WO2019012802A1 - Dispositif de grue - Google Patents

Dispositif de grue Download PDF

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Publication number
WO2019012802A1
WO2019012802A1 PCT/JP2018/018940 JP2018018940W WO2019012802A1 WO 2019012802 A1 WO2019012802 A1 WO 2019012802A1 JP 2018018940 W JP2018018940 W JP 2018018940W WO 2019012802 A1 WO2019012802 A1 WO 2019012802A1
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WO
WIPO (PCT)
Prior art keywords
unit
spreader
obstacle
imaging
imaging means
Prior art date
Application number
PCT/JP2018/018940
Other languages
English (en)
Japanese (ja)
Inventor
伸郎 吉岡
Original Assignee
住友重機械搬送システム株式会社
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 住友重機械搬送システム株式会社 filed Critical 住友重機械搬送システム株式会社
Priority to JP2019528955A priority Critical patent/JP6644955B2/ja
Priority to MYPI2019007241A priority patent/MY202483A/en
Priority to CN202011502911.6A priority patent/CN112678688B/zh
Priority to CN201880035035.5A priority patent/CN110869305B/zh
Publication of WO2019012802A1 publication Critical patent/WO2019012802A1/fr

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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
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • 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

Definitions

  • One aspect of the present invention relates to a crane apparatus.
  • the crane apparatus provided with the cargo handling part which can be wound up or down with a wire rope, and performs a cargo handling of a to-be-conveyed object is known.
  • a crane apparatus for container handling that uses a container as a transported object
  • a crane apparatus including a spreader as described in Patent Document 1 as a handling unit in the spreader described in Patent Document 1, a camera for photographing a container located below the spreader is attached at positions corresponding to four corners of the spreader main body having a substantially rectangular shape in plan view.
  • the camera is supported by a spring, and in the absence of an obstacle around the camera, the camera is projected outside the projected area of the container that the spreader locks.
  • the spring is retracted by receiving an external force from the obstacle, and the camera is retracted inside the projected area of the container to which the spreader is locked.
  • an aspect of the present invention aims to provide a crane apparatus capable of evacuating an imaging means from an obstacle without making the imaging means come into contact with the obstacle.
  • the crane device of one mode of the present invention can be rolled up or down with a wire rope, and it is attached to the cargo handling unit which carries out cargo handling of a transported object, and is attached to the cargo handling unit.
  • Image pickup means capable of picking up an image, an obstacle detection unit for detecting an obstacle around the image pickup means, and a control unit for controlling the posture of the image pickup means, the image pickup means protruding horizontally from the cargo handling unit It is possible to change between the first posture positioned in the direction and the second posture that is a position not protruding in the horizontal direction from the cargo handling unit compared to the first posture, and the control unit is an obstacle detection unit When the distance from the obstacle detected by the sensor to the imaging means falls within a predetermined range, the imaging means is changed from the first attitude to the second attitude.
  • the control unit causes the imaging unit to change from the first posture to the second posture. To be changed.
  • the imaging means protrudes horizontally from the cargo handling unit as compared to the first posture that is horizontally projected from the cargo handling unit. Not to be located. Therefore, the imaging means can be retracted from the obstacle without contacting the obstacle. As described above, since the imaging means does not contact the obstacle, it is possible to prevent the obstacle from being damaged and the imaging means from being broken.
  • the imaging means does not vibrate without coming into contact with an obstacle, the image by the imaging means is less likely to be disturbed, so that the surroundings of the transported object located below the cargo handling unit can be suitably viewed by the image. it can. Furthermore, since the entire cargo handling unit does not shake without coming into contact with an obstacle, it is possible to perform cargo handling by the cargo handling unit without waiting for the shaking of the entire cargo handling unit to be settled.
  • the control unit is configured to calculate a collision virtual time until the imaging unit collides with the obstacle based on the moving speed of the cargo handling unit and the obstacle detected by the obstacle detection unit.
  • the imaging means may be changed from the first attitude to the second attitude when the calculated value calculated is less than or equal to a predetermined time.
  • a collision virtual time until the imaging means collides with the obstacle is calculated by the control unit, and if the calculated value becomes equal to or less than a predetermined time, there is a risk of contact.
  • the imaging means is changed from the first attitude to the second attitude.
  • the imaging means before the imaging means collides with the obstacle, the imaging means can be positioned so as not to protrude in the horizontal direction from the cargo handling unit as compared with the first posture. Therefore, the imaging means can be retracted from the obstacle without contacting the obstacle with certainty.
  • the control unit is configured such that the distance in the horizontal direction from the imaging unit to the side surface of the obstacle is equal to or less than a predetermined first threshold and When the distance in the vertical direction to the upper end of the side surface is equal to or less than a predetermined second threshold, the imaging means may be changed from the first attitude to the second attitude.
  • the distance in the horizontal direction from the imaging means to the side surface of the obstacle is less than or equal to a predetermined first threshold, and the distance in the vertical direction from the imaging means to the upper end of the side surface of the obstacle is predetermined.
  • the control unit changes the imaging unit from the first posture to the second posture because there is a possibility of contact.
  • the imaging means before the imaging means collides with the obstacle, the imaging means can be positioned so as not to protrude in the horizontal direction from the cargo handling unit as compared with the first posture. Therefore, the imaging means can be retracted from the obstacle without contacting the obstacle with certainty.
  • a traveling leg capable of traveling in a predetermined direction on a quay, a girder projecting from the traveling leg in a direction intersecting the predetermined direction, and a trolley capable of traversing along the girder
  • the cargo handling unit may be a spreader that can be suspended from the trolley via a wire rope and can lock the transported object placed in the vessel that is placed on the quay.
  • the crane apparatus of this configuration can be applied, for example, when lifting up a container, which is a transported object placed in a ship that is placed on a quay, or when loading a container on the ship.
  • the gap between the container fixing guide in the ship or the obstacle such as the side wall of the ship or the other container which is the obstacle is narrow.
  • it is effective to apply the crane apparatus of the above-mentioned composition.
  • FIG. 1 is a view for explaining the overall configuration of a crane installation provided with a crane apparatus according to the first embodiment.
  • FIG. 2 is a perspective view showing a spreader.
  • FIG. 3 is a conceptual diagram for explaining a slide mechanism for changing the position of the imaging means.
  • FIG. 4 is a block diagram functionally showing the configuration of the crane apparatus according to the first embodiment.
  • FIG. 5 is a flowchart showing the operation of the control unit in the crane apparatus according to the first embodiment.
  • FIG. 6 is a flowchart following to FIG.
  • FIG. 7 is a conceptual diagram for explaining a change in position of the imaging unit under the control of the control unit according to the second embodiment.
  • FIG. 1 is a view for explaining the overall configuration of a crane installation provided with a crane apparatus according to the first embodiment.
  • the crane installation 100 is provided with the crane apparatus 1 which conveys the container C (to-be-conveyed object) mounted in the container ship 50 (ship) which was transversely attached to the quay 51 so that FIG. 1 may show.
  • the container C is a container such as an ISO standard container.
  • the container C is in the form of a long rectangular solid and has a predetermined length of, for example, 20 feet or 40 feet in the longitudinal direction.
  • the crane device 1 is here a bridge crane.
  • the crane apparatus 1 includes a leg structure 11, a girder 12, a trolley 7, a cab 14, and a spreader 10 (load handling unit).
  • the leg structure portion 11 (traveling portion) is installed on the ground of the quay 51, has an H shape in the longitudinal direction view (traveling direction view), and supports the entire crane device 1 while extending upward.
  • the leg structure portion 11 forms a left and right pair, and has a traveling device 11a at the base end.
  • the traveling device 11 a travels in a predetermined direction (front-rear direction: hereinafter referred to as “traveling direction”) along a rail provided on the ground by driving of a traveling motor.
  • traveling direction front-rear direction
  • the girder 12 projects from the leg structure 11 in a direction (horizontal direction in the drawing of FIG. 1) intersecting the traveling direction in the horizontal direction.
  • the girder 12 extends to the container ship 50 side above the wharf 51 above the container ship 50 while being supported by the leg structure portion 11. That is, the girder 12 projects from the quay 51 to the sea.
  • the trolley 7 can be traversed along the girder 12.
  • the trolley 7 traverses by the drive of the traverse motor.
  • the cab 14 and the spreader 10 can be moved in the extension direction of the girder 12.
  • the trolley 7 is provided with a drum (not shown) rotated forward and backward by a drum drive motor, and suspends the spreader 10 via a wire rope 9 wound around the drum.
  • the travel motor, the traverse motor, and the drum drive motor described above function as the drive unit 23 (see FIG. 4), and the operation thereof is controlled by the control unit 30 (see FIG. 4).
  • the spreader 10 is suspended from the trolley 7 via a wire rope 9 and can be rolled up or down by the wire rope 9.
  • the spreader 10 can lock the container C to be lifted, and performs loading and unloading of the container C.
  • the spreader 10 is suspended via a sheave 18 (see FIG. 2) on which a wire rope 9 is wound and can be raised and lowered by rotating the drum of the trolley 7 forward and reverse.
  • FIG. 2 is a perspective view of the spreader 10.
  • the spreader 10 includes a spreader main body portion 15, a guide (guide portion) 17, a lock pin 16, a position detection unit 21, and an imaging unit 22.
  • the spreader main body 15 has a shape substantially the same as the shape of the upper surface of the container C in a plan view.
  • the spreader body portion 15 has the above-described sheave 18 around which the wire rope 9 is wound around the central portion in the longitudinal direction.
  • the spreader main body 15 is positioned on the container C when the spreader 10 locks the container C.
  • the spreader main body 15 is provided with a storage 15 a provided at both ends in the longitudinal direction of the spreader main body 15 and an opening provided at both ends in the lateral direction corresponding to the storage 15 a at both ends in the longitudinal direction of the spreader main body 15 And a unit 15b.
  • the storage unit 15a has a box shape, and can store the position detection unit 21 and the imaging unit 22 inside.
  • the opening 15 b is a hole opened at a position where the storage portion 15 a is provided in the side surface 15 c, 15 d of the spreader main body 15, and the position detection unit 21 and the imaging unit 22 can pass therethrough.
  • the guide 17 places the spreader body portion 15 on the target container when the spreader 10 lowers the target container C (hereinafter referred to as “target container”) to be acquired by the spreader 10.
  • Guide to The guides 17 are provided in the vicinity of both ends in the longitudinal direction at each of one end and the other end in the lateral direction of the spreader main body 15 in the horizontal direction. That is, the guides 17 are provided at the four corners of the spreader body 15 on the outer side in the short direction of the spreader body 15.
  • the guide 17 is located outside the side surfaces 15 c and 15 d of the spreader main body 15.
  • the guide 17 is retractable inside the side surfaces 15c and 15d of the spreader body portion 15.
  • the guide 17 is retracted. Specifically, when the guide 17 is moved to the upper side of the spreader main body 15, the guide 17 is moved inward of the spreader main body 15 in a plan view.
  • the guide 17 has a tapered surface 17b at its tip 17a.
  • the guide 17 abuts the tapered surface 17b on the edge of the upper surface of the target container by entering the gap between the target container and another container C placed horizontally adjacent to the target container. And (in a guided manner) guide the spreader body 15 directly above the target container.
  • the lock pin 16 is a mechanism for locking the container C.
  • the lock pin 16 is provided on the lower surface side of the spreader main body portion 15 so as to protrude downward from the spreader main body portion 15.
  • the lock pin 16 is at a position corresponding to the hole (not shown) of the container C when the spreader 10 locks the container C, and in the horizontal direction of the spreader main body 15 with respect to the position of the guide 17. It is provided at the center side.
  • the lock pin 16 is, for example, a twist pin and includes at its lower end a locking piece (not shown) that can be pivoted about an axis extending in the vertical direction.
  • the lock pin 16 is engageable with the container C by entering through the holes formed at the four corners of the upper surface of the container C and rotating the locking piece.
  • the position detection unit 21 is an apparatus capable of acquiring two-dimensional coordinate data of a measurement object.
  • a laser sensor is used as the position detection unit 21. More specifically, the position detection unit 21 calculates the distance to the measurement object based on the time until the laser light is reflected by the measurement object and returns. Then, the position detection unit 21 obtains the coordinates of the light arrival point based on the distance to the measurement object and the irradiation angle of the laser light, and outputs the information to the control unit 30.
  • the position detection unit 21 is not limited to two-dimensional coordinate data of the measurement object, and may be an apparatus capable of acquiring three-dimensional coordinate data or one-dimensional coordinate data.
  • the position detection unit 21 is provided on the side surfaces 15 c and 15 d of the spreader main body unit 15. Specifically, the position detection unit 21 is provided in the vicinity of both ends in the longitudinal direction at each of one end and the other end in the lateral direction of the spreader body 15 in the horizontal direction. Each position detection unit 21 is attached to the imaging unit 22 and can pass through the opening 15 b of the spreader main unit 15 together with the imaging unit 22.
  • the position detection unit 21 is slid along with the imaging unit 22 by driving an electric cylinder 40 (see FIG. 3) described later.
  • the position detection unit 21 and the imaging unit 22 are drawn out of the storage unit 15a through the opening 15b by driving of the electric cylinder 40, and are stored in the storage unit 15a through the opening 15b.
  • the position detection unit 21 detects the container C located at the lower part of the spreader main body unit 15, and measures the position of the detected container C. Further, the position detection unit 21 detects an obstacle around the imaging unit 22 and measures the position of the detected obstacle.
  • the obstacles include, for example, the container fixing guide in the container ship 50, the side wall of the container ship 50, or the container C loaded on the container ship 50 or the like.
  • the position detection unit 21 functions as an obstacle detection unit 25 (see FIG. 4), and transmits the measurement result to the control unit 30.
  • the position detection part 21 may be provided in the trolley 7, for example.
  • the position detection unit 21 is not limited to the laser sensor as long as the coordinate data of the measurement object can be acquired, and another type (for example, an optical camera or the like) may be used. Furthermore, the position detection unit 21 may use a plurality of methods (for example, a combination of a laser sensor and an optical camera).
  • the imaging unit 22 is a camera capable of imaging the periphery of the spreader 10, and is, for example, a video camera capable of capturing a moving image. Similar to the position detection unit 21, the imaging unit 22 is provided on the side surface of the spreader main unit 15 and at a position corresponding to the opening 15 b of the spreader main unit 15.
  • the imaging means 22 is fixed to a rod 42 of an electric cylinder 40 (see FIG. 3) provided in the housing portion 15 a of the spreader main body portion 15.
  • the rod 42 of the electric cylinder 40 is illustrated for the imaging unit 22 on the front side of the drawing, but the imaging unit 22 on the rear side of the drawing is complicated by illustration. It is omitted.
  • FIG. 3 is a conceptual view for explaining the electric cylinder 40 for changing the position of the imaging means 22.
  • the electric cylinder 40 is a slide mechanism for sliding the imaging means 22.
  • the electric cylinder 40 is an electrically driven cylinder, and includes, for example, a cylindrical cylinder body 41 and a rod 42 that can be advanced and retracted with respect to the cylinder body 41. There is.
  • the electric cylinder 40 includes, for example, an electric motor (not shown).
  • the rod 42 advances and retreats in the horizontal direction by the drive of the electric motor.
  • the imaging means 22 and the position detection unit 21 attached to the rod 42 are advanced to the outside of the storage portion 15a through the opening 15b by the advancement and retraction of the rod 42, and of the storage portion 15a through the opening 15b. It is housed inside. Since the rod 42 advances and retreats in the horizontal direction, the imaging means 22 and the position detection unit 21 attached to the rod 42 also slide while maintaining the horizontal direction. Therefore, it can be suitably visually recognized in a state in which the line of sight of the imaging means 22 is always directed downward.
  • the movement and retraction of the rod 42 allow the imaging means 22 to move between the maximum extended position and the maximum retracted position.
  • the maximum projecting position is a position projecting from the spreader 10, and is a position at which the imaging means 22 is most separated from the spreader 10 when the rod 42 of the electric cylinder 40 is advanced to the maximum position.
  • the maximum retracted position is a position at which the imaging means 22 is maximally retracted from an obstacle around the spreader 10 as the rod 42 of the electric cylinder 40 is retracted to the maximum position.
  • the maximum retraction position is a position at which the imaging unit 22 is stored in the storage portion 15 a of the spreader main body 15 (hereinafter referred to as “storage position”).
  • the imaging unit 22 has a first orientation that is positioned in a direction in which the spreader 10 projects in the horizontal direction, and a second orientation that is a position that does not project in the horizontal direction from the spreader 10 as compared to the first orientation. It is supposed to be changeable.
  • the first posture is, for example, located outside the spreader 10 in plan view, in other words, located outside the projected area of the container C to which the spreader 10 is locked.
  • the second posture is a position at which the overhang in the horizontal direction from the spreader 10 is smaller than that in the first posture, and is a position not overhanging in the horizontal direction from the spreader 10 (container C to which the spreader 10 is engaged Located inside the projected area of the
  • the imaging unit 22 captures an image of the container C located below the spreader 10 and the periphery of the container C.
  • the image captured by the imaging means 22 is projected on the monitor 29 (see FIG. 4) in the driver's cab 14 and provided to the driver.
  • the imaging unit 22 transmits the captured image to the control unit 30.
  • the imaging unit 22 and the electric cylinder 40 function as an imaging unit 26 (see FIG. 4), and are controlled by the control unit 30.
  • FIG. 4 is a block diagram functionally showing the configuration of the crane apparatus 1.
  • the crane apparatus 1 includes a drive unit 23, a cargo handling operation unit 24, an obstacle detection unit 25, an imaging unit 26, a storage unit 27, a control unit 30, and a cab 14. And.
  • the drive unit 23 corresponds to the travel motor, the traverse motor, the drum drive motor, and the like described above.
  • the cargo handling operation unit 24 corresponds to the guide 17 and the lock pin 16 and the like included in the spreader 10 described above.
  • the obstacle detection unit 25 corresponds to the position detection unit 21 described above.
  • the imaging unit 26 corresponds to the imaging unit 22 and the electric cylinder 40 described above.
  • the control unit 30 controls the operation of the drive unit 23 and the cargo handling operation unit 24 based on, for example, the information transmitted from the operation unit 28 of the cab 14. Specifically, the control unit 30 controls the operation of the traveling motor, the traverse motor, the drum drive motor and the like described above based on the information transmitted from the operation unit 28 of the cab 14, and The operation of the guide 17 and the lock pin 16 is controlled.
  • the control unit 30 controls the imaging unit 26 when the distance from the obstacle detected by the obstacle detection unit 25 to the imaging unit 22 falls within a predetermined range. 22 is changed from the first posture to the second posture.
  • the control unit 30 includes a collision determination unit 31 and an imaging unit posture change control unit 32.
  • the collision determination unit 31 determines whether the distance from the obstacle detected by the obstacle detection unit 25 to the imaging unit 22 is within a predetermined range based on the detection result from the obstacle detection unit 25. Determine Within the predetermined range which is determined in advance, the imaging means 22 and the obstacle are close to each other, and the imaging means 22 may collide with the obstacle.
  • the collision includes not only the collision to mutually exert a strong force, but also, for example, the contact with each other.
  • the imaging unit posture change command unit 32 starts from the obstacle detected by the obstacle detection unit 25. Assuming that the distance to the imaging means 22 falls within a predetermined range, the operation of the electric cylinder 40 included in the imaging unit 26 is controlled, and the attitude of the imaging means 22 is controlled. Specifically, the imaging unit attitude change command unit 32 changes the imaging unit 22 from the first attitude to the second attitude by driving the electric cylinder 40.
  • the predetermined time is set, for example, with some allowance for the time required for the imaging means 22 to move from the first attitude to the second attitude (time required for the attitude change of the imaging means 22). Time (hereinafter referred to as "set travel time"). Details of the operation of the control unit 30 will be described later using a flowchart.
  • the operator's cab 14 has an operating device 28 for the driver to operate the crane apparatus 1 and a monitor 29 for the driver to view an image captured by the imaging means 22.
  • the driver operates the operating device 28 by viewing the image projected on the monitor 29.
  • Information input to the operating device 28 by the driver operating the operating device 28 is transmitted to the control unit 30.
  • the monitor 29 receives the video captured by the imaging unit 22 through the control unit 30, and displays the video.
  • the storage unit 27 is a part that stores various information, and is configured by a memory or the like.
  • the storage unit 27 acquires the position of the obstacle detected by the obstacle detection unit 25 via the control unit 30, and stores the acquired position of the obstacle. For example, the storage unit 27 stores the position of the obstacle detected by the obstacle detection unit 25 immediately before the imaging unit 22 is moved to the storage position by the imaging unit posture change command unit 32.
  • FIGS. 5 and 6 are flowcharts showing the loading operation of the container C by the crane device 1.
  • the imaging means 22 is at an intermediate position.
  • the intermediate position is a position between the above-described maximum projecting position and the storage position, and is a position on the side of the spreader 10 with respect to the above-described maximum projecting position although it is projected horizontally from the spreader 10.
  • the intermediate position is not limited to the position just between the maximum overhang position and the storage position, and may be on the side of the spreader 10 with respect to the maximum overhang position.
  • the imaging means 22 is shown on the storage position side rather than the middle position.
  • the second attitude of the imaging means 22 is at a position closer to the spreader 10 than the intermediate position.
  • the storage position corresponds.
  • the first attitude of the imaging means 22 is the maximum overhanging position
  • the second attitude of the imaging means 22 is a position closer to the spreader 10 than the maximum overhanging position, for example, an intermediate position and a storage position Is the equivalent.
  • the imaging unit 22 captures an image of the container C located below the spreader 10 and the periphery of the container C at the intermediate position.
  • the image captured by the imaging means 22 is projected on a monitor 29 in the cab 14 in real time.
  • the driver operates the crane device 1 while viewing the image projected on the monitor 29.
  • step S1 area monitoring by the position detection unit 21 functioning as the obstacle detection unit 25 is started (step S1). Specifically, the position detection unit 21 detects an obstacle around the imaging unit 22 and measures the position of the detected obstacle. Subsequently, the control unit 30 acquires a moving speed target value and an actual measurement value of the speed of the spreader 10 (step S2). At this time, the control unit 30 acquires the moving speed target value by receiving information indicating the moving speed target value set in advance from the moving speed command generation unit (not shown) of the driver's cab 14. Further, the control unit 30 acquires the measured value of the speed of the spreader 10 by receiving the information indicating the measured value of the speed of the spreader 10.
  • the measured value of the speed of the spreader 10 may be, for example, a value measured by a speed sensor (not shown) attached to the spreader 10, and is a value measured based on the rotational speed of the drum moving up and down the spreader 10. It may be.
  • the control unit 30 may acquire the measured value of the velocity of the spreader 10 every time it is measured, or may acquire it at predetermined intervals.
  • a collision virtual time (hereinafter, simply referred to as a “collision virtual time”), which is a predetermined time, is calculated (step S3).
  • the speed of the spreader 10 for example, any one of the movement speed target value and the actual measurement value acquired in step S2 is used.
  • the actual measurement value may be used as a more accurate value of the velocity of the spreader 10, or the movement velocity target value may be used when a measurement error of the actual measurement of the velocity of the spreader 10 occurs.
  • the collision determination unit 31 determines whether the calculated value of the collision virtual time is longer than the time required for the imaging unit 22 to move from the maximum overhang position to the intermediate position (step S4).
  • the time required for the imaging means 22 to move from the maximum overhang position to the intermediate position is the set travel time described above.
  • the information which shows the said setting movement time is transmitted to the control part 30 from the operator's cab 14, for example.
  • the posture change of the imaging means 22 is in three steps of the maximum projecting position, the intermediate position, and the storage position, but the invention is not limited thereto. Two steps of the maximum projecting position and the storage position, the intermediate position, and the storage It may be a two stage position, a four or more stage change, or a continuous change.
  • the imaging means posture change command unit 32 maximizes the imaging means 22. It is moved to the overhanging position (step S5). Note that moving the imaging means 22 to the maximum overhang position in step S5 means not only moving the imaging means 22 to the maximum overhang position when the imaging means 22 is other than the maximum overhang position before step S5, but also before the step S5.
  • the image pickup means 22 is kept in the state of the maximum projection position when the image pickup means 22 is at the maximum projection position. After step S5, the process returns to step S2.
  • the imaging unit 22 moved in step S5 images the container C located below the spreader 10 and the periphery of the container C at the maximum extended position.
  • step 4 when the calculated value of the collision virtual time is equal to or less than the time required for the imaging unit 22 to move from the maximum overhang position to the intermediate position (step 4; NO), the process proceeds to step S6 without moving the imaging unit 22. Do.
  • the collision determination unit 31 determines whether the calculated value of the collision virtual time is longer than the time required for the imaging unit 22 to move from the intermediate position to the storage position (step S6).
  • the time required for the imaging means 22 to move from the intermediate position to the storage position is the set movement time described above.
  • the imaging unit posture change command unit 32 sets the imaging unit 22 to the intermediate position. (Step S7). Note that moving the imaging means 22 to the intermediate position in step S7 means not only moving the imaging means 22 to the intermediate position when the imaging means 22 is other than the intermediate position before step S7, but also the imaging means before step S7. When the imaging unit 22 is in the intermediate position, the imaging unit 22 is left in the intermediate position. After step S7, the process returns to step S2.
  • step S6 If the calculated value of the collision virtual time is equal to or less than the time required for the imaging unit 22 to move from the intermediate position to the storage position (step S6; NO), it is determined that the imaging unit 22 needs to be retracted to the storage position.
  • the storage unit 27 temporarily stores area monitoring information (step S8). Specifically, the storage unit 27 stores the position of the obstacle detected by the position detection unit 21 before proceeding to step S9.
  • the imaging unit posture change command unit 32 moves the imaging unit 22 to the storage position (step S9).
  • the position detection unit 21 attached to the imaging unit 22 also moves to the storage position together with the imaging unit 22.
  • the imaging unit 22 and the position detection unit 21 are stored in the storage unit 15a.
  • the driver may visually observe from the cab 14 instead of viewing the image on the monitor 29, or another imaging attached to the trolley 7 or the like You may look at the monitor 29 on which the image by the means was shown.
  • step S10 position monitoring of the spreader 10 is continued with respect to the position of the obstacle stored in step S8 (step S10). Specifically, the position of the spreader 10 is detected based on the winding up or down length of the drum moving up and down the spreader 10. If, for example, the position detection unit 21 is provided in the trolley 7, the position detection unit 21 provided in the trolley 7 may detect the position of the spreader 10 in step S10.
  • the collision determination unit 31 calculates collision virtual time based on the speed of the spreader 10 and the position of the obstacle detected by the position detection unit 21 (step S11). At this time, for example, an actual measurement value is used as the speed of the spreader 10. At this time, since the position detection unit 21 is stored in the storage unit 15a, the position of the obstacle stored by the storage unit 27 in step S8 is used as the position of the obstacle.
  • the position detection unit 21 is provided not in the imaging unit 22 but in another part such as the trolley 7, the position of the obstacle detected by the position detection unit 21 provided in the trolley 7 or the like is determined in step S11. May be used.
  • the storage unit 27 does not have to store the position of the obstacle.
  • the collision determination unit 31 determines whether the calculated value of the collision virtual time in step S11 is longer than the time required for the imaging unit 22 to move from the intermediate position to the storage position (step S12).
  • Step S12 When the calculated value of the collision virtual time is longer than the time required for the imaging means 22 to move from the intermediate position to the storage position (Step S12; YES), the imaging means 22 is moved from the storage position to the intermediate position. And the process proceeds to step S13.
  • the storage unit 27 resets storage of area monitoring information in order to resume area monitoring by the position detection unit 21 (step S13). Specifically, the storage unit 27 deletes the information storing the position of the obstacle detected by the position detection unit 21 before proceeding to step S9. Subsequently, the imaging unit attitude change command unit 32 moves the imaging unit 22 to an intermediate position (step S14). At this time, along with the movement of the imaging means 22, the position detection unit 21 also moves to an intermediate position. Then, the process returns to step S1, and area monitoring by the position detection unit 21 is started again.
  • step S12 when the calculated value of the collision virtual time is equal to or less than the time required to move the imaging unit 22 from the intermediate position to the storage position (step S12; NO), the imaging unit 22 is maintained at the storage position Then, the process returns to step S10. The operation of the control unit 30 described above is repeated, and at the same time the loading or lifting of the crane apparatus 1 is completed, the operation of the control unit 30 is also ended.
  • the control unit 30 captures an image.
  • the means 22 is changed from the first attitude to the second attitude.
  • the imaging unit 22 is compared in the horizontal direction from the spreader 10 as compared with the first posture horizontally extended from the spreader 10. Position so as not to overhang. Therefore, the imaging means 22 can be retracted from the obstacle without contacting the obstacle.
  • the imaging unit 22 since the imaging unit 22 does not contact the obstacle, it is possible to prevent the obstacle from being damaged and the imaging unit 22 from being broken.
  • the imaging means 22 does not vibrate without coming into contact with an obstacle, the image by the imaging means 22 is unlikely to be disturbed, and the periphery of the container C located below the spreader 10 is preferably viewed by the image. Can. Furthermore, since the entire spreader 10 does not shake without coming into contact with an obstacle, the container C can be handled by the spreader 10 without waiting for the entire shake of the spreader 10 to settle.
  • the collision determination unit 31 calculates the collision virtual time until the imaging unit 22 collides with the obstacle, and the calculated value becomes equal to or less than the set movement time described above.
  • the imaging means 22 is changed from the first attitude to the second attitude. Thereby, before the imaging means 22 collides with an obstacle, the imaging means 22 can be positioned so as not to project from the spreader 10 in the horizontal direction compared to the first posture. Therefore, the imaging means 22 can be retracted from the obstacle without contacting the obstacle with certainty.
  • the crane device 1 can be applied, for example, when lifting up the container C placed in the container ship 50 transversely attached to the quay 51 or when stacking the container C on the container ship 50.
  • the container fixing guide in the container ship 50 or a gap with an obstacle such as a side wall of the container ship 50 or another container C which is an obstacle
  • the gap between them is narrow.
  • the container C is placed with a certain degree of clearance between adjacent rows, while the container vessel 50 has the container as close as possible to prevent collapse of the container C during transportation and the like. C is placed.
  • the spreader 10 is easy to contact with an obstacle, it is effective to apply the crane apparatus 1 of the structure mentioned above.
  • the control unit 30 determines that the distance in the horizontal direction from the imaging unit 22 to the side surface of the obstacle is equal to or less than a predetermined first threshold, and the obstacle from the imaging unit 22 When the distance in the vertical direction to the upper end of the side surface is less than or equal to a predetermined second threshold, the distance from the obstacle detected by the position detection unit 21 to the imaging unit 22 is within a predetermined range The imaging means 22 is changed from the first attitude to the second attitude.
  • the position change of the imaging unit 22 under the control of the control unit 30 will be described in detail with reference to FIG.
  • FIG. 7 is a conceptual diagram for explaining a change in position of the imaging unit 22 under the control of the control unit 30 according to the second embodiment.
  • the end surface which looked at the spreader 10 from the front-back direction is shown typically.
  • the container C to which the spreader 10 is locked is shown as a hanging container C1
  • the other stacked containers C are shown as loading containers C2 to C8.
  • the loading containers C2 to C8 correspond to obstacles to the imaging means 22 of the spreader 10.
  • the imaging means 22 provided on one side surface 15 c of the spreader main body 15 is shown as an imaging means 22 a
  • the imaging means 22 provided on the other side 15 d of the spreader main body 15 is shown as an imaging means 22 b. ing.
  • a predetermined distance D1 (first threshold) is taken horizontally from the imaging means 22 and a predetermined distance D2 (second threshold) is taken vertically from the imaging means 22.
  • the range is set in advance as the interference range A.
  • the interference range A is set outside the spreader 10 and the hanging container C1.
  • the distance D1 satisfies the condition D1> V xmax ⁇ t. It can be a value.
  • the distance D2 can be a value satisfying the condition D2> Vymax ⁇ t.
  • the position detection unit 21 is a horizontal distance from the imaging unit 22 to the side surface of each of the stacking containers C2 to C8 (hereinafter referred to as “horizontal distance”) and a vertical direction from the imaging unit 22 to the upper end of the side surface And the distance at (hereinafter referred to as “vertical distance”).
  • the position detection unit 21 transmits the measurement result to the control unit 30.
  • the control unit 30 determines whether the obstacle is within the interference range A by determining whether the horizontal distance is equal to or less than the distance D1 and whether or not the vertical distance is equal to or less than the distance D2. Make an interference judgment.
  • the control unit 30 captures an image of an obstacle that is in the interference range A and in the interference range A. Assuming that the means 22 may collide, the imaging means 22 is changed from the first attitude to the second attitude. Thereby, the imaging means 22 can be retracted from the obstacle before the imaging means 22 collides with the obstacle.
  • the distances D1 and D2 to values satisfying the conditions described above, it is determined that the imaging unit 22 may collide with the loading containers C2 to C8, and then the spreader 10 is horizontal at the maximum speeds V xmax and V ymax . Even when moved in the direction or the vertical direction, the imaging means 22 can be prevented from colliding with the side surface and the upper end of the loading containers C2 to C8.
  • the interference determination with respect to the storage container C7 of the imaging means 22a will be specifically described.
  • Position detector 21, the horizontal distance x 7 to the side surface S 7 stowing containers C7 from the imaging unit 22a, a vertical distance y 7 to the top edge T 7 of the side surface S 7 stowing containers C7 from the imaging unit 22a, Measure Control unit 30 determines whether as to determine whether the horizontal distance x 7 is the distance D1 or less, the vertical distance y 7 the distance D2 below.
  • the control unit 30 determines that the loading container C7 is not within the interference range A, and the imaging means 22a does not collide with the loading container C7.
  • the control unit 30 causes the imaging unit 22a to protrude from the spreader 10 in the horizontal direction (that is, to be in the first posture).
  • the interference determination on the stacking containers C2 to C8 of the imaging means 22b can also be performed in the same manner as in the case of the imaging means 22a described above.
  • the horizontal distance to the side surface S 3 stowing containers C3 from the imaging means 22b is at distance D1 below, and the side surface S 3 stowing containers C3 from the imaging means 22b the vertical distance to the top edge T 3 is the distance D2 less.
  • the control unit 30 determines that the loading container C3 is in the interference range A and the imaging means 22b collides with the loading container C3. Therefore, the control unit 30 sets the imaging unit 22b in the storage position without projecting from the spreader 10 in the horizontal direction (that is, sets the second posture).
  • the imaging unit 22 before the imaging unit 22 collides with an obstacle, the imaging unit 22 can be positioned so as not to protrude from the spreader 10 in the horizontal direction compared to the first posture. . Therefore, the imaging means 22 can be retracted from the obstacle without contacting the obstacle with certainty.
  • the slide mechanism for sliding the imaging means 22 is not limited to the electric cylinder 40, and a four-bar parallel link mechanism may be provided, for example.
  • the fixed link of the four-bar parallel link mechanism is fixed to the spreader 10, and the imaging means 22 and the position detection unit 21 are attached to the intermediate link, and the intermediate link is kept horizontal by driving the drive link. It may be configured to slide in the longitudinal direction as it is. In this case, since the imaging unit 22 and the position detection unit 21 slide along with the intermediate link while maintaining the horizontal, the line of sight of the imaging unit 22 is always directed downward as in the case of the electric cylinder described above. It can be suitably viewed in the state.
  • the position detection unit 21 and the imaging unit 22 are retracted by storing the position detection unit 21 and the imaging unit 22 in the storage unit 15a.
  • the present invention is not limited to this example.
  • the position detection unit 21 and the imaging unit 22 are provided by providing the position detection unit 21 and the imaging unit 22 on the upper surface of the spreader main body 15 and sliding the position detection unit 21 and the imaging unit 22 on the upper surface It is also good.
  • the position detection unit 21 and the imaging unit 22 are not limited to sliding and retracting.
  • the position detection unit 21 and the imaging unit 22 may be rotated and retracted.
  • the maximum retracted position is not limited to the storage position described in the above embodiment, and the position detection unit 21 and the imaging unit 22 are retracted so as to be positioned inside the projected area of the container C which the spreader 10 locks. Any position is acceptable.
  • the girder 12 projects from the leg structure 11 in a direction intersecting the predetermined direction, and transports the container C with the docked container ship 50.
  • the present invention is also applicable to a bridge crane in which the girder 12 does not project to the sea, and also to a crane device whose overhead part is, for example, a club bucket or an overhead crane device. It is applicable.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

La présente invention comprend : un palonnier (10) permettant de manipuler un conteneur, le palonnier pouvant être remonté ou abaissé par un câble métallique ; un moyen d'imagerie (22) fixé au palonnier (10) et pouvant imager la zone entourant le palonnier (10) ; une unité de détection de position (21) permettant de détecter des obstacles dans la zone entourant le moyen d'imagerie (22) ; et une unité de commande qui commande l'orientation du moyen d'imagerie (22). Le moyen d'imagerie (22) peut passer d'une première orientation positionnée dans une direction s'étendant à partir du palonnier (10) dans la direction horizontale, à une seconde orientation dans une position ne s'étendant pas à partir du palonnier (10) dans la direction horizontale par comparaison avec la première orientation, et inversement. Dans le cas où la distance entre un obstacle détecté par l'unité de détection de position (21) et le moyen d'imagerie (22) est comprise dans une plage prédéfinie, le moyen d'imagerie (22) est amené à passer de la première orientation à la seconde orientation.
PCT/JP2018/018940 2017-07-13 2018-05-16 Dispositif de grue WO2019012802A1 (fr)

Priority Applications (4)

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JP2019528955A JP6644955B2 (ja) 2017-07-13 2018-05-16 クレーン装置
MYPI2019007241A MY202483A (en) 2017-07-13 2018-05-16 Crane device
CN202011502911.6A CN112678688B (zh) 2017-07-13 2018-05-16 起重机装置
CN201880035035.5A CN110869305B (zh) 2017-07-13 2018-05-16 起重机装置

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JP2017137160 2017-07-13
JP2017-137160 2017-07-13

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JP2006273532A (ja) * 2005-03-30 2006-10-12 Mitsui Eng & Shipbuild Co Ltd コンテナ荷役用クレーン
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CN110869305B (zh) 2020-11-20
CN110869305A (zh) 2020-03-06
MY202483A (en) 2024-04-30
JPWO2019012802A1 (ja) 2020-03-19
JP6644955B2 (ja) 2020-02-12
CN112678688A (zh) 2021-04-20

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