Rtg crane and control device

Abstract

The RTG crane is an RTG crane that travels on a linear traveling path, and includes a traveling portion that travels on the traveling path in a traveling direction; a detection portion that is installed on the RTG crane and detects an object present on a forward side of the traveling portion in the traveling direction; and a correction portion that corrects a detection range of the detection portion, the correction portion correcting the detection range of the detection portion according to at least one of a deviation angle of the traveling direction with respect to the traveling path and a deviation amount of the traveling portion with respect to the traveling path in a direction perpendicular to an extension direction of the traveling path.

Description

Technical Field

[0001] This invention relates to an RTG crane and its control device. Background Technology

[0002] Patent document 1 describes a portion of the automated container handling operation in a container yard. The crane handling the containers travels along a straight path.

[0003] Previous technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2004-123367 Summary of the Invention

[0006] The technical problem to be solved by the invention

[0007] In the aforementioned crane, to prevent contact between an object present in the travel path and the crane's traveling unit, sensors are sometimes installed to detect objects in the travel path. However, in the case of an RTG crane, there are instances where the travel direction deviates from the travel path, and sometimes the position of the traveling unit also deviates from the travel path. In such cases, the sensor's detection range also deviates, leading to problems such as failing to detect objects within the travel path or falsely detecting objects outside the travel path.

[0008] The purpose of this invention is to provide an RTG crane and control device that can improve the detection accuracy of objects in a driving road.

[0009] means for solving technical problems

[0010] An RTG crane according to one aspect of the present invention travels on a straight travel path and includes: a traveling unit that travels along the travel direction on the travel path; a detection unit mounted on the RTG crane and detecting objects present on the forward side in the travel direction of the traveling unit; and a correction unit that corrects the detection range of the detection unit, the correction unit correcting the detection range of the detection unit based on at least one of the deviation angle of the travel direction relative to the travel path and the deviation amount of the traveling unit relative to the travel path in a direction perpendicular to the extension direction of the travel path.

[0011] The RTG crane includes a detection unit mounted on the crane that detects objects on the forward side of the traveling section in the direction of travel. Therefore, by detecting an object, measures such as stopping the travel can be taken to prevent the traveling section from contacting the object. The RTG crane also includes a calibration unit that corrects the detection range of the detection unit. The calibration unit corrects the detection range based on at least one of the deviation angle of the traveling direction relative to the travel path and the deviation amount of the traveling section relative to the travel path in a direction perpendicular to the extension direction of the travel path. Therefore, even when a deviation angle of the traveling direction relative to the travel path occurs, or when a deviation amount of the traveling section relative to the travel path occurs in a direction perpendicular to the extension direction of the travel path, the calibration unit can correct the detection range of the detection unit based on these deviation angles and amounts. Thus, the calibration unit can set an appropriate detection range for the travel path, thereby improving the detection accuracy of objects within the travel path.

[0012] The calibration unit sets at least a calibration angle based on the deviation angle, thereby rotating the detection range around the detection unit by the amount of the calibration angle. This reduces the deviation of the detection range relative to the driving path caused by the deviation angle.

[0013] The calibration unit sets at least a calibration amount based on the deviation amount, thereby rotating the detection range around the detection unit in such a way that the end of the detection range moves closer to the roadside by the calibration amount. This reduces the deviation of the detection range relative to the roadside caused by the deviation amount.

[0014] One aspect of the present invention relates to a control device for an RTG crane traveling on a straight travel path, comprising: an acquisition unit that acquires the detection result of a detection unit that detects an object present on the forward side in the travel direction of the travel section of the RTG crane; and a correction unit that corrects the detection range of the detection unit, the correction unit correcting the detection range of the detection unit based on at least one of the deviation angle of the travel direction relative to the travel path and the deviation amount of the travel section relative to the travel path in a direction perpendicular to the extension direction of the travel path.

[0015] According to this control device, the same functional effect as the aforementioned RTG crane can be achieved.

[0016] Invention Effects

[0017] According to the present invention, the accuracy of object detection within the driving path can be improved. Attached Figure Description

[0018] Figure 1 This is a plan view of an exemplary container terminal in which the RTG crane and control device involved in the implementation method are applied.

[0019] Figure 2 This is a perspective view showing an example of a loading / unloading container group and adjacent container groups arranged along the travel direction of the handling trolley.

[0020] Figure 3 This is a perspective view of the RTG crane involved in the implementation method.

[0021] Figure 4 It is a schematic plan view used to illustrate the relationship between the RTG crane and its travel path.

[0022] Figure 5 This is a diagram showing the detection range of the detection unit when viewed from above.

[0023] Figure 6 This is a block diagram illustrating the structure and function of a crane control system equipped with the control device described in this embodiment.

[0024] Figure 7 This is a schematic diagram used to illustrate the correction content of the correction unit based on the deviation amount.

[0025] Figure 8 This is a schematic diagram used to illustrate the correction content of the correction unit based on the deviation angle. Detailed Implementation

[0026] Hereinafter, embodiments of the invention will be described with reference to the accompanying drawings. In the description of the drawings, the same or corresponding elements are labeled with the same symbols, and repeated descriptions are omitted where appropriate. Furthermore, for ease of explanation, some parts are sometimes simplified or exaggerated in the drawings, and dimensions and proportions are not limited to those shown in the drawings.

[0027] Figure 1 This is a plan view illustrating an exemplary container terminal 1 to which the present invention is applied. For example... Figure 1 As shown, the container terminal 1 is equipped with: a container stacking yard 2 for arranging containers C; multiple gantry cranes 3 for transferring containers C from berthed container ships; multiple RTG cranes 10, which are arranged in the container stacking yard 2 for loading and unloading containers C; and a remote control room 5 for remotely operating the multiple RTG cranes 10.

[0028] Figure 2 This is a perspective view showing container C on container yard 2 and an exemplary handling trolley 20. The handling trolley 20 may be, for example, a truck, van, trailer, or AGV (Automated Guide Vehicle). Figure 1 and Figure 2As shown, the container stacking yard 2 is equipped with storage areas for storing multiple containers and driving lanes (truck lanes) for the transport trolleys 20. The RTG crane 10 picks up container C from the transport trolley 20 stopped at a designated position and places container C at a designated location in the container stacking yard 2. Furthermore, the RTG crane 10 picks up container C positioned on the container stacking yard 2 and transfers container C onto the transport trolley 20, which then removes container C.

[0029] As an example, container C is an ISO standard container. Container C is a rectangular parallelepiped in its long dimension, for example, its length is more than 20 feet and less than 45 feet. The height of container C is, for example, more than 8.5 feet and less than 9.5 feet. Container C is stacked in container yard 2 in one or more layers. The number of layers in which container C is arranged is sometimes referred to as a tier.

[0030] like Figure 1 As shown, container yard 2 has multiple lanes L for configuring containers C, and is equipped with multiple RTG cranes 10. Regarding the RTG cranes 10, for example, each lane L is equipped with an RTG crane 10. The number of RTG cranes 10 configured in each lane L can be one or more.

[0031] like Figure 2 As shown, containers C are stacked in one or more layers in container yard 2 to form multiple rows R. Each row R is arranged such that the length direction of the container C constituting that row R (i.e., the container C placed in that row R) is parallel to the length direction of the container C constituting other rows R.

[0032] If we define the length direction of container C arranged in container stacking yard 2 as the X direction, the width direction as the Y direction, and the height direction as the Z direction, then container stacking yard 2 extends in the XY plane, and container C is stacked along the Z direction at some position in this XY plane. The X direction is consistent with the travel direction of RTG crane 10 in area L. The Y direction is consistent with the lateral movement direction of RTG crane 10 in area L.

[0033] Container C constitutes multiple container groups (i.e., rows B) arranged along the Y direction and stacked along the Z direction. Multiple rows B are arranged along the X direction in container storage yard 2. Row B includes, for example, a loading / unloading target row (i.e., loading / unloading target container group B1) that is the object of loading and unloading of container C, and adjacent container groups B2 located on both sides of the loading / unloading target container group B1 in the X direction.

[0034] In container yard 2, the stacking location of container C is hypothetically set as a three-dimensional space, and the hypothetical stacking location of container C is defined as tag number (X, Y, Z). That is, container yard 2 has multiple tag numbers (X, Y, Z) pre-defined as areas capable of accommodating container C. In tag number (X, Y, Z), "X" represents the row number, "Y" represents the column number, and "Z" represents the layer number.

[0035] Figure 3 This is a perspective view showing an example of the RTG crane 10 according to this embodiment, configured in container stacking yard 2. Figure 3 As shown, RTG crane 10 is a container handling crane used for loading and unloading container C. RTG crane 10 is a type of crane called a rubber-tired gantry crane (RTG). RTG crane 10 automatically loads and unloads container C configured in container yard 2 in container terminal 1, for example.

[0036] The RTG crane 10, for example, includes a pair of outriggers 11, a main crane beam 12 connecting the upper ends of the pair of outriggers 11, a crane trolley 13 capable of lateral movement on the main crane beam 12, a spreader 14 for loading and unloading containers C, and a pair of traveling parts 15A and 15B with wheels 23. The pair of outriggers 11 and the main crane beam 12 are portal-shaped. For example, the RTG crane 10 has two sets of portal-shaped pairs of outriggers 11 and main crane beams 12, and the two sets are arranged in the X direction.

[0037] The crane trolley 13 moves laterally along the Y direction, for example, driven by a traverse motor. In this embodiment, the Y direction coincides with the traverse direction of the crane trolley 13. As an example, the crane trolley 13 has a winding drive unit 16 including a roller that rotates in both directions by a roller drive motor, and a lifting device 14 is suspended via a suspension member 18 including a wire rope. The suspension member 18 extends from two locations on the crane trolley 13 arranged along the X direction, and the lifting device 14 is suspended from the suspension member 18 at two locations arranged along the X direction.

[0038] The spreader 14 is used for lifting container C. The spreader 14 is, for example, rectangular in shape extending along the X direction. The spreader 14 is capable of locking container C from above, and loading and unloading container C is performed by locking and lifting it. For example, the movement of the spreader 14 is controlled by the aforementioned traverse motor and roller drive motor, and the crane control system 100 controls the driving of these traverse motor and roller drive motor.

[0039] The traveling units 15A and 15B are mechanisms for the RTG crane 10 to travel on a straight travel path. The RTG crane 10 has a pair of traveling units 15A and 15B located below each of the outriggers 11 at both ends in the Y direction. Each traveling unit 15A and 15B includes: a connecting member 21 that connects the outriggers 11 that are separated in the X direction; and multiple wheel units 22 located below the connecting member 21. A wheel unit 22 is provided at each end of the connecting member 21 in the X direction. The wheel unit 22 has multiple wheels 23 and wheel support portions 24 that support the wheels 23. The wheel support portions 24 support a pair of wheels 23 arranged along the Y direction and support two sets of wheels when the pair of wheels 23 are arranged along the X direction. Furthermore, the number of wheels 23 in a wheel unit 22 and the number of wheel units 22 in the traveling units 15A and 15B are not particularly limited.

[0040] The RTG crane 10 includes a travel position detection unit 26, enabling it to automatically travel in a straight line along the travel path. The travel position detection unit 26 detects the travel position of the RTG crane 10 relative to the travel path in the Y direction. The travel position detection unit 26 is located on the lower surface of the travel section 15A, and detects a guide line 27 that is linearly arranged on the ground along the travel path in the X direction. For example, the guide line 27 may include a magnet, and the travel position detection unit 26 may be composed of a sensor that detects magnetic force. For example, when the travel section 15A travels in a straight line along the X direction without deviation in the Y direction relative to the travel path, the magnetic force detected by the travel position detection unit 26 remains constant. Conversely, when the travel section 15A deviates in the Y direction relative to the travel path or its travel direction is tilted relative to the travel path, the magnetic force detected by the travel position detection unit 26 will change. Therefore, deviations in the travel position of the RTG crane 10 can be detected based on the detection results of the travel position detection unit 26.

[0041] Figure 4 This is a schematic plan view used to illustrate the relationship between the RTG crane 10 and its travel paths RDA and RDB. For example... Figure 4As shown, the traveling unit 15A on one side in the Y direction travels on the travel path RDA. The traveling unit 15B on the other side in the Y direction travels on the travel path RDB. Thus, by traveling in a straight line on the travel path RDA with the traveling unit 15A and traveling in a straight line on the travel path RDB, the RTG crane 10 travels in a direction parallel to the X direction. In the following description, the X and Y directions are used to describe the directions in the absolute coordinate system based on the travel paths RDA and RDB. Sometimes, the direction of travel of the RTG crane is referred to as the "travel direction D1". Furthermore, sometimes the horizontal direction orthogonal to the travel direction D1 is referred to as the "width direction D2" of the traveling units 15A and 15B.

[0042] The travel path RDA extends linearly along the X direction at one end of the RTG crane 10 in the Y direction, adjacent to the Y-direction side of row B of container C. The travel path RDB extends linearly along the X direction at the other end of the RTG crane 10 in the Y direction, adjacent to the Y-direction side of row B of container C. Each travel path RDA and RDB is set to be slightly wider in the Y direction than the dimension D2 of the traveling parts 15A and 15B in the width direction. Here, as... Figure 4 As shown, the direction towards one side of the travel direction D1 is designated as "direction A1," and the direction towards the other side is designated as "direction A2." At this time, the traveling units 15A and 15B can travel towards direction A1. Direction A1 corresponds to the forward direction of the traveling units 15A and 15B in the travel direction D1. Furthermore, the traveling units 15A and 15B can travel towards direction A2. Direction A2 corresponds to the forward direction of the traveling units 15A and 15B in the travel direction D1.

[0043] The RTG crane 10 includes detection units 30A, 30B, 30C, and 30D mounted on it. When the traveling units 15A and 15B travel in direction A1, the detection units 30A and 30B detect objects present on the traveling side in the direction D1 of travel. The detection units 30A and 30B are mounted relative to the crane main beam 12 on the direction A1 side of the traveling units 15A and 15B. The detection units 30A and 30B detect objects within detection target areas DEA and DEB extending towards the traveling side (direction A1 side) in the direction D1. The detection target areas DEA and DEB are configured to detect objects at positions that the traveling units 15A and 15B plan to pass through (i.e., travel paths RDA and RDB within a predetermined distance range on the direction A1 side when viewed from the traveling units 15A and 15B).

[0044] When the traveling units 15A and 15B travel in direction A2, the detection units 30C and 30D detect objects present on the traveling side in the direction D1 of travel of the traveling units 15A and 15B. The detection units 30C and 30D are mounted relative to the crane main beam 12 on the direction A2 side of the traveling units 15A and 15B. The detection units 30C and 30D detect objects within the detection target areas DEC and DED extending towards the traveling side (direction A2 side) in the direction D1. The detection target areas DEC and DED are set to be able to detect objects on the travel path RDA and RDB within a predetermined distance range on the direction A2 side when viewed from the traveling units 15A and 15B.

[0045] refer to Figure 5 The detection range DS of the object detected by the detection unit 30A is explained. Figure 5 This is a diagram showing the detection range DS of the detection unit 30A viewed from above. Figure 5 This indicates that the traveling unit 15A has not deviated in the Y direction relative to the travel path RDA and the travel direction D1 is not tilted relative to the travel path RDA. Furthermore, when the travel direction D1 is tilted relative to the travel path RDA, the angle between the travel direction D1 and the extending direction of the travel path RDA (i.e., the X direction) is sometimes referred to as the "deviation angle θ1" (see reference). Figure 8 Furthermore, when the traveling section 15A deviates in the Y direction relative to the travel path RDA, the magnitude of the deviation in the Y direction between the centerline of the traveling section 15A and the centerline CL of the travel path RDA is sometimes referred to as the "deviation amount L1" (see reference). Figure 7 ).

[0046] In addition, Figure 5 In the example shown, the detection unit 30A is positioned on the traveling unit 15A such that its reference line SL is aligned with the center line of the traveling unit 15A. Therefore, as Figure 5As shown, in the state where "deviation angle θ1 = 0" and "deviation amount L1 = 0", when viewed from above, the reference line SL of the detection unit 30A coincides with the center line CL of the travel path RDA. This state is sometimes referred to as the "normal state". In the following description, unless otherwise specified, the structure is described under the normal state. When using the concept of the normal state, if the detection unit 30A deviates from its position in the normal state along the Y direction, the amount of movement in the Y direction becomes equal to the deviation amount L1. Furthermore, if the reference line SL of the detection unit 30A deviates at an angle from the reference line SL of the detection unit 30A in the normal state, the angle of tilt becomes equal to the deviation angle θ1. In addition, how the information processing unit 111 calculates the deviation angle θ1 and the deviation amount L1 using the detection results of the travel position detection unit 26 is not particularly limited, and the calculation can be performed by any method.

[0047] Furthermore, for ease of explanation, the position and orientation of the detection unit 30A in its normal state are set as described above; however, the installation position and orientation of the detection unit 30A are not particularly limited. Moreover, the type and number of sensors constituting the detection unit 30A are not particularly limited. As sensors constituting the detection unit 30A, radar or lidar can be used, or a combination of both.

[0048] The detection range DS of the detection unit 30A has a fan-shaped shape extending from the detection unit 30A toward the forward side in the travel direction D1. The detection range DS has a shape symmetrical about the reference line SL. Sometimes the position of the end of the detection range DS on the forward side is referred to as the end DSa of the detection range DS. In this case, the width of the detection range DS in the width direction D2 is not particularly limited, but it can be set such that its end DSa can cover approximately the entire area in the Y direction of the travel path RDA. Furthermore, the detection unit 30A has a detectable range PDS as shown by a dashed line, which is the range within which the detection range DS can be set. As long as it is within the detectable range PDS, the detection unit 30A can arbitrarily set the detection range DS. Figure 5 In the example shown, the detectable range PDS extends outward in the Y direction beyond the travel path RDA, but the detection range DS falls within the travel path RDA. Therefore, even if an object enters the detectable range PDS, the detection unit 30A will not detect the object as long as it does not enter the detection range DS. This prevents the false detection of objects outside the travel path RDA.

[0049] Next, refer to Figure 6 The functional block structure of the crane control system 100, which includes the control device 110 according to this embodiment, will be described. Figure 6This is a block diagram illustrating the structure and function of a crane control system 100 equipped with the control device 110 described in this embodiment. For example... Figure 6 As shown, the crane control system 100 includes a control device 110. The control device 110 receives detection results from the detection unit 30. Furthermore, the control device 110 receives detection results from the travel position detection unit 26. The control device 110 outputs control signals to the drive unit 50 and output unit 51 of the RTG crane 10. Additionally, the location of the control device 110 is not particularly limited; it can be installed at a specific location on the RTG crane 10 or at a location separate from the RTG crane 10.

[0050] The drive unit 50 is a device that generates driving force to move the lifting device 14 along a set transport path and to move the traveling units 15A and 15B according to a set action. The drive unit 50 includes, for example, a hoisting device for the lifting device 14, a traverse motor for the crane trolley 13, and travel motors for the traveling units 15A and 15B. The output unit 51 is a device for outputting various information. The output unit 51 includes, for example, a monitor, a speaker, and a warning light.

[0051] The control device 110, for example, includes a processor, memory, storage device, and communication interface, and can be configured as a computer (also referred to as an onboard automatic control PC). The processor is an arithmetic logic unit (ALU) such as a CPU (Central Processing Unit). The memory is a storage unit such as ROM (Read Only Memory) or RAM (Random Access Memory). The storage device is a storage unit (storage medium) such as an HDD (Hard Disk Drive). The communication interface is a communication device for implementing data communication. The processor controls the memory, storage device, and communication interface, thereby implementing the functions of the control device 110 described later. In the control device 110, for example, various functions are implemented by loading a program stored in ROM into RAM and executing the program loaded into RAM by the CPU. The number of computers constituting the control device 110 can be one or more.

[0052] The control device 110 includes an information processing unit 111, a path setting unit 112, a drive control unit 113, a warning control unit 114, and a correction unit 115.

[0053] The information processing unit 111 acquires information related to the detection result detected by the detection unit 30, and detects objects within the detection range DS based on the result. Furthermore, the information processing unit 111 acquires information related to the detection result detected by the travel position detection unit 26, and detects the travel state of the RTG crane 10 based on the result. Thus, the information processing unit 111 can acquire the deviation amount L1 of the RTG crane (reference). Figure 7 ) and deviation angle θ1 (reference) Figure 8 The path setting unit 112 sets the transfer path of container C based on the spreader 14 of the RTG crane 10.

[0054] The drive control unit 113 controls the drive unit 50 to move the lifting device 14 along the transport path set by the path setting unit 112. Furthermore, the drive control unit 113 controls the movement of the traveling units 15A and 15B based on the detection results from the detection unit 30. The drive control unit 113 sends control signals to the motors and other equipment constituting the drive unit 50 to control the movement of the lifting device 14 along the predetermined transport path and to cause the traveling units 15A and 15B to perform the desired actions. For example, if an object is detected within the detection range DS of the detection unit 30, the drive control unit 113 stops the traveling units 15A and 15B.

[0055] When a safety response is required, the warning control unit 114 controls the output unit 51 to issue a warning to the user. For example, if an object is present within the detection range DS of the detection unit 30, the warning control unit 114 issues a warning.

[0056] The calibration unit 115 calibrates the detection range DS of the detection unit 30. Specifically, the RTG crane 10 sometimes deviates from its normal state relative to the travel routes RDA and RDB, causing the detection range DS to deviate relative to the travel routes RDA and RDB. In this case, a portion of the detection range DS may extend beyond the travel routes RDA and RDB, or a blind spot may occur within the travel routes RDA and RDB. The calibration unit 115 calibrates the detection range DS to reduce or eliminate the deviation relative to the travel routes RDA and RDB.

[0057] Specifically, the correction unit 115 determines the deviation angle θ1 (reference angle) of the travel direction D1 relative to the travel paths RDA and RDB. Figure 8 The deviation L1 of the running parts 15A and 15B relative to the Y direction (the direction perpendicular to the extension direction of the running roads RDA and RDB) of the travel paths (reference) Figure 7At least one of the following can be used to correct the detection range DS of the detection unit 30. The correction unit 115 can acquire the deviation angle θ1 and deviation amount L1 calculated by the information processing unit 111 and perform correction when at least one of these deviation angles θ1 and deviation amounts L1 exceeds a threshold.

[0058] refer to Figure 7 The correction performed by the correction unit 115 based on the deviation amount L1 will be explained. Figure 7 This is a schematic diagram illustrating the correction content of the correction unit 115 based on the deviation amount L1. Figure 7 In diagram (a), the reference line SL of the detection unit 30A (i.e., the center line of the traveling unit 15A) deviates by an amount L1 from the center line CL of the travel path RDA (the reference line SL of the detection unit 30A in the normal state) in the Y direction. At this time, the entire detection range DS deviates by an amount L1 in the Y direction. As a result, near the end DSa of the detection range DS, a portion E1 of the detection range DS extending beyond the travel path RDA is formed on the outer side in the Y direction, and a blind spot E2 of the travel path RDA that the detection range DS cannot detect is formed on the inner side in the Y direction.

[0059] Figure 7 (b) indicates the state after the calibration unit 115 has calibrated the detection range DS. Figure 7 In diagram (b), the detection area DSB before correction is represented by a dashed line. The correction unit 115 sets a correction amount L2 based on the deviation amount L1. Furthermore, the correction unit 115 rotates the detection range DS around the detection unit 30A, causing the end point DSa of the detection range DS to move closer to the driving path RDA side (in this case, the inner side in the Y direction) by the correction amount L2. The correction unit 115 corrects the detection range DS by reducing or eliminating the portion E1 of the detection range DS that exceeds the driving path RDA and the blind spot E2 that the detection range DS cannot detect. The correction unit 115 corrects the detection range DS within the detectable range PDS. Figure 7 In the example shown, the calibration unit 115 sets the calibration amount L2 to the same value as the deviation amount L1. Furthermore, the calibration unit 115 rotates the detection range DS by moving the center point CP of the end DSa of the detection range DS inward in the Y direction by the amount of calibration amount L2. However, the setting of the calibration amount L2 is not particularly limited, and it may not be set to the same value as the deviation amount L1. Furthermore, the calibration unit 115 calibrates the detection range DS based on the center point CP of the end DSa; however, which part is used as the reference is not particularly limited.

[0060] refer to Figure 8 The correction performed by the correction unit 115 based on the deviation angle θ1 will be explained. Figure 8This is a schematic diagram illustrating the correction content of the correction unit 115 based on the deviation angle θ1. Figure 8 In diagram (a), the reference line SL of the detection unit 30A (i.e., the center line of the traveling unit 15A) is tilted inward in the Y direction by an angle of deviation θ1 from the center line CL of the travel path RDA (the reference line SL of the detection unit 30A in the normal state). At this time, the entire detection range DS is tilted inward in the Y direction by an angle of deviation θ1. As a result, near the end DSa of the detection range DS, a portion E1 of the detection range DS extending beyond the travel path RDA is formed on the inner side in the Y direction, and a blind spot E2 of the travel path RDA that the detection range DS cannot detect is formed on the outer side in the Y direction.

[0061] Figure 8 (b) indicates the state after the calibration unit 115 has calibrated the detection range DS. Figure 8 In diagram (b), the detection area DSB before correction is represented by a dashed line. The correction unit 115 sets a correction angle θ2 based on the deviation angle θ1. Furthermore, the correction unit 115 rotates the detection range DS around the detection unit 30A by the amount of correction angle θ2. The correction unit 115 corrects the detection range DS by reducing or eliminating the portion E1 of the detection range DS that exceeds the travel path RDA and the blind spot E2 that the detection range DS cannot detect. The correction unit 115 corrects the detection range DS within the detectable range PDS. If the centerline CL2 of the detection range DS is set, then... Figure 8 As shown in (a), before calibration, the center line CL2 is aligned with the reference line SL. The calibration unit 115 rotates the detection range DS by rotating the center line CL2 around the detection unit 30A by a calibration angle θ2. Thus, as... Figure 8 As shown in (b), the centerline CL2 of the detection range DS becomes aligned with the centerline CL of the travel path RDA. However, the setting of the correction angle θ2 is not particularly limited, and it may not be set to the same value as the deviation angle θ1. Furthermore, the correction unit 115 corrects the detection range DS based on the centerline CL2 of the detection range DS, but the specific part used as the reference is not particularly limited.

[0062] Even when both the deviation angle θ1 and the deviation amount L1 exist, the correction unit 115 can still correct the detection range DS. In this case, how the correction unit 115 corrects the detection range DS is not particularly limited. For example, the correction unit 115 can first correct the deviation angle θ1 to make the center line CL2 of the detection range DS parallel to the Y direction, and then correct the deviation amount L1. Alternatively, the correction unit 115 can comprehensively evaluate the deviation angle θ1 and the deviation amount L1 to determine the amount by which the detection range DS should be rotated around the detection unit 30A.

[0063] Furthermore, when the deviation of the RTG crane 10 relative to the travel paths RDA and RDB is eliminated, the correction unit 115 can release the correction and return to the normal detection range DS. Alternatively, if the deviation angle θ1 and the deviation amount L1 further increase, the correction unit 115 can further increase the correction amount to correct the detection range DS.

[0064] Next, the effects of the RTG crane 10 and control device 110 according to this embodiment will be explained.

[0065] The RTG crane 10 includes a detection unit 30 mounted on it, which detects objects on the forward side of the traveling parts 15A and 15B in the travel direction D1. Therefore, by detecting an object with the detection unit 30, measures such as stopping travel can be taken to prevent the traveling parts 15A and 15B from contacting the object. The RTG crane 10 also includes a correction unit 115, which corrects the detection range DS of the detection unit 30. The correction unit 115 corrects the detection range DS of the detection unit 30 based on at least one of the deviation angle θ1 of the travel direction D1 relative to the travel paths RDA and RDB, and the deviation L1 of the traveling parts 15A and 15B relative to the travel paths RDA and RDB in the Y direction perpendicular to their extension directions. Therefore, even when a deviation angle θ1 occurs between the travel direction D1 and the travel paths RDA and RDB, and a deviation L1 occurs between the traveling units 15A and 15B and the travel paths RDA and RDB in the Y direction perpendicular to their extension directions, the correction unit 115 can still correct the detection range DS of the detection unit 30 based on these deviation angles θ1 and deviations L1. Thus, the correction unit 115 can set an appropriate detection range DS for the travel paths RDA and RDB, thereby improving the detection accuracy of objects within the travel paths RDA and RDB.

[0066] The correction unit 115 sets at least a correction angle θ2 based on the deviation angle θ1, so that the detection range DS rotates around the detection unit 30 by the amount of correction angle θ2. As a result, the correction unit 115 can reduce the deviation of the detection range DS relative to the driving paths RDA and RDB caused by the deviation angle θ1.

[0067] The correction unit 115 sets at least a correction amount L2 based on the deviation amount L1, so that the detection range DS rotates around the detection unit 30, causing the end DSa of the detection range DS to move closer to the driving path RDA, RDB by the amount of correction amount L2. As a result, the correction unit 115 can reduce the deviation of the detection range DS relative to the driving path RDA, RDB caused by the deviation amount L1.

[0068] The control device 110 is a control device 110 for an RTG crane 10 that travels on straight travel paths RDA and RDB. It includes: an information processing unit 111 (acquisition unit) that acquires the detection results of a detection unit 30 that detects objects existing on the forward side of the travel direction D1 of the RTG crane 10's travel paths RDA and RDB; and a correction unit 115 that corrects the detection range DS of the detection unit 30. The correction unit 115 corrects the detection range DS of the detection unit 30 based on at least one of the deviation angle θ1 of the travel direction D1 relative to the travel paths RDA and RDB and the deviation amount L1 of the traveling units 15A and 15B in the Y direction perpendicular to the extension direction of the travel paths RDA and RDB relative to the travel paths RDA and RDB.

[0069] According to the control device 110, the same purpose and effect as the RTG crane 10 described above can be achieved.

[0070] The present invention is not limited to the embodiments described above.

[0071] The calculation method by which the correction unit 115 corrects the detection range DS based on the deviation angle θ1 and the deviation amount L1 is not limited to the above-described embodiment. Within the scope of the present invention, all calculation methods can be used.

[0072] Symbol Explanation

[0073] 10-RTG crane, 15A, 15B-traverse unit, 30, 30A, 30B, 30C, 30D-detection unit, 110-control device, 111-information processing unit (acquisition unit), 115-calibration unit.

Claims

1. An RTG crane that travels on a straight path, characterized in that it comprises: The traveling unit travels along the direction of travel on the travel route; A detection unit, mounted on the RTG crane, detects objects present on the forward side in the travel direction of the traveling unit; and The calibration unit calibrates the detection range of the detection unit. The correction unit corrects the detection range of the detection unit by rotating the detection range around the detection unit based on at least one of the deviation angle of the driving direction relative to the driving road and the deviation of the walking part relative to the driving road in a direction perpendicular to the extension direction of the driving road.

2. The RTG crane according to claim 1, characterized in that, The correction unit is at least set with a correction angle based on the deviation angle, so that the detection range rotates around the detection unit by the amount of the correction angle.

3. The RTG crane according to claim 1, characterized in that, The correction unit is at least set with a correction amount based on the deviation amount, so that the detection range rotates around the detection unit in such a way that the end of the detection range moves closer to the driving road side by the correction amount.

4. A control device for an RTG crane traveling on a straight path, characterized in that, have: The acquisition unit acquires the detection results of the detection unit that detects objects existing on the forward side in the travel direction of the traveling part of the RTG crane; and The calibration unit calibrates the detection range of the detection unit. The correction unit corrects the detection range of the detection unit by rotating the detection range around the detection unit based on at least one of the deviation angle of the driving direction relative to the driving road and the deviation of the walking part relative to the driving road in a direction perpendicular to the extension direction of the driving road.

Images