JPH0818785B2 - Automatic driving device for grab bucket crane - Google Patents

Description

Detailed Description of the Invention [Industrial applications]

The present invention relates to an automatic operation device for a grab bucket crane, and in particular, it is suitable for use in automatically operating a grab bucket crane such as an unloader and the like, and a grab bucket shake suppressing means for the grab bucket crane and the grab bucket. Of the grab bucket traverse position control means, grab bucket raw material gripping amount detection / control means, and grab bucket landing detection means on the grab bucket crane.

[Prior art]

A grab bucket crane, such as an unloader, used for landing a loaded ironmaking material (eg, iron ore) on land is, for example, as shown in FIG. 3, a trolley 12 and wire ropes 14A to 14C, These are mainly configured by a grab bucket 18 that can be rolled up and down and traverses to grab the raw material 16, and a hopper 20 into which the luggage lifted by the grab bucket 18 and loaded on the ground is loaded. . In the grab bucket crane 10 having such a configuration, the grab bucket 18 is a trolley that can traverse.
It is suspended by a wire rope 14A via 12 and is wound up and down on the paper surface of FIG. 3 by winding and rewinding the support drum 22 with respect to the wire rope 14A. Also, the grab bucket 18 is
The wire rope 14B, one end of which is fixed to the trolley 12, is wound around the traverse drum 24 and rewound to make the trolley 12 traverse. Therefore,
The grab bucket 18 can be wound up and down and traverse freely by a combination of a vertical movement and a traverse of the trolley 12. The glove bucket 18 is opened and closed by winding and rewinding the third wire rope 14C by the open / close drum 26. Further, in FIG. 3, reference numeral 28 is a hull of a ship in which raw materials 16 etc. to be loaded by the grab bucket crane 10 are loaded in its hold, reference numeral 30 is a hatch for loading on the hull 28, reference numeral Reference numeral 32 indicates a ghatta projecting from the land side to the sea side. The grab bucket 18 is installed from the hold of the hull 28
It moves up to 20 along the locus as shown by the broken line in FIG. 3 to perform one cycle of operation.
Further, this one-cycle operation is performed by the procedure shown by the flow chart in FIG. That is, first, the grab bucket 18 is placed on the hopper 20.
Is opened and the raw material 16 is put into the hopper 20 (step 100). Next, the traverse of the trolley 12 (traverse toward the sea side) is started (step 102), and then the wire ropes 14A and 14C are unwound (step 104).
After the trolley 12 has moved a certain distance, the traverse of the trolley 12 is stopped (step 106), and when the grab bucket 18 reaches the raw material 16, the lowering of the wire ropes 14A, 14C is stopped (step 108). . After that, the grab bucket 18 is closed and the raw material 16 is grasped (step 110). After the grasping is completed, the winding of the wire ropes 14A, 14C is started (step 112). Next, land traverse of the trolley 12 (traverse to the land side) is started (step 114), and then the winding of the wire ropes 14A and 14C is stopped (step 11).
6). Finally, the land traverse of the trolley 12 is stopped (step 118), and the one cycle operation is completed. In addition,
When the landing of the raw material 16 is repeated, the one cycle operation is repeated as many times as necessary. Here, during the operation of one cycle shown by the flow chart in FIG. 4, the functions important for safety, controllability, and cargo handling efficiency of hanging work are described in the following (A) to (G). There is something to show. (A) A function of controlling the swing of the grab bucket 18 at the start and stop of traverse between steps 102 to 106 and steps 114 to 118. (B) Cargo handling between steps 102 to 106 and steps 114 to 118. In order to prevent the efficiency from being impaired, the function of controlling the runout of the grab bucket 18 when winding or lowering the wire ropes 14A and 14C, and (C) the steady rest control by the functions of (A) and (B) above are completed. Sometimes, a positioning function that determines the position of the grab bucket 18, (D) A shake suppression function that suppresses the initial shake of the grab bucket 18, which is a prerequisite for performing control by the function of (A) above, and (E) The grab bucket 18 is a raw material inside the hull 28. Landing detection function to detect landing on 16; (F) Grasping amount control function to control the amount of grab bucket 18 closed to grab raw material 16; (G) From the viewpoint of equipment protection, In order to prevent the grip amount of the bucket 18 from exceeding the rated load of the grab bucket crane 10, the result (actual result) of the grip amount control by the function of (F) is grasped, and the grip amount control is performed based on the result. Correction function to correct. There have been various proposals for the above functions (A) to (G), including unpublished applications by the applicant of the present invention. By combining these functions, the grab bucket crane 10 can be automatically operated. It will be possible. That is, regarding the functions of (A) and (B), the applicant of the present application has proposed a steady rest control method for a suspended load in JP-A-1-267297 (unpublished at the time of application) and JP-A-60-153390. ing. In these methods, the acceleration / deceleration of the acceleration / deceleration period and the length of the constant speed period are variously set so that the suspended load is steady at the end of the transverse acceleration / deceleration. Regarding the function of (C), the applicant also proposed a positioning control method in steady rest control in Japanese Patent Laid-Open No. 1-267297. In this method, the deceleration start traverse position is determined from the preset acceleration / deceleration pattern,
When the suspended load reaches this position, the deceleration pattern in the acceleration / deceleration pattern is started to position the suspended load. Regarding the function of the above (D), the applicant has disclosed that
271395 (unpublished at the time of application) proposes a method for controlling the initial shake of suspended loads. In this control, the trolley is allowed to move freely in the transverse direction for a predetermined period immediately after the start of lifting the load, and the trolley is moved on the vertical line of the load. Regarding the function of (E), the applicant has already disclosed the technology for detecting each landing in Japanese Patent Publication Nos. 62-22917 and 62-47791. In each of these techniques, landing detection is performed based on a change in current of a glove bucket opening / closing motor or a supporting motor, or a change in grab bucket load. Regarding the function of the above (F), the applicant has already disclosed in JP-A-57-151735, JP-B-62-22917, JP-A-64-2779, and JP-A-62.3-3.
The method of controlling the amount of grab bucket grip shown in 966 is proposed. In these publications, the current of a glove bucket opening / closing motor or the like or the amount of material gripping obtained from the current is compared with a target set value, and the gripping amount is controlled by changing the slack length of the support rope at the next gripping depending on the comparison result. are doing. Regarding the function of (G), the applicant has already set the method for setting the calculation formula for the grab bucket grip weight in Japanese Patent Laid-Open No. 62-161696, and the Japanese Patent Publication No. 59-39017 for detecting the grab bucket grip amount. Is proposed. In the calculation formula setting method, a calculation constant is set based on the winding current and the reference weight of the glove bucket opening / closing motor or the like.
In the gripping amount detecting method, the current of the opening / closing motor or the like is detected when the grab bucket is moved up and down, and the gripping amount is calculated from the detected current. On the other hand, important items in so-called deviceization, in which each of the functions (A) to (G) is applied to an actual device by applying it to an actual device, are the following items (a) to (d). it is conceivable that. (A) A hatch 30 that differs depending on the type of the hull 28 and the length direction
To detect the shape of. (B) To detect the level (height) of the hatch 30 caused by the weight change of the hull 28 or the tide level change. (C) To detect the bottom level of the hull 28. (D) Detecting the raw material level in the hopper 20. If the positions (a) and (b) are detected (that is, the shape of the hatch 30 and the level are detected) and the position of the trolley 12 and the level of the grab bucket 18 are detected at the same time, steps 102 to 106 in FIG. It is believed that control of the runout of the grab bucket 18 (i.e., steady rest control) can be safely accomplished, along with grab bucket 18 grab position control, at steps 114-118. In addition, by enabling the bottom detection of (c) above,
It is considered possible to judge whether or not the material gripping amount control including the landing detection can be safely executed. Furthermore, by performing the level detection in (d) above,
It is considered possible to judge whether or not the raw material 16 can be put into the hopper 20. However, conventionally, an automatic crane operating device having a function corresponding to the items (a) to (d) and sufficiently connecting the functions (A) to (G) has not been proposed. However, there is a problem that the safe and efficient operation of the grab bucket crane may not be achieved.

[Problems to be Solved by the Invention]

The present invention has been made in order to meet the above demands, and when the grab bucket crane is automatically operated, even if the shape of the hatch or the raw material level changes, the trajectory of the grab bucket does not come into contact with the hull and An object of the present invention is to provide an automatic operation device for a grab bucket crane which can be set to a value at which the cargo handling efficiency can be most improved, can sufficiently maintain the safety of hanging work, and can improve the operating efficiency.

[Means for achieving the object]

The present invention, means for suppressing the shake of the grab bucket at the end of traverse of the grab bucket crane such as an unloader,
A means for suppressing the initial shake of the grab bucket, a means for controlling the transverse position of the grab bucket while suppressing the shake and the initial shake, a means for detecting landing of the grab bucket on the raw material surface, and a raw material for the grab bucket. In a grab bucket crane automatic operation device having means for detecting and controlling the amount of gripping, for detecting the shape of the hatch of the hull on which the raw material is loaded, for hull monitoring arranged near the tip of the crane A camera, a means for processing an image of a hatch taken by the hull monitoring camera, a means for detecting the level of the hatch, a means for detecting a level of the bottom of the hull, and raw materials are charged. And a means for detecting the raw material level in the hopper, based on the detected hatch shape, hatch level, ship bottom level and raw material level. By which it is adapted to automatic operation can, in which to achieve the above objects.

[Action]

In the present invention, a grab bucket shake suppressing means,
When operating a grab bucket crane such as an unloader that has initial shake suppression means, grab bucket crane position correction means, grab bucket landing detection means, and grab bucket grab amount detection / control means Detects the hatch shape of the loaded hull, detects the level of the hatch, detects the bottom level of the hull,
The raw material level in the hopper is detected, and the grab bucket crane is automatically operated based on these detection results. That is, since the hatch shape of the hull is detected, it is possible to operate the crane corresponding to the hatch shape that is variously changed according to the hull. Further, since the level of the hatch is detected, it is possible to operate the crane corresponding to the level of the hatch that fluctuates due to a change in raw material of the hull and a tide level change. Further, since the level of the ship bottom is detected, when the landing level of the grab bucket approaches the ship bottom together with the landing detection function, further operations can be stopped to ensure safe operation of the crane. Also, since the raw material level in the hopper is detected,
It becomes possible to reliably judge whether or not the raw material can be put into the hopper. Therefore, according to the present invention, when automatically operating a grab bucket crane such as an unloader, it is possible to automatically perform most of the cargo handling work for the hull,
The operator's fatigue can be reduced, the crane can be prevented from being overloaded, and the equipment can be protected. Further, it is possible to stabilize the cargo handling efficiency and reduce the variation in the amount of the grab bucket used to hold the raw material, thereby improving the operating efficiency.

【Example】

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 (A) shows the configuration of an automatic operation device for a grab bucket crane according to an embodiment of the present invention. In FIG. 1 (A), reference numerals 34, 36 and 38 are, for example, a support motor for driving the grab bucket 18 and the trolley 12 which are composed of a DC motor, an opening / closing motor, a traverse motor, 40, 42 and 44. The support drum 22, the opening / closing drum 26, and the traverse drum are connected to the respective motors 34, 36, and 38 to control the winding up / down, opening / closing, and traverse of the grab bucket 18.
A position / speed detector for detecting each position and speed of 24, 46, 48 are current detectors for detecting the current input to the support motor 34 and the opening / closing motor 36, and 50, 52, and 54 are, for example, Support motor 3 by thyristor Leonard system
4, a speed control device for controlling the speeds of the opening / closing motor 36 and the traverse motor 38, 56 is an automatic operation control device for automatically performing the functions (A) to (G), 58 Is a trolley absolute position detector for detecting the absolute position of the trolley 12 and performing position correction during steady rest control, and 60 is a hopper that is composed of, for example, an ultrasonic level meter.
A hopper level detector for detecting the surface level of the raw material 16 in 20, and 62 and 72 are hull monitoring cameras for imaging the hatch 30 surface and performing predetermined image processing in order to measure the dimensions of the hatch 30 surface. And an image processing device, 64 is a hatch surface level meter configured by an ultrasonic level meter for detecting the level (height) of the hatch 30, and 66 is provided on the route where the wire rope 14A is wound around the support drum 22. Sheave, 68
Is a strain gauge (or strain gauge) for detecting the load change before and after the grab bucket 18 lands on the raw material 16, and 70 is a strain gauge.
A distortion amplifier for amplifying an output signal of a minute signal level output from 68 to a signal level that can be input to the automatic operation control device 56, and 74 is a host computer having brand information in the hull 28 and depth information of the hold. 76 are in-machine belt conveyors for discharging the raw material 16 in the hopper 20. Since the other components have substantially the same configuration and operation as the grab bucket crane 10 shown in Fig. 3, the same parts are designated by the same reference numerals and the description thereof is omitted. The operation of the embodiment will be described below. An example of the traverse acceleration / deceleration pattern of the grab bucket crane 10 of FIG. 1 is shown in FIG. FIG. 2 shows a traverse acceleration / deceleration pattern in which constant acceleration / deceleration and constant speed are combined to perform two-stage acceleration / deceleration of the traverse speed to perform steady rest control. In Fig. 2, time T ₁ ~
The patterns of T ₆ and T ₇ are control patterns of land traverse speed, and the patterns of times T _{1 to} T ₆ and T ₇ are control patterns of sea traverse speed. Here, each time T ₁ , T ₃ , T ₁ ′, T ₃ ′ is acceleration time, T ₄ , T ₆ , T ₄ ′, T ₆ ′ is deceleration time, T ₂ , T ₅ ,
T ₂ ′ and T ₅ ′ represent constant speed (constant speed which is half the maximum speed Vmax described later in the embodiment) time, and T ₇ and T ₇ ′ represent maximum speed Vmax time. At the seaward traverse end position, the grab bucket 18 is wound up and wound up, and the winding speed pattern and the winding speed pattern at that time are as shown in FIG. 1 (B). In this pattern, during winding, the deceleration is started from the position indicated by the symbol A in FIG. 1, the landing is detected at the position indicated by the symbol D, and the deceleration is performed. Also, during winding,
After accelerating, wind at a constant speed and decelerate and stop at the winding rising end. Next, the operation of the grab bucket crane and its automatic operation system will be described with reference to the flow chart shown in FIG. 4 and FIGS. 1 and 2. First, it is confirmed by the hopper level detector 60 that the hopper 20 in FIG. 1 is not full, and after the normal operation of the in-machine belt conveyor 76 is confirmed, the grab bucket 18 on the hopper 20 is confirmed. Is opened (step 100 in Fig. 4). Next, after the traverse of the trolley 12 is started (step 102), the wire rope 14A-
The lowering of 14C is started (step 104), and then
The trolley 12 moves for a certain distance to stop the sea traverse (step 106). The steady rest control in steps 102 to 106 of FIG. 4 is performed as follows. That is, as shown by the traverse acceleration / deceleration pattern in FIG. 2, a combination of constant acceleration / deceleration and constant speed is used to perform two-stage acceleration / deceleration of the traverse speed, and the rope at the start of steady rest is changed depending on the height of the hull 28. The 1/2 constant speed period T ₂ , T ₅ , T ₂ ′, T ₅ ′ of the two-stage traverse acceleration / deceleration is controlled according to the length l ₁ and the loaf length l ₂ at the end of the steady rest. This steady rest control can be performed with various values of the rope lengths l ₁ and l ₂ and the rope length difference (l ₁ −l ₂ ). The steady rest control is described in, for example, the above-mentioned JP-A-1-26.
7297, Japanese Unexamined Patent Publication No. 60-153390 discloses a method for controlling the steady-state of a suspended load by controlling the acceleration / deceleration of the suspended load during traverse to prevent the suspended load from swinging at the end of the transverse acceleration / deceleration. Can be adopted. The rope length l ₁ at the start of the steady rest and the rope length l ₂ at the end of the steady rest are the hatch surface height detected by the hatch 30 surface level meter 64, and are imaged by the hull monitoring camera 62, and the image processing device
Based on the imaged image of the hull 28 processed in 72, the trajectory of the grab bucket 18 shown by the broken line in FIG. 1 is set to a value at which the hull 28 does not come into contact and the cargo handling efficiency is most improved. Further, the position of the traverse end of the sea (that is, the position where the raw material 16 is gripped) is based on the dimensional information of the hatch 30 obtained from the output of the image processing device 72, and within the range of the hatch 30, the grab bucket.
It is changed every cycle while keeping an interval of about 18 widths. As a result, cargo handling can be performed without causing the bias of the raw material 16 in the hull 28. In controlling the traverse stop position, reference numeral B in FIG.
By appropriately selecting the position of the change point indicated by or
The error in the stop position can be minimized. The same applies to the two-step acceleration / deceleration program pattern formed as a function of time and speed as described in JP-A-1-267297. That is, for example, the change point B (change point from the maximum speed period T ₇ to the deceleration period T ₄ during land traverse) is not controlled by time control according to a predetermined traverse acceleration / deceleration pattern, but at each time. For each of T ₁ , T ₂ , T ₃ , and T ₇ , the speed during the period is integrated to obtain the distance to the deceleration start position, and the time when the trolley 12 travels the distance and reaches the deceleration start position is the change point B. By starting deceleration from the change point B in accordance with the pattern of the deceleration period in the acceleration / deceleration pattern, the error of the stop position based on the speed deviation (which may occur in each cycle) is reduced by the deceleration period (T It can be suppressed only during _{4 to} T ₆ ). This is the above change point C (change point from the maximum speed period T ₇ ′ to the deceleration period T ₄ ′ during traverse)
Is the same as above, and as a result, the error in the stop position can be minimized as described above. Then, after the positioning is performed as described above, in steps 104 to 110 of FIG. 4, automatic lowering of the wire ropes 14A and 14C is performed in accordance with the speed pattern as shown in FIG. The lowering of the unwinding speed from the position A (deceleration), the unwinding in the decelerated state, and the detection of the grab bucket 18 landing on the raw material 16 are performed. The landing detection in this case can be performed based on the change in the load applied to the sheave 66 measured by the strain gauge 68, as described in JP-B-62-47791. In addition,
It can be detected based on the current to the support motor 34 and the current to the opening / closing motor 36 measured by the current detectors 46 and 48 as described in 62-22917. When landing is detected by these currents, the landing can be detected from the absolute value and relative change of the detected current. Further, the detected current may be subjected to acceleration / deceleration current compensation to obtain the absolute value or relative change of the current, and the landing may be detected from the absolute value or the like. The grab bucket 18 then closes and grabs the raw material 16 (step 110). The control of the gripping amount at this time is performed by, for example, the above-mentioned JP-A-57-151735, JP-B-62-22917, JP-B-62-47791, and JP-A-62-47791.
62-39016, by controlling the amount of slack in the wire rope 14A supporting the grab bucket 18 while the grab bucket 18 is closed. Further, as a result of controlling the gripping amount, how much gripping amount has been obtained is described in, for example, the above-mentioned JP-A-62-161696 and JP-B-59-39.
It can be determined using the method shown in 017.
In the embodiment, the automatic operation control device 56 is calculated from the total value of the currents to the support motor 34 and the opening / closing motor while the winding speed is constant, and the obtained gripping amount is used for the next gripping amount control. Feed back. Next, the amount of slack of the wire rope 14A to be corrected in order to set the grasping amount as a target value is calculated from the obtained grasping amount and the brand information (specific gravity, viscosity, grain size, etc. of the brand) from the high-level computer 74. And apply it to the next grip amount control. Depending on the landing state of the grab bucket 18, the relative position between the trolley 12 and the grab bucket 18 may not be located vertically above. In such cases, wire rope 14A, 1
If 4C is wound up as it is, the initial shake of the grab bucket 18 will occur, which will adversely affect the steady rest control during the next land traverse. Therefore, in order to suppress the initial shake by the technique proposed in JP-A-1-271395, the grab bucket 18
While holding the raw material 16 (that is, when the raw material 16 is in the fixed state or the semi-fixed state), the trolley 12 is opened in the transverse direction. By such operation, the wire rope for opening and closing
The trolley 12 can be moved vertically (that is, on the vertical line) of the grab bucket 18 by utilizing the tension of 14C, and the occurrence of the initial shake can be effectively prevented. Next, automatic winding control of steps 112 to 116 and land steadying control of steps 114 to 118 in FIG. 4 are performed, and the execution of the steps of these steps is completed, so that one cycle of operation is automatically performed. It has been done. In addition, the steady rest control for land traverse is performed in step 10
It is performed in the same way as the steady rest control at the time of sea traverse performed in 6. As described above, when one cycle of automatic operation is repeated and the landing level of the grab bucket 18 approaches the bottom level of the hull 28, in order to protect the hull 28, the trolley 12 and Stop the grab bucket 18 on the hopper 20 and stop the automatic operation. It should be noted that the winding vertical position level and landing level of the grab bucket 18 can be detected by converting the position measurement values of the position / speed detectors 40 and 42 attached to the support drum 22 and the opening / closing drum 26 into rope lengths. Is. In particular, when detecting the landing level, the rope length at the time when the landing is detected by the load change or the current change is taken as the level. Further, the detection that the landing level is close to the ship bottom level is performed by comparing the distance from the level of the hatch 30 detected by the hatch surface level meter 64 to the landing level with the distance from the level of the hatch 30 to the ship bottom level. Then do. In this case, the bottom level information is transmitted from the host computer 74. In addition, the automatic operation control device 56
The grip amount of 16 is calculated, and the grip amount is sent to the host computer 74. The computer 74 manages the cargo handling status such as collecting actual results of gripping amount control results based on the calculated gripping amount and integrating the gripping amount. Therefore, in the present embodiment, automatic operation can be executed that combines the functions shown in (A) to (G) and the function of embodying the items (a) to (d).

【The invention's effect】

As described in detail above, according to the present invention, even if the shape of the hatch or the raw material level changes, the trajectory of the grab bucket can be set to a value that does not contact the hull and the cargo handling efficiency is most improved. The automatic operation device of the grab bucket crane that can maintain the safety of the machine and improve the operation efficiency is realized. That is, since most of the cargo handling work for the hull of the grab bucket crane can be automated, the operator's fatigue can be reduced and the crane can be prevented from overloading to protect the equipment. In addition to sufficiently maintaining safety, the cargo handling efficiency is stabilized, and the variation in the grip amount due to the grab bucket is reduced, so that the operation efficiency can be improved, and other excellent effects can be obtained.

[Brief description of drawings]

1 (A) and 1 (B) are layout diagrams and lines including partial cross-sectional views for explaining the overall configuration and operation of a grab bucket crane and an automatic driving apparatus thereof according to an embodiment of the present invention. Fig. 2 is a diagram showing a traverse acceleration / deceleration pattern of the grab bucket crane, Fig. 3 is a layout diagram including a partial sectional view showing a general configuration of the grab bucket crane, and Fig. 4 The drawing is a flow chart showing the operating procedure of the grab bucket crane according to the embodiment. 10 …… grab bucket crane, 12 …… trolley, 16 …… raw material, 18 …… grab bucket, 20 …… hopper, 22, 24, 26 …… support, opening / closing, traverse drum, 28 …… hull, 30 …… Hatch, 34, 36, 38 …… Motors for supporting, opening / closing and traversing, 40, 42, 44 …… Supporting drums, opening / closing drums, position / speed detectors for traversing drums, 46, 48 …… Supporting, opening / closing motors Current detectors, 50, 52, 54 ... Support, opening / closing, traverse motor speed controller, 56 ... Automatic operation controller, 58 ... Trolley absolute position detector, 60 ... Hopper level detector, 62 ... Cameras for hull monitoring, 64 …… Hatch surface level meter, 66 …… Sheeve, 68 …… Strain gauge, 72 …… Image processing device, 74 …… High-level computer.

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Nobuhiro Kaneda, Inventor Norihiro Mizushima Kawasaki-dori, Kurashiki-shi, Okayama (No address) Inside Mizushima Works, Kawasaki Steel Co., Ltd. (72) Takumi Fukagawa Mizushima-Kawasaki-dori, Kurashiki, Okayama 1 chome (no address) Kawasaki Steel Co., Ltd. Mizushima Steel Works (72) Inventor Takumi Hayashioka 70-19 Hayataka, Kurashiki-shi, Okayama (56) Reference JP-A-59-158790 (JP, A) JP-A-SHO 62-259986 (JP, A)

Claims (1)

[Claims] 1. A means for suppressing swing of a grab bucket at the end of traverse of a grab bucket crane such as an unloader,
A means for suppressing the initial shake of the grab bucket, a means for controlling the transverse position of the grab bucket while suppressing the shake and the initial shake, a means for detecting landing of the grab bucket on the raw material surface, and a raw material for the grab bucket. In an automatic operating device of a grab bucket crane having a means for detecting and controlling a grasped amount, for detecting the shape of the hatch of the hull loaded with the raw material, for hull monitoring arranged near the tip of the crane A camera, a means for processing an image of the hatch taken by the hull monitoring camera, a means for detecting the level of the hatch, a means for detecting the level of the bottom of the hull, and a raw material input. And means for detecting the material level in the hopper, the detected hatch shape, hatch level, ship bottom level and material level. Automatic operation device of the grab bucket bets crane, characterized in that so as to automatic operation based.