JPS5941891B2 - position detection device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a position detection device that can detect the relative positional relationship between a ship and cargo handling equipment.

Conventional detection means suspend a weight from a crane leg,
The relative height between the crane and the ship is detected by lowering it onto the ship's deck and measuring the length of the rope supporting the weight at that time.

The above-mentioned conventional detection means cannot detect the axial distance in the transverse direction, the attitude of the ship, etc., and cannot be used as a position detection device for automatic cargo handling.

The present invention enables accurate knowledge of the relative positional relationship between the ship and the crane (two axes, the transverse axis and the vertical axis) and the attitude of the ship (heel-trim 7 skew) only from the rough lane side. The purpose of the present invention is to provide a position detection device that can perform the following functions.

The invention is to detect the relative height between the girder and the ship by lowering the tactile sense onto the deck of the ship from two points on the crane girder,
In addition, the tactile senses are brought into contact with the side of the ship from two points on the crane legs, and the relative position of the ship and the crane in the transverse direction is detected from the length of the tactile senses at that time, and the above two types of tactile lengths are By combining these, it is possible to detect the attitude of a ship, that is, heel, trim, and skew.

The present invention will be described in detail below with reference to the drawings.

Figure 1 shows the relative positional relationship between the crane 1 and the ship 2 (height direction H1, transverse direction L), and Figure 2 shows the attitude of the ship 2 (
It shows heel φ, trim V, and skew.

The present invention relates to H, L, and φ. The present invention provides a position detection device that knows V and θ.

3 to 5 show a crane equipped with the position detection device of the present invention.

That is, at two points on the girder 1a of the crane 1, tactile means 3 and 4 are installed facing each other to detect the length of the rope when the contactor is lowered and brought into contact with the ship 2.

These tactile means 3, 4 are constructed, for example, by attaching weights to the rope wound around a rope winder and by providing a rope length detector on the winder.

Further, the crane leg 1b is provided with tactile means 5 and 6 for reaching the side at two locations on the same horizontal plane.

These tactile means 5, 6 can be realized, for example, by using a spring-cylinder arrangement.

A method of detecting the position and orientation using the tactile means 3 to 6 described above will be explained with reference to FIGS. 4 and 5.

The height H2 of the ship 2 with respect to the crane shown in FIG.
, 6 to X7. When X2 is assumed, it is determined by the following formula.

Further, the attitude of the ship 2 can be determined by the following equation, where t and s are the distances of the tactile means 3 and 4 in the transverse and running directions, and d is the distance of the tactile means 5 and 60 in the running direction.

Using the above equations (1) to (5), the relative position between the target ship 2 and the crane 1 and the attitude of the ship 2 can be determined.

FIG. 6 shows the configuration of an arithmetic circuit for determining the values of H, L, φ, v, and θ mentioned above.

In Figure 6, 7 is a praising device that calculates the relative height H, and 8
is a relative height H output, 9 is a calculator that calculates the heel φ amount of the ship 2, 10 is a heel φ amount output, 11 is a calculator that calculates the relative traverse distance, 12 is its relative traverse distance output, 13
is the trim V amount calculator of the ship 2, 14 is its output, 15 is the skew θ amount calculator of the ship 2, and 16 is its output.

According to the present invention, the relative positional relationship between the ship and the crane and the attitude of the ship can be accurately known only from the crane side, so that the present invention can be used as a position detection device for automatic cargo handling. It is.

[Brief explanation of the drawing]

Fig. 1 is a diagram showing the positional relationship between the ship and the crane, Fig. 2 is a diagram showing the attitude of the ship, Fig. 3 is a perspective view of a crane equipped with an example of the position detection device of the present invention, and Fig. 4 is a diagram showing the positional relationship between the ship and the crane. FIG. 5 is a plan view thereof, FIG. 5 is a front view thereof, and FIG. 6 is a diagram showing an arithmetic circuit used in the apparatus of the present invention. 1... Crane, 1a... Girder, 1b... Leg,
2...Ship, 3-6...Tactile means.

Claims (1)

[Claims] 1. In a cargo handling device that performs cargo handling work between a ship berthed at a quay and land, contactors are provided at two locations on the girder of the cargo handling device to contact the deck of the ship and detect the distance between them. A contact element is provided at two places on the leg of the girder to detect the distance between the side of the ship and the relative height of the ship. A calculator for calculating the amount of heel and the amount of trim of the ship is connected to the contact on the leg side, and a calculator for calculating the relative traverse distance of the ship and the amount of skew of the ship based on the detected amounts from these contacts. A position detection device characterized in that it is connected to.