JPH0132156B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a cargo handling control method and a control device for automatically and highly efficiently carrying out cargo handling operations between a ship and land using a grab bucket cart.

As shown in Fig. 1, the unloader that performs cargo handling is equipped with a trolley 2 that can run on a transverse beam 1, a grab bucket 3 installed on the trolley 2 that can be rolled up and down, direction), and the bulk goods 6 inside the ship 5 can be carried out using the grab bucket 3. or,
A hopper 7 and conveyors 8, 9 are installed on the quay 4, and bulk goods 6 carried out by a grab bucket 3 are installed.
It is designed so that it can be transported to the required location.

In the figure, 10 indicates a hatch.

When carrying out cargo handling work, the trolley 2 is run and stopped, the grab bucket cart 3 is hoisted up and down, and the trolley 2 is moved back and forth on the line L. Here, the slope of line L is the maximum hoisting speed V ₁ of grab bucket 3, trolley 2
It is determined by the maximum traverse speed V ₂ of the line L
shows the shortest distance in which the grab bucket 3 does not come into contact with the hatch 10 and reaches a position above the hopper 7.

Such cargo handling work is carried out at high speeds and frequently in order to improve efficiency, but if it relies on manual labor, it requires advanced skills, mental strength, and attentiveness from the driver, resulting in demanding work. For this reason, attempts have been made to automate the cargo handling work, and an example of this automation will be explained with reference to FIG.

To explain line L in detail here, line L
has the gradient of V ₁ /V ₂ and grab bucket 3
That is, the grab bucket 3 is the hatch 1.
It passes through set point A, which is the closest point without colliding with zero.

The above set point A changes depending on the shape of the ship, the ebb and flow of the tide, or can be set as appropriate depending on the operating conditions such as the slope of the line V ₁ /V ₂ . In the following explanation, for convenience, the set point A is defined as the locus of the closest approach to the hatch 10 of the grab bucket 3 when the grab bucket 3 is moved vertically, and the hatch 10 of the grab bucket 3 when the hatch 10 is moved horizontally above.
Let it be the intersection point with the trajectory closest to .

Conventionally, when carrying out automatic cargo handling work, the line L is determined and the point at which the grab bucket cart 3 reaches the line is set as the time when the trolley 2 starts traversing. i.e. maximum hoisting speed
If the trolley 2 starts traversing when the grab bucket cart 3 reaches the line L in the state of V ₁ , the trajectory of the grab bucket cart 3 will not be below the line L, allowing safe cargo handling work.

However, in the above-mentioned cargo handling operation, since it reaches the line L and starts traversing, it takes a certain amount of time until the traversing speed reaches its maximum, and the actual trajectory of the grab bucket cart 3 is shown by the broken line L' in Fig. 2. Become. Therefore, compared to the case where the cargo handling work is carried out manually, the time required for one task becomes longer, and the efficiency of the cargo handling work decreases. Furthermore, in the conventional example described above, it is assumed that the hoisting speed of the grab bucket cart 3 is at its maximum when it arrives at the line L, but in reality, the hoisting speed of the grab bucket cart 3 may reach the line L during acceleration at the loading position, etc. can be,
Depending on the acceleration conditions for hoisting and traverse, the actual locus of the grab bucket cart 3 may be below the line L, causing a collision with the hatch 10.

The present invention has been made with the object of eliminating such drawbacks, enabling highly efficient automatic cargo handling operations, and completely safe automatic cargo handling operations.

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

First, the basic idea will be explained with reference to Figure 3.

In the present invention, the trolley 2 starts traversing before reaching the line L, so that the grab bucket cart 3 moves on the line L with the hoisting speed and traversing speed at the maximum. That is, the trajectory of the grab bucket 3 according to the present invention is nothing but a parallel translation of the line L' indicated by the broken line in the figure by an amount H vertically downward when compared to the conventional one shown in FIG.

First, a case will be described in which the general hoisting speed starts traversing at the maximum state.

The origin is the point where traversing starts, and the winding direction is y.
If the horizontal direction is taken as the x-axis, the line L is expressed as y _L =V ₁ /V ₂ x+Hd (a).

Here, Hd corresponds to the amount of parallel movement described above, and when the trolley is accelerated as the trolley's traverse acceleration α ₂ and the point (X, Y) where the traverse speed reaches the maximum speed V ₂ is found, X = V ₂ ² / 2α ₂ , Y=V ₁・V ₂ /α ₂ …(b) Furthermore, since the line L (formula (a)) passes through the point (X, Y), Hd=V ₁・V ₂ /2α ₂ … (c) becomes.

Therefore, when the grab bucket reaches the line M parallel to the line L and translated downward by V ₁ · V ₂ /2α ₂ and the trolley starts traversing, the trajectory of the grab bucket will be on the line L. . However, while the trolley is accelerating, the grab bucket cart will move below line L, so in cargo handling operations near the hatch, if the trolley starts moving laterally when the grab bucket reaches line M, the grab bucket cart will collide with the hatch. A situation arises.
In order to avoid this situation, when carrying out cargo handling operations near the hatch, the start of traversing can be delayed so that the trajectory of the grab bucket cart does not pass below the set point A.

The curve M' shown in FIG. 5 was obtained by plotting the position of the grab bucket, which indicates the time when the trolley starts to traverse.

Point E in the diagram is set point A if traversing starts at point E.
is the point at which the maximum traverse speed V ₂ is reached at line M
is the last point at which rampant movement can begin.

If the coordinates of point E (X _E , Y _E ) are the coordinates of set point A (X _A , Y _A ), then from equation (b) above, X _E = X _A −V ₂ ² /2α ₂ , Y _E =Y _A −V ₁・V ₂ /α ₂ …(d).

Therefore _, if _the cargo handling work position In other words, it is sufficient to start traversing when the line y _M =V ₁ /V ₂ (x-X _A )+Y _A -V ₁ ·V ₂ / _2α 2 (e) is reached. or,
When the cargo handling position is to the right (hatch side) of point E, it is expressed when the origin is the curve drawn by the grab bucket when the trolley accelerates, that is, the starting point of traversing. The line M' of the locus of the traversal starting point (origin of equation (f) above), which is determined so that it passes through the set point A (X _A , Y _A ), is When the grab bagt reaches the target, it starts to run rampant.

If the cargo handling position is further to the right of point A, the grab bucket will collide with the hatch, so it will be moved to the left so that (e) and (g) can be applied.

The lower region (B ₁ ) delimited by lines M, M', and L in FIG. 5 is the range where the trolley cannot start traversing.
The upper region (C ₁ ) is the range in which the grab bucket does not collide with the hatch no matter when it starts traversing.

Next, in the state of bulk material 6, the hoisting speed may reach line M before it reaches its maximum (see Figure 6, line M intersects with the bulk material, and line P in the figure is where the hoisting speed is at its maximum. ). If such a case exists in cargo handling work, line N is adopted instead of line M. Like line M, line N is a parallel translation of line L vertically downward, and for safety reasons, when hoisting and traversing are simultaneously accelerated,
The trajectory of the grab bucket is made to coincide with the line L when the traverse reaches its maximum speed.

In Fig. 4, assuming a coordinate system with the origin at the start point of hoisting and traversing as described above, the line L becomes y _L = V ₁ /V ₂ x + Hg ... (h), and the hoisting and traversing acceleration is α ₁ . Finding the point where the speed reaches the maximum speed V ₁ , V ₂ is: X=V ₂ ² /2α ₂ , Y=1/2V ₁ (2V ₂ /α ₂ −V ₁ /α ₁ )
...(i), and the amount of parallel movement Hg is Hg=1/2V ₁ (V ₂ /α ₂ −V ₁ /α ₁ )…(j).

Here, in the current unloader, the time t ₂ to reach the maximum traverse speed V ₂ is longer than the time t ₁ to reach the maximum hoisting speed V ₁ , so Hg is always positive.
As described above, the line N is obtained by moving the line L vertically downward in parallel.

Next, a curve N' representing the grab bucket position indicating the time to start traversing near the set point A is determined in FIG.

If a point F (X _F , Y _F ) is found in place of the point E, and its coordinates are expressed using the point (X _A , Y _A ) as a reference, then from equation (i), X _F = X _A −V ₂ ² /2α ₂ , Y _F = Y _A −1/2V ₁ (2V ₂ /α ₂ −V ₁ /α ₁ )…(k). Therefore, as above, the curve connecting point A and point F
N' is the starting point of the grab-bucket traverse between point F and point A, but since the hoisting speed reaches the maximum speed faster than the traverse speed, this curve is a part of the curve N'.
For N ₁ (point A side), the locus of movement of the grab bucket which is accelerating both hoisting and traverse passes through point A, and for the remainder of the curve N ₂ (point F side), the hoisting speed is at its maximum. The trajectory of the same movement in the case where the traverse is in an accelerated state is determined to pass through point A, and the two are combined. _Therefore , the transition point H(X _{H ,
Y H ) becomes _} ^_ _{_} ^_ _{_ _ _} ^_ _{_ _} The curve N ₁ is y=Y _A −α ₁ /α ₂ (X _A −x)…(n).

To summarize the above, when the cargo handling position x is to the left of point F, line N, y _N = V ₁ /V ₂ (x - X _A ) + Y _A -1/2V ₁ (V ₂ /α ₂ - V ₁
/α ₁ ) …(p) If F≦x<H, then If H≦x≦A, use y=Y _A −α ₁ /α ₂ (X _A −x) …(n), and if the cargo handling position is to the right of point A, then All you have to do is move it to the left and perform cargo handling work.

If the above-mentioned line N is adopted and the hoisting speed has previously reached the maximum speed for line N, the trajectory drawn by the grab bucket will be above line L and will take a slightly detour. It is sufficient to provide a hoisting speed determination line O for determining whether or not the hoisting speed before reaching the maximum speed is provided, and it is convenient if this determination line O is the line M described above. This is because if the hoisting speed is at the maximum speed when the grab bucket cart passes the discrimination line M, the locus of the grab bucket cart will match the line L if it starts traversing immediately.

The above has described cargo handling work from the ship side to the unloader side, but in the reverse case, in order to place the movement trajectory of the grab bucket on line L, start from the intersection P (X _P , Y _P ) of line L and hopper level Y _P. It is sufficient to start lowering from point Q, which is q distances from the front (Fig. 8).

Therefore _{, the} coordinates of point Q (X _Q , Y _Q ) are _as follows under the conditions of maximum _traverse speed and _{lowering acceleration α 1} : It is.

In addition, if the deceleration (braking) distance when the grab bucket cart hoists and stops at the hopper line is a problem, each equation may be changed as follows by considering the hoisting deceleration (braking) distance V ₁ ² /2α.

That is, Hd=V ₁ V ₂ /2α ₁ −V ₁ ² /2α, Hg=1/2V ₁ (V ₂ /α ₂ −V ₁ /α ₁ )−V ₁ ² /2α In each of the above equations, Y For those that include _A , add +V ₁ ² /2α (translation by +V ₁ ² /2α in the Y-axis direction) to the equation. Expressions that do not include Y _A can be used as is.

Next, a control device for carrying out the above-mentioned cargo handling work will be explained with reference to FIG. 9 (see FIG. 1).

The main configuration of this control device is the grab bucket 3
Winding position detector 1 for determining the vertical position of
1. Trolley traversing position detector 12 for determining the horizontal position of the grab bucket 3, hoisting speed detector 13 for determining the vertical speed of the grab bucket 3, traversing speed detector 14 for determining the horizontal speed of the grab bucket 3, hatch level detector 15 , the set point A is determined by the hatch level detector 15, and the lines L, M, M', N, N are determined based on the conditions of maximum hoisting speed V ₁ , maximum traversing speed V ₂ , hoisting acceleration _{α 1 ,} and traversing acceleration α 2 a calculation device 16 which determines when to start traversing the trolley based on the detection results of both position detectors 11, 12 and both speed detectors 13, 14; a hoisting motor 18 connected to the calculation device 16; It consists of a controller 17 for a motor 19.

The hatch level detector 15 is attached to the unloader body and detects the hatch 10 using ultrasonic waves, lasers, etc.
The position in the vertical direction is detected and inputted to the arithmetic unit 16. Arithmetic device 16 determines set point A and also determines lines L, M, M', N, N' and point Q.

Regarding the work of carrying out the loose object 6, first, the position where the grab bucket 3 grips the loose object 6 is determined by both position detectors 11 and 12. If the position is below line M, the arithmetic unit 16 issues a command to the motor controller 17 to first start the hoisting motor 1.
8 is driven. Next, the hoisting speed at the point where the grab bucket cart 3 crosses the line M is detected by the hoisting speed detector 13, and based on the detection result, the arithmetic unit 16 immediately sends the hoisting speed via the motor controller 17 to the Traverse motor 1 via motor controller 17
9, and if the speed has not yet reached the maximum speed, the traverse motor 19 is driven when the grab bucket 3 reaches the N line.

If the position where the grab bucket 3 grips the loose object 6 is above the line M, the motor controller 1
7 simultaneously drives the hoisting motor 8 and the traversing motor 19.

When the gripping position of the loose object 6 of the grab bucket 3 is near the hatch 10 and is within the range surrounded by the vertical line passing through point E, point A or point F, point A, the controller 17 Drive the hoisting motor 18 and the traverse motor 19 according to line M' and line N', and if the loose object 6 gripping position is on the hatch side from point A, switch the motor controller 17 to enable manual operation; Alternatively, the grab bucket 3 is moved toward the center of the ship, and the motor controller 17 drives both motors 18 and 19 in order to perform work that meets the conditions described above.

In addition, in order to move the grab bucket cart 3 from the hopper 7 to the ship 5 side, the horizontal movement distance of the grab bucket cart 3 is long enough to reach point Q, and the traversing speed is at its maximum. Once lowering is started, the grab bucket 3 moves the shortest distance.

As described above, in the present invention, the work route of the grab bucket can be matched with the shortest course, and extremely highly efficient automatic cargo handling can be achieved.

Note that the line L obtained as the standard for the shortest course above is a condition that the grab bucket does not collide with the hatch, and it changes depending on the size of the ship, the ebb and flow of the tide, etc. In some cases, the line L is only related to the grab bucket and the hatch. In this case, it may not be possible to determine the reference line for the shortest course.

In other words, even if the trolley makes an emergency stop while traveling at maximum speed, care must be taken to prevent the grab bucket from colliding with the hopper, etc. In order to avoid such a situation, the grab bucket must be It is sufficient that the grab bucket has already reached the hopper level at the position where there is a possibility of colliding with the hopper.If this point is designated as B, then if we find a line LL that passes through the point B and is parallel to the line L, the grab bucket and the hatch can be reached. If the line L determined from the relationship is closer to the unloader than the line LL, the grab bucket cart 3 will be moved along the line LL for cargo handling work (see Figure 2).

Therefore, the line LL can be uniquely obtained from the specifications of the unloader, and if the arithmetic unit 16 compares and selects the line LL with the line L, cargo handling operations can be carried out with high efficiency and safety in all cases. It is possible to automate.

In the above embodiment, the cargo handling operation is performed using a grab bucket, but it goes without saying that other gripping devices may also be used.

[Brief explanation of drawings]

Figure 1 is an explanatory diagram showing the outline of the unloader, Figure 2
The figure is an explanatory diagram showing the conventional grab bucket work trajectory, Figures 3 and 4 are explanatory diagrams of how to find the trolley traverse start line in the present invention, and Figures 5 and 7 are diagrams showing the trolley near the hatch. FIG. 6 is an explanatory diagram showing the traverse start line, FIG. 6 is an explanatory diagram showing the presence of line N, FIG. 8 is an explanatory diagram showing the start timing of lowering the grab bucket, and FIG. 9 is an implementation of the control device according to the present invention. It is an explanatory diagram showing an example. 3 is a grab bucket, 11 is a hoisting position detector, 12 is a traversing position detector, 13 is a hoisting speed detector, 14 is a traversing speed detector, 15 is a hatch level detector, 16 is an arithmetic unit, and 17 is a controller.

Claims (1)

[Scope of Claims] 1. A cargo handling control method for carrying out cargo handling operations between a ship and land using a cargo gripping device so that the cargo gripping device takes the shortest route without contacting the ship's hatch. , the trajectory of the load gripping device closest to the hatch when the load gripping device is moved in the vertical direction, taking into account the shape of the ship and the ebb and flow of the tide, and the trajectory when the load gripping device is moved horizontally above the hatch. The intersection of the trajectory of the load gripping device closest to the hatch is set as a safe passage point of the load gripping device, and the load gripping device passes through the safe passage point at a maximum hoisting speed V ₁ ,
Find the shortest cargo handling route that has the same gradient V ₁ /V ₂ as the straight line that would be obtained when moving at the maximum traverse speed V ₂ , and also find the traversal acceleration α ₂ of the load gripping device to move the cargo handling shortest route vertically downward. to V ₁・
A first traverse start line is set that is translated by V ₂ /2α ₂ , and the hoisting acceleration α ₁ of the load gripping device is determined to move the shortest path for the cargo handling operation vertically downward (V ₂ /α ₂ −V ₁ /α ₁ )・V ₁ /2 and set a second traverse start line located between the shortest path of the cargo handling operation and the first traverse start line,
When the load gripping device reaches _the first traverse start line at the maximum hoisting speed V ₁ , traversing is started;
When the traversing start line is reached, traversing is started when the second traversing start line is reached, and the movement trajectory of the load gripping device is set to the shortest distance with the hoisting speed and traversing speed of the load gripping device reaching the maximum. A cargo handling control method characterized by matching a route and its vicinity. 2. In a cargo handling control device for carrying out cargo handling operations between a ship and land, the cargo gripping device is configured to take the shortest route without contacting the ship's hatch. a hoisting position detector for detecting a position in the vertical direction; a traverse position detector for detecting a horizontal position of the load gripping device; a hoisting speed detector for detecting the vertical and horizontal speeds of the load gripping device; A traverse speed detector, a hatch level detector for detecting the hatch position, and a hatch level detector connected to each of the above-mentioned detectors to grasp the load when the load gripping device is moved in the vertical direction based on the detection results of the hatch level detector. The intersection of the locus of the device closest to the hatch and the locus of the load gripping device closest to the hatch when the load gripping device is moved horizontally above the hatch is calculated as the safe passing point of the load gripping device. , find the shortest path for cargo handling operation that has the same slope V ₁ /V ₂ as the straight line obtained when the load gripping device is moved at the maximum hoisting speed V ₁ and maximum traverse speed V ₂ through the safe passage point, and The traverse acceleration α ₂ of the load gripping device is determined, and a first traverse start line is set by vertically moving the shortest path of the cargo handling operation in parallel by V ₁ ·V ₂ /2α ₂ , and the hoisting acceleration of the load gripping device is determined. After finding α ₁ , the shortest path for the cargo handling operation is moved vertically downward in parallel by (V ₂ /α ₂ -V ₁ /α ₁ )・V ₁ /2, and the shortest path for the cargo handling operation and the first traversing start line are A second traverse start line located between is set, and the time when the load gripping device reaches the first traverse start line is determined based on the detection results of both position detectors, and the load is determined based on the detection results of the hoisting speed detector. A calculation device that determines whether the maximum hoisting speed V ₁ is reached when the gripping device reaches the first traverse start line and determines the traverse start time and issues a traverse start signal; 1. A cargo handling control device comprising: a motor control device for driving a traverse motor;