JP7633267B2 - Remote automatic RTG system, control method for remote automatic RTG system, and remote automatic RTG system control device - Google Patents

Description

The present disclosure relates to a remote automatic RTG system, a control method for a remote automatic RTG system, and a remote automatic RTG system control device.

Conventionally, remote automatic RTG systems equipped with multiple RTG (Rubber Tyred Gantry Cranes) cranes have been known. Patent Document 1 describes a remote automatic RTG system equipped with multiple RTG cranes and multiple operation consoles. The RTG cranes of this remote automatic RTG system switch from automatic operation to operation by an operator via the operation console.

JP 2004-123367 A

Here, in a remote automated RTG system, it is required to control multiple RTG cranes with fewer operator consoles. Therefore, it is required to reduce the number of operator consoles relative to the number of RTG cranes.

The present disclosure aims to provide a remote automatic RTG system that can reduce the number of operator consoles relative to the number of RTG cranes, a control method for a remote automatic RTG system, and a remote automatic RTG system control device.

The remote automatic RTG system according to the present disclosure is a remote automatic RTG system including a plurality of RTG cranes, a plurality of operation consoles that enable an operator to remotely operate the RTG cranes, and a control unit that links an available operation console among the plurality of operation consoles that is not linked to any of the RTG cranes to an operation request RTG crane among the plurality of RTG cranes that is issuing an operation request requiring operation by an operator, and the control unit has a calculation unit that adjusts the order of linking the operation request RTG cranes to the available operation consoles based on predetermined conditions.

In this remote automatic RTG system, the control unit links an available operator console among the multiple operator consoles that is not linked to any RTG crane to an operation request RTG crane that is sending an operation request to be operated by an operator among the multiple RTG cranes. At this time, the control unit has a calculation unit that adjusts the order of linking the operation request RTG crane and the available operator console based on a predetermined condition. Therefore, when the operator console is available, the calculation unit can quickly link the available operator console to the operation request RTG crane. On the other hand, when the operator console is not available and there is an operation request RTG crane on standby, the control unit can appropriately adjust how to link the operation request RTG crane according to the situation when the operator console next becomes available. In other words, the operation request RTG crane can be linked to the available operator console at an appropriate timing according to the situation without preparing an excessive number of operator consoles for the number of RTG cranes. As a result, the number of operator consoles relative to the number of RTG cranes can be reduced.

The calculation unit may link available operation consoles based on the order of operation requests. In this case, the calculation unit can preferentially link RTG cranes with operation requests that have long waiting times to available operation consoles.

The calculation unit may link available operation consoles based on the urgency of the operation requests. In this case, the calculation unit can preferentially link RTG cranes with operation requests of high urgency to available operation consoles.

The calculation unit may link an available operation console based on the cargo handling category of the operation-requested RTG crane. In this case, the calculation unit can preferentially link an operation-requested RTG crane related to a cargo handling category with a high priority to an available operation console.

The calculation unit may link an available operator console based on the work area of the requested RTG crane. In this case, the calculation unit can preferentially link the requested RTG crane related to the work area with a high priority to an available operator console.

The calculation unit may link an available operator console based on the priority of the containers that the operation request RTG cranes are working on. In this case, the calculation unit can preferentially link an operation request RTG crane working on a high-priority container to an available operator console.

The calculation unit may correct the order of associating free operation consoles based on the first-come-first-served order of operation requests, based on other conditions. In this case, the calculation unit can adjust the order of associating free operation consoles based on the first-come-first-served order of operation requests, while taking other conditions into consideration.

The calculation unit may create a waiting list that links the operation request RTG cranes to available operator consoles, and link the available operator consoles in the order of the list. In this case, by referring to the waiting list, it is easy to know which operation request RTG crane will be linked to which available operator console in what order.

The operation request may include information indicating the status of the target operation request RTG crane. This allows the calculation unit to adjust the link with an available operator console taking into account the status of the operation request RTG crane.

The control method for a remote automatic RTG system according to the present invention is a control method for a remote automatic RTG system that includes a plurality of RTG cranes and a plurality of operator consoles capable of operating the RTG cranes, and adjusts the order in which an available operator console that is not linked to any RTG crane among the plurality of operator consoles is linked to an operation request RTG crane among the plurality of RTG cranes that is issuing an operation request requiring operation by an operator, based on predetermined conditions.

The remote automatic RTG system control device of the present invention is a remote automatic RTG system control device that controls a remote automatic RTG system having multiple RTG cranes and multiple operator consoles capable of operating the RTG cranes, and adjusts the order in which an available operator console that is not linked to any RTG crane among the multiple operator consoles is linked to an operation request RTG crane among the multiple RTG cranes that is issuing an operation request requiring operation by an operator, based on specified conditions.

According to the control method for a remote automatic RTG system and the remote automatic RTG system control device of the present invention, it is possible to obtain the same functions and effects as the remote automatic RTG system described above.

According to the present disclosure, it is possible to provide a remote automatic RTG system, a control method for a remote automatic RTG system, and a remote automatic RTG system control device that can reduce the number of operator consoles relative to the number of RTG cranes.

1 is a plan view showing an exemplary container terminal 1 to which a remote automated RTG system according to this embodiment is applied. FIG. 2 is a perspective view showing a schematic diagram of an RTG crane arranged in a container yard. 1 is a block diagram showing the functions of a remote automatic RTG system according to an embodiment of the present invention; 4(a), (b), and (c) are diagrams showing specific examples of waiting lists. 13 is a flowchart showing the processing contents in the remote automatic RTG system control device when any of the RTG cranes makes an operation request to the remote automatic RTG system control device. 13 is a flowchart showing the processing contents in the remote automatic RTG system control device when information indicating that any of the operation consoles has become free is transmitted to the remote automatic RTG system control device.

Below, embodiments of the remote automatic RTG system, the control method for the remote automatic RTG system, and the remote automatic RTG system control device according to the present disclosure 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 duplicate descriptions will be omitted as appropriate. In addition, the drawings may be partially simplified or exaggerated for ease of understanding, and the dimensional ratios, etc. are not limited to those shown in the drawings.

1 is a plan view showing an exemplary container terminal 1 to which a remote automated RTG system 100 according to this embodiment is applied. As shown in FIG. 1, the container terminal 1 is provided with a container yard 2 in which containers 3 (see FIG. 2) are placed, a plurality of gantry cranes 4 which transfer the containers 3 to ships berthed at berths, a plurality of RTG cranes 10 which are placed in the container yard 2 and which load and unload the containers 3, and a remote operation room 5 which allows remote operation of the plurality of RTG cranes 10.

For example, in the container yard 2, a running path is laid for transport vehicles such as freight cars, trailers, or AGVs (Automated Guide Vehicles). The RTG crane 10 acquires the container 3 transported by the transport vehicle and places the container 3 at a position indicated by a predetermined address in the container yard 2. For example, multiple RTG cranes 10 are arranged for each container yard 2. The RTG crane 10 acquires the container 3 placed in the container yard 2, transfers the container 3 to the transport vehicle, and has the container 3 carried outside by the transport vehicle.

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

The RTG crane 10, for example, comprises a trolley 11 capable of traversing on a crane girder, a spreader 12 for loading and unloading containers 3, and a traveling device 13 having wheels. The RTG crane 10 has a gate shape with a pair of legs erected on the pair of traveling devices 13, and a crane girder connecting the upper ends of the pair of legs. The trolley 11 traverses by, for example, being driven by a traverse motor. As an example, the trolley 11 has a drum that rotates forward and backward by a drum drive motor, and suspends the spreader 12 via a wire.

The spreader 12 is a lifting device that suspends the container 3. The spreader 12 can engage the container 3 from above, and loads and unloads the container 3 by engaging and lifting the container 3. For example, the operation and position of the spreader 12 are controlled by the remote automatic RTG system 100, the control method for the remote automatic RTG system, and the remote automatic RTG system control device 50 according to this embodiment.

Figure 3 is a block diagram showing the functions of the remote automatic RTG system 100 according to this embodiment. The remote automatic RTG system 100 is a system that controls multiple RTG cranes 10. As shown in Figure 3, the remote automatic RTG system 100 includes multiple RTG cranes 10, multiple operation consoles 6 capable of operating each RTG crane 10, and a remote automatic RTG system control device 50 (control unit). Note that the block diagram in Figure 3 shows the crane control device 20 included in the RTG crane 10.

The operation console 6, the crane control device 20, and the remote automatic RTG system control device 50 may be configured as a general computer, for example, equipped with a processor, memory, storage, a communication interface, and a user 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, communication interface, and user interface. In the operation console 6, the crane control device 20, and the remote automatic RTG system control device 50, 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 user interface of the operation console 6 and the crane control device 20 includes output devices such as a display for display output and a speaker for audio output, as well as input devices such as a steering lever, a button, a keyboard, a touch panel, and a microphone. The remote automatic RTG system control device 50 may be configured by a single computer installed in one location, or may be configured by multiple computers, or may be installed in a distributed state at multiple locations.

The crane control device 20 includes a communication unit 21, an information acquisition unit 22, a drive control unit 23, and a calculation unit 24. The communication unit 21 transmits and receives various information by communicating with other devices. The information acquisition unit 22 acquires information indicating various states for the RTG crane 10 to perform automatic operation. The information acquisition unit 22 acquires information from various sensors provided on the RTG crane 10. The drive control unit 23 transmits control signals to drive units such as the motor of the RTG crane 10 to perform drive control. When the drive control unit 23 performs an operation according to the operation of the operator, the drive control unit 23 performs drive control in accordance with the operation. When the drive control unit 23 is in automatic operation, the drive control unit 23 performs drive control so that the operation calculated by the calculation unit 24 can be realized. The calculation unit 24 performs various calculations related to the RTG crane 10. When the calculation unit 24 is in automatic operation, the calculation unit 24 calculates the operation content of the RTG crane 10.

Here, when the crane control device 20 is performing automatic operation, it can judge the situation and autonomously send an operation request from the operation console 6. That is, the calculation unit 24 is provided with logic for determining whether remote operation is necessary to improve the operational efficiency and safety of the system, and judges whether an operation request from the operation console 6 is necessary based on this logic. In addition, the communication unit 21 transmits the operation request to the remote automatic RTG system control device 50.

Specifically, the calculation unit 24 can make an operation request when automatic transport of the spreader 12 to just before the chassis area is completed (situation 1) during the loading operation of loading the container 3 onto the truck. Also, the calculation unit 24 can make an operation request when automatic transport of the spreader 12 to just before the chassis area is completed (situation 2) during the loading operation of picking up the container 3 from the truck. Also, the calculation unit 24 can make an operation request when it detects an abnormality related to the control system.

Furthermore, the calculation unit 24 may make an operation request only when it detects that a chassis has arrived in the above "Situation 1" or "Situation 2". Alternatively, the calculation unit 24 may make an operation request when it detects that a chassis has arrived regardless of the above "Situation 1" and "Situation 2". The RTG crane 10 may be equipped with a sensor for detecting that the chassis is stopped at a predetermined stopping position.

The calculation unit 24 may also make an operation request when it detects a state in which there is a high safety risk. If a detection function that is deemed to indicate a state in which there is a high safety risk is activated, the calculation unit 24 may voluntarily stop automatic operation. Furthermore, the calculation unit 24 can send a request signal from the operation console 6 to the remote automatic RTG system control device 50 at the same time as voluntarily stopping automatic operation, prompting the operator to check the status and perform recovery.

Specifically, the following cases are examples of conditions that pose a high safety risk. For example, when the spreader 12 is in an area that interferes with a chassis truck parked at a specified stop position, the calculation unit 24 may detect this as a high safety risk and issue an operation request. To detect such conditions, the RTG crane 10 is equipped with a system that detects the winding and traversing positions of the spreader 12. As a result, the RTG crane 10 only needs to have a function for determining whether the spreader 12 has entered an interference area with the chassis truck.

When the calculation unit 24 judges that there is a high possibility that the spreader 12 or the suspended load will come into contact with a stored container, or when the spreader 12 or the suspended load comes into contact with a stored container, the calculation unit 24 may detect this as a high safety risk and issue an operation request. In order to detect such a condition, the RTG crane 10 may be equipped with a system that monitors whether the spreader 12 or the suspended load will come into contact with a stored container using a laser range finder, 2D scanner, or other 3D scanner installed facing downward, to the side, or upward of the spreader 12. Alternatively, the RTG crane 10 may be equipped with a system that monitors whether the spreader 12 or the suspended load will come into contact with a stored container using a 2D scanner or 3D scanner installed on the trolley 11.

The calculation unit 24 may detect a high safety risk when the spreader 12 or the suspended load sways significantly and issue an operation request. In this case, the RTG crane 10 may be equipped with a system that monitors the spreader 12 sway signal obtained by an image processing system, an accelerometer, an inclinometer, or the like, and identifies an abnormal state when the sway amount deviates from the normal range.

The calculation unit 24 may detect a significant inclination of the spreader 12 or the suspended load as a high safety risk and issue an operation request. In this case, the RTG crane 10 may be equipped with a system that monitors the inclination of the spreader 12 obtained by an image processing system, an accelerometer, an inclinometer, etc., and identifies an abnormal state when the inclination deviates from the normal range.

The calculation unit 24 may detect a large rotation of the spreader 12 or the suspended load as a high safety risk and issue an operation request. In this case, the RTG crane 10 may be equipped with a system that monitors the rotation (also called small rotation) of the spreader 12 obtained by an image processing system, an accelerometer, an inclinometer, etc., and identifies an abnormal state when the rotation deviates from the normal range.

The calculation unit 24 may detect an impact on the spreader or the suspended load as a high safety risk and issue an operation request. In this case, the RTG crane 10 may be provided with an accelerometer, inclinometer, or other sensor for detecting impact on the spreader 12, and a system for identifying an abnormality when an impact that does not normally occur is detected.

The calculation unit 24 may detect a large change in the load of the spreader 12 or the suspended load as a high safety risk and issue an operation request. In this case, the RTG crane 10 may be provided with a means for detecting the load of the spreader 12 or the suspended load, and a system for identifying an abnormality when a change in load that deviates from the normal change in load is detected.

The calculation unit 24 may also make an operation request when automatic stowage or automatic gripping of the container 3 fails. The calculation unit 24 can send a request signal from the operation console 6 to the remote automatic RTG system control device 50 to prompt the operator to check the status and perform recovery.

Specifically, the following cases are given as examples of when automatic stowage of containers 3 fails. For example, the calculation unit 24 may issue an operation request if the containers 3 have been automatically stowed but the stowage accuracy is insufficient. In this case, the RTG crane 10 may be equipped not only with a relative position deviation detection means with respect to the stored container provided on the spreader 12, but also with a relative position deviation detection means between the spreader 12 or the suspended load and the stored container, for example, using a 3D scanner or the like from on the trolley 11. The calculation unit 24 issues an operation request if the accuracy of container stowage is unacceptable.

The calculation unit 24 may issue an operation request when attempting to automatically stow a container 3 but the hoisted load position does not fall within a predetermined range and automatic stowage is abandoned. In this case, the RTG crane 10 may be equipped not only with a relative position deviation detection means with respect to the stored container provided on the spreader 12, but also with a relative position deviation detection means between the spreader 12 or the hoisted load and the stored container, for example, using a 3D scanner or the like from on the trolley 11. The calculation unit 24 issues an operation request when the relative position deviation conditions that allow automatic landing of the container 3 are not satisfied even after a certain period of time has passed.

The calculation unit 24 attempts to detect the relative position of the stacked containers 3 in order to automatically stack the containers 3, but may issue an operation request if the relative position cannot be detected normally. In this case, the RTG crane 10 may be equipped not only with a relative position deviation detection means with respect to the stored containers provided on the spreader 12, but also with a relative position deviation detection means between the spreader 12 or the suspended load and the stored containers, for example, using a 2D scanner or 3D scanner from the trolley 11. The calculation unit 24 issues an operation request if the detected relative position is not normal.

In addition, the following cases are examples of when automatic gripping of the container 3 fails. For example, when the flipper rides up onto the container 3 or the twist lock does not fit into the corner casting of the container 3 during automatic gripping of the container 3, the calculation unit 24 may determine that automatic gripping has failed and issue an operation request if any of the following situations occurs: "four landing detection signals are not obtained," "the inclination of the spreader deviates from the normal range," or "the swing displacement of the spreader deviates from the normal range."

The calculation unit 24 may make an operation request when an attempt is made to automatically grasp the container 3 but the vibration of the spreader 12 does not fall within a specified range.

The calculation unit 24 may issue an operation request when an attempt is made to automatically grab a container 3 but the relative position between the spreader 12 and the stored container does not fall within an allowable range. In this case, the RTG crane 10 may be provided with a plurality of laser range finders or 2D scanners, etc., mounted on the spreader 12 as a relative position detection means between the spreader 12 and the stored container. Alternatively, the RTG crane 10 may be provided with a 2D scanner or 3D scanner mounted on the trolley 11 as a relative position detection means. The calculation unit 24 issues an operation request when the relative position between the spreader 12 and the stored container detected by these detection means does not fall within an allowable range even after a certain period of time has elapsed.

The calculation unit 24 may issue an operation request if an attempt is made to automatically grab a container 3 but the relative position between the spreader 12 and the stored container cannot be detected normally. The calculation unit 24 issues an operation request when the aforementioned detection means does not function normally.

The operation console 6 includes a communication unit 31, a state determination unit 32, and an operation information creation unit 33. The communication unit 31 transmits and receives various information by communicating with other devices. The state determination unit 32 determines whether the operation console 6 is linked to any RTG crane 10 or is not linked to any RTG crane 10. The operation information creation unit 33 creates operation information to be sent to the RTG crane 10 based on the operator's operation. The state in which the operation console 6 and the RTG crane 10 are linked means that the operator can remotely operate a specific RTG crane 10 using the operation console 6. The operation console 6 linked to a specific RTG crane 10 receives information necessary for remote operation from the RTG crane 10 to be operated. The information necessary for remote operation is, for example, an image captured by an imaging means mounted on the RTG crane 10. A state in which the operation console 6 and the RTG crane 10 are not linked to each other is a state in which the operation console 6 is not receiving information necessary for remote operation.

The remote automatic RTG system control device 50 includes a communication unit 51 and a calculation unit 52. The communication unit 51 transmits and receives various information by communicating with other devices. The calculation unit 52 performs various calculations related to the remote automatic RTG system control device 50. In particular, in this embodiment, the calculation unit 52 links an operation console 6 (free operation console) that is not linked to any of the RTG cranes 10 among the multiple operation consoles to an RTG crane 10 (operation request RTG crane) that is sending an operation request requesting operation by an operator among the multiple RTGs.

Next, a detailed description will be given of how the remote automatic RTG system control device 50 links multiple RTG cranes 10 to multiple operation consoles 6. The calculation unit 52 of the remote automatic RTG system control device 50 acquires information related to the availability of each operation console 6 via the communication unit 51. A state in which the operation console 6 is available means that the operation console 6 is not linked to any RTG crane 10 and cannot operate any RTG crane 10. A state in which the operation console 6 is not available means that the operation console 6 is linked to any RTG crane 10 and can operate that RTG crane 10. The calculation unit 52 can acquire operation requests from each RTG crane 10 via the communication unit 51.

When the calculation unit 52 acquires an operation request for any of the RTG cranes 10 while there is free space on the operation console 6, it links the RTG crane 10 that has issued the operation request to any of the free operation consoles 6. When the calculation unit 53 acquires an operation request for any of the RTG crane 10 while there is no free space on the operation console 6, it puts the RTG crane 10 that has issued the operation request into a standby state until the operation console 6 becomes free. Furthermore, when multiple RTG cranes 10 are in a standby state, the calculation unit 52 adjusts the order in which the operation consoles 6 are linked based on the conditions of each RTG crane 10.

For example, the calculation unit 52 may link an available operation console 6 based on the order of operation requests. In other words, the calculation unit 52 links an RTG crane 10 that is in a standby state and has an earlier operation request to an earlier available operation console 6.

The calculation unit 52 may also link an available operation console 6 based on the urgency of the operation request. That is, the calculation unit 52 determines the reason for the RTG crane 10 to issue an operation request, ranks the urgency of the reason, and links an RTG crane 10 with a higher urgency to an earlier available operation console 6. For example, items such as "a state where a high safety risk is recognized," "a state related to container transfer with a truck," "a system abnormality has occurred," and "a failure in automatic loading or automatic gripping of a container" can be listed, and the urgency can be set high in this order. However, the ranking is not particularly limited, and the setting of the ranking may be changeable, and items may be added.

The calculation unit 52 may also link an available operation console based on the cargo handling category of the RTG crane 10 that is sending the operation request. That is, the calculation unit 52 links an RTG crane 10 with a cargo handling category of higher priority to an earlier available operation console 6. For example, cargo handling categories such as "ship loading and unloading," "transportation of foreign trucks," "rearrangement of stored containers," and "waiting movement" can be mentioned, and the order of priority can be set in this order. However, the ranking is not particularly limited, and the settings for the ranking may be changeable, and items may be added.

The calculation unit 52 may also link a vacant operation console 6 based on the work area of the RTG crane 10 that is sending the operation request. That is, the higher the priority of the RTG crane 10 in the cargo handling category, the earlier the calculation unit 52 links the vacant operation console 6. For example, work areas such as "first berth," "second berth," and "third berth" can be mentioned, and the priority can be set in this order. However, the priority is not particularly limited, and the priority settings may be changeable, and items may be added.

The calculation unit 52 may also link a free operation console 6 based on the priority of the container being worked on by the RTG crane 10 that has issued the operation request. That is, the calculation unit 52 links the RTG crane 10 working on a container with a higher priority to the operation console 6 that becomes free earlier. For example, containers such as "most important customer container" and "general customer container" can be listed, and the priority can be set high in this order. However, the ranking is not particularly limited, and the settings for the priority may be changeable, and items may be added.

As described above, the conditions of first-come-first-served order of operation requests, urgency of operation requests, cargo handling category, work area, and priority order of containers are exemplified as the predetermined conditions for adjusting the pegging order. However, the calculation unit 52 may set any of the conditions individually to peg the vacant operation console 6 and the RTG crane 10, or may set conditions by combining the conditions. For example, when combining conditions, the calculation unit 52 may weight each condition and set a condition to be prioritized and a condition with a low priority. For example, the calculation unit 52 may set a score according to the rank or priority of each condition, and the RTG crane 10 with a higher score may be pegged to the vacant operation console 6 earlier. The conditions of the operation request are information included in the operation request when the crane control device 20 of the RTG crane 10 transmits the operation request.

The calculation unit 52 may also correct the pegging order of vacant operation consoles 6 based on the first-come, first-served order of operation requests based on other conditions. That is, the calculation unit 53 sets the pegging order based on the first-come, first-served order of the above-mentioned conditions, and then corrects the pegging order taking into account the urgency of the operation request, the cargo handling category, the work area, and the priority order of the container.

The calculation unit 52 may also create a waiting list that links the free operation console 6 to the RTG crane 10 that is issuing the operation request, and link the free operation console 6 in the order of the list. The waiting list may be disclosed to the operator, etc. FIG. 4 shows a specific example of the waiting list. The list shows the order in which the free operation console 6 is linked and the identification symbol of the RTG crane 10 corresponding to each order. The identification symbol of the RTG crane 10 is shown in alphabetical order. As shown in FIG. 4(a), the order of the RTG cranes 10 in the standby state is shown up to the fourth. In contrast, when an operation request is newly issued from the RTG crane 10 of "G", the calculation unit 52 evaluates each condition of "G" and determines that the priority of "G" is higher than "F". In this case, as shown in FIG. 4(b), the calculation unit 52 inserts "G" into the second position and lowers the order of the RTG cranes 10 after "F". As a result, when an operator console 6 becomes free, the calculation unit 52 links the free operator console 6 to the first "A" RTG crane 10 on the list. Then, when an operator console 6 next becomes free, the calculation unit 52 links the free operator console 6 to the second "G" RTG crane 10 on the list. Note that although the list shown in Fig. 4 is a simple one showing only the order, the status of each RTG crane may also be described in the list.

In addition, the remote automatic RTG system control device 50 may forcibly link a unique operation console 6 to a unique RTG crane 10, for example in the event of an abnormality, separately from a spontaneous operation request of the RTG crane 10 described above.

Next, referring to the flowcharts shown in FIG. 5 and FIG. 6, the process in which the remote automatic RTG system control device 50 links an available operator console 6 to the RTG crane 10 that has issued an operation request will be described. FIG. 5 is a flowchart showing the process contents in the remote automatic RTG system control device 50 when any RTG crane 10 has issued an operation request to the remote automatic RTG system control device 50. First, the calculation unit 52 acquires the operation request via the communication unit 51 (step S10). Next, the calculation unit 52 judges whether the operator console 6 is available (step S20). At this time, if the calculation unit 52 judges that the operator console 6 is available, it links the RTG crane 10 that has issued the operation request to the available operator console 6 (step S40). On the other hand, if the calculation unit 52 judges that the operator console 6 is not available, it creates a waiting list for linking the available operator console 6 to the RTG crane 10 that has issued the operation request, or edits the list (if the list has already been created) (step S30). This allows the calculation unit 52 to adjust the pegging with the RTG crane 10 based on the availability of the operation console 6. When step S30 or step S40 is completed, the process is repeated from step S10 at the timing when the next operation request is transmitted.

Figure 6 is a flowchart showing the processing contents in the remote automatic RTG system control device 50 when information that any of the operation consoles 6 is available is transmitted to the remote automatic RTG system control device 50. First, the calculation unit 52 acquires information indicating the status that the operation console 6 is available via the communication unit 51 (step S110). Next, the calculation unit 52 determines whether or not there is a waiting RTG crane 10 (step S120). At this time, if the calculation unit 52 determines that there is no waiting RTG crane 10, it makes the operation console 6 wait for an operation request (step S140). On the other hand, if the calculation unit 52 determines that there is a waiting RTG crane 10, it reads out the waiting list and performs pegging based on the waiting list (step S130). When step S130 or step S140 is completed, the processing is repeated again from step S110 at the timing when information that the next operation console 6 is available is transmitted.

Next, we will explain the functions and effects of the remote automatic RTG system 100, the control method for the remote automatic RTG system, and the remote automatic RTG system control device 50 related to this embodiment.

In the remote automatic RTG system 100 according to this embodiment, the remote automatic RTG system control device 50 links an operation console 6 (free operation console) among the multiple operation consoles 6 that is not linked to any RTG crane 10 to an RTG crane 10 (operation request RTG crane) that is sending an operation request requesting an operator to operate among the multiple RTG cranes 10. At this time, the remote automatic RTG system control device 50 has a calculation unit 52 that adjusts the order of linking the RTG crane that is sending the operation request and the free operation console 6 based on a predetermined condition. Therefore, when the operation console 6 is free, the remote automatic RTG system control device 50 can quickly link the free operation console 6 to the RTG crane 10 that is sending the operation request. On the other hand, when the operation console 6 is not free and there is a waiting RTG crane 10, the remote automatic RTG system control device 50 can appropriately adjust how to link the RTG crane 10 according to the situation when the operation console 6 next becomes free. In other words, it is possible to link an RTG crane 10 to an available operation console 6 at an appropriate timing according to the situation without preparing an excessive number of operation consoles 6 relative to the number of RTG cranes 10. As a result, the number of operation consoles 6 relative to the number of RTG cranes 10 can be reduced.

The remote automatic RTG system control device 50 may link an available operation console 6 based on the order of operation requests. In this case, the remote automatic RTG system control device 50 can preferentially link an RTG with a long waiting time to an available operation console 6.

The remote automatic RTG system control device 50 may link an available operation console 6 based on the urgency of the operation request. In this case, the remote automatic RTG system control device 50 can preferentially link an RTG crane 10 with a high urgency to an available operation console 6.

The remote automatic RTG system control device 50 may link an available operation console 6 based on the cargo handling category of the RTG crane 10 that is sending the operation request. In this case, the remote automatic RTG system control device 50 can preferentially link an RTG crane 10 related to cargo handling of a high priority category to an available operation console.

The remote automatic RTG system control device 50 may link an available operator console 6 based on the work area of the RTG crane 10 that is sending the operation request. In this case, the remote automatic RTG system control device 50 can preferentially link the RTG crane 10 related to the high-priority work area to the available operator console 6.

The remote automatic RTG system control device 50 may link an available operation console 6 based on the priority of the container on which the RTG crane 10 that has issued the operation request is working. In this case, the remote automatic RTG system control device 50 can preferentially link the RTG crane 10 working on a high-priority container to an available operation console 6.

The remote automatic RTG system control device 50 may correct the order of pegging of available operation consoles 6, which is based on the first-come-first-served order of operation requests, based on other conditions. In this case, the remote automatic RTG system control device 50 can adjust the order of pegging of available operation consoles 6 based on the first-come-first-served order of operation requests while taking other conditions into consideration.

The remote automatic RTG system control device 50 may create a waiting list linking free operator consoles 6 to the RTG crane 10 that is sending the operation request, and link free operator consoles 6 in the order of the list. In this case, by referring to the waiting list, it is easy to know which RTG crane 10 is linked to which free operator console 6. In this way, by creating a list that takes into account the linking of RTG cranes 10 related to the standby state, it is possible to properly grasp the standby state according to the situation of each RTG crane 10, so that the system can be operated properly even if the number of operator consoles 6 is reduced.

The operation request may include information indicating the status of the target RTG crane 10. This allows the remote automatic RTG system control device 50 to adjust the link with an available operation console 6, taking into account the status of the RTG crane 10 related to the operation request.

The control method for the remote automatic RTG system 100 according to this embodiment is a control method for the remote automatic RTG system 100 that includes a plurality of RTG cranes 10 and a plurality of operator consoles 6 capable of operating the RTG cranes 10, and adjusts the order in which an operator console 6 that is not linked to any of the RTG cranes 10 is linked to an RTG crane 10 among the plurality of RTG cranes 10 that is issuing an operation request requiring operation by an operator, based on predetermined conditions.

The remote automatic RTG system control device 50 of this embodiment is a remote automatic RTG system control device 50 that controls a remote automatic RTG system 100 that includes a plurality of RTG cranes 10 and a plurality of operator consoles 6 capable of operating the RTG cranes 10, and adjusts the order in which operator consoles 6 that are not linked to any of the RTG cranes 10 are linked to an RTG crane 10 among the plurality of RTG cranes 10 that is issuing an operation request requiring operation by an operator, based on specified conditions.

According to the control method for the remote automatic RTG system 100 and the remote automatic RTG system control device 50 of this embodiment, the same actions and effects as those of the above-mentioned remote automatic RTG system 100 can be obtained.

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

For example, in the above embodiment, an RTG is linked to an available operator console 6, but the operator console 6 is not necessarily limited to being available, and even if there is no available operator console 6, a request for release may be made to an already linked operator console 6 depending on the level of urgency, etc., and after release, an RTG with a high level of urgency may be linked.

In the above-described embodiment, the remote automatic RTG system control device 50 installed at a position different from the operation console 6 and the RTG crane 10 adjusted the linking between the RTG crane 10 and the operation console 6, but the operation console 6 and the crane control device 20 may also function as part of the remote automatic RTG system control device.

6...operation console, 10...RTG crane, 50...remote automatic RTG system control device (control unit), 100...remote automatic RTG system.

Claims (11)

A plurality of RTG cranes;
A plurality of operation consoles that enable an operator to remotely operate the RTG crane;
A control unit that links an available operator console that is not linked to any of the RTG cranes among the plurality of operator consoles to an operation request RTG crane that is sending an operation request requesting an operator to operate the RTG cranes among the plurality of RTG cranes,
The control unit has a calculation unit that creates a waiting list that links the free operation console to the operation request RTG crane based on one condition and links the free operation console to the order of the list, and the order of the list can be corrected based on another condition different from the one condition ,
a remote automatic RTG system, wherein the first condition and the other condition are selected from among first come, first served, urgency of the operation request, cargo handling category, work area, ship priority, and information indicating the status of the RTG crane included in the operation request, and the other condition is selected from among cargo handling category, work area, ship priority, and information indicating the status of the RTG crane included in the operation request . The remote automatic RTG system of claim 1, wherein the calculation unit edits the list when a new operation request is obtained. 3. The remote automated RTG system according to claim 1 , wherein the calculation unit changes the order of the list based on a category of cargo handling by the operation request RTG crane. 4. The remote automated RTG system according to claim 1 , wherein the calculation unit changes the order of the list based on a working area of the operation request RTG crane. 5. The remote automatic RTG system according to claim 1 , wherein the calculation unit changes the order of the list based on the priority of the vessels on which the operation request RTG cranes are performing work. The remote automated RTG system according to any one of claims 1 to 5 , wherein the list is disclosed to an operator. each of the plurality of RTG cranes has a crane control device;
The remote automatic RTG system according to any one of claims 1 to 6 , wherein the crane control device, when a detection function that is considered to indicate a high safety risk is activated, voluntarily stops automatic operation and simultaneously transmits the operation request. each of the plurality of RTG cranes has a crane control device;
The remote automatic RTG system according to any one of claims 1 to 6 , wherein the crane control device transmits the operation request when an attempt is made to automatically stow containers but the hoisted load position does not fall within a predetermined range and automatic stowage is to be abandoned. The remote automatic RTG system according to any one of claims 1 to 7 , wherein the operation request includes information indicating a status of the target operation request RTG crane, and the calculation unit changes the order of the list taking into account the status. A plurality of RTG cranes;
and a plurality of operation consoles capable of operating the RTG cranes.
based on one condition, create a waiting list for linking an available operator console among the plurality of operator consoles that is not linked to any of the RTG cranes to an operation request RTG crane among the plurality of RTG cranes that has issued an operation request requesting an operator to operate the RTG cranes;
The free operation consoles are linked in the order of the list,
The order of the list can be adjusted based on another condition different from the one condition ,
A control method for a remote automatic RTG system, wherein the first condition and the other condition are selected from among first come, first served, urgency of the operation request, cargo handling category, work area, priority of the ship, and information indicating the status of the RTG crane included in the operation request, and the other condition is selected from among cargo handling category, work area, priority of the ship, and information indicating the status of the RTG crane included in the operation request . A plurality of RTG cranes;
and a plurality of operation consoles capable of operating the RTG cranes.
a calculation unit that creates a waiting list for linking an available operator console among the plurality of operator consoles that is not linked to any of the RTG cranes to an operation request RTG crane that is sending an operation request requesting an operator to operate the RTG cranes based on a certain condition, and links the available operator consoles in the order of the list;
The order of the list can be adjusted based on another condition different from the one condition ,
a remote automatic RTG system control device, wherein the conditions of the one condition and the other condition are selected from among first come, first served, urgency of the operation request, cargo handling category, work area, ship priority, and information indicating the status of the RTG crane included in the operation request, and the other condition is selected from among cargo handling category, work area, ship priority, and information indicating the status of the RTG crane included in the operation request .

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