 27 calculates the longitudinal distance between the self-propelled crane device 10 and the charging terminal unit 33. . If the longitudinal distance between the self-propelled crane device 10 and the charging terminal portion 33 is equal to or longer than a predetermined distance that can safely stop the self-propelled crane device 10, step S210 is ended and the process returns to step S205. . On the other hand, when the said longitudinal distance is less than the predetermined distance which can stop the self-propelled crane apparatus 10 safely, step S210 is complete | finished and it transfers to step S211.

Step S211 is a step of stopping the traveling of the self-propelled crane device 10.
In step S211, the traveling of the self-propelled crane device 10 is stopped in the traveling lane 4. Thereby, the self-propelled crane apparatus 10 stops at a position before the charging terminal portion 33.
Step S211 is complete | finished now and it transfers to step S205. In addition, after step S211, the process to step S205 thru | or S210 is performed in the state which the driving | running | working of the self-propelled crane apparatus 10 was stopped similarly to 1st Embodiment.

Steps S212 to S215 are performed in the same manner as Steps S109 to S112 described in the first embodiment.

As described above, in this embodiment, the current collector 53 can be aligned with the insulated trolley wire 35 while the self-propelled crane device 10 is decelerated and traveled without stopping the self-propelled crane device 10. Moreover, since the traveling of the self-propelled crane apparatus 10 is stopped when the current collector 53 gets too close to the charging terminal portion 33, it is possible to prevent the current collecting 53 from hitting a portion other than the power supply line 36 of the charging terminal portion 33.

(Third embodiment)
Below, the electric power feeding system 230 of 3rd Embodiment of this invention is demonstrated with 1 A of crane systems provided with the electric power feeding system 230. FIG. FIG. 13 is an overall view showing a crane system 1A including the power feeding system 230 of the present embodiment. FIG. 14 is a partial cross-sectional view showing a partial configuration of the crane system 1A. FIG. 15 is a block diagram showing the configuration of the crane system 1A. FIG. 16 is a flowchart for explaining the operation of the power feeding system 230.

As shown in FIG. 13, in the present embodiment, the crane system 1 A will be described as traveling in a container yard 203 having a configuration different from that of the container yard 3 of the first embodiment described above.
In the container yard 203, a plurality of ground guide lines GL are arranged in parallel to each other and laid on the ground, and the ground is divided into a plurality of rectangular sections (travel lanes 204) in which one side in the short width direction is positioned on the ground guide lines GL. Has been. Inside each traveling lane 204 is a storage area 205 for stacking and storing a plurality of containers 2.
In the present embodiment, the ground guideline GL is a magnetic guideline containing a magnetized magnetic material.

The crane system 1A includes a self-propelled crane device 10, a power feeding system 230, and a crane management system 80 in a container yard.
The self-propelled crane device 10 has the same configuration as the self-propelled crane device 10 of the first embodiment in that the travel position detection mechanism 25 further includes an auto steering sensor unit 125 and includes a control unit 127 instead of the control unit 27. Is different.

As shown in FIG. 14, the auto steering sensor unit 125 includes a position sensor 126 with a detection area directed toward the ground guide line GL.
The position sensor 126 detects the distance in the short width direction of the travel lane 204 between the ground guide line GL and the position sensor 126. In the present embodiment, the position sensor 126 is a magnetic sensor that detects magnetism. The position sensor 126 can transmit width distance information indicating the detected distance to the control unit 127.

The auto steering sensor unit 125 detects the position of the self-propelled crane device 10 in the short width direction of the travel lane 204 by detecting the distance from the ground guideline GL in the short width direction of the travel lane 204 by the position sensor 126. it can. For this reason, the traveling position detection mechanism can accurately detect the position of the traveling lane 204 in the short width direction.

The control unit 127 detects the position of the self-propelled crane device 10 in the short width direction of the travel lane 204 based on the width distance information transmitted from the auto steering sensor unit 125. Furthermore, the control unit 127 can transmit a drive signal to the traveling mechanism 15 so that the position sensor 126 is positioned vertically above the ground guide line GL.

In this embodiment, the traveling mechanism 15 of the self-propelled crane apparatus 10 is managed by the crane management system 80 and can operate based on an automatic operation command transmitted from the crane management system 80. In crane management system 80, self-propelled crane device 10 can also be remotely operated manually by switching from automatic operation to manual operation.

An operation at the time of using the power supply system 230 of the present embodiment having the configuration described above will be described.
The self-propelled crane device 10 reciprocates in the longitudinal direction of the travel lane 204 along the ground guideline GL while detecting the position of the self-propelled crane device 10 in the travel lane 204 by the travel position detection mechanism 25.

As shown in FIGS. 13 and 14, when the self-propelled crane device 10 travels while the longitudinal axis direction of the self-propelled crane device 10 is shifted about the vertical axis with respect to the longitudinal direction of the travel lane 204, The position sensor 126 moves away from the ground guide line GL in the width direction. Then, the position sensor 126 detects the distance between the traveling lane 204 and the ground guide line GL in the short width direction, and transmits the distance to the control unit 127. Thereby, the control part 127 transmits the drive signal which rotates the vertical rotation axis | shaft 16 with respect to the traveling mechanism 15 of the self-propelled crane apparatus 10, and changes the direction which the self-propelled crane apparatus 10 drive | works. Based on the drive signal transmitted from the control unit 127, the traveling mechanism 15 changes the position of the self-propelled crane device 10 so that the position sensor 126 is positioned vertically above the ground guideline GL.

While the self-propelled crane apparatus 10 is operating, the control unit 127 monitors the remaining power of the rechargeable battery 24 provided in the self-propelled crane apparatus 10 at a predetermined frequency as in the first embodiment. Thus, the rechargeable battery 24 is managed.

When it is detected by the control unit 127 that the electric power stored in the rechargeable battery 24 of the self-propelled crane apparatus 10 has fallen below a predetermined lower limit value, the charging step S23 for charging the rechargeable battery 24 of the self-propelled crane apparatus 10 is performed. Done.

In the charging step S23, as shown in FIG. 16, first, step S301 is started.
Steps S301 and S302 are the same steps as steps S101 and S102 described in the first embodiment.
When the position of the self-propelled crane apparatus 10 is at the target stop position P1 in step S302, step S302 is ended and the process proceeds to step S303. If it is determined that the position of the self-propelled crane device 10 is in front of the stop target position P1, step S302 ends and the process proceeds to step S313.

Steps S303 to S312 are the same steps as Steps S103 to S112 described in the first embodiment.

Step S313 is a step of detecting a displacement of the self-propelled crane device 10 with respect to the travel lane 204.
In step S313, the distance between the position sensor 126 and the ground guide line GL in the width direction of the travel lane 204 is detected. The position sensor 126 transmits data including the magnitude of the distance between the position sensor 126 and the ground guideline GL to the control unit 127. In the control unit 127, the data transmitted from the position sensor 126 is stored in the temporary storage area.
Step S313 is ended now and it shifts to Step S314.

Step S 314 is a step of calculating a relative positional deviation amount between the current collector 53 and the insulating trolley wire 35.
In step S314, the amount of positional deviation is calculated in the same manner as in steps S104 to S106. In other words, in the present embodiment, not only when the self-propelled crane device 10 is located in the vicinity of the charging terminal portion 33 but also when the self-propelled crane device 10 is in the travel lane 204, the positional deviation amount is always calculated. ing.
Step S314 is complete | finished now and it transfers to step S315.

Step S315 is a step of determining whether or not to move the moving mechanism 41 based on the positional deviation amount calculated in step S315.
In step S315, the determination unit 76 receives the positional deviation amount from the calculation unit 75. If the positional deviation amount is equal to or smaller than the allowable value stored in advance in the storage unit 78, step S315 is terminated and the process returns to step S101. Further, the determination unit 76 transmits an adjustment instruction signal for operating the moving mechanism 41 of the power receiving device 40 to the output unit 77 when the amount of positional deviation is larger than the above-described allowable value.
In step S315, the self-propelled crane device 10 does not need to decelerate in particular and continues to travel on the travel lane 204 at a normal travel speed.

Step S316 is a step of moving the current collector 53 and aligning it with the insulated trolley wire 35.
In step S 316, the output unit 77 transmits a drive signal for moving the current collector 53 in the width direction of the self-propelled crane device 10 to the movement mechanism 41, and the movement mechanism 41 is based on the drive signal received from the output unit 77. The current collector 53 is moved in the width direction of the self-propelled crane device 10.
This ends step S316 and returns to step S301.
With such a configuration, the position of the current collector 53 can be aligned with the position of the insulated trolley wire 35 until the self-propelled crane device 10 approaches the charging terminal portion 33. Thereby, self-propelled crane apparatus 10 can be located in charge terminal part 33 in a shorter time than time to stop self-propelled crane apparatus 10 in stop target position P1 in a 1st embodiment.

(Modification 1)
Below, the modification of the electric power feeding system 230 of this embodiment is demonstrated.
In this modification, the crane system 1A is configured to perform step S202 when the self-propelled crane device 10 is positioned before the deceleration target position P2 in step S202 in the charging step S13 described in the second embodiment. Ends, and the process proceeds to step S313 described in the third embodiment.
The operations in steps S313 to S316 are performed in the same manner as described above. When step S316 is completed, the process proceeds to step S201.

Even with such a configuration, the position of the current collector 53 can be aligned with the position of the insulated trolley wire 35 until the self-propelled crane device 10 approaches the charging terminal portion 33. Furthermore, in this modification, even if the traveling speed after decelerating the self-propelled crane device 10 at the deceleration target position P2 in the second embodiment is higher than the above-described slowing speed, the current collector 53 is positioned on the insulated trolley wire 35. Can be combined.

(Fourth embodiment)
Below, the electric power feeding system 330 of 4th Embodiment of this invention is demonstrated with the crane system 1 provided with the electric power feeding system 330. FIG.
17A and 17B are perspective views showing the charging terminal portion 33 in the power feeding system 330 of the present embodiment.

As shown in FIGS. 17A and 17B, in the present embodiment, the charging terminal portion 33 includes a guide portion 90 and a target device 161 provided in the guide portion 90 instead of the target device 61. The configuration is different from the embodiment.
The guide portion 90 provided in the charging terminal portion 33 has a pair of

guide members

91 and 92 formed so as to extend along the longitudinal direction of the traveling lane 4.
The

guide members

91 and 92 are fixed to the end of the insulating cover 37 in the longitudinal direction. The shape of the

guide members

91 and 92 is an arch shape in which both end portions in the longitudinal direction and side portions toward the road surface R are opened, like the insulating cover 37 and the power supply line 36. Further, the end portions of the

guide members

91 and 92 on the side connected to the insulating cover 37 are communicated with the inside of the arch of the insulating cover 37.

In the

guide members

91 and 92, the width of the opening far from the insulating cover 37 (hereinafter referred to as “entrance opening 39”) is larger than the width of the opening close to the insulating cover 37. The

guide members

91 and 92 are formed in a tapered shape so that the inner wall surfaces facing on both sides of the opening facing the ground side are gradually narrowed from width to width, and the width guide portion guides the current collector 53 to the power supply line. It is G1.

In addition, the ridgeline of the inner wall surface formed in the arch shape in the

guide members

91 and 92 is inclined so as to go upward as the distance from the insulating cover 37 increases in the traveling direction of the self-propelled crane device 10. Therefore, the height dimension of the opening on the side farther from the insulating cover 37 in the

guide members

91 and 92 is larger than the height of the opening on the side closer to the insulating cover 37. In the

guide members

91 and 92, the inner wall surface on the opposite side to the opening facing the ground side is a height guide portion G 2 that guides the current collector 53 to the power supply line 36.

The lengths of the

guide members

91 and 92 in the longitudinal direction of the traveling lane 4 are preferably such that the current collectors 53 provided in the self-propelled crane device 10 are both located inside the

guide members

91 and 92. . This is because it is possible to reduce the possibility that an operator who performs work or the like in the container yard when the current collector 53 is in contact with the power supply line 36 contacts the current collector 53.

As the material of the

guide members

91 and 92, an insulating material similar to the insulating cover 37 can be employed.

The target device 161 is provided at the end of the

guide members

91 and 92 on the side far from the insulated trolley wire 35. The target device 161 is provided on the inner surface side of the

guide members

91 and 92. That is, in the present embodiment, the lower surface 161a of the target device 161 is a part of the height guide part G2.
The target device 161 has a laser light source 62 as in the target device 61 described in the first embodiment.

Even with such a configuration, the current collector 53 can be aligned with the insulated trolley wire 35 in the same manner as described in the first to third embodiments.
Further, in the present embodiment, the

guide members

91 and 92 are formed in a tapered shape so that the dimensions of the width and the height are increased toward the both ends of the insulating trolley wire 35. The current collector 53 can be inserted into the opening of the insulating cover 37 more easily.

(Fifth embodiment)
Below, the electric power feeding system 430 of 5th Embodiment of this invention is demonstrated with reference to FIG. 18A and 18B are side views showing a configuration of a part of the power feeding system 430 of the present embodiment.

In the present embodiment, the configuration of the target detection device 163 is different from the target detection device 63 described in each of the above embodiments.
The target detection device 163 detects the height from the ground in the height direction of the self-propelled crane device 10 to the self-propelled crane device 10 and a lifting mechanism 166 that linearly moves the camera 64 in the height direction of the self-propelled crane device 10. A height detection mechanism (not shown) and a lift control unit (not shown) provided in the control unit 27 are provided.

The elevating mechanism 166 includes an expansion / contraction operation unit 167 that can extend and contract in the height direction of the self-propelled crane device 10 between the upper end of the camera support unit 65 and the camera 64.

The expansion / contraction operation unit 167 can include an expansion / contraction operation unit having a pantograph-like link structure, for example. Further, for example, a linear moving mechanism such as a ball screw and a nut screwed to the ball screw or a rack and a pinion meshing with the rack can be employed.

The height detection mechanism has a height sensor 168 (see, for example, FIG. 14) provided at the lower end of the leg portion 12 of the self-propelled crane device 10, and can detect the distance between the height sensor 168 and the ground R. .
The height sensor 168 is electrically connected to the control unit 27 and can transmit the detected distance information to the control unit 27.

The elevating control unit is configured integrally with the control unit 27, for example, and can detect the amount of height deviation when the self-propelled crane device 10 sinks using the distance information transmitted from the height sensor.

As shown in FIGS. 18A and 18B, when the self-propelled crane device 10 is traveling, the self-propelled crane device 10 may sink, for example, when the self-propelled crane device 10 is lifting the container 2. In the power supply system 430 of the present embodiment, the camera 64 can be raised and lowered in the height direction of the self-propelled crane device 10, so that even if the self-propelled crane device 10 as a whole sinks in the self-propelled crane device 10, the camera 64 is moved upward. And the height H3 from the ground R to the camera 64 can be maintained. For this reason, even if the self-propelled crane apparatus 10 sinks, the laser beam of the target apparatus can be positioned inside the imaging region of the camera 64.

As mentioned above, although embodiment of this invention was explained in full detail with reference to drawings, the concrete structure is not restricted to this embodiment, The design change etc. of the range which does not deviate from the summary of this invention are included.
For example, the constituent elements shown in the above-described embodiments and modifications can be combined as appropriate.
The detection of the traveling position of the self-propelled crane device is not limited to the detection by the GPS device. For example, an encoder may be provided on a shaft of a traveling wheel or a motor shaft that rotates the traveling wheel, and the position of the self-propelled crane device on the traveling lane may be detected using this encoder.

DESCRIPTION OF

SYMBOLS

1, 1A Crane system 2

Container

3, 203 Container yard 4 Travel lane 5, 205 Storage area 10 Self-propelled crane apparatus 11 Crane main body 12 Leg part 13 Beam part 14 Guide rail 15 Travel mechanism 16 Vertical rotation axis 17 Axle part 18 Travel Wheel 19 Suspension mechanism 20 Trolley 21 Spreader 22 Suspension rope 23 Hoisting machine 24 Rechargeable battery 25 Traveling position detection mechanism 26

GPS device

27, 127 Control unit 28

Communication system

30, 130, 230, 330, 430 Power feeding system 31 Power transmission device 32 Power supply wiring portion 33 Charging terminal portion 34 Ground post 35 Insulating trolley wire 36 Power supply line 37 Insulating cover 38 Lower opening 39 Entrance opening 40 Power receiving device 41 Moving mechanism (position adjusting portion)
42 horizontal movement mechanism 43 support member 44

first support part

45, 45a, 45b, 46, 46a, 46b link 47 second support part 48 actuator 49 vertical movement mechanism 50, 50a,

50b support member

51, 51a,

51b connecting member

52 , 52a,

52b Strut member

53, 53a, 53b Current collector 60 Current collection

position control system

61, 161 Target device 62 Laser

light source

63, 163 Target detection device 64 Camera 65 Camera support unit 70 Position control device 71 Position information input unit 72 Video Input unit 73 Video processing unit 74 Distance detection unit 75 Calculation unit 76 Determination unit 77 Output unit 78 Storage unit 80 Crane management system 90

Guide unit

91, 92 Guide member 125 Auto steering sensor unit 126 Position sensor 204 Travel lane

Claims

A power supply system for supplying electric power to the rechargeable battery from a power supply line provided along a traveling lane of a self-propelled crane apparatus equipped with a rechargeable battery,
A target positioned with respect to the feeder line and disposed in the vicinity of the travel lane;
A current collector provided in the self-propelled crane device so as to be movable in a width direction orthogonal to the traveling direction of the self-propelled crane device in order to contact the power supply line and supply power to the rechargeable battery,
An imaging unit that is positioned with respect to the current collector and provided in the self-propelled crane device, and that captures an image of the target;
A position adjusting unit for adjusting the position of the current collector with respect to the self-propelled crane device;
A calculation unit that calculates a positional shift amount of the current collector in the width direction with respect to the power supply line based on an image of the target imaged by the imaging unit;
With
The position adjustment unit is a power feeding system that adjusts the position of the current collector with respect to the self-propelled crane device based on the amount of positional deviation calculated by the calculation unit.
A distance detection unit for detecting a longitudinal distance in a longitudinal direction of the traveling lane between the self-propelled crane device and the feeder line;
The calculation unit includes:
The position of the target in the video imaged by the imaging unit is converted into an actual position based on the distance detected by the distance detection unit, and the collection with respect to the feeder line positioned with respect to the target is performed. The power feeding system according to claim 1, wherein a displacement amount of electrons in the width direction is calculated.
The power supply system according to claim 1 or 2, wherein the calculation unit cancels the calculation of the displacement amount when the self-propelled crane device becomes unable to travel in the travel lane.
The calculation unit includes a height detection unit that detects a positional deviation amount of the current collector with respect to the feeder line in a height direction of the self-propelled crane device based on an image captured by the imaging unit,
The height detection unit detects that the amount of positional deviation in the height direction of the current collector with respect to the power supply line deviates from a range in which the current collector can contact the power supply line. The power feeding system according to claim 1, wherein, when it is performed, the calculation based on the video is canceled.
When the target moves outside the imaging area of the imaging unit, the calculation unit is configured to move the target in the same direction as the moving direction of the target with respect to the video just before the target moves outside the imaging area of the imaging unit. The power feeding system according to claim 1, wherein the current collector is moved.
The power supply system according to claim 1, wherein the target has a laser light source that emits a laser beam, which is a divergent beam, in a direction along a longitudinal direction of the travel lane.
The power supply system according to claim 6, wherein the laser beam is infrared light.
A height detection mechanism for detecting a height deviation amount and a height deviation direction of the self-propelled crane device in a height direction of the self-propelled crane device;
Based on the height deviation amount and the height deviation direction detected by the height detection mechanism, the imaging unit is moved in the opposite direction to the height deviation direction of the self-propelled crane device by the same distance as the height deviation amount. A lifting mechanism that only moves,
The power supply system according to claim 1, further comprising: