WO2022070520A1 - 遠隔自動ｒｔｇシステム、遠隔自動ｒｔｇシステムの制御方法、及び遠隔自動ｒｔｇシステム制御装置 - Google Patents

遠隔自動ｒｔｇシステム、遠隔自動ｒｔｇシステムの制御方法、及び遠隔自動ｒｔｇシステム制御装置 Download PDF

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Publication number
WO2022070520A1
WO2022070520A1 PCT/JP2021/022189 JP2021022189W WO2022070520A1 WO 2022070520 A1 WO2022070520 A1 WO 2022070520A1 JP 2021022189 W JP2021022189 W JP 2021022189W WO 2022070520 A1 WO2022070520 A1 WO 2022070520A1
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WO
WIPO (PCT)
Prior art keywords
rtg
crane
operation request
remote automatic
console
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/022189
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English (en)
French (fr)
Japanese (ja)
Inventor
伸郎 吉岡
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sumitomo Heavy Industries Material Handling Systems Co Ltd
Original Assignee
Sumitomo Heavy Industries Material Handling Systems Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sumitomo Heavy Industries Material Handling Systems Co Ltd filed Critical Sumitomo Heavy Industries Material Handling Systems Co Ltd
Priority to CN202180053260.3A priority Critical patent/CN116234766A/zh
Priority to JP2022553462A priority patent/JP7633267B2/ja
Publication of WO2022070520A1 publication Critical patent/WO2022070520A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Program control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries

Definitions

  • the present disclosure relates to a remote automatic RTG system, a control method for a remote automatic RTG system, and a remote automatic RTG system control device.
  • Patent Document 1 describes a remote automatic RTG system including a plurality of RTG cranes and a plurality of operation consoles. The RTG crane of this remote automatic RTG system switches from automatic operation to operation by an operator via an operation console.
  • the remote automatic RTG system it is required to control a plurality of RTG cranes with a smaller number of consoles. Therefore, it is required to reduce the number of consoles with respect to the number of RTG cranes.
  • the remote automatic RTG system transmits a plurality of RTG cranes, a plurality of consoles capable of remotely operating the RTG crane, and an operation request requesting operation by the operator among the plurality of RTG cranes.
  • Operation request A remote automatic RTG system including a control unit that associates an empty operation console that is not associated with any of the RTG cranes among a plurality of operation consoles for the RTG crane, and the control unit is an operation request. It has a calculation unit that adjusts the order of linking the RTG crane and the empty operation console based on predetermined conditions.
  • the control unit links an operation request RTG crane that sends an operation request requesting an operation by an operator among a plurality of RTG cranes to any RTG crane among a plurality of operation consoles. Associate an empty console that is not attached.
  • the control unit has a calculation unit that adjusts the order of associating the operation request RTG crane and the vacant operation console based on a predetermined condition. Therefore, when the operation console is vacant, the arithmetic unit can quickly associate the vacant operation console with the operation request RTG crane. On the other hand, if the operation console is not vacant and the standby operation request RTG crane exists, the control unit will determine how to link the operation request RTG crane the next time the operation console is vacant.
  • the arithmetic unit may associate an empty operation console based on the first-come-first-served basis of operation requests. In this case, the arithmetic unit can preferentially associate the operation request RTG crane with a long waiting time with the vacant operation console.
  • the arithmetic unit may associate an empty operation console based on the order of urgency of the operation request.
  • the arithmetic unit can preferentially associate the operation request RTG crane with a high degree of urgency with the vacant operation console.
  • the arithmetic unit may associate an empty operation console based on the cargo handling category of the operation request RTG crane.
  • the arithmetic unit can preferentially associate the operation request RTG crane related to the cargo handling in the high priority category with the vacant operation desk.
  • the arithmetic unit may associate an empty operation console based on the work area of the operation request RTG crane.
  • the arithmetic unit can preferentially associate the operation request RTG crane related to the work area with high priority with the vacant operation console.
  • the arithmetic unit may associate an empty operation console based on the priority order of the containers in which the operation request RTG crane is working. In this case, the arithmetic unit can preferentially associate the operation request RTG crane that is working on the container with high priority with the vacant operation desk.
  • the arithmetic unit may correct the order of associating empty operation consoles based on the first-come-first-served order of operation requests based on other conditions. In this case, the arithmetic unit can adjust the order of associating the empty operation consoles in consideration of other conditions while based on the first-come-first-served order of the operation requests.
  • the calculation unit may create a waiting list for associating an empty operation console with the operation request RTG crane, and may associate the empty operation console in the order of the list. In this case, by referring to the waiting list, it is possible to easily grasp which operation request RTG crane is associated with the vacant operation console.
  • the operation request may include information indicating the status of the target operation request RTG crane.
  • the arithmetic unit can adjust the association with the vacant operation console in consideration of the situation of the operation request RTG crane.
  • the control method of the remote automatic RTG system is a control method of the remote automatic RTG system including a plurality of RTG cranes and a plurality of consoles capable of operating the RTG cranes, and among the plurality of RTG cranes.
  • the order of associating an empty operation console that is not associated with any of the RTG cranes among multiple operation consoles for the operation request RTG crane that is sending the operation request that requests the operation by the operator is based on a predetermined condition. To adjust.
  • the remote automatic RTG system control device is a remote automatic RTG system control device for controlling a remote automatic RTG system including a plurality of RTG cranes and a plurality of consoles capable of operating the RTG cranes. Of the RTG cranes of Adjust based on the specified conditions.
  • a remote automatic RTG system a control method for a remote automatic RTG system, and a remote automatic RTG system control device that can reduce the number of operation consoles with respect to the number of RTG cranes.
  • FIGS. 4A, 4B, and 4C are diagrams showing specific examples of the waiting list. It is a flowchart which shows the processing content in the remote automatic RTG system control apparatus when any RTG crane makes an operation request to the remote automatic RTG system control apparatus. It is a flowchart which shows the processing content in the remote automatic RTG system control apparatus when the information that one of the operation consoles is vacant is transmitted to the remote automatic RTG system control apparatus.
  • FIG. 1 is a plan view showing an exemplary container terminal 1 to which the remote automatic RTG system 100 according to the present embodiment is applied.
  • the container terminal 1 includes a container yard 2 in which a container 3 (see FIG. 2) is arranged, a plurality of gantry cranes 4 for transferring the container 3 to a berthed vessel, and a plurality of gantry cranes 4.
  • a plurality of RTG cranes 10 arranged in the container yard 2 to handle the cargo of the container 3 and a remote control room 5 capable of remote operation of the plurality of RTG cranes 10 are provided.
  • a running path of a freight car, a trailer, or a transport vehicle such as an AGV (Automated Guide Vehicle) is laid.
  • the RTG crane 10 acquires the container 3 transported by the transport trolley and places the container 3 at a position indicated by a predetermined address in the container yard 2.
  • each of the plurality of RTG cranes 10 is arranged in each container yard 2.
  • the RTG crane 10 acquires the container 3 mounted on the container yard 2, transfers the container 3 to the transport trolley, and causes the container 3 to be carried out by the transport trolley.
  • FIG. 2 is a perspective view schematically showing the RTG crane 10 arranged in the container yard 2.
  • the RTG crane 10 is a container handling crane that handles the container 3 and is a tire type gantry crane (RTG: Rubber Tired Gantry Crane).
  • RTG Rubber Tired Gantry Crane
  • the RTG crane 10 automatically handles the cargo of the container 3 arranged in the container yard 2 at the container terminal 1.
  • the RTG crane 10 includes, for example, a trolley 11 capable of traversing on a crane girder, a spreader 12 for handling a container 3, and a traveling device 13 having wheels.
  • the RTG crane 10 exhibits a gate shape including a pair of legs erected on the pair of traveling devices 13 and a crane girder connecting the upper ends of the pair of legs.
  • the trolley 11 traverses, for example, by driving a traversing motor.
  • the trolley 11 includes a drum that is rotated forward and reverse by a drum drive motor, and the spreader 12 is suspended via a wire.
  • the spreader 12 is a hanging tool for suspending the container 3.
  • the spreader 12 can lock the container 3 from above, and handles the cargo by locking and lifting the container 3.
  • the operation and position of the spreader 12 are controlled by the remote automatic RTG system 100 according to the present embodiment, the control method of the remote automatic RTG system, and the remote automatic RTG system control device 50.
  • FIG. 3 is a block diagram showing the functions of the remote automatic RTG system 100 according to the present embodiment.
  • the remote automatic RTG system 100 is a system that controls a plurality of RTG cranes 10. As shown in FIG. 3, the remote automatic RTG system 100 includes a plurality of RTG cranes 10, a plurality of operation consoles 6 capable of operating each RTG crane 10, and a remote automatic RTG system control device 50 (control unit). Be prepared. In the block diagram of FIG. 3, the crane control device 20 included in the RTG crane 10 is shown.
  • the console 6, the crane control device 20, and the remote automatic RTG system control device 50 are provided with, for example, a processor, a memory, a storage, a communication interface, and a user interface, and may be configured as a general computer.
  • the processor is an arithmetic unit such as a CPU (Central Processing Unit).
  • the memory is a storage unit such as a ROM (Read Only Memory) or a RAM (Random Access Memory).
  • the storage is a storage unit (storage medium) such as an HDD (Hard Disk Drive).
  • a communication interface is a communication device that realizes data communication.
  • the processor controls memory, storage, communication interface and user interface.
  • the user interface of the console 6 and the crane control device 20 includes an output device such as a display that outputs a display and a speaker that outputs a voice, and an input device such as a control lever, a button, a keyboard, a touch panel, and a microphone.
  • the remote automatic RTG system control device 50 may be configured by one computer installed in one place, may be configured by a plurality of computers, or may be installed in a state of being dispersed in a plurality of places. You may.
  • the crane control device 20 includes a communication unit 21, an information acquisition unit 22, a drive control unit 23, and a calculation unit 24.
  • the communication unit 21 transmits and receives various information by communicating with other devices.
  • the information acquisition unit 22 acquires information indicating various states for the RTG crane 10 to perform automatic operation.
  • the information acquisition unit 22 acquires information from various sensors provided in the RTG crane 10.
  • the drive control unit 23 transmits a control signal to a drive unit such as a motor of the RTG crane 10 to perform drive control.
  • the drive control unit 23 When the drive control unit 23 operates by the operation of the operator, the drive control unit 23 performs the drive control according to the operation. At the time of automatic operation, the drive control unit 23 performs drive control so as to realize the operation calculated by the calculation unit 24.
  • the calculation unit 24 performs various calculations related to the RTG crane 10.
  • the calculation unit 24 calculates the operation content of the RTG crane 10 during automatic operation.
  • the crane control device 20 can determine the situation and voluntarily send an operation request by the operation console 6 during automatic operation. That is, the arithmetic unit 24 includes a remote control necessity determination logic for enhancing the operation efficiency and safety of the system, and determines the necessity of the operation request by the operation console 6 based on the logic. Further, the communication unit 21 transmits an operation request to the remote automatic RTG system control device 50.
  • the arithmetic unit 24 can make an operation request when the automatic transfer of the spreader 12 to immediately before the chassis area is completed (situation 1) in the cargo handling operation of loading the container 3 on the truck. Further, the arithmetic unit 24 can make an operation request when the automatic transfer of the spreader 12 to immediately before the chassis area is completed in the cargo handling operation of picking up the container 3 from the truck (situation 2). Further, the arithmetic unit 24 can make an operation request when it detects an abnormality related to the control system.
  • the arithmetic unit 24 may make an operation request only when it detects that the chassis has arrived in the above "situation 1" or "situation 2". Alternatively, the arithmetic unit 24 may make an operation request when it detects that the chassis has arrived, regardless of the above-mentioned "situation 1" and "situation 2".
  • the RTG crane 10 may include a sensor for detecting that the chassis is stopped at a predetermined stop position.
  • the arithmetic unit 24 may make an operation request when it detects a state with a high safety risk.
  • the detection function which is considered to be in a state of high safety risk, is activated, the arithmetic unit 24 may voluntarily stop the automatic operation. Further, the arithmetic unit 24 can spontaneously stop the automatic operation and at the same time transmit a request signal of the operation console 6 to the remote automatic RTG system control device 50 to prompt the operator to confirm the state and recover.
  • the calculation unit 24 may detect that the spreader 12 is in a state of high safety risk and make an operation request.
  • the RTG crane 10 includes a system for detecting the winding and traversing positions of the spreader 12. As a result, the RTG crane 10 may have a function of determining whether or not the spreader 12 has invaded the interference region with the chassis truck.
  • the arithmetic unit 24 determines that the spreader 12 or the suspended load is likely to come into contact with the storage container, or when it comes into contact with the spreader 12, it may detect that the state has a high safety risk and make an operation request.
  • the RTG crane 10 uses a laser rangefinder, a 2D scanner, another 3D scanner, etc. installed below, sideways, or above the spreader 12 to put the spreader 12 or suspended load in the storage container. It suffices to have a system for monitoring whether or not they come into contact with each other.
  • the RTG crane 10 may be provided with a system for monitoring whether or not the spreader 12 or the suspended load comes into contact with the storage container by a 2D scanner or a 3D scanner installed on the trolley 11.
  • the calculation unit 24 may detect that the safety risk is high and make an operation request.
  • the RTG crane 10 monitors the runout signal of the spreader 12 obtained by an image processing system, an accelerometer, an inclinometer, or the like, and if it deviates from the normal range of the runout amount, it identifies that it is in an abnormal state. Should be provided.
  • the calculation unit 24 may detect it as a state with a high safety risk and make an operation request.
  • the RTG crane 10 is provided with a system that monitors the inclination of the spreader 12 obtained by an image processing system, an accelerometer, an inclinometer, or the like, and identifies that the crane is in an abnormal state if it deviates from the normal range of the inclination. Just do it.
  • the calculation unit 24 may detect that there is a high safety risk and make an operation request.
  • the RTG crane 10 monitors the rotation (also referred to as a small turn) of the spreader 12 obtained by an image processing system, an accelerometer, an inclinometer, or the like, and if it deviates from the normal range of rotation, it is in an abnormal state. It suffices to have a system for identification.
  • the calculation unit 24 may detect that an impact is applied to the spreader or the suspended load as a state with a high safety risk, and make an operation request.
  • the RTG crane 10 may be provided with an accelerometer, an inclinometer, or other sensor for detecting an impact on the spreader 12, and a system for identifying an abnormality when an impact that does not normally act is detected.
  • the calculation unit 24 may detect it as a state with a high safety risk and make an operation request.
  • the RTG crane 10 may be provided with a means for detecting the load of the spreader 12 or the suspended load, and may be provided with a system for identifying an abnormality when the amount of change deviating from the normal load change amount is detected.
  • the arithmetic unit 24 may make an operation request when the automatic loading or automatic grasping of the container 3 fails.
  • the arithmetic unit 24 can transmit the request signal of the console 6 to the remote automatic RTG system control device 50 to prompt the operator to confirm the status and recover.
  • the arithmetic unit 24 automatically loads the container 3, but if the loading accuracy is insufficient, an operation request may be made.
  • the RTG crane 10 is not only a means for detecting a relative misalignment with the storage container provided in the spreader 12, but also a means for detecting a relative misalignment between the spreader 12 or the suspended load and the storage container by, for example, a 3D scanner from above the trolley 11. Should be provided.
  • the calculation unit 24 makes an operation request when the accuracy of container loading is unacceptable.
  • the calculation unit 24 may make an operation request when the container 3 is to be automatically loaded but the suspended load position does not fall within the predetermined range and the automatic loading is abandoned.
  • the RTG crane 10 is not only a means for detecting a relative misalignment with the storage container provided in the spreader 12, but also a means for detecting a relative misalignment between the spreader 12 or the suspended load and the storage container by, for example, a 3D scanner from above the trolley 11. Should be provided.
  • the calculation unit 24 makes an operation request when the condition of the relative positional deviation that allows the automatic landing of the container 3 is not satisfied even after a certain period of time has elapsed.
  • the calculation unit 24 tries to detect the relative position of the loaded container 3 in order to automatically load the container 3, but if the relative position cannot be detected normally, an operation request may be made.
  • the RTG crane 10 is not only a means for detecting a relative position deviation from the storage container provided in the spreader 12, but also a relative position between the spreader 12 or the suspended load and the storage container by, for example, a 2D scanner or a 3D scanner from above the trolley 11. A deviation detecting means may be provided.
  • the arithmetic unit 24 makes an operation request when the detected relative position is not normal.
  • the calculation unit 24 "does not have four landing detection signals" and "the spreader's If any of the situations such as “the inclination deviates from the normal range” and “the runout displacement of the spreader deviates from the normal range", it may be determined that the automatic gripping has failed and an operation request may be made.
  • the calculation unit 24 may make an operation request when the vibration of the spreader 12 does not fall within the predetermined range even if the container 3 is to be automatically grasped.
  • the arithmetic unit 24 may make an operation request when the relative position between the spreader 12 and the storage container is not within the allowable range even if the container 3 is to be automatically grasped.
  • the RTG crane 10 may be provided with a plurality of laser rangefinders, a 2D scanner, or the like provided in the spreader 12 as a relative position detecting means between the spreader 12 and the storage container.
  • the RTG crane 10 may include a 2D scanner or a 3D scanner provided on the trolley 11 as the relative position detecting means.
  • the calculation unit 24 makes an operation request when the relative position between the spreader 12 and the storage container detected by these detection means does not fall within the allowable range even after a certain period of time has elapsed.
  • the calculation unit 24 may make an operation request when the relative position between the spreader 12 and the storage container cannot be normally detected even though the calculation unit 24 tries to automatically grab the container 3.
  • the arithmetic unit 24 makes an operation request when the above-mentioned detection means does not function normally.
  • the operation console 6 includes a communication unit 31, a state determination unit 32, and an operation information creation unit 33.
  • the communication unit 31 transmits and receives various information by communicating with other devices.
  • the state determination unit 32 determines whether or not the operation console 6 is associated with any RTG crane 10 or is not associated with any RTG crane 10.
  • the operation information creation unit 33 creates operation information to be transmitted to the RTG crane 10 based on the operation of the operator.
  • the state in which the operation console 6 and the RTG crane 10 are linked is a state in which the operator can remotely control a specific RTG crane 10 by using the operation console 6.
  • the console 6 associated with the specific RTG crane 10 receives information necessary for remote control from the operation target RTG crane 10.
  • the information required for remote control is, for example, an image taken by an image pickup means mounted on the RTG crane 10.
  • the state in which the operation console 6 and the RTG crane 10 are not associated is a state in which the operation console 6 has not received information necessary for remote control.
  • the remote automatic RTG system control device 50 includes a communication unit 51 and a calculation unit 52.
  • the communication unit 51 transmits and receives various information by communicating with other devices.
  • the calculation unit 52 performs various calculations related to the remote automatic RTG system control device 50.
  • the calculation unit 52 has a plurality of operation consoles for the RTG crane 10 (operation request RTG crane) that sends an operation request requesting an operation by the operator among the plurality of RTGs.
  • An operation console 6 empty operation console
  • the calculation unit 52 of the remote automatic RTG system control device 50 acquires information related to the availability of each console 6 via the communication unit 51.
  • the state in which the operation console 6 is vacant is a state in which the operation console 6 is not associated with any RTG crane 10 and neither RTG crane 10 can be operated.
  • the state in which the operation console 6 is not vacant is a state in which the operation console 6 is associated with any RTG crane 10 and the RTG crane 10 can be operated.
  • the calculation unit 52 can acquire an operation request from each RTG crane 10 via the communication unit 51.
  • the arithmetic unit 52 acquires the operation request of any of the RTG cranes 10 while the operation console 6 is vacant, the RTG crane 10 transmitting the operation request to any of the vacant operation consoles 6. To tie.
  • the arithmetic unit 53 acquires the operation request of any of the RTG cranes 10 while the operation console 6 is full, the RTG crane 10 transmitting the operation request is set to the standby state until the operation console 6 becomes empty. do. Further, when the plurality of RTG cranes 10 are in the standby state, the calculation unit 52 adjusts the order of associating the operation console 6 based on the conditions of each RTG crane 10.
  • the calculation unit 52 may associate a vacant operation console 6 based on the first-come-first-served basis of operation requests. That is, among the RTG cranes 10 in the standby state, the calculation unit 52 associates the RTG crane 10 with the earlier operation request with the vacant operation console 6 earlier.
  • the calculation unit 52 may associate a vacant operation console 6 based on the order of urgency of the operation request. That is, the calculation unit 52 grasps the reason why the RTG crane 10 issued the operation request, ranks the urgency for the reason, and the RTG crane 10 with the higher urgency becomes vacant sooner. Link the operation console 6. For example, “things that recognize a state of high safety risk”, “things related to container transfer with trucks”, “things that have a system abnormality”, “things that failed to automatically load or grab containers” Items such as these can be listed, and the degree of urgency can be set high in such an order. However, the ranking is not particularly limited, and the setting may be changed for the ranking, and items may be added.
  • the calculation unit 52 may associate a vacant operation console based on the cargo handling category in the RTG crane 10 that is sending the operation request. That is, the calculation unit 52 associates the operation console 6 that has been vacated as soon as the RTG crane 10 in the cargo handling category with the higher rank.
  • cargo handling such as “ship cargo handling”, “outpatient truck loading / unloading”, “relocation of storage containers”, and “standby movement”, and the order can be set higher in this order.
  • the ranking is not particularly limited, and the setting may be changed for the ranking, and items may be added.
  • the calculation unit 52 may associate the vacant operation console 6 with the work area of the RTG crane 10 that is transmitting the operation request. That is, the calculation unit 52 associates the operation console 6 that has been vacated as soon as the RTG crane 10 in the cargo handling category with the higher rank.
  • work areas such as "first berth”, “second berth”, and “third berth” can be mentioned, and the rank can be set higher in such an order.
  • the ranking is not particularly limited, and the setting may be changed for the ranking, and items may be added.
  • the calculation unit 52 may associate the vacant operation console 6 based on the priority order of the containers in which the RTG crane 10 sending the operation request is working. That is, the arithmetic unit 52 associates the operation console 6 that has been vacated as soon as the RTG crane 10 that is working on the container having a higher rank.
  • containers such as "most important customer container” and “general customer container” can be mentioned, and the ranking can be set high in such an order.
  • the ranking is not particularly limited, and the setting may be changed for the ranking, and items may be added.
  • any of the conditions may be set independently, and the vacant console 6 and the RTG crane 10 may be associated with each other, or the conditions may be combined and set.
  • the arithmetic unit 52 may weight each condition and set a condition to be prioritized and a condition having a low priority.
  • the calculation unit 52 may set points and the like according to the order and priority of each condition, and the RTG crane 10 having a higher score may be associated with the vacant operation console 6 earlier.
  • the condition of the operation request is information included in the operation request when the crane control device 20 of the RTG crane 10 transmits the operation request.
  • the calculation unit 52 may correct the order of associating the vacant operation console 6 based on the first-come-first-served order of the operation request based on other conditions. That is, among the above conditions, the calculation unit 53 sets the order of associating based on the first-come-first-served order, and then considers the urgency of the operation request, the cargo handling category, the work area, and the priority order of the container. Correct the order of association.
  • the calculation unit 52 may create a waiting list for associating the vacant operation console 6 with the RTG crane 10 transmitting the operation request, and may associate the vacant operation console 6 in the order of the list.
  • the waiting list may be disclosed to an operator or the like.
  • FIG. 4 shows a specific example of the waiting list. In the list, the order in which the vacant console 6 is associated and the identification symbol of the RTG crane 10 corresponding to each order are shown. The identification symbol of the RTG crane 10 is indicated by an alphabet. As shown in FIG. 4A, the order of the standby RTG cranes 10 is shown up to the fourth.
  • the calculation unit 52 evaluates each condition of "G” so that the priority order of "G” is higher than "F". Is also judged to be high. In this case, as shown in FIG. 4B, the arithmetic unit 52 interrupts the "G” second, and lowers the order of the RTG cranes 10 after the "F" by one. As a result, when the operation console 6 becomes vacant, the calculation unit 52 links the vacant operation console 6 to the first "A" RTG crane 10 in the list. Then, when the operation console 6 becomes vacant next time, the calculation unit 52 associates the vacant operation console 6 with the second "G" RTG crane 10 in the list.
  • the list shown in FIG. 4 is a simple one showing only the order, the status of each RTG crane may be described in the list.
  • the remote automatic RTG system control device 50 forcibly links the unique operation console 6 and the unique RTG crane 10 in the event of an abnormality, for example. You may.
  • FIG. 5 is a flowchart showing the processing contents of the remote automatic RTG system control device 50 when any of the RTG cranes 10 makes an operation request to the remote automatic RTG system control device 50.
  • the calculation unit 52 acquires an operation request via the communication unit 51 (step S10).
  • the calculation unit 52 determines whether or not the operation console 6 is free (step S20).
  • step S40 when the arithmetic unit 52 determines that the operation console 6 is vacant, the calculation unit 52 associates the vacant operation console 6 with the RTG crane 10 that is transmitting the operation request (step S40).
  • the calculation unit 52 determines that the operation console 6 is not vacant, the calculation unit 52 creates a waiting list for associating the vacant operation console 6 with the RTG crane 10 sending the operation request, or (the list has already been created). Edit the list (if any) (step S30).
  • step S30 the calculation unit 52 can adjust the association with the RTG crane 10 based on the availability of the operation console 6.
  • FIG. 6 is a flowchart showing the processing contents of the remote automatic RTG system control device 50 when the information indicating that any of the consoles 6 is free is transmitted to the remote automatic RTG system control device 50.
  • the calculation unit 52 acquires information indicating the status that the operation console 6 is free via the communication unit 51 (step S110).
  • the calculation unit 52 determines whether or not there is a waiting RTG crane 10 (step S120).
  • the operation console 6 is made to wait for the operation request (step S140).
  • the calculation unit 52 determines that there is a waiting RTG crane 10 it reads out the waiting list and associates it based on the waiting list (step S130).
  • step S130 or step S140 is completed, the process is repeated from step S110 at the timing when the information indicating that the next console 6 is vacant is transmitted.
  • the remote automatic RTG system control device 50 sends an operation request requesting an operation by an operator among a plurality of RTG cranes 10 (operation request RTG crane).
  • an operation console 6 vacuum operation console
  • the remote automatic RTG system control device 50 has a calculation unit 52 that adjusts the order of associating the RTG crane transmitting the operation request with the vacant operation console 6 based on a predetermined condition. Therefore, when the operation console 6 is vacant, the remote automatic RTG system control device 50 can quickly associate the vacant operation console 6 with the RTG crane 10 transmitting the operation request.
  • the remote automatic RTG system control device 50 if the operation console 6 is not vacant and the standby RTG crane 10 is present, how will the RTG crane be the next time the operation console 6 is vacant? Whether or not to associate 10 can be appropriately adjusted according to the situation. That is, it is possible to link the RTG crane 10 and the vacant operating table 6 at an appropriate timing according to the situation without preparing an excessive operating table 6 for the number of RTG cranes 10. From the above, the number of operation consoles 6 can be reduced with respect to the number of RTG cranes 10.
  • the remote automatic RTG system control device 50 may be associated with a vacant operation console 6 based on the first-come-first-served basis of operation requests. In this case, the remote automatic RTG system control device 50 can preferentially associate the RTG having a long standby time with the vacant operation console 6.
  • the remote automatic RTG system control device 50 may be associated with a vacant operation console 6 based on the order of urgency of the operation request.
  • the remote automatic RTG system control device 50 can associate the RTG crane 10, which has a high degree of urgency, with the operation console 6 which is preferentially vacant.
  • the remote automatic RTG system control device 50 may be associated with a vacant console 6 based on the cargo handling category of the RTG crane 10 sending the operation request.
  • the remote automatic RTG system control device 50 can associate the RTG crane 10 related to cargo handling in a high priority category with a preferentially vacant console.
  • the remote automatic RTG system control device 50 may be associated with a vacant console 6 based on the work area of the RTG crane 10 that is sending an operation request.
  • the remote automatic RTG system control device 50 can associate the RTG crane 10 related to the work area with high priority with the operation console 6 which has been vacated preferentially.
  • the remote automatic RTG system control device 50 may associate an empty console 6 based on the priority order of the containers in which the RTG crane 10 sending the operation request is working. In this case, the remote automatic RTG system control device 50 can associate the RTG crane 10 working on the container having a high priority with the operation console 6 which has been vacated preferentially.
  • the remote automatic RTG system control device 50 may correct the order of associating the vacant console 6 based on the first-come-first-served basis of the operation request based on other conditions. In this case, the remote automatic RTG system control device 50 can adjust the order of associating the vacant console 6 in consideration of other conditions while based on the first-come-first-served order of the operation requests.
  • the remote automatic RTG system control device 50 may create a waiting list for associating the vacant operation console 6 with the RTG crane 10 transmitting the operation request, and may associate the vacant operation console 6 in the order of the list. In this case, by referring to the waiting list, it is possible to easily grasp which RTG crane 10 is associated with the vacant console 6. In this way, by creating a list considering the association of the RTG cranes 10 related to the standby state, it is possible to appropriately grasp the standby state according to the situation of each RTG crane 10, so that the operation console 6 can be used. Even if the number is reduced, the system can be operated properly.
  • the operation request may include information indicating the status of the target RTG crane 10.
  • the remote automatic RTG system control device 50 can adjust the association with the vacant operation console 6 in consideration of the situation of the RTG crane 10 related to the operation request.
  • the control method of the remote automatic RTG system 100 is a control method of the remote automatic RTG system 100 including a plurality of RTG cranes 10 and a plurality of operation consoles and 6 capable of operating the RTG crane 10.
  • the operation console 6 that is not associated with any of the RTG cranes 10 among the plurality of operation consoles 6 is linked. Adjust the order of attachment based on the specified conditions.
  • the remote automatic RTG system control device 50 controls a remote automatic RTG system 100 including a plurality of RTG cranes 10 and a plurality of operation consoles 6 capable of operating the RTG crane 10.
  • the apparatus 50 is associated with any of the plurality of operation consoles 6 for the RTG crane 10 that sends an operation request requesting the operation by the operator among the plurality of RTG cranes 10.
  • the order of associating the operation console 6 is adjusted based on a predetermined condition.
  • the same operations and effects as the above-mentioned remote automatic RTG system 100 can be obtained.
  • the present invention is not limited to the above-described embodiment.
  • the mode of associating the RTG with the vacant operation console 6 has been described, but the operation console 6 is not always limited to the vacant one, and there is no vacant operation console 6. Even so, depending on the degree of urgency or the like, a request for opening may be issued to the operation console 6 already associated, and after opening, an RTG with a high degree of urgency may be associated.
  • the remote automatic RTG system control device 50 installed at a position different from the operation console 6 and the RTG crane 10 adjusts the association between the RTG crane 10 and the operation console 6, but the operation is performed.
  • the table 6 and the crane control device 20 may function as part of the remote automatic RTG system control device.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
PCT/JP2021/022189 2020-09-29 2021-06-10 遠隔自動ｒｔｇシステム、遠隔自動ｒｔｇシステムの制御方法、及び遠隔自動ｒｔｇシステム制御装置 Ceased WO2022070520A1 (ja)

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JP2022553462A JP7633267B2 (ja) 2020-09-29 2021-06-10 遠隔自動ｒｔｇシステム、遠隔自動ｒｔｇシステムの制御方法、及び遠隔自動ｒｔｇシステム制御装置

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JP2024042328A (ja) * 2022-09-15 2024-03-28 日本製鉄株式会社 制御装置、制御方法、およびプログラム
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