JP2863966B2 - Monitoring equipment for cargo handling machinery - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a monitoring device for a cargo handling machine used for a cargo handling machine for unloading cargo from a ship berthed on a quay and monitoring the unloading status of the cargo.

[0002]

2. Description of the Related Art Generally, a cargo handling machine includes a traveling body that can travel in a direction along a quay, a boom that can be turned and raised and lowered on the traveling body, and a post that is provided at a tip of the boom. And a digging part provided at a lower end of the post part.

[0003] As a monitoring device for monitoring the unloading state of the cargo handling machine, there is one in which a television camera such as an industrial television camera (ITV) is fixed downward at the post.

[0004]

However, in this case, since the coordinates of the television camera rotate with the rotation of the boom, the image of the television which outputs the image signal of the television camera as an image also rotates. Therefore, the direction of the monitoring target cannot be accurately determined from the television image.

[0005] It is an object of the present invention to provide a surveillance device capable of capturing an object to be monitored as an image incorporating the direction, without changing the direction (east, west, south and north) of the television camera even when the boom turns. is there.

[0006]

According to the present invention, a traveling body capable of traveling in a direction along a quay, a boom rotatably provided on the traveling body, and a post provided at a tip of the boom are provided. Part and a digging part provided at the lower end of the post part, in a loading and unloading machine, the upper part of the post part is rotatably supported at a plurality of locations on a circle centered on the center axis of the post part. A plurality of turntables, a plurality of television cameras fixed downward to the plurality of turntables, respectively, and outputting a video signal of a cargo handling state, and detecting a turning angle of the boom, and outputting a detected turning angle. Turning angle detection means, connected to the turning angle detection means, the plurality of turns so that the plurality of television cameras do not rotate relative to the quay even if the detected turning angle changes. And a control device for rotating in response to the detected turning angle Buru, mechanical handling equipment monitoring device is obtained, characterized in that it comprises.

Further, according to the present invention, the monitoring device further includes a plurality of televisions for projecting video signals of the plurality of television cameras as images, respectively, and the control device includes:
Wherein also connected to a plurality of television cameras and said plurality of television, video monitors the load state in the plurality of television, constantly, as shown in the same orientation, in accordance with the detected turning angle, said plurality of television cameras Video signal
A monitoring device for a cargo handling machine characterized by having a function of switching and supplying to a number of televisions is obtained.

Further, according to the present invention, a traveling body capable of traveling in a direction along the quay, a boom rotatably provided on the traveling body, and a post provided at a tip of the boom,
In a cargo-handling machine having a digging portion provided at a lower end of the post portion, a turntable supported rotatably around a central axis of the post portion on an upper portion of the post portion, and a plurality of portions of the turntable. A plurality of television cameras that output video signals in the cargo handling state, a plurality of televisions that respectively project these video signals as images, and a turning angle of the boom are detected. The turning angle detecting means for outputting, and the turning table are connected to the turning angle detecting means, and the turntable is connected to the quay wall of the plurality of television cameras so that the positional relationship does not change even if the detected turning angle changes. A monitoring device for a cargo handling machine, comprising: a control device configured to rotate in accordance with the detected turning angle.

[0009]

Next, an embodiment of the present invention will be described with reference to the drawings.

Referring to FIG. 1, a monitoring apparatus for a cargo handling machine according to a first embodiment of the present invention includes a ship 1 berthed on a quay.
It is used for a bucket elevator type unloader 100 that continuously unloads bulk materials from the cargo, and monitors the unloading status of the cargo.

The traveling rail 2 is laid along the quay, and the unloader 100 travels along the traveling rail 2. The boom 4 is pivotally supported via a pivoting device 5 on the traveling body 3 and can be raised and lowered by a lifting and lowering device 6. The post 11 is pin-connected to each end of the boom 4 and a link 8 provided in parallel with the boom 4, and is always held vertically by the L-shaped frame 30.
Further, the post portion 11 is pivotally held by the L-shaped frame 30. The post section 11 houses the bucket elevator device 7. Bubbles picked up by the driven and rotated bucket elevator are landed via a conveyor (not shown) built in the boom 4 and a chute 9 installed on the traveling body 3 and received by the ground conveyor 10. It has become so.

As described above, the unloader 100 includes the traveling body 3 capable of traveling in the direction along the quay, the boom 4 provided on the traveling body 3 so as to be pivotable and undulating, and the distal end of the boom 4. It has a combined post part 11 and a digging part of the bucket elevator device 7 provided at a lower end of the post part 11.

Referring to FIG. 1, FIG. 2, and FIG. 3, the monitoring device according to the first embodiment has four positions on a circle centered on the center axis of the post portion 11 above the post portion 11. Four turntables 13- each rotatably supported by
1, 13-2, 13-3, and 13-4 (FIGS. 1 and 2
13-14 is not visible).
A drive device for rotating 1, 13-2, 13-3, and 13-4, and these four turntables 13-1, 13
-4, 13-3, and 13-4, each of which is fixed downward and outputs a video signal.
1, 14-2, 14-3, and 14-4 (FIGS. 1 and 2)
14-4 cannot be seen), the turning angle detector 15 which detects the turning angle of the boom 4 and outputs the detected turning angle.
(FIG. 3) and four television cameras 14-1 connected to the turning angle detector 15 even if the detected turning angle changes.
Four turntables 13-1, 13-2, 13- so that ~ 14-4 does not rotate with respect to a plane parallel to the quay.
And a control device 16 for rotating 13 and 13-4 in accordance with the detected turning angle.

The monitoring apparatus according to the first embodiment further includes four televisions 17-1, 17-2, 17-3, and 17-4 which project four video signals as video.
Having. The control device 16 includes four television cameras 14-
1 to 14-4 and the four televisions 17-1 to 17-4, so that the video monitoring the ship 1 always shows the same azimuth according to the detected turning angle. It has a function of switching and supplying a video signal to the four televisions 17-1 to 17-4.

Referring to FIGS. 4 and 5, the function of the control device 16 will be described in detail. In FIG. 4, the television cameras 14-1 and 14-3 are arranged on an extension of the boom 4, and the television cameras 14-2 and 14-4 are arranged on a line orthogonal to the extension of the boom 4. Note that in FIG.
Is a hatch mouth.

In FIG. 5, attention is focused on a turntable 13-1 on which a television camera 14-1 is supported. P1 is the center axis of the post portion 11, L1 is the quay normal perpendicular to the quay, and P2 is the rotation center axis of the turntable 13-1. Assuming that the angle between the boom 4 and the quay normal L1 is θ1, an auxiliary line M parallel to the boom 4 passing through the rotation center axis P2 of the turntable 13-1 and the turntable 13-1
Angle θ2 with the quay normal L2 passing through the rotation center axis P2
(This is the angle of the turntable 13-1.)
The control device 16 of FIG. 3 controls the turntable 13-1 so as to be equal to 1. The control device 16 controls the other turntables 13-1 to 13-3 in the same manner. Accordingly, the directions (east, west, north and south) of the television cameras 14-1 to 14-4 in the horizontal plane do not change even if the boom 4 turns in any direction.

In FIG. 4, the television cameras 14-2, 1
4-3, 14-4, and 14-1 are first, second, third,
And in the fourth quadrant, and, the controller 16 (FIG. 3), as shown in FIG. 6, controls the first, second, third,
And the televisions 17-1 and 17- arranged for the fourth quadrant
2, 17-3, and 17-4, a television camera 14-
2, 14-3, 14-4, and 14-1.

As shown in FIG. 7, the television cameras 14-1, 1
4-2, 14-3, and 14-4 are the first, second, third,
And in the fourth quadrant, and, the controller 16 (FIG. 3), as shown in FIG.
And the televisions 17-1 and 17- arranged for the fourth quadrant
2, 17-3, and 17-4, a television camera 14-
1, 14-2, 14-3, and 14-4.

As described above, the control device 16 controls the four television cameras 14-1, 14-2, 14- for monitoring the ship 1.
3 and 14-4 are four televisions 17-1 to 17-1.
7-4 has a function of switching and supplying according to the detected turning angle of the turning angle detector 15 so as to always indicate the same azimuth.

Next, a monitoring apparatus according to a second embodiment of the present invention will be described with reference to FIGS. The monitoring device according to the second embodiment differs from the monitoring device according to the first embodiment in the following. That is, in this embodiment, as shown in FIG.
Is supported on the upper part of the post part 11 so as to be rotatable around the center axis of the post part 11, and four television cameras 14-1, 14-2, 14-3, and 14-4 are mounted on the post part 11. It is fixed downward at four places on the lower surface of the turntable 21.

As shown in FIG. 9, a television camera 14-
Televisions 17-1, 17-2, 17-3, and 17-4 are directly connected to 1, 14-2, 14-3, and 14-4, respectively. The control device 16 ′ includes the turning angle detector 15
It is connected to the. This control device 16 '
As shown in (a), (b), and (c), even if the boom 4 changes variously and the turning angle detected by the turning angle detector 15 changes, the four television cameras 14-1, 14-2, 14
The turntable 21 is rotated in accordance with the detected turning angle so that the relative positions of the -3 and 14-4 with respect to the quay do not change. Since the turntable 21 is rotated in accordance with the turning angle in this manner, the TV camera 14 is moved to the hatch opening 18 (FIG. 4) of the ship 1 (FIG. 4).
The positional relationship between -1, 14-2, 14-3, and 14-4 (north, south, east, west) is not known. Therefore, according to the turning angle detected by the turning angle detector 15, as in the first embodiment, 4
The video signals of the two television cameras 14-1, 14-2, 14-3, and 14-4 are converted into four televisions 17-1 to 17-4.
There is no need to switch to supply.

[0022]

As described above, according to the present invention, even if the boom turns, the azimuth (East, West, North and South) of the TV camera does not change, and the object to be monitored can be captured as an image incorporating the azimuth. A monitoring device is obtained. As described above, since the plurality of television cameras always indicate the same direction (in other words, the same direction) even when the boom turns, the approach of the post portion of the cargo handling machine to the hatch opening including the direction can be recognized. In avoiding driving, the avoidable direction can be identified and effective.

[Brief description of the drawings]

FIG. 1 is a schematic view of a cargo handling machine provided with a monitoring device according to a first embodiment of the present invention.

FIG. 2 is a diagram for explaining a turntable of the monitoring device according to the first embodiment of the present invention.

FIG. 3 is a block diagram of a monitoring device according to the first embodiment of the present invention.

FIG. 4 is a view for explaining a positional relationship between a television camera and a hatch zone of the monitoring device according to the first embodiment of the present invention.

FIG. 5 is a diagram for explaining the relationship between the boom of the monitoring device and the turning angle of the turntable according to the first embodiment of the present invention.

FIG. 6 is an exemplary view for explaining a connection relationship between a television camera and a television of the monitoring apparatus according to the first embodiment of the present invention.

FIG. 7 is a diagram for explaining a positional relationship between a television camera and a hatch zone of the monitoring device according to the first embodiment of the present invention.

FIG. 8 is an exemplary view for explaining a connection relationship between a television camera and a television of the monitoring apparatus according to the first embodiment of the present invention.

FIG. 9 is a block diagram of a monitoring device according to a second embodiment of the present invention.

FIG. 10 is a diagram for explaining a turntable of the monitoring device according to the second embodiment of the present invention.

FIG. 11 is a diagram for explaining a positional relationship between a television camera and a hatch zone of the monitoring device according to the second embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List 4 boom 7 bucket elevator device (digging part) 11 post part 13-1 to 13-4 turntable 14-1 to 14-4 television camera 15 turning angle detector 16 control device 16 'control device 17-1 to 17-4 TV 21 Turntable

Continuation of front page (58) Field surveyed (Int.Cl. ⁶ , DB name) B65G 67/60

Claims (3)

(57) [Claims] 1. A traveling body capable of traveling in a direction along a quay, a boom rotatably provided on the traveling body, a post provided at a tip of the boom, and provided at a lower end of the post. And a plurality of turntables each rotatably supported at a plurality of locations on a circle around the center axis of the post portion above the post portion, and A plurality of television cameras, each of which is fixed downward to the turntable and outputs a video signal of a cargo handling state; turning angle detection means for detecting a turning angle of the boom and outputting a detected turning angle; and detecting the turning angle. Means connected to the plurality of turntables so that the plurality of television cameras do not rotate relative to the quay even if the detected turning angle changes. And a control device for rotating in response,
A monitoring device for a cargo handling machine, comprising: Wherein said monitoring device further plurality of tele
The control device is connected to the plurality of television cameras and the plurality of televisions, the plurality of televisions each projecting a video signal of the bi- camera as a video, and the video for monitoring the cargo handling state in the plurality of televisions is constantly displayed. , Indicating the same direction,
According to the detected turning angle, the plurality of television cameras
The monitoring apparatus for a cargo handling machine according to claim 1, further comprising a function of switching and supplying a video signal to the plurality of televisions . 3. A traveling body capable of traveling in a direction along a quay, a boom pivotally provided on the traveling body, a post provided at a tip of the boom, and a lower end of the post. And a turntable rotatably supported on the upper portion of the post portion so as to be rotatable around a central axis of the post portion. A plurality of television cameras that output a video signal of a state, a plurality of televisions that respectively project these plurality of video signals as video, and a turning angle detection unit that detects a turning angle of the boom and outputs a detected turning angle. The turn angle detection means is connected to the turn angle detection means so that the positional relationship between the plurality of television cameras and the quay does not change even if the detected turn angle changes. And a control device for rotating in response to the detected turning angle Buru, mechanical handling equipment of the monitoring device, characterized in that it comprises.