Crane control method and control system for a crane

Abstract

The present invention provides a crane control method and control system, as well as a crane, that can reduce positional deviations just before landing and shorten the time required for cargo handling. [Solution] In a crane control method for landing a controlled object Ca in a designated area Da whose target value TP is known in advance, using a crane 10 equipped with a structure 11, a trolley 12, and a lifting device 13, the position and orientation adjustment process S100 is repeated at a period T shorter than the period from the start of operation of the trolley 12 until the controlled object Ca is landed in the designated area Da. In the position and orientation adjustment process S100, a control amount Cv is acquired using a position and orientation acquisition device (2a, 2b, 3, 4), and the calculation device 5 generates operation commands for the trolley 12 and the lifting device 13 respectively to match the control amount Cv to the target value TP, and the trolley 12 and the lifting device 13 are operated respectively based on the generated operation commands.

Description

[Technical Field]

[0001] The present invention relates to a crane control method and control system, and to a crane, and more particularly to a crane control method and control system, and to a crane, that reduces positional deviation just before landing and shortens the time required for cargo handling. [Background technology]

[0002] In crane handling, it is essential to align the crane's position and orientation with the designated area in order to land the lifting equipment or the load lifted by the equipment in that area. Traditionally, this position and orientation alignment has been performed using relative positional deviations from the designated area, obtained from various sensors and cameras installed on the lifting equipment or trolley.

[0003] To utilize the relative positional deviation from the designated area, the lifting equipment or load must be brought closer to the area until the deviation can be acquired using various sensors and cameras. Furthermore, it is necessary to minimize the effects of changes in the position and orientation of various parts of the crane during the movement of the lifting equipment or load. Therefore, positional alignment using relative positional deviation had to be performed immediately before the lifting equipment or load touched down in the designated area. However, performing positional alignment immediately before touching down results in a large deviation between the lifting equipment or load and the designated area, requiring a large amount of adjustment and frequent adjustments. As a result, the lifting equipment or load experiences sway, and it cannot be touched down until the sway subsides, thus preventing a reduction in the time required for cargo handling.

[0004] Systems that use satellite positioning systems for position and orientation adjustment have been proposed (see Patent Documents 1 and 2). The systems proposed in Patent Documents 1 and 2 use satellite positioning systems, but, like the conventional technology described above, position and orientation adjustment is performed just before landing. Therefore, there is room for improvement in order to further reduce the positional deviation just before landing and shorten the time required for cargo handling. [Prior art documents] [Patent Documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2020-169087 [Patent Document 2] Japanese Patent Publication No. 2022-96494 [Overview of the project] [Problems that the invention aims to solve]

[0006] The object of the present invention is to provide a crane control method, a control system, and a crane that can reduce positional deviation just before landing and shorten the time required for cargo handling. [Means for solving the problem]

[0007] The present invention provides a crane control method for achieving the above objectives, comprising a structure having a traveling device, a movable part that operates in contact with the structure, and a lifting device that operates suspended from the movable part via a cable-like material, wherein the method controls the lifting device or a load lifted by the lifting device to land the controlled object in a designated area where the three-dimensional position coordinates and skew angle have been acquired in advance as target values, characterized in that, during the period from the start of operation of the movable part until the controlled object is landed in the designated area, a position and orientation adjustment process is repeated at intervals shorter than the period, and in the position and orientation adjustment process, the three-dimensional position coordinates and skew angle of the controlled object are acquired as control quantities in the same coordinate system as the target values ​​using a position and orientation acquisition device, operation commands for the movable part and the lifting device are generated by a calculation device to match the control quantities to the target values, and the movable part and the lifting device are operated based on the generated operation commands.

[0008] The crane control system of the present invention is a crane control system in which a crane having a structure having a traveling device, a movable part that operates in contact with the structure, and a lifting device that operates suspended from the movable part via a cable-like material is used as the control target when the crane is handling cargo, and the system aims to land the control target in a designated area where the three-dimensional position coordinates and skew angle have been acquired in advance as target values. The system comprises a position and orientation acquisition device and a calculation device, wherein the calculation device performs a position and orientation adjustment step which includes data processing to acquire the three-dimensional position coordinates and skew angle of the control target as control quantities in the same coordinate system as the target values ​​using the position and orientation acquisition device, data processing to generate operation commands for the movable part and the lifting device respectively to match the control quantities to the target values, and data processing to operate the movable part and the lifting device respectively based on the generated operation commands, and the position and orientation adjustment step is repeated at intervals shorter than the period from the start of operation of the movable part to the landing of the control target in the designated area.

[0009] The crane of the present invention is characterized by comprising the above-described crane control system. [Effects of the Invention]

[0010] According to the present invention, the position and orientation of the movable parts and lifting devices are adjusted each time by a position and orientation adjustment process that is repeated at regular intervals, so that the controlled object lands in the designated area. That is, by repeating the position and orientation adjustment process, the position and orientation of the controlled object and the designated area are continuously adjusted, and the controlled object approaches the designated area. Therefore, by the time the controlled object lands in the designated area, the position and orientation adjustment between the controlled object and the designated area is largely completed, so that the positional deviation from the designated area just before landing can be reduced. As a result, the amount of work required for position and orientation adjustment just before landing can be reduced, and the frequency of this adjustment can also be reduced, so that the sway of the controlled object can be effectively suppressed. As a result, the time required for cargo handling is shortened, which greatly contributes to improving cargo handling efficiency.

[0011] Furthermore, in cranes, the position and orientation of each part of the structure, movable parts, and lifting equipment change dynamically moment by moment due to disturbances such as uneven loads and wind during the operation of the movable parts and lifting equipment. According to the present invention, by repeating the position and orientation adjustment process at regular intervals, the movable parts and lifting equipment can be operated while capturing these dynamic changes. In this way, the present invention can perform more accurate position and orientation adjustment with improved robustness by performing position and orientation adjustment that takes into account the effects of dynamic changes due to disturbances. [Brief explanation of the drawing]

[0012] [Figure 1] This is an explanatory diagram illustrating an example of a crane control system and a crane. [Figure 2] This is a flowchart illustrating the procedure of an embodiment of a crane control method. [Figure 3] This is an explanatory diagram illustrating map data. [Figure 4] This is an explanatory diagram illustrating the designated section and target value in a given subsection number. [Figure 5] This is an explanatory diagram illustrating the coordinate systems and position vectors for the reference coordinate system, structural coordinate system, trolley coordinate system, and suspension device coordinate system. [Figure 6] This is an explanatory diagram illustrating structural data. [Figure 7] This is an explanatory diagram illustrating position and orientation data. [Figure 8] This is an explanatory diagram illustrating the control system of the crane in the modified example 1. [Figure 9] This is a flowchart illustrating the procedure for controlling the crane in Modification Example 1. [Figure 10] This is an explanatory diagram illustrating the control system of the crane in the modified example 2. [Figure 11] This is a flowchart illustrating the procedure for controlling the crane in Modification Example 2. [Figure 12] This is an explanatory diagram illustrating the control system of the crane in the modified example 3. [Figure 13]This graph illustrates the displacement of the suspension device and the acceleration of the trolley over time. [Figure 14] This is a flowchart illustrating the procedure for controlling the crane in Modification Example 4. [Figure 15] This is an explanatory diagram illustrating the measured data used in Example 4. [Figure 16] This is an explanatory diagram illustrating different measured data used in the modified example 4. [Modes for carrying out the invention]

[0013] The crane control method, control system, and crane of the present invention will be described below based on the embodiments shown in the figures.

[0014] The embodiment of the control system 1 illustrated in Figure 1 comprises position and orientation acquisition devices (2a, 2b, 3, 4) and a calculation device 5. This control system 1 is mounted on a crane 10 that handles containers Ct as cargo at a container terminal. This control system 1 enables the control method of the crane 10 illustrated in Figure 2. This control system 1 and control method are used when the crane 10 lands a lifting device 13 or a container Ct lifted by the lifting device 13 in a designated area Da as the control target Ca.

[0015] This section outlines the control method. In this control method, the position and orientation adjustment process S100, illustrated in Figure 2 (described later), is repeated every period T from the start of operation of the movable part, the trolley 12, until the controlled object Ca is brought to rest in the designated area Da. In the position and orientation adjustment process S100, first, the three-dimensional position coordinates and skew angle of the controlled object Ca are acquired as a control quantity Cv using position and orientation acquisition devices (2a, 2b, 3, 4) (S110). Then, operation commands are generated for the trolley 12 and the lifting device 13, respectively, so that the control quantity Cv matches a pre-acquired target value TP (S120), and the trolley 12 and the lifting device 13 are operated based on these operation commands (S130). By repeating this position and orientation adjustment process S100, the position and orientation of the controlled object Ca and the designated area Da are continuously adjusted, and the controlled object Ca is brought to rest in the designated area Da. Position and orientation adjustment means adjusting the position and orientation of the controlled object Ca to match the designated area Da.

[0016] First, we will describe the embodiment of the crane 10 and the details of the control system 1.

[0017] The crane 10 illustrated in Figure 1 can be any known type of crane, such as a gantry crane, transfer crane, or jib crane. The crane 10 in the illustrated example is a transfer crane (gantry crane) that crosses over and travels along the storage lane SL in a container terminal. The crane 10 may also be a crane used for handling cargo other than containers Ct at a known logistics facility other than a container terminal. Examples of logistics facilities include warehouses for temporarily storing cargo and steel plate manufacturing facilities for manufacturing and shipping steel plates.

[0018] The crane 10 is equipped with a structure 11, a trolley 12, a lifting device 13, a traveling device 14, a traversing device 15, a lifting device 16, and a fine adjustment device 17. In the crane 10, the movable part is the trolley 12, and the device that operates the trolley 12 is the traversing device 15. The devices that operate the lifting device 13 are the lifting device 16 and the fine adjustment device 17.

[0019] The structure 11 has multiple running gears 14, a girder 18 extending in the direction (Y direction) that crosses the storage lane SL, and multiple legs 19 to which running gears 14 are attached at the lower end and which are connected at the upper end by the girder 18. The structure 11 travels in the direction of travel (X direction) by the multiple running gears 14, and the multiple running gears 14 are in contact with the ground (yard surface). The multiple running gears 14 are arranged on both the side of one end and the side of the other end of the girder 18. The running gears 14 have multiple tires that roll on the road surface of the container terminal, but may also have multiple wheels that roll on rails laid in the container terminal. The running gears 14 only need to be able to drive those tires or wheels, and for example, they have an inverter, an electric motor driven by the power supplied from the inverter, and a reduction gear that transmits the rotational power of the electric motor to those tires or wheels.

[0020] The trolley 12 is a movable part that moves along the girder 18 in the traverse direction (Y direction) by means of a traverse device 15. The traverse device 15 has, for example, a plurality of wheels positioned at the lower end of the trolley 12 that roll along rails laid along the girder 18. The traverse device 15 only needs to be able to move the trolley 12 by rolling these wheels, and has an inverter, an electric motor driven by power supplied from the inverter, and a reduction gear that transmits the rotational power of the electric motor to these wheels. Alternatively, the traverse device 15 may have a drum that winds up and unwinds a cable-like body (wire rope) connected to the trolley 12, and the plurality of wheels may be rolled by rotating the drum with an electric motor to wind up and unwind the cable-like body.

[0021] The lifting device 13 is suspended from the trolley 12 via a cable-like material (wire rope). The lifting device 16 has a drum for winding in and unwinding the cable-like material. The lifting device 16 only needs to be able to rotate its drum and has an inverter, an electric motor driven by power supplied from the inverter, and a reduction gear that transmits the rotational power of the electric motor to the drum.

[0022] The traverse device 15 and the lifting device 16 may be integrated into a common moving device for the trolley 12 and the lifting device 13. This type of common moving device has, for example, four drums in a four-drum bridge-type unloader, each driven by an inverter motor. The traverse device 15 and the lifting device 16 may be installed on the structure 11 or on the trolley 12.

[0023] The number of cable-like bodies supporting the suspension device 13 and the number of drums in the lifting device 16 are not particularly limited and are appropriately selected according to the degree of freedom of operation of the suspension device 13. For example, if the number of cable-like bodies is four and the number of drums is four, the degree of freedom of operation of the suspension device 13 by the lifting device 16 will be six degrees of freedom: translation in the X, Y, and Z directions, trim (rotation around the Y axis), ripping (rotation around the X axis), and skew (rotation around the Z axis). Also, if the number of cable-like bodies is four and the number of drums is two, the degree of freedom of operation of the suspension device by the lifting device 16 will be two degrees of freedom: translation in the Z direction and trim or ripping.

[0024] The fine adjustment device 17 can use various known actuators installed on the trolley 12 or the suspension device 13. Furthermore, the fine adjustment device 17 can also use various known anti-sway devices to suppress vibrations in the suspension device 13, and the actuator and anti-sway device may be used in combination. The fine adjustment device 17 causes tension or slack in the cable-like structure that suspends and supports the suspension device 13, and the resulting tension or slack in the cable-like structure causes the suspension device 13 to move slightly. Multiple fine adjustment devices 17 are provided. For example, if there are four cable-like structures that suspend and support the suspension device 13, two fine adjustment devices 17 are provided, and each fine adjustment device 17 connects the ends of a pair of cable-like structures. Each fine adjustment device 17 causes tension or slack in one of the pair of cable-like structures, or in both cable-like structures. The degree of freedom of the operation of the suspension device 13 by the fine adjustment device 17 may be one degree of freedom due to skew, but it is desirable to have two or more degrees of freedom that include at least translation in the X direction and skew.

[0025] A container terminal stores numerous containers Ct in numerous storage lanes SL. In each storage lane SL, numerous containers Ct are arranged in the longitudinal direction (X direction), the short direction (Y direction), and the vertical direction (Z direction) of the containers Ct. The longitudinal direction of the storage lane SL is oriented toward the longitudinal direction of the containers Ct, and the short direction of the storage lane SL is oriented toward the short direction of the containers Ct. The arrangement of containers Ct in the storage lane SL is called a bay for the X direction, a row for the Y direction, and a tier for the Z direction. Each storage lane SL has numerous compartments D pre-configured for storing containers Ct. In the example shown, the thin dashed rectangles represent compartments D, and the compartments D filled with diagonal lines represent designated compartments Da.

[0026] Section D has a shape similar to the cargo handled by crane 10, and its position and orientation virtually represent the position and orientation of cargo stacked in a desired arrangement. Each section D in the illustrated example is a rectangular parallelepiped, similar to container Ct, and virtually represents the position and orientation of container Ct that is to be stored on the ground (yard surface) of the container terminal. Any coordinate system can be used for the position and orientation of section D, such as a known world geodetic system like WGS84, or a local three-dimensional Cartesian coordinate system with its origin within the container terminal. The position and orientation of section D includes at least the three-dimensional position coordinate of the center of the bottom surface of section D and the skew angle with a vertical line passing through that center as the axis of rotation. Each section D is divided by a designation number (1111-mnij) consisting of a lane number (1-m), bay number (1-n), row number (1-i), and tier number (1-j). Therefore, the position and orientation of container Ct in the storage lane SL is managed by its designation number (1111-mnij). The three-dimensional position coordinates and skew angles of each section D are candidates for the target value TP of the designated section Da.

[0027] The designated section Da is the section D intended for the landing of the controlled object Ca. The designated section Da is selected from among the sections D by a management system (not shown) that manages containers Ct at the container terminal, and the management system instructs the control system 1 of the target crane 10 to select it. The three-dimensional position coordinates and skew angle of the designated section Da are stored in the calculation unit 5 as the target value TP. The target value TP is transmitted directly from the management system to the calculation unit 5 along with the instruction of the designated section Da to the crane 10 from the management system, or it is stored as a value corresponding to the designated section Da through data processing by the calculation unit 5 based on the instructed designated section Da and the data held by the calculation unit 5. This data processing will be described later.

[0028] Control system 1 is installed on each crane 10 at the container terminal. This control system 1 functions, for example, as an automated system that performs data processing to automatically control the operation of the crane 10.

[0029] The position and orientation acquisition devices (2a, 2b, 3, 4) are installed on the crane 10. The position and orientation acquisition devices directly acquire the three-dimensional position coordinates and skew angle of the controlled object Ca as a control variable Cv in the same coordinate system as the target value TP, or acquire data that makes the control variable Cv identifiable. The same coordinate system means the coordinate system used when measuring the three-dimensional position coordinates and skew angle of each candidate section D for the target value TP. The position and orientation acquisition devices (2a, 2b, 3, 4) sequentially acquire position and orientation data D3, which is an accumulation of multiple measurements in the reference coordinate system ΣGmn, the structure coordinate system ΣLA, ΣLB, the trolley coordinate system ΣT, and the lifting device coordinate system ΣS, as the position and orientation of the structure 11, the trolley 12, and the lifting device 13. Each coordinate system and the position and orientation data D3 will be described later.

[0030] The position and attitude acquisition device is not particularly limited as long as it can ultimately acquire the control variable Cv in the same coordinate system as the target value TP. When using the World Geodetic System, the position and attitude acquisition device can be, for example, a known radio positioning device that utilizes the Global Navigation Satellite System (GNSS) installed on the suspension device 13. When using a local three-dimensional Cartesian coordinate system, the position and attitude acquisition device consists of multiple devices that can directly or indirectly acquire the three-dimensional position coordinates and skew angles of each part of the structure 11, trolley 12, and suspension device 13. The multiple devices can be various known devices such as radio positioning devices (including devices that utilize GNSS), self-position estimation devices, inertial navigation devices, rangefinders, and inclinometers, and are not limited to one type of device, but may be a combination of multiple types of devices.

[0031] The arithmetic unit 5 receives and stores various data, and performs data processing using this data. The arithmetic unit 5 can use various known computers. The arithmetic unit 5 has an arithmetic processing unit (CPU), a main memory unit (memory), an auxiliary storage unit (e.g., HDD), etc. Map data D1, structure data D2, position and orientation data D3, target value TP, and control variable Cv are stored in the auxiliary storage unit.

[0032] Figure 2 shows an example of the procedure for controlling the crane 10. In this procedure, the position and orientation adjustment process S100 is performed every period T [ms] from the start of operation of the trolley 12 until the controlled object Ca is brought to rest in the designated section Da. In the position and orientation adjustment process S100, first, the calculation unit 5 uses the position and orientation acquisition devices (2a, 2b, 3, 4) to acquire the control amount Cv in the same coordinate system as the target value TP (S110). Next, the calculation unit 5 generates operation commands for the trolley 12 and the lifting device 13 to match the control amount Cv to the target value TP (S120), and operates the trolley 12 and the lifting device 13 based on the respective operation commands (S130). Then, the position and orientation adjustment process S100 is repeated and ends when the controlled object Ca is brought to rest in the predetermined section Da (S140: YES).

[0033] In this example, the operation of the trolley 12 is traversal in the Y direction by the traversing device 15. The operation of the suspension device 13 is descent by the lifting device 16 and movement of the suspension device 13 in the X direction and rotation around the vertical line by the fine adjustment device 17. Therefore, in this example, the degree of freedom of movement of the controlled object Ca is four degrees of freedom.

[0034] The position and orientation adjustment process S100 begins when the movement of the structure 11 by the traveling device 14 stops and the trolley 12 starts operating. For example, when the container Ct is lifted by the lifting device 13, step (S110) is executed after the controlled object Ca rises to a predetermined position and the trolley 12 begins to move horizontally.

[0035] The repetition period T of the position and orientation adjustment process S100 can be arbitrarily set within a range that is shorter than the period from the start of operation of the trolley 12 until the controlled object Ca is brought to rest in the designated section Da. The shorter the period T, the more times the position and orientation adjustment process S100 is repeated until the controlled object Ca is brought to rest, which is advantageous for improving the accuracy of position and orientation adjustment. The period T is preferably 1.0 [s] or less, and more preferably 100 [ms] or less. The sampling period of the position and orientation acquisition device (2a, 2b, 3, 4) can be used for the period T. This sampling period is, for example, 20 ms to 100 ms. By using the sampling period of the position and orientation acquisition device as the period T, the position and orientation of each part of the structure 11, trolley 12, and suspension device 13, which change dynamically moment by moment, can be captured. Therefore, this is advantageous for improving robustness.

[0036] In step S110, the control variable Cv is acquired in the same coordinate system as the target value TP using the position and attitude acquisition devices (2a, 2b, 3, 4). If the position and attitude acquisition devices cannot directly acquire the control variable Cv, data processing is performed by the calculation unit 5 to acquire the control variable Cv based on the position and attitude data D3 acquired by the position and attitude acquisition devices. Details of this data processing will be described later.

[0037] In step S120, the calculation unit 5 performs data processing to generate operating commands for the trolley 12 and the lifting device 13, respectively, to make the controlled variable Cv match the target value TP. The state in which the controlled variable Cv matches the target value TP means that the difference between the controlled variable Cv and the target value TP is zero, that is, the controlled object Ca has landed in the predetermined section Da without any displacement. Each operating command can be generated, for example, by decomposing the difference between the controlled variable Cv and the target value TP into four components: X direction, Y direction, Z direction, and skew. Alternatively, each operating command can be generated based on the amount of change in the controlled variable Cv assuming that the controlled variable Cv matches the target value TP. Details of this data processing will be described later.

[0038] The operation command for the trolley 12 is an operation command for the traverse device 15. This operation command is generated to adjust the traverse distance of the trolley 12 so that the trolley 12 stops at a position where the Y-direction component of the difference between the controlled amount Cv and the target value TP becomes zero. In typical trolley 12 traverse, the acceleration period, rated speed period, and deceleration period are adjusted using the traverse distance from the traverse limit position to the stopping position, and the acceleration, rated speed, and deceleration, which are set to fixed values ​​in advance. The traverse limit position is, for example, p0 in Figure 5, which will be described later. The operation command for the traverse device 15 adjusts either the rated speed period or the deceleration depending on the timing in which the operation command is generated. In operation commands generated outside of the deceleration period, the length of the rated speed period is adjusted. In operation commands generated during the deceleration period, the fixed deceleration is exceptionally adjusted.

[0039] The operation command for the suspension device 13 is an operation command for the lifting device 16 and the fine-adjustment device 17, respectively. The operation command for the lifting device 16 is generated to adjust the descent distance of the suspension device 13 so that it stops at a position where the Z-direction component of the difference between the controlled amount Cv and the target value TP becomes zero. In the descent of the suspension device 13 in general, similar to the traverse of the trolley 12, the acceleration period, rated speed period, and deceleration period are adjusted using the descent distance from the lower end of the trolley 12 to the stopping position, and the acceleration, rated speed, and deceleration which are set to fixed values ​​in advance. The operation command for the lifting device 16 adjusts either the rated speed period or the deceleration depending on when the operation command is generated. For operation commands generated outside of the deceleration period, the length of the rated speed period is adjusted. For operation commands generated during the deceleration period, the fixed deceleration is exceptionally adjusted.

[0040] The operation command to the fine adjustment device 17 is generated to adjust the amount of movement of the suspension device 13 in the X direction, stopping the suspension device 13 at a position where the X component of the difference between the controlled amount Cv and the target value TP becomes zero. The operation command to the fine adjustment device 17 is also generated to adjust the angle of rotation around a vertical line passing through the center of the lower end of the suspension device 13 as the axis of rotation, so that the skew angle of the controlled amount Cv matches the skew angle of the target value TP.

[0041] In step S130, the computing unit 5 performs data processing to operate the trolley 12 and the lifting device 13 based on the generated operation commands. Specifically, the computing unit 5 transmits the generated operation commands to the traverse device 15, the lifting device 16, and the fine-movement device 17, causing the trolley 12 and the lifting device 13 to operate simultaneously by each device. Simultaneous operation means that the traverse of the trolley 12, the descent of the lifting device 13, the movement of the lifting device 13 in the X direction, and the rotation of the lifting device 13 around its vertical axis are all performed at the same time. Depending on the operation command, only some of these operations may be performed.

[0042] In step S140, the arithmetic unit 5 performs data processing to determine whether the controlled object Ca has landed in the designated area Da. If it is determined that it has landed in the designated area Da (S140: YES), the repetition of the position and orientation adjustment process S100 ends. If it is determined that it has not landed in the designated area Da (S140: NO), the process returns to step S110 and the position and orientation adjustment process S100 is repeated. The detection value of a known landing sensor installed on the lifting device 13 can be used for the determination. Alternatively, the determination may be based on whether the controlled amount Cv and the target value TP match. Specifically, the controlled amount Cv and the target value TP are compared to determine whether they are within the allowable range set as an approximation. The allowable range can be set arbitrarily.

[0043] The position and orientation adjustment process S100 is repeated every period T, continuously adjusting the position and orientation of the controlled object Ca and the designated area Da, until finally the controlled object Ca lands in the designated area Da. In other words, each time the position and orientation adjustment process S100 is repeated, the controlled variable Cv gradually approaches the target value TP. Furthermore, even if the controlled variable Cv fluctuates significantly during this process, each operation command is generated taking that fluctuation into account, so the fluctuation is gradually corrected. As a result, the controlled variable Cv gradually approaches the target value TP.

[0044] As described above, according to this embodiment, in the position and orientation adjustment process S100 which is repeated every period T, the trolley 12 and the lifting device 13 are operated each time to adjust the position and orientation of the controlled object Ca. That is, the position and orientation of the controlled object Ca and the designated area Da are continuously adjusted so that the controlled object Ca lands in the designated area Da. In this way, because the position and orientation adjustment proceeds in real time from an earlier stage than just before landing, the position and orientation adjustment with the designated area Da is largely completed by the time the controlled object Ca lands in the designated area Da. Therefore, the positional deviation of the controlled object Ca relative to the designated area Da just before landing can be reduced. As a result, the amount of operation required for position and orientation adjustment just before landing can be reduced, and the frequency of this operation can also be reduced, so that the sway of the controlled object Ca just before landing can be effectively suppressed. As a result, the time required for cargo handling is shortened, which greatly contributes to improving cargo handling efficiency.

[0045] Furthermore, in the crane 10, the three-dimensional position coordinates and skew angles of the structure 11, trolley 12, and lifting device 13 change dynamically moment by moment due to disturbances such as uneven loads and wind during the operation of the trolley 12 and lifting device 13, and consequently the control variable Cv also changes dynamically. According to this embodiment, by repeating the position and attitude adjustment process S100 at each period T, the control variable Cv can be adjusted by operating the trolley 12 and lifting device 13 while capturing these dynamic changes. In this way, this embodiment can perform more accurate position and attitude adjustment with improved robustness by performing position and attitude adjustment that takes into account the effects of dynamic changes due to disturbances.

[0046] Furthermore, according to this embodiment, the three-dimensional position coordinates and skew angle of each section D, which are candidates for the target value TP, only need to be obtained by measurement during the construction of the storage lane SL. Therefore, it is not necessary to install white lines or targets that serve as indicators of loading, which were essential in conventional methods, on the storage lane SL. In this way, the cost and effort of installing these white lines and targets, as well as the maintenance of them, can be eliminated, which greatly contributes to a significant reduction in the cost required to maintain the container terminal.

[0047] If no restrictions are placed on the operation of the trolley 12 and lifting device 13 during the position and orientation adjustment process S100, the controlled object Ca will land in the designated area Da at the shortest distance. However, if the movement of the controlled object Ca at the shortest distance would cause a collision with another container Ct, it is advisable to restrict the operation of the trolley 12 and lifting device 13 to avoid such a collision. For example, a restriction can be placed to prohibit the lowering of the lifting device 13 until the controlled object Ca has overtaken the container Ct that could potentially collide at the shortest distance. Alternatively, a restriction can be placed to limit the lowering of the lifting device 13 so that the lower surface of the controlled object Ca does not fall below the upper surface of the container Ct. These restrictions are released when the controlled object Ca has overtaken the container Ct.

[0048] Each section D has a ground surface (yard surface) that can be either a level horizontal surface or an inclined surface with a slope such as a water gradient. There are two methods for stacking containers Ct: vertical stacking, where containers are stacked in the direction of gravity, and leaning tower stacking, where containers are stacked perpendicular to the inclined surface. When the ground surface of each section D is level horizontal with zero slope, the two stacking methods are the same. According to this embodiment, regardless of the ground slope, if the Z direction of the coordinate system defining the target value TP and the control quantity Cv is defined to coincide with the vertical direction (gravity line direction), vertical stacking becomes possible, and if the Z direction of that coordinate system is defined perpendicular to the ground, leaning tower stacking becomes possible. Therefore, vertical stacking and leaning tower stacking are selected according to the Z direction of the coordinate system. When the ground slope is large, it is advisable to select vertical stacking, which is mechanically stable. Hereafter, the method of stacking containers Ct will be explained using the case of vertical stacking.

[0049] Next, an example of data processing to obtain the target value TP using the arithmetic unit 5 will be described. In this data processing, the designated number (1111~mnij) instructed by the management system and the map data D1 exemplified in Figure 3, which will be described later, are used.

[0050] The map data D1 illustrated in Figure 3 is pre-stored in the auxiliary storage unit of the arithmetic unit 5. Map data D1 is a tabular data set that aggregates the two-dimensional position coordinates and skew angles for each sub-number (111~mni), which is a part of the designated number and consists of lane numbers (1~m), bay numbers (1~n), and row numbers (1~i), as a candidate for the target value TP of the designated section Da. In this map data D1, vertical stacking is selected for the entire container terminal as the stacking method for each section D. This map data D1 uses the reference coordinate system ΣGmn, which is a local three-dimensional Cartesian coordinate system, as its coordinate system. Note that the map data D1 may also use the World Geodetic System as its coordinate system, and may aggregate the three-dimensional position coordinates and skew angles for each designated number.

[0051] In detail, map data D1 is a collection of two-dimensional position coordinates and skew angles for the sub-numbers (111, ..., 11i, ...) in the leftmost column of the table. Furthermore, map data D1 is a part of the sub-numbers, and a different reference coordinate system ΣGmn is set for each combination number (11 to mn) which is composed of lane numbers (1 to m) and bay numbers (1 to n). Two-dimensional position coordinates ((0, Y 111 ), , , (0, Y 11i The skew angles (0, 0, 0) and the reference coordinate system ΣGmn corresponding to the combination number are measured individually. For example, the two-dimensional position coordinates (0, Y) of sub-number (111) are measured using a reference coordinate system ΣGmn corresponding to the combination number. 111 The skew angle (0) of ) is measured using the reference coordinate system ΣG11.

[0052] The centers of the lower surfaces of sections D with the same section number lie on the same vertical line. Therefore, the two-dimensional position coordinates for each section number represent the two-dimensional position coordinates of that vertical line. The skew angle represents the rotation angle around that vertical line.

[0053] The reference coordinate system ΣGmn can be arbitrarily set as long as the origin is fixed to the ground (yard surface) of the container terminal, but a three-dimensional orthogonal coordinate system in which the origin gmn is fixed to the ground (road surface) on which the running device 14, adjacent to the side of the storage lane SL, travels is preferred. The Z axis of the reference coordinate system ΣGmn is the vertical line (gravity line). The X axis indicates the direction of extension of the storage lane SL (the direction of travel of the crane 10), that is, the longitudinal direction of the container Ct stored in the storage lane SL. The Y axis indicates the traverse direction of the trolley 12, that is, the short direction of the container Ct stored in the storage lane SL, and indicates a predetermined straight line passing through the center of the lower surface of sections D with the same combination number in a plan view.

[0054] The reference coordinate system ΣGmn is preferably set for each storage lane SL, and more preferably for each combination number. Sections D with the same combination number have their respective bottom surfaces centered on a line perpendicular to the direction of extension of the storage lane SL in a plan view. Therefore, each reference coordinate system ΣGmn set for each combination number uses the vertical line and the line perpendicular to it as axes of the coordinate system, making it possible to more easily represent the three-dimensional position coordinates and skew angle of section D. In the illustrated example, since the bottom surfaces of sections D with the same combination number are each located on the Y axis, the X coordinate is "0". The Y coordinate differs for each row number (1 to i). Also, since the X axis of the reference coordinate system ΣGmn indicates the longitudinal direction of the container Ct and the Y axis indicates the short direction of the container Ct, the skew angle using the reference coordinate system ΣGmn is "0".

[0055] This map data D1 can be created simply by defining the two-dimensional position coordinates and skew angles for each sub-number using the reference coordinate system ΣGmn for each combination number. That is, the map data D1 can be created more simply during the construction of the container terminal without actually stacking the containers Ct and without measuring the two-dimensional position coordinates and skew angles. Also, by using the reference coordinate system ΣGmn as a local three-dimensional orthogonal coordinate system, the X coordinate and skew angle can be represented as "0", which is advantageous for reducing the processing load in calculating the operation command.

[0056] In the data processing using the map data D1, the arithmetic unit 5 selects the sub-number of the designated number of the designated section Da instructed by the management system from the sub-numbers (111 to mni) of the map data D1, and acquires the two-dimensional position coordinates and skew angle of the selected sub-number. Also, the arithmetic unit 5 calculates the Z coordinate using the tier number (1 to j) of the designated number. Finally, the acquired two-dimensional position coordinates and skew angle, and the calculated Z coordinate are obtained as the target value TP.

[0057] The Z coordinate is calculated as the height in the Z direction from the XY plane of the reference coordinate system ΣGmn. When the position and orientation of the center of the lower surface of the designated section Da are taken as the target value TP, the three-dimensional position coordinates of the target value TP are the position vector in the reference coordinate system ΣGmn G TP(X TP , Y TP , Z TP ) T and are represented by the following formula (1). Here, the height of the container Ct (the distance between the upper and lower surfaces) is Hc, the height from the ground of the j-th tier of stacked containers Ct is ΣH cj and the correction value is ΔH. When the tier number of the designated number is j, the height ΣH cj indicates the height from the XY plane of the reference coordinate system ΣGmn to the upper surfaces of (j - 1) containers Ct assuming no inclination on the ground of the storage lane SL. The correction value ΔH is a value for correcting the Z coordinate of the target value TP to a value that can be regarded as the height from the XY plane of the reference coordinate system ΣGmn to the center of the lower surface of the actual designated section Da.

[0058]

number

[0059] Container Ct height H c The correction value ΔH may be a fixed value, but it may also vary depending on the specifications of the container Ct (for example, normal type and high cube type). The correction value ΔH uses a pre-set fixed value. The correction value ΔH may be a value that corrects the Z coordinate of the target value TP to be equivalent to the height of the center of the bottom surface of the actual designated area Da, but it is preferable to correct the Z coordinate to a height lower than that height. If the Z coordinate of the target value TP is equivalent to the center of the bottom surface of the actual designated area Da, there is a risk that the repetition of the position and orientation adjustment process S100 will stop just before the controlled object Ca lands on the designated area Da. Therefore, by correcting the Z coordinate of the target value TP to a height lower than the height of the center of the bottom surface of the actual designated area Da using the correction value ΔH, it becomes possible to reliably repeat the position and orientation adjustment process S100 until the controlled object Ca lands.

[0060] The correction value ΔH is equal to the height H of the container Ct. c It can be arbitrarily set within a smaller range than the specified value. The correction value ΔH is preferably between 300mm and 1000mm, and more preferably between 500mm and 700mm. Even if there is a slope on the ground (yard surface), the slope is at most about 1%, so the change in height of the center of the bottom surface of the designated section Da due to the slope is about ±250mm. Therefore, even at the maximum slope, by using the correction value ΔH, the Z coordinate will reliably indicate a position lower than the center of the bottom surface of the designated section Da. The correction value ΔH may be a common value used for multiple storage lanes SL, or different values ​​may be set for each combination number (mn). If multiple correction values ​​ΔH are set for a single container terminal, it is preferable that the correction values ​​ΔH for each combination number be accumulated in the map data D1.

[0061] Figure 4 shows an example of the storage state of container Ct in section number (111). The thick solid rectangles in the figure represent the stored container Ct, and the thin dashed rectangles represent section D and designated section Da. The white dots are the centers O of the bottom surface of each section D. 1111 , O 1112 , O 1113 The diagram shows the coordinate system, with the large black dot indicating the target value TP and the small black dot indicating the origin g11 of the reference coordinate system ΣG11. The bottom surface of each section D is the storage surface where the container Ct is actually stored, and represents the ground of the storage lane SL or the top surface of the stored container Ct. Therefore, the bottom surface of section D with designation number (1111) is the ground of the storage lane SL, and the bottom surface of section D with designation numbers (1112, 1113) is the top surface of the stored container Ct.

[0062] Sections D with the same part number (111) but different tier numbers are located at the center O of the bottom surface of each section D. 1111 , O 1112 , O 1113 These lie on the same vertical line L111. The vertical line L111 is a straight line parallel to the Z11 axis of the reference coordinate system ΣG11, regardless of the slope of the ground (yard surface) in the storage lane SL, and is centered at the bottom surface O of each section D. 1111 , O 1112 , O 1113 It is passing through.

[0063] If the management system specifies the number (1113), the three-dimensional position coordinates of the target value TP are (0, Y 111 , 2H c The result is -ΔH). In the diagram, the centers of the bottom surfaces of the two stored containers Ct are desirable to be on the vertical line L111, but in reality, due to control errors during landing, they may not be on line L111 but may be in a position shifted from line L111. Even if the centers of the bottom surfaces of the stored containers Ct are in a position shifted from line L111, the target value TP will not shift from line L111 and will always be on line L111.

[0064] When the controlled object Ca is a lifting device 13, it is desirable to align the center of the lower surface of the lifting device 13 with the center of the upper surface of the container Ct being handled. However, since the acquired target value TP roughly indicates the position and orientation of the center of the lower surface of the designated area Da, a discrepancy occurs between the center of the upper surface of the container Ct and the target value TP when the ground is sloped. This discrepancy between the lifting device 13 and the container Ct being handled is resolved by using the flippers on the lifting device 13. The lifting device 13 is equipped with flippers at at least four corners as a device that physically guides the lifting device 13 directly above the container Ct being handled. For example, one end of the flipper is pivoted to the body of the lifting device 13, and by tilting around the pivoted end, the other end comes into contact with the side of the container Ct being handled. This operation of the flippers resolves the discrepancy between the lifting device 13 and the container Ct being handled.

[0065] The map data D1 exemplified in Figure 3 above can be created simply by defining the two-dimensional position coordinates and skew angle for each sub-number using the reference coordinate system ΣGmn for each combination number. In other words, map data D1 can be created more easily during the construction of a container terminal without the need to actually stack containers Ct or measure the two-dimensional position coordinates and skew angle. Furthermore, by using the reference coordinate system ΣGmn as the local three-dimensional Cartesian coordinate system, the X-coordinate and skew angle can be represented as "0", which is advantageous in reducing the processing load in calculating operation commands.

[0066] When vertical stacking is selected as the stacking method for each section D, the centers of the bottom surfaces of the stacked containers Ct will be aligned in a vertical line. If the ground (yard surface) of the storage lane SL is sloped relative to the horizontal plane, this slope will cause a misalignment between the opposing top and bottom surfaces of the stacked containers Ct, resulting in a stepped appearance. Conversely, if the ground of the storage lane SL is not sloped relative to the horizontal plane, there will be generally no misalignment between the opposing top and bottom surfaces of the stacked containers Ct.

[0067] In the position and orientation alignment process S100, by using map data D1, containers Ct can be automatically stacked vertically regardless of the slope of the ground in the storage lane SL relative to the horizontal plane. Generally, in order to stack containers Ct vertically, it is necessary to directly measure the slope of the ground in the storage lane SL relative to the horizontal plane, or to measure and acquire the slope as data in advance, but by using map data D1, this effort can be eliminated. Furthermore, by using map data D1, the effects of slope changes due to aging deterioration or crustal deformation are completely eliminated, and more accurate vertical stacking can be performed consistently.

[0068] Map data D1 only needs to be created during the preparation phase before the repetition of the position and orientation adjustment process S100. Once created, map data D1 can be used repeatedly, but it is advisable to correct it if the three-dimensional position coordinates of each section D change due to earthquakes, crustal movements, etc.

[0069] Next, an example of data processing by the calculation unit 5 when the position and orientation acquisition device cannot directly acquire the control quantity Cv will be described. In the following, the control point c will be defined as the center of the lower surface of the controlled object Ca, which is the point indicated by the three-dimensional position coordinates of the control quantity Cv. In this data processing, the reference coordinate system ΣGmn described in the map data D1 exemplified in Figure 3 above, and each coordinate system based on the respective parts of the structure 11, trolley 12, and suspension device 13 are used. Specifically, using each coordinate system, the calculation unit 5 acquires the three-dimensional position coordinates and skew angle of the control quantity Cv based on the structural data D2 exemplified in Figure 6 and the position and orientation data D3 exemplified in Figure 7, which will be described later. The three-dimensional position coordinates are the position vector from the origin gmn of the reference coordinate system ΣGmn to the control point c. G It is identified as c. The skew angle is the integrated skew angle obtained by combining the skew angles of each part. G ζ S It is identified as such.

[0070] Figure 5 shows the coordinate systems of the reference coordinate system ΣGmn, the structural coordinate systems ΣLA and ΣLB, the trolley (movable part) coordinate system ΣT, and the suspension coordinate system ΣS, and their respective position vectors (G la, G p, G t, G q, G s, G This represents c). In the figure, thin arrows indicate the axes of each coordinate system, and thick arrows indicate the position vectors. The direction indicated by the arrow is considered positive, and the opposite direction is considered negative. The black dot indicates the origin gmn of the reference coordinate system ΣGmn, and the white dots indicate predetermined points, intersections, and control points c of each part.

[0071] Position vector G Point c passes sequentially through predetermined points (origins la, t, s) on the structure 11, trolley 12, and lifting device 13 of the crane 10, from the origin gmn to the control point c. The origins of each coordinate system (ΣLA, ΣLB, ΣT, ΣS) are used as these predetermined points. Furthermore, the path from origin la to origin t passes through intersection point p, and the path from origin t to origin s passes through intersection point q. That is, the position vector... G c is calculated as a vector that passes sequentially from the origin gmn to the control point c, passing through the origin la, intersection p, origin t, intersection q, and origin s. Integrated skew angle G ζ S This is calculated by integrating the skew angles of each part (11, 12, 13).

[0072] Each coordinate system is a three-dimensional Cartesian coordinate system with a predetermined point on the structure 11, trolley 12, and lifting device 13 as its origin. Each origin (predetermined point) represents the center of the lower surface of each part of the crane 10, which is treated as a rigid body. In the structure 11, the traveling devices 14 located below each end of the girder 18 in the direction of extension are treated as a pair of rigid bodies spaced apart in the direction of extension, and a separate coordinate system is set for each traveling device 14. In these coordinate systems, the position and orientation of each origin changes with the movement and change in the orientation of the crane 10, relative to a fixed reference coordinate system ΣGmn.

[0073] The structural coordinate systems ΣLA and ΣLB are fixed to each of the pair of running gears 14 that are spaced apart in the Y direction. Since the structural coordinate systems ΣLA and ΣLB differ only in the positions of their origins la and lb and the orientation of their axes, only the details of structural coordinate system ΣLA will be described, and the details of structural coordinate system ΣLB will be omitted. The origin la is the center of the lower surface of the running gear 14, that is, the center of the running gear 14 on the ground of the storage lane SL, which is the contact surface of the tires of the running gear 14. LA The axial direction of the axis is not the vertical direction, but rather the direction in which the structure 11 is erected (for example, the direction in which the leg portion 19 extends). LA The axial direction of the axis indicates the extension direction of girder 18.

[0074] The trolley coordinate system ΣT is fixed relative to the trolley 12. The origin t is the center of the lower surface of the trolley 12, that is, the center of the trolley 12 in the horizontal plane of the girder 18 directly below the trolley 12 (the plane including the upper surface of the rail on which the wheels of the traverse device 15 roll). T The axial direction of the axis indicates the height direction of the trolley 12. T The axial direction of the axis is the direction of extension of the girder 18, which is the traverse direction of the trolley 12 (Y in the structural coordinate system ΣLA). LA This indicates the axis direction.

[0075] The lifting device coordinate system ΣS is fixed to the lifting device 13. The origin s is the center of the lower surface of the lifting device 13, that is, the center of the lifting device 13 at the contact surface with the container Ct (the lower end surface of the lifting device 13). S The axis direction of the shaft indicates the height direction of the suspension device 13. S The axial direction of the shaft is the longitudinal direction of the suspension device 13, Y S The axial directions of the axes indicate the short-side directions of the suspension device 13. Note that the Z coordinate system is ΣS of the suspension device coordinate system. S The axis direction is not necessarily vertical. S The axial direction of the shaft may be tilted in directions other than the vertical due to the influence of the cable-like structure and vibration damping devices.

[0076] Z coordinate system of the structural coordinate system ΣLA LA Axis and the Y coordinate system ΣTT It intersects the axis. p is Z LA Axis and Y T This is the intersection of the axes. po is the traverse limit position of trolley 12. Structural coordinate system ΣLB and Z LB Axis and the Y coordinate system ΣT T It intersects the axis. r is Z LB Axis and Y T It is the intersection of the axes. q is the Z coordinate system of the suspension device coordinate system ΣS. S This is the intersection point between the shaft and the upper end surface of the lifting device 13. Depending on the specifications of the crane 10, the intersection point p and the traverse limit position po may coincide.

[0077] Structural data D2 is obtained during the preparation phase before cargo handling is performed by crane 10. Structural data D2 is data that complements the position and orientation data D3, which is illustrated in Figure 7 later, and is not essential if the control variable Cv can be calculated using only the position and orientation data D3. In other words, if the control variable Cv can be calculated using only the position and orientation data D3, obtaining structural data D2 at this preparation phase can be omitted.

[0078] The structural data D2 illustrated in Figure 6 is known data, corresponding to the specifications of the crane 10 and the container Ct, and is pre-stored in the auxiliary storage unit of the computing device 5. The structural data D2 includes the height dimension of the structure 11, the width dimension of the structure 11, the thickness dimension of the lifting device 13, and the thickness dimension of the container Ct. More specifically, the height dimension of the structure 11 is the distance H between the origin la and the intersection point p. p The width dimension of structure 11 is the distance L between the origin la and the origin lb. ab The distance L between intersection point p and intersection point r pr The thickness dimension of the suspension device 13 is the distance H between the intersection point p and the origin s. s The thickness dimension of container Ct is the height H of container Ct. c The distance between the bottom and top surfaces is shown. Note that if the intersection point p and the traverse limit point po of the trolley 12 are different, the structural data D2 will show the distance Y between the intersection point p and the traverse limit point po of the trolley 12. toThis is included. In the diagram, the numerical values ​​of each data are abbreviated with "...". Structural data D2 may use actual measured values, but it may also use design values ​​from the design stage of crane 10.

[0079] Structural data D2 can be used repeatedly if the specifications of crane 10 do not change, and can be applied to other cranes 10 with the same specifications. Therefore, once structural data D2 for cranes 10 with the same specifications has been obtained, obtaining structural data D2 in the preparation stage can be omitted as long as cranes 10 with the same specifications are used.

[0080] Figure 7 shows an example of position and attitude data D3 acquired by the position and attitude acquisition devices (2a, 2b, 3, 4). Position and attitude data D3 is an aggregation of multiple measurements acquired by the position and attitude acquisition devices (2a, 2b, 3, 4). Position and attitude data D3 includes at least measurements in the reference coordinate system ΣGmn, measurements in the structural coordinate systems ΣLA and ΣLB, and measurements in the trolley coordinate system ΣT.

[0081] To elaborate, the measurement values ​​acquired by the structural position and orientation acquisition device 2a are the coordinates of the origin la of the structural coordinate system ΣLA in the reference coordinate system ΣGmn ( G la X , G la Y ) and slope ( G ξ LA , G η LA ) The measured values ​​acquired by the structural position and orientation acquisition device 2b are the coordinates of the origin lb of the structural coordinate system ΣLB in the reference coordinate system ΣGmn ( G lb X ) and slope ( G ξ LB , G η LB ) Furthermore, the Y coordinate of the origin lb is the same as the Y coordinate of the origin la ( G la Y ) can be used. The measurement value acquired by the movable part position and attitude acquisition device 3 is the traverse distance of the trolley 12 in the trolley coordinate system ΣT. T Y tand the inclination of the trolley 12 in the reference coordinate system ΣGmn ( G ξ T , G η T ). As illustrated in FIG. 7 described above, the structure coordinate system ΣLA and the trolley coordinate system ΣT intersect at the intersection point p, and the Y LA axis and the Y T axis are parallel. Therefore, the lateral travel distance of the trolley 12 in the trolley coordinate system ΣT T Y t can also be converted into the lateral travel distance of the trolley 12 in the structure coordinate system ΣLA. The lateral travel distance T Y t indicates the distance that the trolley 12 has traveled laterally from the lateral limit position po in the Y T axis direction. The measurement value acquired by the spreader position and attitude acquisition device 4 is the three-dimensional coordinates of the intersection point q in the trolley coordinate system ΣT( T q X , T q Y , T q Z ) and the inclination of the spreader 13 in the reference coordinate system ΣGmn ( G ξ S , G η S ) and the skew angle of the spreader 13 in the trolley coordinate system ΣT T ζ S .

[0082] Position vector G c is calculated as follows. First, the position vectors of each point to be passed through ( G la, G p, G t, G q, G s) are calculated. Finally, the position vector G c of the control point c passing through each point in order is calculated. For the calculation of the integrated skew angle G ζ S , the skew angles in each part (structure 11, trolley 12, spreader 13) are integrated.

[0083] In the specific procedure, first, the arithmetic unit 5 performs data processing to calculate the coordinate transformation matrix from each coordinate system to the reference coordinate system ΣGmn. Next, the arithmetic unit 5 performs data processing to calculate the position vector of each point using the calculated coordinate transformation matrix. Then, based on the position vector of each point, the arithmetic unit 5 sets the position vector as the control variable Cv. G c and integrated skew angle G ζ S Data processing is performed to calculate the result.

[0084] The coordinate transformation matrix from each coordinate system (ΣLA, ΣLB, ΣT, ΣS) to the reference coordinate system ΣGmn can be expressed using the following known equation (2), and is expressed by substituting the angles of motion of each coordinate system as seen from the reference coordinate system ΣGmn into the respective rotation angles (ξ, η, ζ) in equation (2). The respective angles of motion of each coordinate system are the respective angles of motion of the structural coordinate system ΣLA ( G ξ LA , G η LA , G ζ LA ), the respective angles of motion of the structural coordinate system ΣLB ( G ξ LB , G η LB , G ζ LB ), the respective angles of motion of the trolley coordinate system ΣT ( G ξ T , G η T , G ζ T ), the respective angles of motion of the suspension coordinate system ΣS ( G ξ S , G η S , G ζ S ) The resulting coordinate transformation matrix is ​​the coordinate transformation matrix from the structural coordinate system ΣLA to the reference coordinate system ΣGmn. G R LA , Coordinate transformation matrix from structural coordinate system ΣLB to reference coordinate system ΣGmn G R LB , coordinate transformation matrix from trolley coordinate system ΣT to reference coordinate system ΣGmn G RT , Coordinate transformation matrix from the suspension coordinate system ΣS to the reference coordinate system ΣGmn G R S The skew angles of the structural coordinate systems ΣLA, ΣLB, trolley coordinate system ΣT, and suspension coordinate system ΣS are as follows: G ζ LA , G ζ LB , G ζ T , G ζ S ) is the integrated skew angle, which will be discussed later. G ζ S It is calculated during the calculation process.

[0085]

number

[0086] Position vector of origin la G la is the coordinate of the origin la of the structural coordinate system ΣLA in the reference coordinate system ΣGmn. G la X , G la Y ,0) T This is represented by the following. When the structure 11 is moved by the traveling device 14, the origin gmn is the target stopping position, and at the time the movement is completed (when the movement stops), the origin la and the origin gmn are close together. That is, the amount of displacement in the Z direction between the origin la and the origin gmn is small and can be considered to be zero.

[0087] Position vector of intersection point p G p is expressed by the following formula (3): Position vector LA p is the coordinate of the intersection point p using the structural coordinate system ΣLA (0, 0, H p ) T This indicates that.

[0088]

number

[0089] Position vector of the origin t G t is expressed by the following formula (4): Position vector T p is the coordinate of the intersection point p in the trolley coordinate system ΣT (0, -( T Y t + T Y to ), 0) T This indicates that.

[0090]

number

[0091] Position vector of intersection point q G q is expressed by the following formula (5): Position vector T q is the coordinate of the intersection point q in the trolley coordinate system ΣT. T q X , T q Y , T q Z ) T This indicates that.

[0092]

number

[0093] Position vector of origin s G s is expressed by the following formula (6): Position vector S q is the coordinate of the intersection point q in the suspension coordinate system ΣS (0, 0, H q ) T This shows that when the origin s is treated as the control point c (when the controlled object Ca is the suspension device 13), the position vector G s is used as the position vector of the control point c.

[0094]

number

[0095] Position vector of control point c G c is expressed by the following formula (7): Position vector S c is Z in the ΣT coordinate system of the suspension device. S The coordinates of control point c, which is the intersection of the axis and the lower end face of container Ct, are (0, 0, -H c ) T This indicates that.

[0096]

number

[0097] Skew angle of structure 11 G ζ LA and skew angle G ζ LB Although these can be treated individually, we consider structure 11 as a single rigid body and treat them as having the same value. Skew angle G ζ LA This is expressed by the following formula (8). Skew angle of this structure 11 G ζ LA This is used in the above-mentioned formula (2).

[0098]

number

[0099] Skew angle of trolley 12 G ζ T This is the skew angle of digit 18. G ζ GDR This can be considered as such. Skew angle of digit 18 G ζ GDR This is the skew angle of structure 11. G ζ LA This reflects the distortion of leg section 19. Skew angle of beam 18 G ζ GDR This is expressed by the following formula (9): X-coordinate of intersection point p G p X This is expressed by the above formula (3). The x-coordinate of the intersection point r G r XThis is the position vector represented by the following formula (10). G The position vector of the origin lb can be obtained from r. G lb is the coordinate of the origin lb of the structural coordinate system ΣLB in the reference coordinate system ΣGmn. G lb X , G la Y ,0) T It is represented by the position vector. LB r is the coordinate of the intersection point r using the structural coordinate system ΣLB (0, 0, H p ) T This indicates that.

[0100]

number

[0101]

number

[0102] Integrated skew angle G ζ S That is, the skew angle of the suspension coordinate system ΣS G ζ S This is the skew angle of the lifting device 13 in the trolley coordinate system ΣT, acquired by the lifting device position and orientation acquisition device 4. T ζ S The skew angle of trolley 12 in the trolley coordinate system ΣT was calculated as follows: G ζ T It is the sum of and and is expressed by the following formula (11). Therefore, the integrated skew angle G ζ S The skew angles of the structure 11, the trolley 12, and the suspension device 13 are integrated.

[0103]

number

[0104] By following the above procedure, the position and orientation data D3 acquired sequentially during the loading and unloading of the crane 10 can be used to determine the control variable Cv (position vector) as the position and orientation of the controlled object Ca in the reference coordinate system ΣGmn. G c, integrated skew angle G ζ c ) can be acquired sequentially. In other words, in this embodiment, it is not necessary to directly measure the position and orientation of the designated area Da. Therefore, in the process of cargo handling by the crane 10, the position and orientation of the controlled object Ca in the reference coordinate system ΣGmn can be acquired at an earlier stage than when the relative position between the trolley 12 or lifting device 13 and the designated area Da can be directly measured, and the position and orientation adjustment with the designated area Da can be started earlier using the acquired position and orientation. When the target value TP is measured using the World Geodetic System, the control quantity Cv can also be acquired directly using a radio wave positioning device installed on the lifting device 13. However, with a radio wave positioning device, the control quantity Cv may not be acquired depending on the radio wave conditions, which affects the execution of the position and orientation adjustment process S100. Therefore, the target value TP is acquired using the reference coordinate system ΣGmn, which is a local three-dimensional orthogonal coordinate system, and the position vector is obtained as the control quantity Cv using that reference coordinate system ΣGmn. G c and integrated skew angle G ζ S By identifying this, the position and orientation adjustment process S100 can be performed regardless of radio wave conditions.

[0105] Furthermore, the control variable Cv using the reference coordinate system ΣGmn can also be used to create operating commands for the trolley 12 and the suspension device 13. The procedure for generating each operating command using the control variable Cv with the reference coordinate system ΣGmn is described in detail below.

[0106] In this procedure, the arithmetic unit 5 calculates the position vector assuming that the controlled variable Cv matches the target value TP. G The amount of variation of the operable vectors and the integrated skew angle among the vectors that make up c. G ζ SData processing for calculating the amount of variation in the operable angle among the skew angles that make up the system is executed. In the following, assuming that it matches the target value TP, the control amount Cv is the target position vector G c * , the target skew angle G ζ S * . The target position vector G c * matches the three-dimensional position coordinates G TP of the target value TP. Similarly, the target skew angle G ζ S * also matches the skew angle G ζ TP of the target value TP.

[0107] The position vector G c is represented by the following equation (12) using the above equations (3) to (7). Among the position vectors G c, the vectors operable by the operation of the trolley 12 and the spreader 13 are the position vector T p of the intersection point p in the trolley coordinate system ΣT and the position vector T q of the intersection point q. That is, the target position vector G c * is represented by the following equation (13) with those operable vectors as the variation vectors T p * , the variation vector T q * .

[0108] A

Equation

[0109]

Equation

[0110] Assuming that the control amount Cv matches the target value TP, the target position vector G c *and the position vector of the target value TP G TP becomes equal to this. The following equation (14) is the target position vector of the above equation (13). G c * position vector G This is a modified version with TP as the replacement.

[0111]

number

[0112] Variation vector T p * This shows the coordinates of intersection point p in the trolley coordinate system ΣT. The coordinates of intersection point p are such that the X and Z coordinates are fixed values, and the Y coordinate is expressed as the traverse distance of trolley 12 from the traverse limit point po and a fixed value. Specifically, the variation vector T p * The target coordinates (0, -( T Y t * + T Y to ), 0) T This indicates the amount of variation. T Y t * This is the traverse distance of the trolley 12 from the traverse limit position po, assuming that the controlled variable Cv matches the target value TP.

[0113] Variation vector T q * This shows the coordinates of the intersection point q in the trolley coordinate system ΣT. The coordinates of the intersection point q are such that the Y coordinate is the observed value (see position and orientation data D3 in Figure 8), the X coordinate is the amount of movement of the suspension device 13 in the X direction, and the Z coordinate is the amount of movement of the suspension device 13 in the Z direction. Specifically, the fluctuation vector T q * is the target coordinates ( T q X * , T q Y , T q Z * ) T This indicates the amount of variation.T q X * This is the amount of movement of the suspension device 13 in the X direction, assuming that the controlled variable Cv matches the target value TP. Also, the fluctuation amount T q Z * This is the amount of descent of the suspension device 13 in the Z direction, assuming that the controlled variable Cv matches the target value TP.

[0114] The right-hand term of the above formula (14) can be quantified from the map data D1, structural data D2, and position and orientation data D3. Therefore, each variation can be calculated using the above formula (14). T Y t * , T q X * , T q Z * It can be quantified.

[0115] Integrated skew angle G ζ S Among these, the angle that can be operated by the operation of the trolley 12 and the suspension device 13 is the skew angle. T ζ C That is the skew angle. T ζ C This is the skew angle of the controlled object Ca in the trolley coordinate system ΣT, and is expressed by the following equation (15) using the above equation (11). Therefore, the target skew angle G ζ C * The amount of variation is the fluctuating skew angle. T ζ S * This can be expressed by the following formula (16).

[0116]

number

[0117]

number

[0118] When it is assumed that the control amount Cv matches the target value TP, the target skew angle G ζ S * and the skew angle G ζ TP of the target value TP become equal. The following formula (17) is obtained by replacing the target skew angle G ζ S * with the skew angle G ζ TP of the target value TP and transforming the above formula (16). The variation T ζ S * indicates the rotation angle of the skew of the spreader 13 by the fine actuator 17 when it is assumed that the control amount Cv matches the target value TP.

[0119]

Equation

[0120] The right side of the above formula (17) can be quantified from the map data D1, the structure data D2, and the position and orientation data D3. Therefore, the variation T ζ S * can be quantified.

[0121] As described above, in this embodiment, using the map data D1, it is optimal to calculate the position vector G c of the control point c as the control amount Cv and the integrated skew angle G ζ c . Further, in this embodiment, each operation command is based on the variation G c of the calculated position vector, the variation T Y t * , the variation T q X * , the variation T q Z * and the integrated skew angleG ζ c Variation obtained using T ζ S * It is best to calculate based on this.

[0122] Next, a crane control method, a control system, and a modified example 1 of the crane embodiment will be described. Modified example 1 is suitable when the Z coordinate of the target value TP is lower than the height of the center of the actual lower surface of the designated area Da due to the correction value ΔH. In modified example 1, the relative position acquisition device 6 is used to acquire the vertical relative position of the controlled object Ca and the container Ct located directly below the designated area Da. That is, in the control method of the crane 10 using the control system 1A of modified example 1, the repetition of the position and orientation adjustment process S120 is terminated just before the controlled object Ca lands on the designated area Da, so that the controlled object Ca lands on the designated area Da in a way that further reduces the impact that occurs when it lands.

[0123] In the modified example 1 shown in Figure 8, a relative position acquisition device 6 is installed on the suspension device 13. The control system 1A of modified example 1 differs from the control system 1 in Figure 1 above only in that a relative position acquisition device 6 is added, so the overall configuration is not shown. In the illustrated example, an example of part number (111) is shown, similar to Figure 4 above.

[0124] The relative position acquisition device 6 can use known distance meters such as two-dimensional or three-dimensional laser sensors or stereo cameras. The relative position acquisition device 6 measures the shape of the underside of the actual designated section Da, that is, the top surface of the container Ct located directly below the designated section Da, and the distance to that top surface and the ground (yard surface). The relative position acquisition device 6 may also be installed on the trolley 12.

[0125] Figure 9 shows an example of the procedure for controlling the crane in Modified Example 1. In the procedure of Modified Example 1, steps S150 to S180 are added between the position and orientation adjustment process S100 and step S140 compared to the procedure in Figure 2 described above. That is, in the procedure of Modified Example 1, the repetition of the position and orientation adjustment process S100 ends just before the controlled object Ca lands in the designated area Da (S150, S160). Just before the controlled object Ca lands in the designated area Da, the controlled amount Cv is roughly in line with the target value TP, except for the difference in the Z direction. Therefore, after the repetition of the position and orientation adjustment process S100 ends, only the amount of movement in the Z direction is generated as an operation command for the lifting device 13 (S170), and the lifting device 13 is operated based on the generated operation command to land the controlled object Ca in the designated area Da (S180). The details of each step (S150 to S180) are described below.

[0126] In step S150, the relative position acquisition device 6 is used to determine the distance H in the Z direction from the control point c, which is the center of the lower surface of the controlled object Ca, to the lower surface of the designated section Da. O Obtain the distance H. O The distance from control point c to the center of the actual lower surface of the designated area Da shall be less than or equal to the distance from control point c to the center of the lower surface of the designated area Da. If the lower surface of the designated area Da is not inclined with respect to the horizontal plane, the distance H O This indicates the distance from control point c to the center of the lower surface of the designated area Da. If the lower surface of the designated area Da is inclined with respect to the horizontal plane, the distance H O This indicates the distance to a point on the lower surface of the designated area Da that is lower than the center of the lower surface. A point lower than the center of the lower surface means the edge of the lower surface or the vicinity of that edge. Specifically, based on the measurement values ​​taken by the relative position acquisition device 6, the calculation device 5 identifies the point on the edge of the lower surface of the designated area Da that is furthest from the center in the Z direction, and the distance from the control point c to that identified point is distance H. O The data to be obtained is processed.

[0127] In step S160, the calculation unit 5 performs data processing to determine whether the controlled object Ca is about to implant in the designated compartment Da. Indicators for determining whether implantation is imminent include the difference in the Z direction between the controlled quantity Cv and the target value TP, and the distance H obtained using the relative position acquisition device 6. O This can be used. The criteria for determining whether implantation is imminent can be set arbitrarily. If it is determined in step S160 that implantation is imminent (S160: YES), the position and orientation adjustment process S100 is terminated. If it is determined that implantation is not imminent (S160: NO), the position and orientation adjustment process S100 is repeated again.

[0128] In step S170, the correction value ΔH and the distance H obtained using the relative position acquisition device 6 are used. O Based on this, the calculation unit 5 performs data processing to generate the amount of movement of the lifting device 13 in the Z direction as an operation command for the lifting device 13. The center of the lower surface of the designated section Da lies between the target value TP and a point located above the target value TP by a correction value ΔH in the Z direction. Furthermore, its center lies between the control point c and a distance H from the control point c. O It exists between the point located below by a certain distance. Based on these two conditions, the computing device 5 searches for the amount of downward movement of the suspension device 13 in the Z direction. The amount of movement to be searched may be a value that makes the Z coordinate of control point c exactly match the Z coordinate of the center of the lower surface of the designated section Da, or it may be a value that moves the Z coordinate of control point c above the Z coordinate of the target value TP and below the Z coordinate of the center of the lower surface of the designated section Da.

[0129] In step S180, the arithmetic unit 5 performs data processing to operate the lifting device 13 based on the generated operation command. Specifically, the arithmetic unit 5 transmits the generated operation command to the lifting device 16, causing the lifting device 16 to lower the lifting device 13 in the Z direction.

[0130] As described above, in Modification 1, the repetition of the position and orientation adjustment process S100 is completed just before landing, and the correction value ΔH and the distance H acquired using the relative position acquisition device 6 are used. OThe suspension device 13 is lowered by the amount of movement determined based on the calculation. Since the amount of movement determined is a value that moves the control point c closer to the center of the lower surface of the designated section Da, the impact that occurs when the controlled object Ca lands on the designated section Da can be further mitigated.

[0131] In Modification 1, when the lifting device 13 is to be placed in the designated area Da, the calculation device 5 can also change the three-dimensional position coordinates of the target value TP in the position and orientation adjustment process S100. More specifically, the calculation device 5 performs data processing to acquire the three-dimensional position coordinates of the center of the top surface of the container Ct located directly below the designated area Da, based on the measurement values ​​measured by the relative position acquisition device 6. Next, the calculation device 5 performs data processing to change the three-dimensional position coordinates of the center of the bottom surface of the designated area Da (the three-dimensional position coordinates of the target value TP) to the three-dimensional position coordinates of the center of the top surface of the acquired container Ct. In this way, in Modification 1, by utilizing the relative position acquisition device 6, the position and orientation of the center of the bottom surface of the lifting device 13 can also be adjusted to the center of the top surface of the container Ct to be handled.

[0132] Next, a control method and control system for the crane, as well as a modified example 2 of the crane's embodiment, will be described. In modified example 2, a filter value obtained by removing the effects of dynamic disturbances from the measured values ​​of the position and attitude data D3 is used as a measurement value for a portion of the position and attitude data to perform more accurate position and attitude adjustment.

[0133] As illustrated in Figure 10, the control system 1B of the modified example 2 has a notch filter 7 added to the configuration of the control system 1 in Figure 1 described above. The notch filter 7 is interposed between the position and attitude acquisition devices (2a, 2b, 3, 4) and the calculation unit 5. That is, in the position and attitude data D3 used in the position and attitude adjustment process S100 of the modified example 2, at least some of the measured values ​​are replaced with filtered values ​​obtained by applying the notch filter 7.

[0134] A known notch filter can be used for the notch filter 7. The notch filter 7 does not need to be applied to all measurements acquired by the position and attitude acquisition device; it only needs to be applied to measurements that become statically indeterminate due to the influence of dynamic disturbances. The measurements to which the notch filter 7 is applied should be appropriately selected according to the dynamic disturbances.

[0135] Dynamic disturbances include, for example, acceleration during the traverse of the trolley 12 and wind. Acceleration during the traverse of the trolley 12 causes periodic swings in the suspension device 13, affecting the Y coordinate of point q in the trolley coordinate system ΣT. T q Y This becomes an indeterminate value. In addition, periodic fluctuations occur in the pitch direction in the structure 11 that receives the reaction force of the trolley 12, and the rotation angle of the pitch in the structural coordinate systems ΣLA and LB. G ξ LA , G ξ LB This also becomes an indeterminate value. The wind causes vibration in the structure 11, and the rotation angle of the roll in the structure coordinate system ΣLA, LB G η LA , G η LB This becomes an indeterminate value. Therefore, the notch filter 7 is the Y coordinate of point q. T q Y , rotation angle of the pitch of the structural coordinate system ΣLA,LB G ξ LA , G ξ LB , roll direction angle G η LA , G η LB It is set to act on each of the measured values. Multiple notch filters 7 may be set up to adapt to each dynamic disturbance, and the setting parameters may be variable.

[0136] The notch filter 7, for example, when its order is second, can be expressed by the following formula (18). The notch filter 7 has the notch center frequency ω as a setting parameter. n , Notch width (bandwidth) ζ n , Notch depth (center frequency ω n (Attenuation amount at) d nIt has.

[0137]

number

[0138] The setting parameters can be arbitrarily set within a range where the filter value is quasi-statically determinate or can be considered statically determinate. However, the depth d within the setting parameters is limited. n If the value exceeds "1.0", the notch filter 7 becomes an amplified filter, so it should be kept below "1.0". The center frequency ωn is, for example, the natural frequency of the deflection or vibration that affects the measured value being applied. This natural frequency can be determined in advance by analyzing the vast amount of data accumulated by the crane 10 manufacturer over the years, or by analyzing laboratory data such as the results of numerous experiments, tests, and computer simulations conducted during the research and development of the crane 10. Alternatively, this natural frequency may be calculated using the dynamic model described in Modification 3 below. Notch width ζ n This involves the Q-factor (quality factor Q) and the center frequency ω n It is calculated using [the specified formula]. The depth dn can be set appropriately according to the amplitude of the runout or vibration.

[0139] The fluctuations and vibrations that affect the measured values ​​decrease as the controlled object Ca approaches the designated area Da. Therefore, it is preferable that the notch filter 7 is gradually released as the fluctuations in the measured values ​​decrease. Specifically, the notch filter 7 is released gradually as the controlled object Ca approaches the designated area Da, and the depth d of the set parameter n The value gradually increases and is set to approximate "1.0". The notch filter 7 is completely released when the controlled Cac is about to implant in the designated compartment Da.

[0140] As described above, according to Example 2 of the change, the filtered value obtained by applying the notch filter 7 has the influence of dynamic disturbances largely eliminated from the measured value and can be considered a statically determinate value. Therefore, by using the position and attitude data D3, which includes this filtered value, in the position and attitude adjustment process S100, the influence of dynamic disturbances can be largely eliminated. This is advantageous for more accurate position and attitude adjustment.

[0141] Next, a crane control method and control system, as well as a third modified example of a crane embodiment, will be described. In this third modified example, a more accurate position and attitude adjustment is performed by using an estimated value obtained by eliminating the effects of dynamic disturbances from the measured value as a portion of the position and attitude data D3. The control system 1C in this third modified example calculates the estimated value by processing the measured value using a dynamic model 8 that is pre-stored in the auxiliary memory unit.

[0142] The block diagram illustrated in Figure 11 shows a dynamic model 8 due to disturbances. Examples of disturbances include vibrations caused by the traverse of the trolley 12, vibrations caused by wind, vibrations caused by the movement of the running gear 14, and swings of the suspension device 13 due to the traverse of the trolley 12. Dynamic model 8 is a model of a one-degree-of-freedom vibration system where the mechanical equilibrium point and the geometric equilibrium point (geometric center) are different. Dynamic model 8 is, for example, a model of a spring-mass damper system supported by two springs with different natural lengths. Estimated values ​​are calculated using the equation of state of dynamic model 8. Various known estimation methods can be used to estimate values ​​using dynamic model 8, such as methods using disturbance observers, methods using Kalman filter state estimation algorithms, and methods using successive least squares methods.

[0143] In the illustrated example, the dynamic model 8 has a disturbance observer 9. The disturbance observer 9 calculates the deviation between the mechanical equilibrium point and the geometric equilibrium point in the dynamic model 8 as x Δ Let the deviation xΔ be the disturbance. Disturbance observer 9 detects the incoming disturbance (deviation x Δ This state estimator estimates all state variables, including ), and can use a known same-dimensional disturbance observer. Details of disturbance observer 9 will be described later.

[0144] Figure 12 shows an example of the procedure for controlling the crane in Modification 3. In Modification 3, another step (S190) is added to the procedure in Figure 2 described above. That is, in the procedure of Modification 3, an estimated value is calculated using the measured values ​​acquired by the position and attitude acquisition devices (2a, 2b, 3, 4) and the dynamic model 8 due to disturbances (S190). Therefore, the position and attitude data D3 used in each step (S120, S130) of the subsequent position and attitude adjustment process S100 is replaced with the calculated estimated value, which is at least a portion of the measured values.

[0145] More specifically, in step S190, the computing unit 5 performs data processing to calculate estimated values ​​for some of the measured values ​​of the position and attitude data D3 using a dynamic model 8 based on disturbances. Specifically, the disturbance observer 9 calculates the estimated values. In this step, first, an equation of motion is created using the dynamic model 8 (equation of state) which models vibrations and oscillations due to disturbances, and each parameter of the dynamic model is calculated using the created equation of motion. Next, the dynamic model 8 is considered as a model of a one-degree-of-freedom vibration system where the mechanical equilibrium point and the geometric equilibrium point (geometric center) are different, and the estimated values ​​are estimated using the equation of state of that model.

[0146] As an example of the procedure for calculating each parameter of the dynamic model 8, we will explain the procedure for the vibration of the structure 11 of the crane 10 due to the traverse of the trolley 12 using the modal method. The finite element equation of state for the vibration of the structure 11 due to the traverse of the trolley 12 is expressed by the following equation (19). In the following equation (19), the relative displacement vector of the structure 11 from the ground is x r Let M, C, and K be the matrices for mass, damping, and stiffness, respectively, and let f be the reaction force that the structure 11 receives when the trolley 12 is driven. t Let the elements corresponding to the nodes of structure 11 on which the trolley reaction force acts be 1, and the vectors of all the others be 0, be V. t do.

[0147]

number

[0148] Eigenvalue analysis using the above formula (19) shows that the vibrational characteristics (natural frequencies, natural modes) of crane 10 are expressed by the following formula (20). In the following formula (20), let q be the mode coordinate vector and Φ be the mode matrix, and from left to right Φ T It is putting that into action.

[0149]

number

[0150] Due to the orthogonality of the natural modes, the matrices M, C, and K for mass, damping, and stiffness in equation (20) above can be diagonalized. By extracting only the vibration modes that affect a given measurement value from equation (20) above and converting from the modal coordinate system to the physical coordinate system, the equation of motion that describes the vibration of the given measurement value is expressed by the following equation (21). In the following equation (21), the natural angular frequency is ω i Let the damping ratio be σ i The excitation coefficient from the ground is ψ ig Let ψ be the coefficient that shows the contribution of the reaction force from the trolley 12 to the mode acceleration. iT The mode value corresponding to the position of the position and attitude acquisition device (any of 21 to 23) that acquires predetermined measurement values ​​is φ is Let's assume that.

[0151]

number

[0152] The equation of motion shown in equation (21) above represents the vibration of the measurement point due to the traverse of the trolley 12. Similarly, vibrations due to movement by the running device 14 and wind disturbances can also be modeled and equations of motion can be created. Each parameter (ω) in equation (21) above i , σ i ψ igψ iT , φ is These parameters can be determined from the results of known finite element method analyses. Alternatively, each parameter can be identified and determined from measurements obtained by position and attitude acquisition devices (2a, 2b, 3, 4) during the actual operation of the crane 10, or it can be determined using both the results of finite element method analyses and the identification of the measured values.

[0153] As an example of the procedure for calculating each parameter of the dynamic model 8, the procedure for the swing of the suspension device 13 due to the traverse of the trolley 12 will be explained. The vibration of the suspension device 13 due to the traverse of the trolley 12 can be represented by an equation of motion that approximates a simple pendulum with small swing, and this equation of motion is expressed by the following equation (22). In the following equation (22), the displacement of the trolley 12 is x T Let x be the displacement of the pendulum (suspension device 13) as seen from the trolley 12. S Let the natural angular frequency of the pendulum be ω S Let ζ be the natural damping ratio of the pendulum. S Let's assume that.

[0154]

number

[0155] Each parameter (ω) in the above formula (22) S ζ S ) can also be identified and determined from measurements obtained by position and attitude acquisition devices (2a, 2b, 3, 4) during the actual operation of the crane 10.

[0156] As an example of the procedure for estimating the estimated value, we will explain the procedure for the swing of the suspension device 13 due to the traverse movement of the trolley 12. The equation of motion when the swing of the suspension device 13 due to the traverse movement of the trolley 12 is considered as vibration of the spring-mass damper system is expressed by the following equation (23). Its state equation is expressed by the following equation (24), and the observation equation is expressed by the following equation (25). In the following equations (23), (24), and (25), the deviation between the mechanical equilibrium point and the geometric equilibrium point is x. Δ Let's assume that.

[0157]

number

[0158]

number

[0159]

number

[0160] The deviation x in the above formula (24) Δ Considering this as a disturbance, the estimated value is calculated using the disturbance observer 9 exemplified in Figure 11 above. In disturbance observer 9, the matrices that model the object are A, b, and C, and the matrix of the nominal model is A en , b en , C en , C en2 Let the gain matrix be L0. The disturbance observer 9 will be an online operation, but the gain matrix L0 cannot be designed online, so it is designed offline beforehand. Specifically, the gain matrix L0 is designed using the pole configuration (A en -L0C en The eigenvalues ​​of the model are designed to be arbitrary poles.

[0161] The disturbance observer 9, which uses the gain matrix L0 designed offline by pole configuration, is expressed by the following equation (26).

[0162]

number

[0163] Figure 13 shows an example of the simulation results of estimated values ​​using the disturbance observer 9. The displacement of the suspension device 13 from the start to the end of the trolley 12's traverse movement was simulated as an estimated value. In the example shown, the horizontal axis shows the time elapsed from the start to the end of the trolley 12's traverse movement, and the vertical axis shows the displacement of the suspension device 13, the acceleration of the trolley 12, and the change in the estimated value. The dashed line shows the change in acceleration during the trolley 12's traverse movement. The dashed line shows the actual displacement of the suspension device 13. The three solid lines show the estimated values ​​estimated using the procedure of step S190 described above, and are the result of changing the desired pole configuration in three ways.

[0164] The actual displacement of the suspension device 13, shown by the dashed line, follows the change in acceleration due to the traverse of the trolley 12, shown by the dashed line. After the displacement changes significantly due to the change in acceleration, it settles to a statically determinate value (0.05 [m]). The estimated value shown by the three solid lines asymptotically approaches the statically determinate value (0.05 [m]) at a stage before the dashed line reaches the statically determinate value. Therefore, it can be seen that the estimated value estimated in step S190 can estimate the statically determinate value earlier.

[0165] In variation 3, the Y coordinate of point q in the trolley coordinate system ΣT is T q Y The estimated value x was calculated by disturbance observer 9. Δ (The correct term is ^x Δ ) is used. Similarly, the rotation angle of the pitch of the structural coordinate systems ΣLA and LB. G ξ LA , G ξ LB , roll direction angle G η LA , G η LB The estimated value obtained using the state equation based on the above formula (21) is used.

[0166] As described above, according to Modification 3, for some of the measured values ​​that become statically indeterminate due to dynamic disturbances, estimated values ​​obtained using a dynamic model due to disturbances are used. As shown in Figure 13 above, these estimated values ​​asymptotically approach statically indeterminate values ​​early on. Therefore, the control variable Cv (position vector) obtained using the estimated values ​​instead of the measured values ​​of the position and attitude data D3 is used. G c, integrated skew angle G ζ c This approach largely eliminates the effects of dynamic disturbances. This allows for a more accurate understanding of the position and orientation of the controlled object Ca, which is advantageous for higher-precision position and orientation adjustment.

[0167] Next, a crane control method, a control system, and a modified example 4 of the crane embodiment will be described. Modified example 4 has the same configuration as the control system 1 illustrated in Figure 1 above. In modified example 4, measured data D4a and D4b based on the position and orientation of the controlled object Ca at the time it was landed are stored in the auxiliary storage unit of the arithmetic unit 5. That is, in modified example 4, when the controlled object Ca is to be landed again in a designated area Da where it has landed at least once, a position and orientation adjustment process S100a is performed using the actual value data D4a and D1b instead of the measured values ​​in at least some of the map data D1 and position and orientation data D3.

[0168] Figure 14 shows an example of the procedure for controlling the crane in Modification 4. In the procedure of Modification 4, compared to the procedure in Figure 2 described above, step S110 is added after the controlled object Ca has been grounded (S140:YES), and further, another step S200 is added. That is, in the procedure of Modification 4, the calculation device 5 updates the actual value data D4a and D1b based on the acquired control amount Cv (S200). Therefore, in the position and orientation adjustment process S100 from the next time onward, the updated actual value data D4a and D1b are used. When the controlled object Ca is grounded in a designated area Da where the controlled object Ca has never been grounded before, data processing using map data D1 is performed as in the embodiments and modifications described above.

[0169] In step S200, the arithmetic unit 5 performs data processing to update the actual value data D4a and D1b based on the control quantity Cv when the controlled object Ca lands in the designated section Da. In step S200, the two-dimensional position coordinates and skew angles for each sub-number that the map data D1 originally possesses are maintained without being changed.

[0170] The actual data D4a shown in Figure 15 represents the state after several updates following the landing of the controlled object Ca in several designated areas Da. The actual data D4a is created based on map data D1, with the Z coordinate added as an actual value. This Z coordinate represents the position and orientation (position vector) of the controlled object Ca acquired at the time of landing. G c) is based on the following: That is, the actual value data D4a is the three-dimensional position coordinate ((0,Y) for each specified number (1111~mnij). 111 ,Z 1111 ), , , (0, Y 111 It has ,-) and ····). For designation numbers where the controlled Ca has not implanted, it is represented by "-" because the Z coordinate of the three-dimensional position coordinate is not specified.

[0171] In the section D of the specified number (1111) in the actual data D4a, the controlled object Ca has implanted at least once, and the three-dimensional position coordinate Z coordinate (Z 1111 ) is added as an actual value. Therefore, if section D with designated number (1111) is designated as designated section Da in position and orientation adjustment process S120, by using this actual value data D4a instead of map data D1, the three-dimensional position coordinates described in the actual value data D4a will be used as the target value TP. In this way, when actual value data D4a is used instead of map data D1, the Z coordinate added as an actual value is the position vector acquired when the controlled object Ca lands. G It is preferable to use the value obtained by subtracting the correction value ΔH from the Z coordinate of c.

[0172] The actual value data D4b exemplified in Figure 16 is updated several times as the controlled object Ca has been grounded in several designated areas Da. The measured value data D1b contains actual values ​​for each designated number (1111~mnij). The actual values ​​can be arbitrarily selected from the measured values ​​of the position and orientation data D3 exemplified in Figure 7 above, but it is preferable to select the measured values ​​that are most influenced by the characteristics of the ground on which the crane 10 is grounded. The measured values ​​are, for example, the angle in the pitch direction of the structural coordinate system ΣLA, LB. G ξ LA , G ξ LB , angle in the roll direction G η LA , G η LB , angle in the pitch direction of the trolley coordinate system ΣT G ξ T , angle in the roll direction G η T That is the case.

[0173] In the section D of the specified number (1111) in the actual data D4b, the controlled object Ca has landed at least once, and the angle in the pitch direction of the structural coordinate system ΣLA, LB G ξ LA , G ξ LB , angle in the roll direction G η LA , G η LB , angle in the pitch direction of the trolley coordinate system ΣT G ξ T , angle in the roll direction G η T The following has been added. Therefore, if section D with designated number (1111) is designated as section Da in the position and orientation adjustment process S120, the actual measured value of the actual value data D4b is used instead of the measured value of the position and orientation data D3 for data processing of the controlled variable Cv and the operation command value. The actual value data D4b may be added to the map data D1, or it may be stored as data separate from the map data D1.

[0174] As described above, according to Modification 4, the actual value data D4a is updated each time the controlled object Ca lands in the designated area Da. The Z coordinate added or changed by the update approximates the center of the bottom surface of area D more accurately than the Z coordinate calculated based on the tier number of the designated number. Therefore, in subsequent position and orientation adjustment processes S100, using the updated actual value data D4a is advantageous for more accurately determining the three-dimensional position coordinate of the center of the bottom surface of the designated area Da. This enables more accurate position and orientation adjustment between the controlled object Ca and the designated area Da.

[0175] The actual data D4a can be updated each time the controlled object Ca lands in the designated section Da, but the update may be restricted to only update when the controlled object Ca is a container Ct lifted by the lifting device 13, and not update when the controlled object Ca is the lifting device 13. Section D virtually represents a container Ct stored in the target position and orientation. Therefore, restricting the update of the actual data D4a so that it is updated only when the controlled object Ca is a container Ct is advantageous for improving the accuracy of position and orientation alignment.

[0176] Furthermore, the actual values ​​added to the actual value data D4b faithfully represent the position and orientation of each part of the crane 10 structure 11, trolley 12, and lifting device 13 when the controlled object Ca lands in the designated area Da, and the effects of dynamic disturbances are eliminated. Therefore, in step S110 of the position and orientation adjustment process S100 for the same designated area D in subsequent steps, by using the added actual values ​​instead of the measured values ​​acquired by the position and orientation acquisition devices (2a, 2b, 3, 4), the generation of the operation command for step (S120) in the position and orientation adjustment process S100 can be performed using fixed values ​​with each fluctuation amount excluded. Thus, by repeating the position and orientation adjustment process S100 using the actual value data D4b, the effects of dynamic disturbances are corrected (eliminated). As a result, if interference is included in the characteristics of the repetition of the position and orientation adjustment process S100, it can be compensated with good responsiveness, which is advantageous for higher-precision position and orientation adjustment.

[0177] The above variations 1 to 4 can be selected as appropriate. Furthermore, for example, variations 1 can be combined with any of variations 2 to 4. Also, variations 2 to 4 can be combined as appropriate, dividing the period from the start of operation of the trolley 12 to implantation into sections.

[0178] Although embodiments of the present invention have been described above, the crane control method, control system, and crane of the present invention are not limited to specific embodiments, and various modifications and changes are possible within the scope of the gist of the present invention.

[0179] The crane 10 described above is not limited to the configuration of the embodiment. For example, the crane 10 can be a known overhead crane in which the structure 11 does not have legs 19. Alternatively, the crane 10 can be a known gantry crane in which the girder 18 of the structure 11 extends to one side in the Y direction. The movable part of the crane 10 is not limited to the trolley 12. The movable part can be any part whose position and orientation relative to the structure 11 changes as a result of its operation. The movable part can be, for example, a boom that rotates with a slewing device or a boom that extends and retracts with a telescopic device, and the crane 10 can also be a known jib crane or a mobile crane (truck crane, railway crane).

[0180] In the example control method described above, the traverse device 15 controls the traverse of the trolley 12 in the Y direction, the lifting device 16 controls the lifting of the suspension device 13 in the Z direction, and the fine adjustment device 17 controls the movement of the suspension device 13 in the X direction and skew around the vertical line. However, the configuration is not limited to this. For example, instead of the fine adjustment device 17, the traveling device 14 may move the structure 11 in the X direction to control the movement of the suspension device 13 in the X direction. Similarly, instead of the fine adjustment device 17, the traveling device 14 may skew the structure 11 around the vertical line to control the skew of the suspension device 13 around the vertical line. In addition, the fine adjustment device 17 may be used in conjunction with the traverse device 15 to control the fine movement of the suspension device 13 in the Y direction. The degrees of freedom of the controlled object Ca are not limited to four degrees of freedom, but may be five or six degrees of freedom, and the lifting device 16 and the fine adjustment device 17 may trim or list the suspension device 13. In other words, in the position and orientation adjustment process S100, the trim angle and wrist angle may be adjusted as orientation. When a common moving device is used for the trolley 12 and the lifting device 13, which integrate the traversing device 15 and the lifting device 16, the moving device may be configured to perform traversal in the Y direction of the trolley 12, lifting in the Z direction of the lifting device 13 and skew around the vertical line, while the fine adjustment device 17 performs movement of the lifting device 13 in the X direction. [Explanation of Symbols]

[0181] 1, 1A, 1B, 1C control systems 2a, 2b, 3, 4 Position and orientation acquisition device 5 Computing device 6. Relative position acquisition device 7 Notch Filter 8. Dynamic Models 9. Disturbance Observer 10 Cranes 11 Structures 12 Trolley (movable part) 13 Hanging equipment D1 Map Data D2 Structural Data D3 Position and Orientation Data D4a, D4b Actual Value Data TP target value Cv control variable S100 Position and orientation adjustment process ΣGmn reference coordinate system ΣLA, ΣLB Structural Coordinate System ΣT Moving part coordinate system ΣS Lifting device coordinate system

Claims

1. In a crane control method for handling cargo using a crane comprising a structure having a traveling device, a movable part that operates in contact with the structure, and a lifting device that operates suspended from the movable part via a cable-like material, the method controls the lifting device or the load lifted by the lifting device to land the controlled object in a designated area where the three-dimensional position coordinates and skew angle have been acquired in advance as target values, During the period from the start of operation of the movable part until the controlled object is placed in the designated area, the position and orientation adjustment process is repeated at intervals shorter than the aforementioned period. In the position and orientation adjustment process, Using a position and orientation acquisition device, the three-dimensional position coordinates and skew angle of the controlled object are acquired as control variables in the same coordinate system as the target value. A crane control method comprising: generating operation commands for the movable part and the lifting device, respectively, using a computing device to match the controlled amount to the target value; and operating the movable part and the lifting device, respectively, based on the generated operation commands.

2. In the position and orientation adjustment process, Measurement values ​​are acquired by a plurality of position and orientation acquisition devices installed on each of the structures, the movable parts, and the suspension devices. A method for controlling a crane according to claim 1, wherein the position and attitude data accumulated from the measured values ​​acquired by each of the position and attitude acquisition devices and the structural data of the crane that is known in advance are processed by the calculation device to calculate a position vector from the origin of the coordinate system to the center of the lower surface of the controlled object, and an integrated skew angle obtained by integrating the skew angles of each of the parts, and the calculated position vector and the integrated skew angle are acquired as the control quantities.

3. In a crane control system for handling cargo, the crane has a structure with a traveling mechanism, a movable part that operates in contact with the structure, and a lifting device that operates suspended from the movable part via a cable-like material, and the system controls the lifting device or the load lifted by the lifting device to land the controlled object in a designated area where the three-dimensional position coordinates and skew angle are predetermined as target values. It is equipped with a position and orientation acquisition device and a calculation device, The calculation device performs the following as a position and orientation adjustment process: data processing to acquire the three-dimensional position coordinates and skew angle of the controlled object as control variables in the same coordinate system as the target value using the position and orientation acquisition device; data processing to generate operation commands for the movable part and the lifting device, respectively, to match the control variables to the target value; and data processing to operate the movable part and the lifting device, respectively, based on the generated operation commands. The crane control system is characterized in that the position and orientation adjustment process is repeated at intervals shorter than the period from the start of operation of the movable part to the landing of the controlled object in the designated area.

4. The crane control system according to claim 3, wherein the period is the sampling period of the position and attitude acquisition device.

5. In the multiple storage lanes of a container terminal, numerous compartments for storing containers as cargo are divided by a designation number consisting of a lane number, bay number, row number, and tier number, and the centers of the lower surfaces of compartments that are part of the designation number and whose sub-number, consisting of the lane number, bay number, and row number, is the same, lie on the same vertical line. The control system for a crane according to claim 3, wherein the calculation device has in advance map data in which the two-dimensional position coordinates of the vertical line in the coordinate system and the skew angle of the section around the vertical line are accumulated for the part number, and when a designated number is selected from the designated numbers, the calculation device selects the two-dimensional position coordinates and the skew angle of the part number which is a part of the designated number from the map data, calculates a Z coordinate which can be considered to be the height of the center of the lower surface of the designated section based on the tier number of the designated number, and performs data processing to acquire the selected two-dimensional position coordinates and the skew angle and the calculated Z coordinate as the target value.

6. The crane control system according to claim 5, wherein the coordinate system is a three-dimensional orthogonal coordinate system whose origin is fixed to the road surface on which the traveling device travels, adjacent to the side of the storage lane, and the map data is a part of the designated number and has a plurality of different coordinate systems for each combination number composed of the lane number and the bay number.

7. In acquiring the control amount in the position and orientation adjustment process, Multiple position and orientation acquisition devices installed on the structure, the movable part, and the suspension device acquire measurement values. The crane control system according to claim 3, wherein the calculation device calculates a position vector from the origin of the coordinate system to the center of the lower surface of the controlled object based on position and orientation data accumulated from the measured values ​​acquired by each of the position and orientation acquisition devices and structural data of the crane that is known in advance, and calculates an integrated skew angle by integrating the skew angles of the structure, the movable part, and the lifting device, and performs data processing to acquire the calculated position vector and the integrated skew angle as the control quantities.

8. The crane control system according to claim 7, comprising a notch filter that acts on at least some of the aforementioned measurements to output a filter value, wherein the filter value is used in place of at least some of the aforementioned measurements in the position and attitude data.

9. The control system for a crane according to claim 7, wherein the computing device is configured to perform data processing that estimates an estimated value from at least some of the measured values ​​using a dynamic model due to disturbances, and the estimated value is used in place of at least some of the measured values ​​in the position and attitude data.

10. The crane control system according to claim 7, wherein the calculation device performs data processing to update the measured value data based on the measured value acquired by the position and attitude acquisition device when the controlled object lands in the designated area, and when the controlled object is to be landed again in the designated area where the controlled object has landed once, the measured value data is used in place of at least some of the measured values ​​in the position and attitude data during the position and attitude adjustment step.

11. The crane control system according to claim 7, wherein in the generation of each of the operation commands in the position alignment process, the calculation device performs data processing to generate each of the operation commands based on the amount of change of the operable vector among the vectors constituting the position vector and the amount of change of the operable skew angle among the skew angles constituting the integrated skew angle, assuming that the controlled amount matches the target value.

12. A crane control system according to any one of claims 3 to 11, wherein, when the movable part is a trolley and the lifting device is a spreader, each of the operating commands includes the amount of lateral movement of the trolley, the amount of vertical movement of the lifting device, the amount of lateral movement of the lifting device, the amount of rotational movement of the lifting device about a vertical line.

13. A crane comprising a crane control system according to any one of claims 3 to 11.

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