JPH0794290B2 - How to update the container loading position - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for recognizing a container stowage position, which is required when carrying out a cargo handling operation of a container by a container crane, and in particular, accurately recognizes the container stowage position. The present invention relates to a method for updating a container stowage position.

[Background of the Invention]

Cranes used for container-loading work for transporting containers loaded on board to the land side and loading containers loaded on land for loading on the ship are generally called container cranes. Usually, the operation of a container crane is performed by an operator operating an operating device provided in the cab of the crane. The safe operation of this crane requires careful operation by a trained operator. However, it is difficult to secure a skilled operator, and it is very stressful to perform this operation with great care, and the operator's mental burden is great. For this reason, some attempts are being made to automate the operation of container cranes. For example, Japanese Laid-Open Patent Publication No. 54-17256 discloses an operating method and apparatus for teaching the traverse of a crane and the hoisting operation of a lifting device, and then automating the operation.

When operating such a container crane, in order to prevent accidents due to contact between the container and the hanger during traverse of the trolley and hoisting and hoisting of the hanger, the container loading position should be set It is necessary to recognize it in the form of.

In this case, there is a problem that the container stowage positions that have been set once differ greatly with the passage of time. In other words, due to the interaction between the ebb and flow of the tide and the vertical movement of the ship accompanying the progress of cargo handling, no matter how accurately the loading position is initially set, it will be drastically changed over time and this deviation will be updated. Is required.

[Object of the Invention]

In view of the conventional problems, an object of the present invention is to provide a container stowage position updating method capable of setting an accurate container stowage position.

[Outline of Invention]

According to the present invention, the loading position of each container on the ship is stored as two-dimensional coordinates obtained by the distance in the height direction and the position in the traveling direction in correspondence with the root number, and the container of the destination is stored. By inputting the number, the trolley and the lifting equipment of the container crane are operated, and the detection output by the height detector that detects the distance in the height direction from the trolley to the lifting equipment and the traveling that detects the position of the trolley in the traveling direction The detection output of the position detector is input, and the coordinates obtained from the detection output of each of the detectors are compared with the two-dimensional coordinates of the corresponding container every time the hanger is landed on the container on the ship. When the deviation exceeds an allowable value, the two-dimensional coordinates of all the containers are uniformly corrected by the deviation amount, and the corrected two-dimensional coordinates are stored as new coordinates.

Example of Invention

Hereinafter, the present invention will be described in detail based on specific examples. FIG. 1 is a diagram showing an operation flow inside a computer in one embodiment of the present invention, FIG. 2 is an overall configuration diagram in one embodiment of the present invention, and FIG. 3 is a hardware configuration diagram in one embodiment of the present invention. is there.

First, referring to FIG. 2 and FIG. 3, a description will be given of the overall configuration and schematic operation of this embodiment.

In these figures, 1 is a trolley of a container crane. The height detector 2 is attached to the trolley 1, and the height H from the trolley to the hanger 3 is set depending on the length of the rope.
Is being detected. Reference numeral 7 is a computer which checks and updates the container stowage position using the input information. 8 is a girder, and the part protruding to the sea side has undulating capability. 5 is a hoisting rope and 6 is a container. The traveling position detecting device 4 is attached to the trolley 1 and detects the traveling position of the trolley.

The trolley 1 travels on the girder 8 and the hoisting device 3 moves the hoisting device 3 up and down to raise and lower the hoisting device 3, whereby the container 6 is transported onto the container ship and the containers are stowed. Running position detector 4 mounted on trolley 1
Detects the traveling position X of the trolley from the reference point. At this time, the height detector 2 also attached to the trolley 1
Detects the height H from the trolley to the hanger 3. The coordinates (x ₁ , h ₁ ) of the container 6 on the container ship 9 are determined with the origin 11 being the point 11 on the most land side of the container height of the container ship, and the origin is the girder rear end 10 of the crane. Coordinates of origin 11 of container ship coordinates expressed in crane coordinates (X ₀ ,
H ₀ ), and the hanger 3 is landed on the container 6 (the hanger landing detector 20
There on) the _{X 0 = X 1 -x 1,} H 0 = H 1 -h 1 becomes relationship between the detected value of the load block positions (X _1, H ₁₎ when. The detected values (X ₁ , H ₁ ) are input to the computer 7 via the process input / output device 71. In the computer 7, the storage device 73 stores the loading positions in crane coordinates of all the containers on the container ship. The central processing unit 72 compares this value with the detected value, and as a result, if the difference between the stored value and the detected value exceeds the allowable value, it performs an operation to update all container stowage position data, and the new container stowage is added. Stores position data.

Next, the operation of this embodiment will be described with reference to FIG. First, input and store initial container loading position data for all containers (F1).

Next, the driver inputs the destination container number on the container ship to be loaded / unloaded by the automatic operation into the computer 7 (F2). Coordinates of the hanger when the hanger landed on the destination container (X ₁ , H ₁ )
Is detected and incorporated (F3, F4). Ship coordinates of destination container (x
₁ , h ₁ ) and detection value (X ₁ , H ₁ ) origin of ship coordinates (X ₀ , H ₀ )
(F5). Then, it is checked whether the difference ΔX, ΔH between the ship coordinate origin (X ₀ ′, H ₀ ′) and (X ₀ , H ₀ ), up to the previous cargo handling, is within the allowable values (F6, F7).
Only when the deviations Δx and Δh exceed the allowable values, all the container positions (X _n , H _n ) are set to X _n as the origin (X ₀ , H ₀ ) of the ship coordinates.
= X ₀ + x _n , H _n = H ₀ + h _n , and stores (F8). Here, (x _n , h _n ) is the n-th container position coordinate expressed in container ship coordinates. After this update, the process proceeds to F9, and when the container handling is not finished, the process returns to F2.

In this way, the updating of the coordinates of each container is performed when the deviation amount exceeds the allowable value. Since the ship is swinging due to the tide, it is not necessary to follow the instantaneous movement and update it when the amount of deviation is small. It is sufficient to update only when the tide is moving or the ship is tilted or the height is moved due to cargo handling.

In addition, since the coordinates of all containers are stored and all the coordinates are updated when the amount of deviation is large, when loading a new container, simply enter the number of this container and it can be loaded automatically. It is a thing.

The position of the container 6 is detected each time the landing detector 20 detects that the hanger 3 has landed. Therefore, the following can be said.

That is, the position of the container 6, that is, the height position of the hanger 3 is detected by the height detector 2 installed in the trolley 1 by the rope length from the trolley 1 to the hanger 3. In this way, since the height position of the suspension 3 itself is detected, the height position of the container 6 can be accurately detected. In other words, the position can be detected by absorbing the error of the lifting device of the lifting tool. Therefore, it can be made accurate and inexpensive.

The position of the container 6 in the traveling direction of the trolley 1 is determined by the traveling position detector 4 installed on the trolley 1.
It is detected by the traveling position of the trolley 1 on which the suspension 3 is traveling. In this way, the horizontal position of the container 6 can be accurately detected because the traveling position of the hanger 3 itself is detected. That is, it is possible to detect the position by absorbing the error of the traveling device. Therefore, it can be made accurate and inexpensive.

〔The invention's effect〕

According to the present invention, the coordinate of the container stored in the computer and the detected actual stowage position data are compared to update the coordinate of the container automatically every cargo handling, so that the accurate coordinate is obtained. Can be set. In addition, since it is performed only when the deviation amount exceeds the allowable value, the load on the computer can be reduced. Further, since the coordinates are stored in correspondence with the container number, it is possible to automatically carry out the cargo just by designating the number of the next container to be cargo handled. In addition, since the position of the container is detected by the position of the lifting device, the position of the container can be detected more accurately.

[Brief description of drawings]

FIG. 1 is an operation flow diagram in a computer in one embodiment of the present invention, FIG. 2 is an overall configuration diagram in one embodiment of the present invention,
FIG. 3 is a schematic configuration diagram of a stowage position updating device in an embodiment of the present invention. 1 ... Trolley, 2 ... Height detector, 3 ... Lifting equipment, 4 ...
… Running position detector, 5 …… Hoisting rope, 6 …… Container, 7 …… Calculator, 8 …… Girder, 9 …… Container ship,
20 …… Lifting equipment landing detector

Claims (1)

[Claims] 1. A loading position of each container on a ship is stored as two-dimensional coordinates obtained by a distance in a height direction and a position in a traveling direction in correspondence with the number of the container, and the container of the destination is stored. By inputting the number, the trolley and the lifting equipment of the container crane are operated, and the detection output by the height detector that detects the distance in the height direction from the trolley to the lifting equipment and the traveling that detects the position of the trolley in the traveling direction The detection output of the position detector is input, and the coordinates obtained from the detection output of each of the detectors are compared with the two-dimensional coordinates of the corresponding container every time the hanger is landed on the container on the ship. When the deviation exceeds an allowable value, the two-dimensional coordinates of all containers are uniformly corrected by the deviation amount, and the corrected two-dimensional coordinates are stored as new coordinates. The method of updating the attached position.