WO2023127323A1

WO2023127323A1 - Crane and crane measurement system

Info

Publication number: WO2023127323A1
Application number: PCT/JP2022/041984
Authority: WO
Inventors: 紀明宮田
Original assignee: 住友重機械搬送システム株式会社
Priority date: 2021-12-27
Filing date: 2022-11-10
Publication date: 2023-07-06
Also published as: JP2023096282A

Abstract

This crane transports an object to be transported and comprises: a lifting tool that lifts the object placed on a carriage and loads the object onto the carriage; a crane body that travels while supporting the lifting tool; a three-dimensional distance detection unit that is installed in the crane body and detects the distance to an object to be measured that exists in a three-dimensional space that is a detection range; and a monitoring unit that monitors the loading/unloading state of the object to/from the carriage on the basis of the detection results of the three-dimensional distance detection unit. The three-dimensional distance detection unit detects the distance between the carriage and the object from the lateral side.

Description

Cranes and crane measuring systems

The present disclosure relates to cranes and crane measurement systems.

As a conventional crane, the one described in Patent Document 1 is known. The crane lifts the object with the sling while moving the sling in the horizontal direction. This crane lifts a container placed on a carriage with a hoisting tool, and loads the container suspended with the hoisting tool on the carriage.

JP-A-2005-239343

Here, the operator visually checks whether cargo handling operations such as lifting a container placed on a carriage and loading a container onto the carriage are performed normally. rice field.

The purpose of the present disclosure is to provide a crane and a crane measurement system that can automatically check whether cargo handling work is being performed normally.

A crane according to the present disclosure is a crane that transports an object, and includes a hoisting tool that lifts an object placed on a carriage and loads the object on the carriage, and a hoisting tool that supports the hoisting tool. Based on the detection result of the traveling crane body, the three-dimensional distance detection unit that is provided on the crane body and detects the distance to the measured object existing in the three-dimensional space that is the detection range, and the detection result of the three-dimensional distance detection unit a monitoring unit for monitoring the state of loading and unloading of the object with respect to the carriage, and the three-dimensional distance detection unit detects the distance between the carriage and the object from the lateral side.

The crane is equipped with a three-dimensional distance detection unit that detects the distance to an object to be measured that exists within the three-dimensional space, which is the detection range, and the detection result of the three-dimensional distance detection unit. and a monitoring unit that monitors the loading/unloading state of the object. Therefore, based on the detection result of the three-dimensional distance detection unit, the monitoring unit checks whether cargo handling operations such as lifting the container placed on the carriage and loading the container onto the carriage are performed normally. can be confirmed. Here, the three-dimensional distance detection unit detects the distance between the carriage and the object from the lateral side. By using the distance from the side of the carriage and the object, the monitoring unit grasps the gap formed between the carriage and the object during cargo handling work and the positional relationship between the carriage and the object. can do. Therefore, based on the information obtained from the detection results of the three-dimensional distance detection units, the monitoring unit can automatically confirm whether the cargo handling work is being performed normally.

When the lifting tool lifts the object placed on the carriage, the monitoring unit monitors the hoisting work based on the gap between the lower part of the object and the carriage detected by the three-dimensional distance detection unit. You can When a normal object lifting operation is performed, a gap is formed between the object, the lower part, and the carriage. Therefore, the monitoring unit can confirm whether the lifting work is normally performed based on the clearance.

The monitoring unit may determine that the lifting work was performed normally when the size of the gap is equal to or greater than the specified value. When a normal object lifting operation is performed, a gap having a size corresponding to the lifting amount of the lifting tool is formed. Therefore, the monitoring unit can confirm whether the lifting work is being performed normally based on the size of the gap.

When the lifting device loads the object onto the carrier, the monitoring unit may monitor the loading operation based on the positional relationship between the carrier and the object detected by the three-dimensional distance detection unit. When the object loading operation is performed normally, the object is loaded on the carriage without positional deviation. Therefore, the monitoring unit can confirm whether the loading operation is normally performed based on the positional relationship between the carriage and the object.

The monitoring unit may determine that the loading operation was performed normally when the positional deviation between the carriage and the object is less than the specified value. When the object loading operation is performed normally, the positional deviation between the carriage and the object falls within the specified value. Therefore, the monitoring unit can confirm whether the loading operation is normally performed based on the magnitude of the positional deviation.

Before monitoring the cargo handling status, the monitoring unit may acquire information on the work performed by the lifting gear and the type of object to be handled by the lifting gear. As a result, the monitoring unit can perform accurate monitoring according to the work content and the type of target object.

The three-dimensional distance detection unit may be provided at a position where it is possible to detect the boundary position between the carriage and the object during cargo handling work in the height direction. Thereby, the monitoring unit can grasp the gap and positional deviation between the carriage and the object.

The three-dimensional distance detection section may be provided at a position where the edge of the object during cargo handling work can be detected in the traveling direction of the crane body. Thereby, the monitoring unit can grasp the positional deviation in the traveling direction between the carriage and the object.

A crane measurement system according to the present disclosure includes a sling for lifting an object placed on a carriage and loading the object on the trolley, and a crane body that travels while supporting the sling, A measuring system for a crane that is installed in a crane that transports an object, the three-dimensional distance detection unit that is installed in the crane body and detects the distance to the object to be measured that exists within the three-dimensional space that is the detection range; and a monitoring unit for monitoring the state of loading and unloading of the object with respect to the carriage based on the detection result of the three-dimensional distance detection unit, the three-dimensional distance detection unit detecting the positional relationship between the carriage and the object from the lateral side. To detect.

The crane measurement system according to the present disclosure can obtain the same functions and effects as the crane described above.

According to the present disclosure, it is possible to provide a crane and a crane measurement system that can automatically check whether cargo handling work is being performed normally.

1 is a block diagram of a crane and measurement system according to embodiments of the present disclosure; FIG. It is a perspective view which shows a crane apparatus. It is a schematic front view which shows a mode that the crane apparatus is suspending the container. It is the schematic side view which looked at the lower part of the crane apparatus from the transverse direction. FIG. 4 is a schematic diagram showing how the hoisting device hoists the container placed on the chassis of the trailer. FIG. 4 is a schematic diagram showing how the hoisting device hoists the container placed on the chassis of the trailer. FIG. 4 is a schematic diagram showing how a hoist works when loading a container onto a trailer chassis; FIG. 4 is a schematic diagram showing how a hoist works when loading a container onto a trailer chassis; 4 is a flow chart showing the processing contents of the monitoring unit when the hoisting device loads the container onto the chassis of the trailer. 4 is a flow chart showing the processing contents of the monitoring unit when the hoisting device loads the container onto the chassis of the trailer.

An exemplary embodiment will be described below with reference to the drawings. In each figure, the same or corresponding parts are denoted by the same reference numerals, and redundant explanations are omitted.

A crane 100 according to an embodiment of the present disclosure will be described with reference to FIGS. 1 to 4. FIG. FIG. 1 is a block diagram of a crane 100 and measurement system 110 according to an embodiment of the present disclosure. FIG. 2 is a perspective view showing the crane device 20. FIG. FIG. 3 is a schematic front view showing how the crane device 20 is suspending the container. FIG. 4 is a schematic side view of the lower portion of the crane device 20 as seen from the transverse direction. As shown in FIG. 1, the crane 100 includes a crane device 20, a control device 50, and a three-dimensional distance detection section 40. Among them, the measurement system 110 is configured by the control device 50 and the three-dimensional distance detection section 40 .

As shown in FIG. 2, the crane device 20 is a gate-type crane device. The crane device 20 is, for example, a crane device that performs loading and unloading of containers C in a container yard of a container terminal where containers C (objects) are transferred to a docked container ship. In the container yard CY, a cargo handling lane, which is a travel path for a trailer 10 (transport vehicle) to which the container C is transferred, is laid. The crane device 20 automatically transfers the container C to the trailer 10 stopped on the cargo handling lane, for example. The crane device 20 acquires the container C carried in by the trailer 10 from the trailer 10 and places the container C at a predetermined position in the container yard CY. Further, the crane device 20 acquires the container C placed in the container yard CY, places the container C on the trailer 10, and causes the trailer 10 to carry the container C outside.

The crane device 20 has a crane body 21 and a sling 22 . The crane main body 21 can travel by a traveling section 25 having wheels with tires. The running part 25 is a mechanism provided at the lower ends of the two pairs of

legs

26, 26, and is a mechanism that runs by being driven by a running motor. The crane main body 21 is formed in a substantially gate shape by providing

girders

27, 27 connecting the upper ends of the

legs

26, 26 to each other. Further, the crane main body 21 is provided with a trolley 28 capable of traversing on the girder 27 in a direction perpendicular to the traveling direction. The trolley 28 is traversed by driving the traversing motor. The trolley 28 is provided with a winding drive section 29 composed of a drum drive motor and a drum that rotates forward and backward by the drum drive motor. The trolley 28 suspends the hanger 22 via a suspending member 30 made of a wire. The hanger 22 has a shape extending in the running direction. Suspension members 30 extend from the trolley 28 at two locations in the traveling direction, and the suspension device 22 is suspended from the suspension members 30 at two locations in the traveling direction.

It should be noted that, like the traveling part 25 and the trolley 28, a mechanism for horizontally moving the sling 22 may be referred to as a movement driving part 35. The movement drive section 35 includes the traveling motor and the traversing motor described above. As shown in FIG. 1 , the traveling motor and the traversing motor of the movement driving section 35 are controlled by a control device 50 . Further, the drum drive motor of the winding drive section 29 is controlled by the controller 50 .

The lifting tool 22 is a device for holding and lifting the container C. The hoisting device 22 can lock the container C from the upper surface side, and the cargo handling of the container C is performed by locking and hoisting the container C. As shown in FIG. The sling 22 is suspended via a sheave 33 around which a sling member 30 from the winding driving section 29 is wound, and can be moved up and down by forward and reverse rotation of the winding driving section 29 . The sling 22 is controlled by the controller 23 .

The hanger 22 has substantially the same shape as the top surface of the container C in plan view. The crane main body 21 has a sheave 33 around which the hanging member 30 is hung on the upper side of the central portion in the longitudinal direction. The hanger 22 is positioned above the container C when the hanger 22 locks the container C. As shown in FIG. The hanger 22 includes guides 32 and lock pins (not shown). The guide 32 guides the hoisting tool 22 onto the target container C when the hoisting tool 22 descends when the hoisting tool 22 acquires the target container C to be acquired by the hoisting tool 22 . The guides 32 are provided near both ends in the longitudinal direction at each of one end and the other end in the lateral direction of the hanger 22 in the horizontal direction.

The three-dimensional distance detection unit 40 is a measuring device that detects the distance to a measurement object that exists within the three-dimensional space that is the detection range. As shown in FIGS. 3 and 4 , the three-dimensional distance detection section 40 is provided on the crane body section 21 . The three-dimensional distance detection unit 40 detects the distance between the trailer 10 and the container C from the lateral side. The three-dimensional distance detection unit 40 is provided on the leg 26 closer to the trailer 10 out of the pair of legs 26 . The three-dimensional distance detection unit 40 is provided near the lower end of the leg 26 on the inner side of the leg 26 in the transverse direction. Accordingly, the three-dimensional distance detection unit 40 measures the container C on the trailer 10 from the outside to the inside in the transverse direction. The three-dimensional distance detection section 40 measures the distance from the three-dimensional distance detection section 40 to an object existing within the detection range. The three-dimensional distance detection unit 40 is configured by, for example, a 3D lidar. The three-dimensional distance detection unit 40 transmits the detection result to the control device 50 (see FIG. 1).

The three-dimensional distance detection unit 40 is provided at a position where the boundary position LP between the trailer 10 and the container C during cargo handling work can be detected in the height direction (see also FIGS. 6 to 8). The container C is loaded onto the chassis 11 of the trailer 10 . Therefore, the three-dimensional distance detection unit 40 is provided at a position where the boundary position LP between the chassis 11 and the container C can be detected in the height direction. Here, the state in which the three-dimensional distance detection unit 40 is provided at a position where the boundary position LP can be detected means that the detection range DE (see FIGS. 5 and 7) of the three-dimensional distance detection unit 40 is set to a position including the boundary position LP. It means a state that can be set to

As shown in FIG. 4, the three-dimensional distance detection unit 40 is provided at a position where the ends Ca and Cb of the container C can be detected in the traveling direction D2 of the crane main body 21 during cargo handling work. Here, the crane 100 according to this embodiment can load and unload a 40-foot container C1 and a 20-foot container C2. In this case, the three-dimensional distance detection unit 40 includes a three-dimensional distance detection unit 40A that can detect one end C1a of the 40-foot container C1 in the traveling direction D2, and a three-dimensional distance detection unit 40A that can detect the other end C1b. and a detection unit 40B. The three-dimensional distance detection unit 40 includes a three-dimensional distance detection unit 40C capable of detecting one end C2a of the 20-foot container C2 in the traveling direction D2, and a three-dimensional distance detection unit 40C capable of detecting the other end C2b. and a part 40D.

Here, the state in which the three-dimensional

distance detection units

40A and 40B are provided at positions where the ends C1a and C1b can be detected means that the detection range DE (see FIG. 7) of the three-dimensional

distance detection units

40A and 40B is set to the end C1a. , C1b. The same applies to the three-dimensional

distance detection units

40C and 40D. In the example shown in FIG. 4, the three-dimensional

distance detection units

40A, 40B, 40C, and 40D are attached to the wheel holders 41 of the running unit 25 on the leg 26. may be For example, the three-dimensional

distance detection units

40A, 40B, 40C, and 40D may be attached to jigs or the like provided on the leg portion 16 .

As shown in FIG. 1, the control device 50 comprises a processor, memory, storage, communication interface and user interface, and is configured as a general computer. A processor is a computing unit such as a CPU (Central Processing Unit). The memory is a storage medium such as ROM (Read Only Memory) or RAM (Random Access Memory). The storage is a storage medium such as an HDD (Hard Disk Drive). A communication interface is a communication device that implements data communication. The user interface includes output devices such as liquid crystals and speakers, and input devices such as control levers, buttons, keyboards, touch panels, and microphones. The processor integrates memory, storage, communication interface and user interface, and implements the functions described below. The control device 50 implements various functions by, for example, loading programs stored in the ROM into the RAM and executing the programs loaded into the RAM by the CPU. The control device 50 may be composed of a plurality of computers.

The control device 50 is a device that comprehensively controls the entire crane 100 . The control device 50 includes a computing section 51 , a crane control section 52 , a monitoring section 53 and a storage section 54 .

The computation unit 51 performs various computations necessary for controlling the crane 100 . The computation unit 51 computes the movement of the container C to be gripped by the sling 22, the transport position of the container C, and the like. Crane control unit 52 controls the operation of crane 100 . The crane control unit 52 controls the horizontal movement of the sling 22 by transmitting control signals to the traveling motor and the traversing motor of the movement driving unit 35 . The crane control unit 52 also controls the hoisting and lowering operations of the hoisting tool 22 via the hoisting member 30 by transmitting a control signal to the drum drive motor of the hoisting drive unit 29 . The storage unit 54 stores various information.

The monitoring unit 53 monitors the cargo handling state of the container C with respect to the chassis 11 of the trailer 10 based on the detection result of the three-dimensional distance detection unit 40 . The monitoring unit 53 acquires information on the work content of the lifting device 22 and information on the type of container C to be handled by the lifting device 22 before monitoring the cargo handling state. The monitoring unit 53 determines whether the hoisting tool 22 is to lift the container C placed on the chassis 11 of the trailer 10 or whether the hoisting tool 22 is to be lifted from the trailer 10 based on the contents of the control of the crane 100 by the control device 50 . 10 acquires information as to whether the operation of loading the container C on the chassis 11 of 10 is to be performed. The monitoring unit 53 acquires information as to whether the container C involved in cargo handling work is a 40-foot container C1 or a 20-foot container C2, based on the content of control of the crane 100 by the control device 50 .

Next, the processing contents of the monitoring unit 53 will be described in detail with reference to FIGS. 5 to 8. FIG. 5 and 6 are schematic diagrams showing how the hoist 22 lifts the container C placed on the chassis 11 of the trailer 10. As shown in FIG. 7 and 8 are schematic diagrams showing how the sling 22 works to load the container C onto the chassis 11 of the trailer 10. FIG. 5 to 8, a 40-foot container C1 is exemplified as a container C for cargo handling work.

As shown in FIGS. 5 and 6, when the sling 22 lifts the container C1 placed on the chassis 11 of the trailer 10, the monitoring unit 53 detects the lower part of the container C1 detected by the three-dimensional distance detection unit 40. and the chassis 11 of the trailer 10, the lifting operation is monitored. After the sling 22 locks the container C1, the monitoring unit 53 measures the gap GP between the lower part of the container C1 and the chassis 11 when reaching a specified distance from the winding height at which the landing detection limit switch is turned off. do. Specifically, the monitoring unit 53 acquires the detection result of the three-dimensional distance detection unit 40 near the boundary position LP. Thereby, the monitoring unit 53 acquires the distance between each site within the detection range DE and the three-dimensional distance detection unit 40 .

Here, as shown in FIG. 6, the distance between the outer edge C1c in the transverse direction D1 of the container C1 involved in the cargo handling work and the three-dimensional distance detection unit 40 is L1. A container C adjacent to the container C1 on the inside in the transverse direction D1 is called a container CA. Let L2 be the distance between the outer edge CAc of the container CA in the transverse direction D1 and the three-dimensional distance detector 40 . As shown in FIG. 6, when a gap GP is formed between the container C1 and the chassis 11, the three-dimensional distance detection unit 40 detects the edge CAc of the container CA and the three-dimensional distance detection unit through the gap GP. The distance L2 between itself and 40 is detected. Therefore, the monitoring unit 53 can determine that the gap GP is formed when the distance L2 is included in the detection result of the three-dimensional distance detection unit 40 . In addition, the monitoring unit 53 can acquire the size H1 of the gap GP based on the range in which the distance L2 is detected in the vertical direction. On the other hand, when the gap GP is not formed between the container C1 and the chassis 11, the three-dimensional distance detection unit 40 does not detect the distance L2 of the edge CAc of the container CA, and the edge of the container C1 involved in cargo handling is detected. Only the distance L1 to the portion C1a is detected. In this case, the monitoring unit 53 determines that the size of the gap GP at the boundary position LP is "0".

The monitoring unit 53 determines that the lifting work has been performed normally when the acquired size H1 of the gap GP is equal to or greater than a specified value. In this case, the monitoring unit 53 notifies the driver to continue driving, or causes the control device 50 to continue automatic driving in the case of automatic driving. On the other hand, when the obtained size H1 of the gap GP is smaller than the specified value, the monitoring unit 53 determines that there is an abnormality (the ground is not cut normally). At this time, the monitoring unit 53 stops the operation of the crane 100 with an interlock and displays an abnormality. Thereby, the worker confirms the lock pin of the chassis 11 .

As shown in FIGS. 7 and 8, when the sling 22 loads the container C on the chassis 11 of the trailer 10, the monitoring unit 53 detects the distance between the chassis 11 of the trailer 10 and the container detected by the three-dimensional distance detection unit 40. The loading operation is monitored based on the positional relationship with C1. The monitoring unit 53 measures the positional relationship between the container C1 and the chassis 11 when the sling 22 lands on the container C1. Specifically, based on the detection result of the three-dimensional distance detection unit 40, the monitoring unit 53 detects the positional deviation between the end C1a of the container C1 in the running direction D2 and the end 11a of the chassis 11, and the running direction of the container C1. The positional deviation between the end C1b of D2 and the end 11b of the chassis 11 is measured (see FIG. 7). The monitoring unit 53 also measures the positional deviation between the end C1c of the container C1 in the transverse direction D1 and the end 11c of the chassis 11 based on the detection result of the three-dimensional distance detection unit 40 (see FIG. 8). Specifically, the monitoring unit 53 acquires the detection result of the three-dimensional distance detection unit 40 near the ends C1a and Cb. Thereby, the monitoring unit 53 acquires the distance between each site within the detection range DE and the three-dimensional distance detection unit 40 .

The end C1a of the container C1 and the end 11a of the chassis 11 are locations where the distance according to the detection result of the three-dimensional distance detection unit 40 changes abruptly. Therefore, the monitoring unit 53 can grasp the position of the end portion C1a of the container C1 in the traveling direction D2. The monitoring unit 53 can acquire the difference between the position of the end C1a of the container C1 in the running direction D2 and the position of the end 11a of the chassis 11 in the running direction D2 as the positional deviation. The positional deviation between the end C1b of the container C1 and the end 11b of the chassis 11 is the same. The monitoring unit 53 determines the end C1c of the container C1 from the difference between the detection result of the three-dimensional distance detection unit 40 at the end C1c of the container C1 and the detection result of the three-dimensional distance detection unit 40 at the end 11c of the chassis 11. and the position of the end portion 11c of the chassis 11 in the transverse direction D1 can be obtained as the positional deviation.

The monitoring unit 53 determines that the loading operation has been performed normally when the magnitude of the acquired positional deviation is equal to or less than a specified value. In this case, the monitoring unit 53 notifies the driver to continue driving, or causes the control device 50 to continue automatic driving in the case of automatic driving. On the other hand, the monitoring unit 53 determines that there is an abnormality (improper landing) when the positional deviation is smaller than the specified value. At this time, the monitoring unit 53 instructs the driver to reload, or instructs the controller 50 to reload in the case of automatic driving.

Next, a flowchart of the processing contents of the monitoring unit 53 will be described with reference to FIGS. 9 and 10. FIG. FIG. 9 is a flow chart showing the processing contents of the monitoring unit 53 when the sling 22 loads the container C onto the chassis 11 of the trailer 10 . FIG. 10 is a flow chart showing the processing contents of the monitoring unit 53 when the sling 22 loads the container C onto the chassis 11 of the trailer 10 .

When the container C is hoisted by the hoisting device 22, the monitoring unit 53 acquires information on the content of the work by the hoisting device 22 and the type of the container C to be handled by the hoisting device 22, as shown in FIG. (Step S10). Next, the monitoring unit 53 measures the size of the gap GP at the boundary position LP between the container C and the chassis 11 (step S20). Next, the monitoring unit 53 determines whether or not the size of the gap GP is equal to or larger than a specified value (step S30). When the size of the gap GP is equal to or greater than the specified value, the monitoring unit 53 determines that normal lifting work is being performed (step S40). On the other hand, if the size of gap GP is smaller than the specified value in step S30, monitoring unit 53 determines that there is an abnormality (step S50). As described above, the control processing shown in FIG. 9 ends.

When the container C is loaded by the lifting device 22, as shown in FIG. 10, the monitoring unit 53 acquires information about the work performed by the lifting device 22 and the type of container C to be handled by the lifting device 22. (Step S110). Next, the monitoring unit 53 measures the positional relationship between the container C and the chassis 11 (step S120). Next, the monitoring unit 53 determines whether or not the displacement between the container C and the chassis 11 is equal to or less than a specified value (step S130). If the magnitude of the positional deviation is equal to or less than the specified value, the monitoring unit 53 determines that normal loading work is being performed (step S140). On the other hand, when the magnitude of the positional deviation is larger than the specified value in step S130, the monitoring unit 53 determines that there is an abnormality (step S150). As described above, the control process shown in FIG. 10 is completed.

Next, the operation and effects of the crane 100 according to this embodiment and the measurement system 110 of the crane 100 will be described.

The crane 100 includes a three-dimensional distance detection unit 40 that is provided in the crane main body 21 and detects a distance to an object existing in a three-dimensional space that is a detection range, and based on the detection result of the three-dimensional distance detection unit 40. and a monitoring unit 53 for monitoring the state of loading and unloading of the container C with respect to the chassis 11 of the trailer 10 . Therefore, based on the detection result of the three-dimensional distance detection unit 40, the monitoring unit 53 performs cargo handling operations such as lifting the container C placed on the trailer 10 and loading the container C onto the chassis 11 of the trailer 10. can be checked to see if it is working properly. Here, the three-dimensional distance detection unit 40 detects the distance between the chassis 11 of the trailer 10 and the container C from the lateral side. By using the distance from the side of the chassis 11 of the trailer 10 and the container C, the monitoring unit 53 detects the gap GP formed between the chassis 11 of the trailer 10 and the container C during cargo handling work and the chassis of the trailer 10. 11 and the container C can be grasped. Therefore, based on the information obtained from the detection results of the three-dimensional distance detection unit 40, the monitoring unit 53 can automatically confirm whether the cargo handling work is being performed normally.

When the lifting device 22 lifts the container C placed on the chassis 11 of the trailer 10, the monitoring unit 53 detects the distance between the lower part of the container C detected by the three-dimensional distance detection unit 40 and the chassis 11 of the trailer 10. Based on the clearance, the lifting operation may be monitored. When the lifting operation of the container C is performed normally, a gap GP is formed between the container C, the lower portion, and the chassis 11 of the trailer 10 . Therefore, the monitoring unit 53 can confirm whether the lifting work is normally performed based on the gap GP.

The monitoring unit 53 may determine that the lifting work has been performed normally when the size of the gap GP is equal to or greater than the specified value. When a normal lifting operation of the container C is performed, a gap GP having a size corresponding to the lifting amount of the lifting tool 22 is formed. Therefore, the monitoring unit 53 can confirm whether the lifting work is being performed normally based on the size of the gap GP.

When the sling 22 loads the container C onto the chassis 11 of the trailer 10, the monitoring unit 53 detects the positional relationship between the chassis 11 of the trailer 10 and the container C detected by the three-dimensional distance detection unit 40. You can monitor your work. When the loading operation of the container C is performed normally, the container C is loaded on the chassis 11 of the trailer 10 without positional deviation. Therefore, the monitoring unit 53 can confirm whether the loading operation is normally performed based on the positional relationship between the chassis 11 of the trailer 10 and the container C.

The monitoring unit 53 may determine that the loading operation has been performed normally when the positional deviation between the chassis 11 of the trailer 10 and the container C is equal to or less than a specified value. When the loading operation of the container C is performed normally, the positional deviation between the chassis 11 of the trailer 10 and the container C is kept within the prescribed value. Therefore, the monitoring unit 53 can confirm whether the loading operation is normally performed based on the magnitude of the positional deviation.

The monitoring unit 53 may acquire information about the work performed by the hoisting device 22 and the type of container C to be handled by the hoisting device 22 before monitoring the state of cargo handling. As a result, the monitoring unit 53 can perform accurate monitoring according to the work content and the type of the container C. FIG.

The three-dimensional distance detection unit 40 may be provided at a position where the boundary position LP between the chassis 11 of the trailer 10 and the container C during cargo handling work can be detected in the height direction. Thereby, the monitoring unit 53 can grasp the gap GP between the chassis 11 of the trailer 10 and the container C and the positional deviation.

The three-dimensional distance detection unit 40 may be provided at a position in which the end of the container C can be detected in the traveling direction D2 of the crane main body 21 during cargo handling work. As a result, the monitoring unit 53 can grasp the positional deviation between the chassis 11 of the trailer 10 and the container C in the traveling direction.

The measurement system 110 of the crane 100 according to the present embodiment includes a lifting tool 22 for lifting the container C placed on the chassis 11 of the trailer 10 and loading the container C onto the chassis 11 of the trailer 10, and the lifting tool 22. A measuring system 110 for a crane 100 provided in a crane 100 for transporting a container C having a crane main body 21 that supports and travels, the measuring system 110 being provided in the crane main body 21 and detecting the distance of the container C in three dimensions. a distance detection unit 40; and a monitoring unit 53 that monitors the loading/unloading state of the container C with respect to the chassis 11 of the trailer 10 based on the detection result of the three-dimensional distance detection unit 40. , the positional relationship between the chassis 11 and the container C is detected from the lateral side.

The measurement system 110 of the crane 100 according to this embodiment can obtain the same functions and effects as the crane 100 described above.

The present disclosure is not limited to the above-described embodiments.

For example, in the above embodiment, a tire-type crane having tires was exemplified as a crane, but the type of crane is not particularly limited. For example, the measurement system may be adopted for cranes such as container cranes that load and unload containers from ships on quays, and RMGCs (Rail Mounted Gantry Cranes) that have wheels instead of tires.

[Mode 1]
A crane for transporting objects,
a lifting tool for lifting the object placed on the carriage and loading the object on the carriage;
a crane main body that travels while supporting the sling;
a three-dimensional distance detection unit provided in the crane main body for detecting a distance to an object existing in a three-dimensional space, which is a detection range;
a monitoring unit that monitors the state of loading and unloading of the object with respect to the carriage based on the detection result of the three-dimensional distance detection unit;
The crane, wherein the three-dimensional distance detection unit detects a distance from the carriage and the object from a lateral side.
[Mode 2]
When the lifting device lifts the object placed on the carriage, the monitoring unit detects a gap between the lower part of the object detected by the three-dimensional distance detection unit and the carriage. 2. The crane of aspect 1, wherein the crane monitors lifting operations based on.
[Mode 3]
The crane according to mode 2, wherein the monitoring unit determines that the lifting operation has been performed normally when the size of the gap is equal to or larger than a specified value.
[Mode 4]
When the hanging device loads the object on the carrier, the monitoring unit performs the loading operation based on the positional relationship between the carrier and the object detected by the three-dimensional distance detection unit. A crane according to any one of aspects 1 to 3, which is monitored.
[Mode 5]
The crane according to mode 4, wherein the monitoring unit determines that the loading operation has been performed normally when the positional deviation between the carriage and the object is equal to or less than a specified value.
[Mode 6]
6. Any one of Embodiments 1 to 5, wherein the monitoring unit acquires information on the work content of the lifting device and the type of the object to be handled by the lifting device before monitoring the cargo handling state. Cranes described in .
[Mode 7]
7. The crane according to any one of aspects 1 to 6, wherein the three-dimensional distance detection unit is provided at a position in the height direction at which a boundary position between the carriage and the object can be detected during cargo handling work. .
[Mode 8]
8. The crane according to any one of modes 1 to 7, wherein the three-dimensional distance detection section is provided at a position in which the end of the object can be detected during cargo handling work in the traveling direction of the crane body.
[Mode 9]
A crane for transporting an object, comprising a sling for lifting an object placed on a carriage and loading the object on the trolley, and a crane body that travels while supporting the sling. A measuring system for a crane provided in
a three-dimensional distance detection unit provided in the crane main body for detecting a distance to an object existing in a three-dimensional space, which is a detection range;
a monitoring unit that monitors the state of loading and unloading of the object with respect to the carriage based on the detection result of the three-dimensional distance detection unit;
The measuring system for a crane, wherein the three-dimensional distance detection unit detects a positional relationship between the carriage and the object from a lateral side.

DESCRIPTION OF SYMBOLS 10... Trailer (conveyance truck), 11... Chassis (conveyance truck), 21... Crane body part, 22... Lifting tool, 40... Three-dimensional distance detection part, 53... Monitoring part, 100... Crane, 110... Measurement system, C ... container, GP ... clearance, LP ... boundary position.

Claims

A crane for transporting objects,
a lifting tool for lifting the object placed on the carriage and loading the object on the carriage;
a crane main body that travels while supporting the sling;
a three-dimensional distance detection unit provided in the crane main body for detecting a distance to an object existing in a three-dimensional space, which is a detection range;
a monitoring unit that monitors the state of loading and unloading of the object with respect to the carriage based on the detection result of the three-dimensional distance detection unit;
The crane, wherein the three-dimensional distance detection unit detects a distance from the carriage and the object from a lateral side.
When the lifting device lifts the object placed on the carriage, the monitoring unit detects a gap between the lower part of the object detected by the three-dimensional distance detection unit and the carriage. 2. The crane of claim 1, wherein the crane monitors the lifting operation based on.
The crane according to claim 2, wherein the monitoring unit determines that the hoisting work has been performed normally when the size of the gap is equal to or larger than a specified value.
When the hanging device loads the object on the carrier, the monitoring unit performs the loading operation based on the positional relationship between the carrier and the object detected by the three-dimensional distance detection unit. 2. The crane of claim 1, which monitors.
The crane according to claim 4, wherein the monitoring unit determines that the loading operation has been performed normally when the positional deviation between the carriage and the object is equal to or less than a specified value.
The crane according to claim 1, wherein the monitoring unit acquires information on the work content of the hoisting device and the type of the object to be handled by the hoisting device before monitoring the cargo handling state.
The crane according to claim 1, wherein the three-dimensional distance detection unit is provided at a position in the height direction at which a boundary position between the carriage and the object can be detected during cargo handling work.
The crane according to claim 1, wherein the three-dimensional distance detection section is provided at a position where the edge of the object can be detected during cargo handling work in the traveling direction of the crane body.
A crane for transporting an object, comprising a sling for lifting an object placed on a carriage and loading the object on the trolley, and a crane body that travels while supporting the sling. A measuring system for a crane provided in
a three-dimensional distance detection unit provided in the crane main body for detecting a distance to an object existing in a three-dimensional space, which is a detection range;
a monitoring unit that monitors the state of loading and unloading of the object with respect to the carriage based on the detection result of the three-dimensional distance detection unit;
The measuring system for a crane, wherein the three-dimensional distance detection unit detects a positional relationship between the carriage and the object from a lateral side.