WO2016189615A1

WO2016189615A1 - Travel control device, self-propelled crane, and travel control method of self-propelled crane

Info

Publication number: WO2016189615A1
Application number: PCT/JP2015/064889
Authority: WO
Inventors: 伸郎吉岡
Original assignee: 住友重機械搬送システム株式会社
Priority date: 2015-05-25
Filing date: 2015-05-25
Publication date: 2016-12-01
Also published as: CN107531463B; CN107531463A; JP6258559B2; HK1243394A1; JPWO2016189615A1

Abstract

This travel control device controls travel of a self-propelled crane which travels by means of a travel device to which power is transmitted via a transmission mechanism that has backlash. The travel control device is provided with: a gradient determination unit which determines whether the gradient of the road surface in a target stopping position of the self-propelled crane is a first gradient, first gradients including gradients that are rising with respect to the direction of travel, or a second gradient, second gradients being those that are not first gradients; and a travel control unit which, if the gradient at the target stopping position is a second gradient, then, after advancing the self-propelled crane by a prescribed amount past the target stopping position in the travel direction, moves the self-propelled crane backwards to the target stopping position.

Description

Travel control device, self-propelled crane and travel control method for self-propelled crane

The present invention relates to a travel control device, a self-propelled crane, and a travel control method for a self-propelled crane.

2. Description of the Related Art Self-propelled cranes such as RTG (Rubber Tired Gantry Crane) are known as cargo handling equipment that performs cargo handling work in yards such as harbors. The self-propelled crane needs to perform a cargo handling operation at a predetermined storage position. Therefore, the traveling of the self-propelled crane is controlled so that the amount of deviation between the stop position and the storage position is within a predetermined amount of deviation (for example, ± 35 mm).
In Patent Document 1, as a technique for reducing the amount of deviation between the stop position and the storage position of the self-propelled crane, the right and left wheels of the self-propelled crane are arranged according to the deviation angle and the traveling speed immediately before stopping. A technique for setting a negative acceleration is disclosed.

Japanese Patent Laying-Open No. 2005-67753

Some self-propelled cranes transmit power to the wheels by meshing the chain and sprocket. The chain meshing with the sprocket is provided with a slack to prevent an increase in driving resistance and to reduce a load applied to the chain. In addition, a gap is provided in the meshing portion between the chain and the sprocket in order to prevent breakage of the meshing portion. Therefore, a transmission mechanism including a chain and a sprocket has a backlash. A self-propelled crane provided with a transmission mechanism having backlash can move freely by the amount of backlash even if the motor shaft is locked with a brake.

Also, the traveling path of the self-propelled crane is not necessarily horizontal, and has a minute gradient (for example, within 1%). Therefore, when the storage position is downhill, even if a self-propelled crane equipped with a transmission mechanism with backlash stops at the storage position, the self-propelled crane's own weight or the load fluctuation of the self-propelled crane due to cargo handling work The stop position is shifted to the front position by the amount of backlash.

An object of the present invention is to provide a travel control device, a self-propelled crane, and a travel control method for a self-propelled crane that reduce a deviation amount of a stop position when the transmission mechanism has a backlash and the travel path is not horizontal. There is to do.

According to the first aspect of the present invention, the travel control device is a travel control device for a self-propelled crane that travels by a travel device to which power is transmitted via a transmission mechanism having a backlash. A gradient determination unit that determines whether the gradient of the road surface at the target stop position of the crane is a first gradient that includes a gradient that rises with respect to the traveling direction, or a second gradient other than the first gradient; And a travel control unit configured to move the self-propelled crane forward by a predetermined amount forward in the traveling direction from the stop target position and then move back to the stop target position when the slope is the second slope.

According to the second aspect of the present invention, in the travel control device according to the first aspect, the control target position that is the target of the travel control of the self-propelled crane is determined when the gradient is the second gradient. The position is set a predetermined amount ahead of the stop target position, and when the slope is the first slope, and the position of the self-propelled crane matches the control target position and the control target position and the stop target position Is further provided with a control target position setting unit that sets the control target position to the stop target position, and the travel control unit is configured so that the position of the self-propelled crane matches the control target position. Controls the traveling of self-propelled cranes.

According to the third aspect of the present invention, the travel control device according to the first or second aspect provides road surface gradients at a plurality of positions that are candidates for stop target positions in a path on which the self-propelled crane travels. A gradient storage unit that stores data, and a gradient acquisition unit that receives an input of the target stop position and reads the gradient of the target stop position from the gradient storage unit, wherein the gradient determination unit acquires the gradient acquired by the gradient acquisition unit Is a first gradient or a second gradient.

According to a fourth aspect of the present invention, a self-propelled crane includes a transmission mechanism having a backlash, a traveling device to which power is transmitted via the transmission mechanism, and any one of the first to third aspects. The travel control device is provided.

According to a fifth aspect of the present invention, a traveling control method for a self-propelled crane is a traveling control method for a self-propelled crane that travels by a traveling device to which power is transmitted via a transmission mechanism having a backlash. The step of determining whether the slope of the road surface at the stop target position of the self-propelled crane is a first slope including a slope that is upward relative to the traveling direction or a second slope other than the first slope. And, when the slope is the second slope, the self-propelled crane is moved forward by a predetermined amount forward in the traveling direction from the stop target position, and then retracted to the stop target position.

According to the sixth aspect of the present invention, the program causes a computer mounted on a self-propelled crane traveling by a traveling device to which power is transmitted via a transmission mechanism having a backlash to stop the self-propelled crane. A gradient determination unit that determines whether the gradient of the road surface at the target position is a first gradient that includes an gradient that rises in the traveling direction or a second gradient other than the first gradient, and the gradient is a second gradient In the case of a gradient, the self-propelled crane is caused to function as a travel control unit that moves forward by a predetermined amount forward in the traveling direction from the stop target position and then moves backward to the stop target position.

According to a seventh aspect of the present invention, there is provided a program for executing the self-propelled operation so that a position of a self-propelled crane traveling by a traveling device to which power is transmitted via a transmission mechanism having a backlash coincides with a control target position. A traveling control device that controls traveling of the crane, the gradient of the road surface at the target stop position of the self-propelled crane is a first gradient that includes a gradient that rises with respect to the traveling direction, or other than the first gradient A gradient determination unit for determining whether the second gradient is the second gradient, and when the gradient is the second gradient, the control target position is set to a position ahead of the stop target position by a predetermined amount, and the gradient is the first gradient The control target position is set to the stop target position when it is a slope, and when the position of the self-propelled crane coincides with the control target position and the control target position and the stop target position are different. Target position setting unit, to function as a.

According to at least one of the above aspects, the self-propelled crane moves forward to a position ahead of the stop target position and then moves backward to the stop target position when the stop target position has a downward slope. To do. With this control, the direction of free movement of the self-propelled crane by backlash is the upward direction of the gradient. Therefore, since the self-propelled crane can change the sliding direction due to the gradient and the direction of free movement, the stop position can be prevented from shifting due to the load fluctuation of the self-propelled crane due to the cargo handling operation.

It is a perspective view which shows the external appearance of the tire type portal crane which concerns on 1st Embodiment. It is a schematic block diagram which shows the structure of the traveling control apparatus which concerns on 1st Embodiment. It is a 1st flowchart which shows operation | movement of the traveling control apparatus which concerns on 1st Embodiment. It is a 2nd flowchart which shows operation | movement of the traveling control apparatus which concerns on 1st Embodiment. It is a perspective view which shows the external appearance of the tire type portal crane which concerns on 2nd Embodiment. It is a schematic block diagram which shows the structure of the traveling control apparatus which concerns on 2nd Embodiment. It is a 1st flowchart which shows operation | movement of the traveling control apparatus which concerns on 2nd Embodiment. It is a 2nd flowchart which shows operation | movement of the traveling control apparatus which concerns on 2nd Embodiment. It is a schematic block diagram which shows the structure of the computer which concerns on at least 1 embodiment.

<< First Embodiment >>
Hereinafter, embodiments will be described in detail with reference to the drawings.
FIG. 1 is a perspective view showing an appearance of a tire-type portal crane according to the first embodiment.
The tire-type portal crane 1 according to the present embodiment is provided, for example, in a container yard of a container terminal that loads and unloads containers C, loads containers C, and the like on a container ship that touches a quay. The container yard is provided with a plurality of lanes (passages) on which the tire-type portal crane 1 travels. A plurality of magnets M are provided as positioning marks on the road surface of each lane at regular intervals in the extending direction. In the present embodiment, the magnet M is provided at a position that is at least a candidate stop target position of the tire-type portal crane 1.

The tire-type portal crane 1 is disposed in the lane and handles the container C. The tire-type portal crane 1 can be self-propelled by the traveling device 4. The traveling device 4 includes a motor 41, wheels 42 with tires, a transmission mechanism 43 that transmits power of the motor 41, a position sensor 44 that detects the magnet M, and an encoder 45 that detects the number of rotations of the wheels 42 with tires. Have
The transmission mechanism 43 includes a chain and a sprocket. The chain of the transmission mechanism 43 is provided with slack in order to prevent an increase in driving resistance and reduce a load applied to the chain. In addition, a gap is provided in the meshing portion between the chain and the sprocket in order to prevent breakage of the meshing portion. That is, the transmission mechanism 43 has a backlash. Backlash is play in a transmission mechanism having a meshing portion.

The tire-type portal crane 1 is formed in a substantially gate shape including two pairs of leg portions 5 supported by the traveling device 4 and a crane girder 6 connecting the upper ends of the leg portions 5. The tire-type portal crane 1 includes a trolley 7 that can traverse the crane girder 6. The trolley 7 includes a winding device 8, and a spreader 10 is suspended from the winding device 8 via a suspension wire 9 so as to be lifted and lowered.

The tire-type portal crane 1 includes a travel control device 2 that controls the travel of the travel device 4. The traveling control device 2 can precisely stop the tire-type portal crane 1 at the storage position by stopping the tire-type portal crane 1 so that the positional relationship between the position sensor 44 and the magnet M is constant. it can.
The traveling control device 2 counts the detection each time the position sensor 44 detects the magnet M. For example, the traveling control device 2 adds 1 to the count number every time it passes through the magnet M in the first direction in the extending direction of the lane with a specific magnet M as a reference. For example, the traveling control device 2 subtracts 1 from the count number each time it passes through the magnet M in a second direction that is opposite to the first direction of the lane extending direction with a specific magnet M as a reference.
Further, the traveling control device 2 calculates the traveling position of the tire type portal crane 1 based on the rotational speed detected by the encoder 45. In addition, since the travel position calculated based on the encoder 45 has an error as the tire-type portal crane 1 travels, the travel control apparatus 2 calibrates the travel position every time it passes through the magnet M.

FIG. 2 is a schematic block diagram illustrating the configuration of the travel control apparatus according to the first embodiment.
The travel control device 2 includes a rotation speed acquisition unit 201, a magnetic flux density acquisition unit 202, a mark counter unit 203, a travel position calculation unit 204, a stop target position input unit 205, a stop target position storage unit 206, a travel A direction specifying unit 207, a gradient storage unit 208, a gradient acquisition unit 209, a gradient determination unit 210, a control target position storage unit 211, a control target position setting unit 212, and a travel control unit 213 are provided.

The rotation speed acquisition unit 201 acquires the rotation speed of the wheel with tire 42 from each encoder 45.
The magnetic flux density acquisition unit 202 acquires a magnetic flux density value detected by the position sensor 44.
The mark counter unit 203 counts the number of magnets M detected by the position sensor 44 based on the magnetic flux density value acquired by the magnetic flux density acquisition unit 202.
The travel position calculation unit 204 calculates the travel position of the tire-type portal crane 1 based on the rotational speed acquired by the rotational speed acquisition unit 201 and the counter value of the mark counter unit 203.

The stop target position input unit 205 receives an input of a stop target position of the tire type portal crane 1.
The stop target position storage unit 206 stores the stop target position input to the stop target position input unit 205.
The traveling direction identification unit 207 identifies the traveling direction of the tire type portal crane 1 based on the current position of the tire type portal crane 1 and the stop target position input to the stop target position input unit 205. Specifically, the traveling direction specifying unit 207 specifies whether the traveling direction of the tire type portal crane 1 is the first direction or the second direction of the lane extending direction.

The gradient storage unit 208 stores road gradients at a plurality of positions (for example, positions where the magnet M is provided) that are candidates for the stop target position. The gradient storage unit 208 stores, for each position, for example, a gradient with respect to the first direction of the lane extending direction. The gradient value stored in the gradient storage unit 208 is positive when it is a positive number, and is negative when it is a negative number.
The gradient acquisition unit 209 reads the gradient of the stop target position input to the stop target position input unit 205 from the gradient storage unit 208.
Based on the traveling direction of the tire-type portal crane 1 specified by the traveling direction specifying unit 207 and the gradient acquired by the gradient acquiring unit 209, the gradient determining unit 210 determines that the road surface gradient at the stop target position is a tire-type gate. It is determined whether the uphill gradient or no gradient (first gradient) or the downward gradient (second gradient) is obtained with respect to the traveling direction of the crane 1.

The control target position storage unit 211 stores a control target position that is a temporary target position for the travel control of the travel control unit 213.
The control target position setting unit 212 determines a control target position based on the stop target position input to the stop target position input unit 205 and records the control target position in the control target position storage unit 211.
The traveling control unit 213 causes the tire-type portal crane 1 to travel to the control target position stored in the control target position storage unit 211 based on the traveling position calculated by the traveling position calculation unit 204.

FIG. 3 is a first flowchart showing the operation of the travel control apparatus according to the first embodiment. FIG. 4 is a second flowchart showing the operation of the travel control apparatus according to the first embodiment.
When the operator of the tire type portal crane 1 inputs a stop target position to the travel control device 2 as a storage position for cargo handling of the container C, the stop target position input unit 205 of the travel control device 2 Is received (step S1). The stop target position input unit 205 records the input stop target position in the control target position storage unit 211 (step S2).

Next, the traveling direction specifying unit 207 is configured to move to the control target position based on the current traveling position of the tire-type portal crane 1 and the control target position stored in the control target position storage unit 211. A direction in which the crane 1 travels is specified (step S3). The current traveling position of the tire type portal crane 1 is specified by the traveling position calculated last by the traveling position calculation unit 204. Next, the gradient acquisition unit 209 acquires the gradient associated with the control target position stored in the control target position storage unit 211 from the gradient storage unit 208 (step S4). Note that the gradient stored in the control target position storage unit 211 is a gradient with respect to the first direction in the lane extending direction.

Next, the gradient determination unit 210 determines that the gradient of the control target position with respect to the traveling direction of the tire-type portal crane 1 is based on the traveling direction identified by the traveling direction identifying unit 207 and the gradient obtained by the gradient obtaining unit 209. It is determined whether or not it is a downward slope (step S5). For example, when the traveling direction identified by the traveling direction identifying unit 207 is the first direction of the lane extending direction, the gradient determining unit 210 determines whether the gradient acquired by the gradient obtaining unit 209 is a negative number with respect to the traveling direction. It is determined that the gradient of the control target position is a downward gradient. On the other hand, when the traveling direction identified by the traveling direction identifying unit 207 is the second direction of the lane extending direction, the gradient determining unit 210 determines the traveling direction when the gradient acquired by the gradient acquiring unit 209 is a positive number. It is determined that the gradient of the control target position with respect to is a downward gradient.

When the gradient determination unit 210 determines that the gradient of the control target position with respect to the traveling direction is not a downward gradient (step S5: NO), the control target position setting unit 212 stores the stop target position stored in the stop target position storage unit 206. The control target position is recorded in the control target position storage unit 211 (step S6). On the other hand, when the gradient determination unit 210 determines that the gradient of the control target position with respect to the traveling direction is a downward gradient (step S5: YES), the control target position setting unit 212 stores the stop that the stop target position storage unit 206 stores. A position advanced by a predetermined amount (for example, 50 mm) from the target position is recorded in the control target position storage unit 211 as a control target position (step S7). The predetermined amount is a value longer than the distance that the traveling device 4 can freely move by backlash.

When the control target position setting unit 212 records the control target position in the control target position storage unit 211 in step S6 or step S7, the travel control unit 213 starts the travel control of the travel device 4 toward the control target position. (Step S8). When the travel control unit 213 starts the travel control, the travel position calculation unit 204 calculates the current travel position of the tire-type portal crane 1 based on the rotational speed of the tire-equipped wheel 42 acquired by the rotational speed acquisition unit 201. (Step S9). Further, the mark counter unit 203 determines whether or not the magnetic flux density value acquired by the magnetic flux density acquisition unit 202 is equal to or greater than a predetermined threshold (step S10). The threshold value is a value corresponding to the magnetic flux density value detected by the position sensor 44 when the magnet M and the position sensor 44 face each other.

When the value of the magnetic flux density is equal to or greater than a predetermined threshold (step S10: YES), the mark counter unit 203 updates the count number of the magnet M (step S11). Specifically, the mark counter unit 203 adds 1 to the counter value when the traveling direction of the tire type portal crane 1 is the first direction of the lane extending direction, and the tire type portal crane 1 travels. When the direction is the second direction of the lane extending direction, 1 is subtracted from the counter value. Next, the travel position calculation unit 204 corrects the travel position calculated in step S9 based on the counter value of the mark counter unit 203 (step S12).

When the value of the magnetic flux density is less than the predetermined threshold (step S10: NO), or when the travel position calculation unit 204 corrects the travel position in step S12, the travel control unit 213 calculates the travel position calculation unit 204. It is determined whether the travel position matches the control target position stored in the control target position storage unit 211 (step S13).
When the travel position and the control target position do not match (step S13: NO), the travel control device 2 returns the process to step S9 and continues the travel control. On the other hand, if the travel position matches the control target position (step S13: YES), does the stop target position stored in the stop target position storage unit 206 match the control target position stored in the control target position storage unit 211? It is determined whether or not (step S14). If the stop target position matches the control target position (step S14: YES), the travel control started in step S8 is terminated, the motor is locked (step S15), and the process is terminated.

On the other hand, when the stop target position and the control target position do not match (step S14: NO), that is, when the control target position is set to a position advanced by a predetermined amount from the stop target position, the control target position setting unit 212 The stop target position stored in the stop target position storage unit 206 is recorded in the control target position storage unit 211 as a control target position (step S16). And the traveling control apparatus 2 returns a process to step S9, and continues traveling control. Thereby, the traveling control unit 213 moves the tire-type portal crane 1 forward by a predetermined amount forward in the traveling direction from the target stop position when the target stop position has a downward slope, and then moves backward to the target stop position. Can be made.

As described above, the traveling control device 2 according to the present embodiment causes the tire-type portal crane 1 to move forward and stop at the stop target position when the slope of the stop target position is an uphill slope or no slope. When the slope is a downward slope, the tire type portal crane 1 is moved backward to stop at the stop target position. That is, the traveling control device 2 according to the present embodiment stops the tire-type portal crane 1 in a state where the gradient is increased. Thereby, the direction of the free movement of the tire-type portal crane 1 due to the backlash of the transmission mechanism 43 is the upward direction of the gradient. Therefore, the sliding direction (the direction of the force of gravity) due to the gradient of the tire-type portal crane 1 and the direction of free movement are opposite, and the tire-type portal crane is caused by the load fluctuation of the tire-type portal crane 1 due to the cargo handling operation. The stop position of the crane 1 can be prevented from shifting.

Moreover, the traveling control device 2 according to the present embodiment controls traveling of the tire-type portal crane 1 using a control target position that is a target of temporary traveling control. Specifically, the control target position setting unit 212 of the travel control device 2 sets the control target position to a position ahead of the stop target position by a predetermined amount when the gradient of the stop target position is a downward gradient. In addition, the control target position setting unit 212 sets the control target position as the stop target position when the gradient of the stop target position is an ascending gradient or no gradient. The control target position setting unit 212 sets the control target position as the stop target position when the position of the tire-type portal crane 1 matches the control target position and the control target position and the stop target position are different.
As a result, the traveling control unit 213 may always perform the traveling control toward the control target position, so that the tire-type portal crane 1 can be stopped in a state where the gradient is increased without complicating the traveling control. it can.

<< Second Embodiment >>
FIG. 5 is a perspective view showing an appearance of a tire-type portal crane according to the second embodiment.
The tire-type portal crane 1 according to the first embodiment stores the gradient of the stop target position in advance, and travels based on the gradient so as to prevent the shift of the stop position due to load fluctuation. On the other hand, the tire-type portal crane 1 according to the present embodiment travels so as to prevent the stop position from being shifted due to the load fluctuation without storing the gradient of the stop target position in advance.

The tire-type portal crane 1 according to the second embodiment further includes a tilt sensor 11 in addition to the configuration of the first embodiment. The inclination sensor 11 detects the inclination with respect to the traveling direction of the tire-type portal crane 1, that is, the lane extending direction. For example, the inclination sensor 11 detects the inclination of the lane extending direction with respect to the first direction. The inclination value output from the inclination sensor 11 indicates an upward inclination when it is a positive number, and indicates a downward inclination when it is a negative number. The inclination sensor 11 is realized by an acceleration sensor that detects at least biaxial acceleration in the direction of gravity and the traveling direction of the tire-type portal crane 1.

FIG. 6 is a schematic block diagram showing the configuration of the travel control apparatus according to the second embodiment.
The travel control device 2 according to the present embodiment includes an inclination acquisition unit 214 instead of the gradient storage unit 208 and the gradient acquisition unit 209.
The inclination acquisition unit 214 acquires an inclination value output from the inclination sensor 11.

FIG. 7 is a first flowchart showing the operation of the travel control apparatus according to the second embodiment. FIG. 8 is a second flowchart showing the operation of the travel control apparatus according to the second embodiment.
When the operator of the tire type portal crane 1 inputs a stop target position to the travel control device 2 as a storage position for cargo handling of the container C, the stop target position input unit 205 of the travel control device 2 Is received (step S101). The stop target position input unit 205 records the input stop target position in the control target position storage unit 211 (step S102). Next, the traveling direction specifying unit 207 is configured to move to the control target position based on the current traveling position of the tire-type portal crane 1 and the control target position stored in the control target position storage unit 211. A direction in which the crane 1 travels is specified (step S103).

Next, the control target position setting unit 212 records the stop target position stored in the stop target position storage unit 206 in the control target position storage unit 211 as a control target position (step S104). Next, the traveling control unit 213 starts traveling control of the traveling device 4 toward the control target position stored in the control target position storage unit 211 (step S105).

When the travel control unit 213 starts the travel control, the travel position calculation unit 204 calculates the current travel position of the tire-type portal crane 1 based on the rotational speed of the tire-equipped wheel 42 acquired by the rotational speed acquisition unit 201. (Step S106). Further, the mark counter unit 203 determines whether or not the value of the magnetic flux density acquired by the magnetic flux density acquisition unit 202 is equal to or greater than a predetermined threshold (step S107). When the value of the magnetic flux density is equal to or greater than the predetermined threshold (step S107: YES), the mark counter unit 203 updates the count number of the magnet M (step S108). Next, the travel position calculation unit 204 corrects the travel position calculated in step S106 based on the counter value of the mark counter unit 203 (step S109).

When the value of the magnetic flux density is less than the predetermined threshold (step S107: NO), or when the travel position calculation unit 204 corrects the travel position in step S109, the travel control unit 213 calculates the travel position calculation unit 204. It is determined whether the travel position matches the control target position stored in the control target position storage unit 211 (step S110).
If the travel position does not match the control target position (step S110: NO), the travel control device 2 returns the process to step S106 and continues the travel control. On the other hand, if the travel position matches the control target position (step S110: YES), the travel control started in step S105 is terminated and the motor is locked (step S111).

When the tire type portal crane 1 is completely stopped, the inclination acquisition unit 214 acquires the value of the inclination detected by the inclination sensor 11 (step S112). The reason for locking the motor in step S111 is to eliminate an error caused by acceleration other than gravitational acceleration in the tilt detected by the tilt sensor 11. Next, the gradient determination unit 210 is a tire type gate type at the current position (control target position) based on the value of the inclination acquired by the inclination acquisition unit 214 and the traveling direction identified by the traveling direction identification unit 207 in step S103. It is determined whether or not the gradient with respect to the traveling direction of the crane 1 is a downward gradient (step S113). For example, when the travel direction specified by the travel direction specification unit 207 is the first direction of the lane extending direction, the slope determination unit 210 travels when the slope value acquired by the slope acquisition unit 214 is a negative number. It is determined that the gradient of the control target position with respect to the direction is a downward gradient. On the other hand, when the traveling direction identified by the traveling direction identifying unit 207 is the second direction of the lane extending direction, the slope determining unit 210 is when the slope value acquired by the slope acquiring unit 214 is a positive number. It is determined that the gradient of the control target position with respect to the traveling direction is a downward gradient.

When the gradient determination unit 210 determines that the gradient of the control target position with respect to the traveling direction is not a downward gradient (step S113: NO), the tire-type portal crane 1 is stopped in a state where the gradient is increased, and thus traveling The control device 2 ends the process.
On the other hand, when the gradient determination unit 210 determines that the gradient of the control target position with respect to the traveling direction is a downward gradient (step S113: YES), the control target position setting unit 212 stores the stop target position stored in the stop target position storage unit 206. The position advanced by a predetermined amount from the target position is recorded in the control target position storage unit 211 as a control target position (step S114).

Next, the traveling control unit 213 starts traveling control of the traveling device 4 toward a new control target position (step S115). When the travel control unit 213 starts the travel control, the travel position calculation unit 204 calculates the current travel position of the tire-type portal crane 1 based on the rotational speed of the tire-equipped wheel 42 acquired by the rotational speed acquisition unit 201. (Step S116). In addition, the mark counter unit 203 determines whether or not the value of the magnetic flux density acquired by the magnetic flux density acquisition unit 202 is equal to or greater than a predetermined threshold (step S117). When the value of the magnetic flux density is equal to or greater than a predetermined threshold (step S117: YES), the mark counter unit 203 updates the count number of the magnet M (step S118). Next, the travel position calculation unit 204 corrects the travel position calculated in step S9 based on the counter value of the mark counter unit 203 (step S119).

When the value of the magnetic flux density is less than the predetermined threshold (step S117: NO), or when the travel position calculation unit 204 corrects the travel position in step S119, the travel control unit 213 calculates the travel position calculation unit 204. It is determined whether or not the travel position matches the control target position stored in the control target position storage unit 211 (step S120).
If the travel position does not match the control target position (step S120: NO), the travel control device 2 returns the process to step S116 and continues the travel control. On the other hand, if the travel position matches the control target position (step S120: YES), does the stop target position stored in the stop target position storage unit 206 match the control target position stored in the control target position storage unit 211? It is determined whether or not (step S121).

When the stop target position and the control target position do not match (step S121: NO), that is, when the control target position is set to a position advanced by a predetermined amount from the stop target position, the control target position setting unit 212 stops. The stop target position stored in the target position storage unit 206 is recorded in the control target position storage unit 211 as a control target position (step S122). Then, the traveling control device 2 returns the process to step S116 and continues the traveling control.
On the other hand, when the stop target position matches the control target position (step S121: YES), the travel control started in step S115 is terminated, the motor is locked (step S123), and the process is terminated.

Thus, the traveling control device 2 according to the present embodiment can stop the tire-type portal crane 1 in a state where the gradient is increased without storing the gradient of the target stop position in advance. Thereby, the traveling control apparatus 2 which concerns on this embodiment prevents that the stop position of the tire type portal crane 1 shifts | deviates by the load fluctuation | variation of the tire type portal crane 1 by cargo handling work similarly to 1st Embodiment. be able to.

As described above, the embodiment has been described in detail with reference to the drawings. However, the specific configuration is not limited to that described above, and various design changes and the like can be made.
For example, in the above-described embodiment, the case where the traveling control device 2 controls the traveling of the tire-type portal crane 1 which is an example of a self-propelled crane has been described, but the present invention is not limited thereto. For example, the traveling control device 2 according to another embodiment can travel other self-propelled cranes such as a crane traveling on a rail with an iron wheel, a crane traveling on a lane with an endless track, and a self-propelled bridge crane. You may control.

Further, the transmission mechanism 43 according to the above-described embodiment includes a chain and a sprocket, but is not limited thereto. For example, the transmission mechanism 43 according to another embodiment may be another transmission mechanism having a backlash, such as a combination of a plurality of gears.

Further, the tire-type portal crane 1 according to the above-described embodiment is designed as a self-propelled crane, but is not limited thereto. For example, a self-propelled crane according to another embodiment may be one in which the traveling control device 2 is mounted on a mobile crane designed as a manned crane having a driver's seat.

Further, the traveling control device 2 according to the above-described embodiment stops after the tire-type portal crane 1 is advanced by a predetermined amount forward in the traveling direction from the target stop position when the target stop position has a downward slope. Although it backs up to a target position, it is not restricted to this. For example, the traveling control device 2 according to another embodiment allows the tire-type portal crane 1 to be moved from the stop target position only when the absolute value of the gradient is larger than a predetermined value even if the gradient of the stop target position is a downward gradient. Alternatively, it may be moved forward by a predetermined amount forward in the traveling direction and then moved backward to the stop target position. That is, the first gradient may include an ascending gradient, no gradient, and some descending gradient. Further, for example, the traveling control device 2 according to another embodiment advances the tire-type portal crane 1 by a predetermined amount forward in the traveling direction from the stop target position when the stop target position has a downward slope or no slope. It is also possible to reverse the vehicle to the stop target position after making it. That is, the first gradient may not include no gradient.

FIG. 9 is a schematic block diagram illustrating a configuration of a computer according to at least one embodiment.
The computer 900 includes a CPU 901, a main storage device 902, an auxiliary storage device 903, and an interface 904.
The travel control device 2 described above is mounted on the computer 900. The operation of each processing unit described above is stored in the auxiliary storage device 903 in the form of a program. The CPU 901 reads a program from the auxiliary storage device 903, develops it in the main storage device 902, and executes the above processing according to the program. In addition, the CPU 901 ensures a storage area corresponding to each storage unit described above in the main storage device 902 or the auxiliary storage device 903 according to the program.

In at least one embodiment, the auxiliary storage device 903 is an example of a tangible medium that is not temporary. Other examples of the non-temporary tangible medium include a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, and a semiconductor memory connected via the interface 904. When this program is distributed to a computer via a communication line, the computer that has received the distribution may develop the program in the main storage device 902 and execute the above processing.

Further, the program may be for realizing a part of the functions described above. Further, the program may be a so-called difference file (difference program) that realizes the above-described function in combination with another program already stored in the auxiliary storage device 903. For example, the program may be a program in which a gradient determination unit 210 and a control target position setting unit 212 are added to a conventional travel control device that travels a self-propelled crane to a stop target position.

The traveling control device is mounted on a self-propelled crane such as a cargo handling facility that performs cargo handling work in a yard such as a harbor.

DESCRIPTION OF SYMBOLS 1 Tire type portal crane 2 Traveling control apparatus 4 Traveling apparatus 41 Motor 42 Wheel with tire 43 Transmission mechanism 204 Traveling position calculation part 205 Stop target position input part 210 Gradient determination part 211 Control target position storage part 212 Control target position setting part 213 Travel control unit

Claims

A traveling control device for a self-propelled crane that travels by a traveling device to which power is transmitted via a transmission mechanism having a backlash,
Gradient determination that determines whether the gradient of the road surface at the target stop position of the self-propelled crane is a first gradient that includes a gradient that rises in the traveling direction or a second gradient other than the first gradient. And
A travel control unit comprising: a travel control unit configured to move the self-propelled crane forward by a predetermined amount forward in the traveling direction from the stop target position and then move back to the stop target position when the slope is the second slope. .
When the gradient is the second gradient, a control target position that is a target of traveling control of the self-propelled crane is set to a position that is a predetermined amount ahead of the stop target position, and the gradient is the first gradient. And a control target position setting unit that sets the control target position to the stop target position when the position of the self-propelled crane coincides with the control target position and the control target position and the stop target position are different. Further comprising
The travel control device according to claim 1, wherein the travel control unit controls travel of the self-propelled crane so that a position of the self-propelled crane matches the control target position.
A gradient storage unit that stores gradients of a road surface at a plurality of positions that are candidates for a target stop position in a path traveled by the self-propelled crane;
A gradient acquisition unit that receives an input of a target stop position and reads a gradient of the target stop position from the gradient storage unit;
The travel control device according to claim 1, wherein the gradient determination unit determines whether the gradient acquired by the gradient acquisition unit is a first gradient or a second gradient.
A transmission mechanism having a backlash;
A traveling device in which power is transmitted via the transmission mechanism;
A self-propelled crane provided with the travel control device according to any one of claims 1 to 3.
A traveling control method for a self-propelled crane that travels by a traveling device in which power is transmitted via a transmission mechanism having a backlash,
Determining whether the slope of the road surface at the stop target position of the self-propelled crane is a first slope including a slope that is upward relative to the traveling direction or a second slope other than the first slope; ,
A step of moving the self-propelled crane forward by a predetermined amount forward in the traveling direction from the stop target position and then moving the self-propelled crane back to the stop target position when the gradient is the second gradient. Travel control method.
A computer mounted on a self-propelled crane that travels by a traveling device to which power is transmitted via a transmission mechanism having a backlash,
Gradient determination that determines whether the gradient of the road surface at the target stop position of the self-propelled crane is a first gradient that includes a gradient that rises in the traveling direction or a second gradient other than the first gradient. Part,
A program for causing the self-propelled crane to function as a travel control unit that moves the self-propelled crane forward by a predetermined amount forward in the traveling direction from the stop target position and then moves backward to the stop target position when the slope is the second slope. .
A traveling control device for controlling the traveling of the self-propelled crane so that the position of the self-propelled crane traveling by the traveling device to which power is transmitted via a transmission mechanism having a backlash coincides with the control target position;
Gradient determination that determines whether the gradient of the road surface at the target stop position of the self-propelled crane is a first gradient that includes a gradient that rises in the traveling direction or a second gradient other than the first gradient. Part,
When the gradient is the second gradient, the control target position is set to a position ahead of the stop target position by a predetermined amount, and when the gradient is the first gradient, and the position of the self-propelled crane is A control target position setting unit for setting the control target position to the stop target position when the control target position matches the control target position and the stop target position is different;
Program to function as.