JP7548749B2 - Automatic crane system and method for controlling the automatic crane system - Google Patents

Description

The present disclosure relates to an automated crane system and a control method for an automated crane system.

Patent document 1 describes automating part of the container transportation work in container yards.

JP 2004-123367 A

When operating autonomously, it is necessary to ensure that the container being transported does not interfere with anything other than the container being loaded.

The present disclosure aims to provide an automated crane system that can improve the safety of container transportation, and a control method for the automated crane system.

An automated crane system according to one aspect of the present disclosure includes a crane that transports containers in multiple container groups lined up in a container yard, a detection unit that detects the positional relationship between containers in the container group to be handled and containers in an adjacent container group adjacent to the container group to be handled, and a control device that controls the crane based on the detection results of the detection unit.

For example, if there is a container in an adjacent container group that protrudes into the container group to be loaded due to misalignment or the like, there is a possibility that the crane will collide with the protruding container when transporting a container in the container group to be loaded. In response to this, the detection unit detects the positional relationship between the container in the container group to be loaded that is the target of loading and the container in the adjacent container group adjacent to the container group to be loaded. Therefore, the detection unit can detect containers in the adjacent container group that may collide when transporting a container in the container group to be loaded. The control device can avoid collisions between containers by controlling the crane in accordance with the detection results of the detection unit, such as by adjusting the transport path or outputting a warning. As a result, the safety of container transport can be improved.

The detection unit may be positioned at a position higher than the top surface of the container placed on the transport cart. In this case, it is possible to prevent the detection of the detection unit from being blocked by the container placed on the transport cart.

The detection unit may be capable of setting multiple detection ranges to accommodate containers of multiple lengths. In this case, even if the length of the container is changed, the detection unit can still detect the container of the changed length.

The detection unit may have a three-dimensional scanner. In this case, the detection range of the detection unit can be widened.

The detection unit may have a three-dimensional camera. In this case, the detection unit can obtain the depth position of the container within the detection range.

When the detection unit detects the proximity of a container in the container group to be loaded and loaded to a container in an adjacent container group, the control device may set a transport route for the container so as to avoid collision with the container in the adjacent container group. In this case, the crane can transport the container while avoiding collisions and ensuring safety.

When the detection unit detects the proximity of a container in the container group to be loaded and loaded to a container in an adjacent container group, the control device may set a safety route, determined so that the container moves at a predetermined maximum height, as the transport route for the container. In this case, no matter where a container with a possibility of collision is located, the crane can transport the container while avoiding a collision by moving the container at the maximum height.

A control method for an automated crane system according to one aspect of the present disclosure is a control method for an automated crane system that transports containers in multiple container groups lined up in a container yard using a crane, and includes a detection process for detecting the positional relationship between a container in a container group to be handled that is the object of handling and a container in an adjacent container group adjacent to the container group to be handled, and a control process for controlling the crane based on the detection result in the detection process.

This method of controlling an automated crane system can achieve the same effects and aims as the automated crane system described above.

This disclosure can improve the safety of container transportation.

1 is a plan view showing an exemplary container terminal to which an automated crane system and a control method for the automated crane system according to an embodiment are applied. FIG. FIG. 2 is a perspective view showing an example of a group of containers to be loaded and a group of adjacent containers arranged along the traveling direction of the transport platform car. FIG. 1 is a perspective view of an exemplary crane. This is a side view of the container yard seen from the Y direction. This is a plan view of the container yard seen from above. 1 is a block diagram showing the configuration and functions of an automatic crane system according to an embodiment of the present invention. FIG. 4 is a conceptual diagram showing an example of a conveying path. FIG. 4 is a conceptual diagram showing an example of a conveying path. 4 is a flowchart illustrating an example of each process of a control method for an automatic crane system according to the embodiment.

Below, the embodiment of the present invention will be described with reference to the drawings. In the description of the drawings, the same or corresponding elements are given the same reference numerals, and duplicated descriptions will be omitted as appropriate. In addition, the drawings may be partially simplified or exaggerated for ease of explanation, and the dimensional ratios, etc. are not limited to those shown in the drawings.

Figure 1 is a plan view showing an exemplary container terminal 1 to which the present invention is applied. As shown in Figure 1, the container terminal 1 is provided with a container yard 2 in which containers C are placed, multiple gantry cranes 3 that transfer containers C to and from docked container ships, multiple cranes 10 that are placed in the container yard 2 and load and unload containers C, and a remote control room 5 that allows remote control of the multiple cranes 10.

Figure 2 is a perspective view showing a container C in the container yard 2 and an exemplary transport cart 20. The transport cart 20 is, for example, a truck, a freight car, a trailer, or an AGV (Automated Guide Vehicle). As shown in Figures 1 and 2, the container yard 2 is provided with a storage area in which multiple containers are stored, and a track (track lane) for the transport cart 20. The crane 10 retrieves the container C from the transport cart 20 stopped at a predetermined position and places the container C at a predetermined address in the container yard 2. The crane 10 also retrieves the container C placed in the container yard 2 and transfers the container C to the transport cart 20, which then carries the container C out.

As an example, container C is an ISO standard container. Container C has a long rectangular parallelepiped shape, and for example, the longitudinal length of container C is 20 feet or more and 45 feet or less. The height of container C is, for example, 8.5 feet or more and 9.5 feet or less. Containers C are stacked in one or more layers in container yard 2. The number of layers in which containers C are arranged is sometimes called a tier.

As shown in FIG. 1, the container yard 2 has multiple lanes L on which containers C are placed, and multiple cranes 10 are arranged. For example, one crane 10 is arranged for each lane L. The number of cranes 10 arranged in a lane L may be one or more.

As shown in FIG. 2, containers C are stacked in one or more layers in the container yard 2 to form multiple rows R. The number of rows R is, for example, six. Each row R is aligned so that the longitudinal direction of the containers C constituting that row R (i.e., the containers C placed on that row R) is parallel to the longitudinal directions of the containers C constituting the other rows R.

If the longitudinal direction of the containers C aligned in the container yard 2 is defined as the X direction, the lateral direction of the containers C as the Y direction, and the height direction of the containers C as the Z direction, the container yard 2 extends on the XY plane, and the containers C are stacked, for example, in the Z direction at any position on the XY plane. The X direction coincides with the traveling direction of the crane 10 in lane L. The Y direction coincides with the lateral direction of the crane 10 in lane L.

Containers C form bays B, which are groups of multiple containers lined up along the Y direction and stacked along the Z direction. Container yard 2 is provided with multiple bays B lined up along the X direction. Bays B include, for example, a group of containers to be handled B1, which is a loading target bay that is the loading target of containers C, and adjacent container groups B2 located on both sides of the group of containers to be handled B1 in the X direction.

In the container yard 2, the location where container C is loaded is virtually set in three-dimensional space, and this virtual loading location of container C is defined as an address (X, Y, Z). In other words, the container yard 2 has a number of addresses (X, Y, Z) that are predefined as areas where container C can be loaded. In the addresses (X, Y, Z), "X" indicates the bay number, "Y" indicates the row number, and "Z" indicates the tier number.

Figure 3 is a perspective view showing an exemplary crane 10 arranged in a container yard 2. As shown in Figure 3, the crane 10 is a container handling crane that loads and unloads a container C. In this embodiment, a rubber-tired gantry crane (RTG) is shown as an example of the crane 10. The crane 10 automatically loads and unloads containers C arranged in the container yard 2 at the container terminal 1, for example.

The crane 10 includes, for example, a pair of legs 11, a crane girder 12 connecting the upper ends of the pair of legs 11, a trolley 13 that can travel laterally on the crane girder 12, a spreader 14 that loads and unloads containers C, and a running gear 15 having wheels. The pair of legs 11 and the crane girder 12 are gate-shaped. The crane 10 includes, for example, two sets of pairs of gate-shaped legs 11 and crane girders 12, and the two sets are arranged side by side along the X direction.

The trolley 13 moves traversely along the Y direction, for example, by driving a traverse motor. In this embodiment, the Y direction coincides with the traverse direction of the trolley 13. As an example, the trolley 13 has a winding drive unit 16 including a drum that rotates forward and backward by a drum drive motor, and suspends the spreader 14 via a suspension member 18 including a wire. The suspension members 18 extend from the trolley 13 from two positions aligned in the X direction, and the spreader 14 is suspended from the suspension members 18 at two positions aligned in the X direction.

The spreader 14 is a hoisting device that suspends the container C. The spreader 14 has, for example, a rectangular shape extending in the X direction. The spreader 14 can hold the container C from above, and loads and unloads the container C by holding and lifting the container C. For example, the operation of the spreader 14 is controlled by the drive of the traverse motor and drum drive motor described above, and the drive of the traverse motor and drum drive motor is controlled by the automatic crane system 100 according to this embodiment.

The crane 10 is provided with a pair of detectors 25, which are components of the detection unit 120. The detectors 25 are provided on one leg 11 in the Y direction. The pair of detectors 25 are attached to supports 21 provided on each of the pair of legs 11. Each support 21 extends in parallel from each leg 11 outward in the X direction. Each detector 25 is provided at the tip of the support 21.

Next, the detection range of the detector 25 will be described with reference to Figures 4 and 5. Figure 4 is a side view of the container yard 2 as viewed from the Y direction. In Figure 4, the leg 11 on which the detector 25 is provided is shown on the front side of the paper. Figure 5 is a plan view of the container yard 2 as viewed from above. Note that in the following explanation, "left" and "right" may be used, but these terms refer to "left" and "right" when the state in Figure 4 is used as the reference.

Adjacent container groups B2 are arranged on the left and right of the container group B1 to be loaded. Container C has a left end Cb and a right end Ca. A gap GP1 is formed between the left adjacent container group B2 and the container group B1 to be loaded. The gap GP1 is formed between the right end Ca of the multiple containers C in the left adjacent container group B2 and the left end Cb of the multiple containers C in the container group B1 to be loaded. A gap GP2 is formed between the right adjacent container group B2 and the container group B1 to be loaded. The gap GP2 is formed between the left end Cb of the multiple containers C in the right adjacent container group B2 and the right end Ca of the multiple containers C in the container group B1 to be loaded. As shown in FIG. 5, on both sides of each container group in the Y-axis direction, a running path 26 for the crane 10 to travel on is set, and on the detector 25 side, a running path 27 for the transport cart 20 (see FIG. 4) is formed between the running path 26 and each container group.

The detector 25 detects objects in the sensing areas S1 and S2. In this embodiment, the detector 25 obtains information for detecting the positional relationship between the container C in the container group B1 to be loaded and the container C in the adjacent container group B2 as the detection result. How the positional relationship is detected will be described later. The sensing area S1 of the left detector 25 is set at a position that includes at least the entire area of the gap GP1 in the XZ direction (see FIG. 4) and the entire area in the Y direction (see FIG. 5). The sensing area S2 of the right detector 25 is set at a position that includes at least the entire area of the gap GP2 in the XZ direction (see FIG. 4) and the entire area in the Y direction (see FIG. 5). That is, the sensing areas S1 and S2 extend to the ground level on the lower side and to a position higher than the top surface of the topmost container C on the upper side (see FIG. 4). The sensing areas S1 and S2 extend to the container C that is the furthest from the detector 25 in the Y direction (see FIG. 5).

The detector 25 is positioned higher than the upper surface Cc (see FIG. 4) of the container C placed on the transport cart 20. Therefore, the sensing areas S1 and S2 can expand in the Y direction without being blocked by the container C on the transport cart 20.

The detector 25 may be configured by any type of device. For example, the detector 25 may be configured by a three-dimensional scanner. The three-dimensional scanner is a detector that can digitize the surface shape of an object based on coordinates and convert it into a three-dimensional model. Alternatively, the detector 25 may be configured by a three-dimensional camera. The three-dimensional camera is a camera that can obtain not only the position on a plane of an object in a captured image but also the position in depth. When such devices are used, the detector 25 can secure sensing areas S1 and S2 of the required width without moving from the tip of the support part 21. The detector 25 may be capable of changing its orientation at the tip of the support part 21, or it may not be necessary to change its orientation. In addition, a mechanism may be provided in which the detector 25 moves in the XZ plane by moving the support part 21 itself.

Next, referring to FIG. 6, the block configuration of the automatic crane system 100 according to this embodiment will be described. FIG. 6 is a block diagram showing the configuration and functions of the automatic crane system 100 according to this embodiment. As shown in FIG. 6, the automatic crane system 100 includes a control device 110. The control device 110 receives the detection results from the detector 25 described above. The control device 110 outputs control signals to the drive unit 30 and output unit 31 of the crane 100. The location where the control device 110 is disposed is not particularly limited, and it may be disposed at any position on the crane 10 or at a position away from the crane 10.

The drive unit 30 is a device that generates a drive force for moving the spreader 14 along a set transport path. The drive unit 30 includes, for example, a hoisting device for the spreader 14 and a motor for traversing the trolley 13. The output unit 31 is a device that outputs various information. The output unit 31 is composed of, for example, a monitor, a speaker, a warning light, etc.

The control device 110 may be configured as a computer (also called an on-board automatic control PC) having, for example, a processor, a memory, a storage, and a communication interface. The processor is a computing device such as a CPU (Central Processing Unit). The memory is a storage unit such as a ROM (Read Only Memory) or a RAM (Random Access Memory). The storage is a storage unit (storage medium) such as a HDD (Hard Disk Drive). The communication interface is a communication device that realizes data communication. The processor controls the memory, storage, and communication interface, and realizes the functions of the control device 110 described below. In the control device 110, for example, a program stored in the ROM is loaded into the RAM, and the program loaded into the RAM is executed by the CPU to realize various functions. The number of computers constituting the control device 110 may be one or more.

The control device 110 includes an information processing unit 111, a route setting unit 112, a drive control unit 113, and a warning control unit 114.

The information processing unit 111 acquires information on the detection result detected by the detector 25, and detects the positional relationship between the container C in the container group B1 to be handled and the container C in the adjacent container group B2 by calculation based on the calculation result. As a result, the detector 25 and the information processing unit 111 constitute the detection unit 120 that detects the positional relationship between the container C in the container group B1 to be handled and the container C in the adjacent container group B2. In addition, the information processing unit 111 determines whether or not to perform safety response processing based on the positional relationship between the container C in the container group B1 to be handled and the container C in the adjacent container group B2. For example, as shown in FIG. 2, if a shift E in the X direction occurs in the container C stored in the adjacent container group B2, when the container C is transported from the container group B1 to be handled, the container C may interfere with the shifted part E of the adjacent container group B2, and the container C may fall onto the transport cart 20. Therefore, in order to detect the above-mentioned deviation E, the information processing unit 111 can calculate the degree of proximity in the X-axis direction between a container C in the container group B1 to be handled and a container C in the adjacent container group B2. There are no particular limitations on how the information processing unit 111 calculates and determines the degree of proximity.

For example, the information processing unit 111 may detect the presence of a container C that protrudes more toward the container group B1 to be handled than the other containers C among the multiple containers C in the adjacent container group B2. Specifically, the information processing unit 111 acquires the position of the right end Ca of each container C in the adjacent container group B2 in the sensing area S1. When an end Ca that protrudes more to the right than the ends Ca of the other containers C exists, the information processing unit 111 detects the container C having the end Ca. The information processing unit 111 determines whether the protrusion amount to the right of the detected container C is equal to or greater than a predetermined threshold value. Alternatively, the information processing unit 111 calculates the distance in the X-axis direction between the end Ca located at the rightmost position in the adjacent container group B2 and the end Cb located at the leftmost position in the container group B1 to be handled in the gap GP1. The information processing unit 111 determines whether the distance is equal to or less than a predetermined threshold value. In the sensing area S2, the same calculations are performed as in the sensing area S1, except that the left and right are reversed.

The route setting unit 112 sets a transfer route for the container C by the spreader 14 of the crane 10. H1 shown in FIG. 7(a) indicates the transfer route when the container C loaded on the transport cart 20 is transferred to the storage area under normal circumstances (when safety measures do not need to be performed). H2 shown in FIG. 7(b) indicates the transfer route when the container C in the storage area is transferred to the transport cart 20 under normal circumstances.

7A, when a container C is transported in a direction away from the transport cart 20, the route setting unit 112 sets a transport route H1 according to the storage status of the container C in the container group B1 to be handled. FIG. 7A shows an example of transporting a container C on the transport cart 20 to a storage area. The route setting unit 112 sets a transport route H1 (hereinafter, also referred to as an optimal route) that transports the container C to a position a predetermined distance higher than the highest height of the containers C stored in each of the multiple rows R in the container group B1 to be handled. The route setting unit 112 may also set a transport route H2, which is the optimal route, when a container is transported from the container group B1 to be handled and transferred to the transport cart 20. When setting the optimal route, the route setting unit 112 may curve the corner between the vertical transport route of the container C and the horizontal transport route within a range that does not collide with the stored container C.

On the other hand, when the detection unit 120 detects the proximity of a container C in the container group B1 to be handled and a container C in the adjacent container group B2, the route setting unit 112 sets a transport route for the container C as a safety response process so as to avoid a collision with the container C in the adjacent container group B2. For example, the route setting unit 112 may set a safety route determined so that the container C moves at a predetermined maximum height as the transport route for the container C. Specifically, as shown in FIG. 8, the transport route H3 may be set so as to exceed the maximum height M of the container C in the container group B1 to be handled, regardless of the actual storage situation of the container group B1 to be handled. That is, when the container C is transported to the transport cart 20, the route setting unit 112 sets a transport route H3 that is higher than the container C in the container group B1 to be handled. By setting such a route, the possibility of the container C falling onto the transport cart 20 described above can be avoided. The transport route H3 that exceeds the maximum height M of the container C in the container group B1 to be handled may be called a safety route.

Even in the case of safety response processing, if a container C protruding toward the container group B1 to be loaded is located away from the transport route, the route setting unit 112 may set an optimal route as a transport route to avoid collision with a container C in the adjacent container group B2. For example, in FIG. 7(b), if a container C in the adjacent container group B2 protrudes at a position corresponding to the container C indicated by "CX", the protruding container C will be located on the opposite side to the direction in which the container C involved in the transport moves. In this case, no collision will occur between the two, so the route setting unit 112 may set the transport route H2 related to the optimal route.

The drive control unit 113 controls the drive unit 30 so that the spreader 14 moves according to the transport path set by the path setting unit 112. The drive control unit 113 controls the spreader 14 to move according to a predetermined transport path by sending control signals to each device such as a motor that constitutes the drive unit 30.

When a safety response process needs to be performed, the warning control unit 114 controls the output unit 31 to warn the user. For example, when there is a container C in the adjacent container group B2 that protrudes toward the container group B1 to be loaded, the warning control unit 114 warns the user of the presence of the container C (that there is a misalignment in the adjacent container group B2) through the output unit 31. Note that the output unit 31 may issue a warning at the same time as transporting along a safe route as shown in FIG. 8, or the spreader 14 may be controlled to stop moving and perform an operation to correct the misalignment when the output unit 31 issues a warning.

Next, an example of a control method for the automatic crane system according to this embodiment will be described. FIG. 9 is a flowchart showing exemplary steps of the control method for the automatic crane system according to this embodiment. As an example, the control method for the automatic crane system according to this embodiment is performed using the automatic crane system 100. The process shown in FIG. 9 is executed when a container C is to be transported from a group of containers B1 to be loaded and unloaded.

First, the information processing unit 111 acquires the detection result from the detector 25 (step S1: detection process). Next, the information processing unit 111 detects the positional relationship between the container C in the container group B1 to be handled and the container C in the adjacent container group B2 by calculating it (step S2: detection process). Next, based on the calculation result in step S2, the information processing unit 111 determines the presence of a container C protruding into the container group B1 to be handled in the adjacent container group B2, and determines whether or not safety response processing is required (step S3).

When the information processing unit 111 determines that safety response processing is not required (YES in step S3), the route setting unit 112 sets the optimal route (see FIG. 7) as the transport route (step S4). On the other hand, when the information processing unit 111 determines that safety response processing is required (NO in step S3), the route setting unit 112 sets the safety route (see FIG. 8) as the transport route (step S5). When either the process of step S4 or S5 is completed, the spreader 14 moves according to the set transport route and transfers the container C to the transport cart 20. Then, when the next container C is transported, the process is resumed from step S1 again. Note that the processes of steps S1 to S3 may be performed every time a container C is transported, or may be performed only the first time a container C is transported from a new container group B1 to be loaded.

Next, the functions and effects of the automatic crane system 100 and the control method for the automatic crane system 100 according to this embodiment will be described.

For example, if there is a container C in the adjacent container group B2 that protrudes into the container group B1 to be handled due to a shift E (see FIG. 2), there is a possibility that the crane 10 will collide with the protruding container C when transporting the container C in the container group B1 to be handled. In response to this, the detection unit 120 detects the positional relationship between the container C in the container group B1 to be handled, which is the object of handling, and the container C in the adjacent container group B2 adjacent to the container group B1 to be handled. Therefore, the detection unit 120 can detect the container C that may collide when transporting the container C in the container group B1 to be handled in the adjacent container group B2. The control device 110 can avoid collisions between the containers C by controlling the crane 10 according to the detection result of the detection unit 120, such as by adjusting the transport path or outputting a warning. As a result, the safety of the transport of the container C can be improved.

The detector 25 of the detection unit 120 may be positioned higher than the upper surface Cc of the container C placed on the transport cart 20. In this case, it is possible to prevent the detection of the detector 25 from being blocked by the container C placed on the transport cart 20.

The detection unit 120 may have a three-dimensional scanner as the detector 25. In this case, the detection range (sensing areas S1, S2) of the detection unit 120 can be widened.

The detection unit 120 may have a three-dimensional camera as the detector 25. In this case, the detection unit 120 can obtain the depth position of the container within the detection range.

When the detection unit 120 detects the proximity of a container C in the container group B1 to be loaded and a container C in the adjacent container group B2, the control device 110 may set a transport route for the container C so as to avoid a collision with the container C in the adjacent container group B2. In this case, the crane 10 can transport the container C while avoiding a collision and ensuring safety.

When the detection unit 120 detects the proximity of a container C in the container group B1 to be loaded and a container C in the adjacent container group B2, the control device 110 may set a safety route determined so that the container C moves at a predetermined maximum height as the transport route for the container C. In this case, no matter where the container C with the possibility of collision is located, the crane 10 can transport the container C while avoiding a collision by moving the container C at the maximum height.

The control method for the automatic crane system 100 according to this embodiment is a control method for the automatic crane system 100 that transports containers C in multiple container groups lined up in a container yard 2 using a crane 10, and includes a detection process for detecting the positional relationship between a container C in the container group B1 to be handled, which is the object of handling, and a container C in an adjacent container group B2 adjacent to the container group B1 to be handled, and a control process for controlling the crane based on the detection result in the detection process.

This control method for the automatic crane system 100 can achieve the same effects and aims as the automatic crane system 100 described above.

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

For example, in the automatic crane system 100 according to the embodiment described above, the detector 25 is configured to be compatible only with containers C of a single length. Instead of this, the detection unit 120 may be capable of setting multiple stages of detection ranges in response to containers C of multiple lengths. In this case, even if the length of the container C is changed, the detection unit 120 can also detect the container C of the changed length. For example, as shown by the two-dot chain line in FIG. 4, a pair of detectors 125 may be further provided at the base of the support unit 21. For example, when handling a 40-foot container C, the detector 25 at the tip of the support unit 21 may detect the state of the gaps GP1 and GP2 between the containers, and when handling a 20-foot container C, the detector 125 at the base of the support unit may detect the state of the gaps between the containers. Note that the method of setting the detection unit 120 to multiple stages of detection ranges in response to containers C of multiple lengths is not limited to the method of increasing the number of detectors. For example, the detection unit 120 may move the detector 25 in the X direction to adjust the positions of the sensing areas S1 and S2 to accommodate containers C of different lengths.

The type of crane 10 is not limited to an RTG crane, and other types of cranes such as an RMGC may also be used.

2... container yard, 10... crane, 20... transport cart, 25, 125... detector, 100... automatic crane system, 110... control device, 120... detection unit, B1... group of containers to be handled, B2... group of adjacent containers, C... container.

Claims (7)

A crane that transports containers in a group of multiple containers lined up in a container yard;
A detection unit that detects a positional relationship between a container in a container group to be handled and a container in an adjacent container group adjacent to the container group to be handled in a longitudinal direction of the container;
a control device that sets a conveying route based on the detection result of the detection unit, and controls the crane so that the spreader of the crane moves along the set conveying route and transfers the container to the conveying cart ,
An automatic crane system, wherein the detection unit is capable of setting multiple detection ranges to detect gaps between containers in the group of containers to be loaded and containers in the adjacent group of containers in accordance with multiple lengths of containers. The automated crane system according to claim 1, wherein the detection unit is positioned higher than the top surface of the container placed on the transport cart. The automated crane system according to claim 1 or 2 , wherein the detection unit includes a three-dimensional scanner. The automated crane system according to claim 1 or 2 , wherein the detection unit includes a three-dimensional camera. When the detection unit detects proximity between a container in the container group to be loaded and a container in the adjacent container group,
The automated crane system according to any one of claims 1 to 4 , wherein the control device sets a transport route for the container so as to avoid collision with the container in the adjacent container group. When the detection unit detects proximity between a container in the container group to be loaded and a container in the adjacent container group,
The automatic crane system according to any one of claims 1 to 5, wherein the control device sets a safety route as a transport route for the container, the safety route being determined so that the container moves at a predetermined maximum height that is higher than the maximum height of containers in the group of containers to be loaded or the adjacent container group. A control method for an automated crane system that transports containers in a group of multiple containers lined up in a container yard using a crane, comprising the steps of:
a detection process for detecting a positional relationship between a container in a container group to be handled that is a target for loading and unloading and a container in an adjacent container group adjacent to the container group to be handled in a longitudinal direction of the container by setting a detection range in multiple stages so as to detect a gap between a container in the container group to be handled and a container in the adjacent container group in correspondence with containers of multiple lengths ;
A control method for an automatic crane system, comprising: a control process for setting a conveying route based on the detection results in the detection process, and controlling the crane so that the spreader of the crane moves along the set conveying route and transfers the container to the conveying cart.

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