Crane control device, crane control system, and crane control method

Abstract

This crane control device controls a crane, and is provided with: a communication unit that communicates with a first base station and a second base station that wirelessly communicate using a directional radio device; and a crane control unit that controls the crane. An overlapping region in which a first wireless communication region of the first base station and a second wireless communication region of the second base station overlap exists in the operating range of the crane, and when the crane moves from the wireless communication region of one of the first base station and the second base station to the wireless communication region of the other base station, the first wireless communication region of the first base station overlaps the second wireless communication region of the second base station. The crane control unit switches the connection from one base station to another base station in the overlap region.

Description

Technical Field

[0001] The invention relates to a crane control device, a crane control system and a crane control method. Background Art

[0002] Conventionally, as a crane control device for controlling a crane, there is known a crane control device described in Patent Document 1. This crane control device includes a plurality of base stations for performing wireless communication using directional radio equipment and a crane control unit for controlling the crane.

[0003] Previous technical literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2000-86156 Summary of the invention

[0006] Technical issues to be solved by the invention

[0007] If the crane moves, the crane control device needs to switch the wireless communication target base station according to the location. However, when the crane is loading and unloading, it is difficult for the staff to manually switch the base station at an appropriate location.

[0008] The present invention has been made to solve such a problem, and an object of the present invention is to provide a crane control device, a crane control system, and a crane control method capable of appropriately switching a wireless connection target base station according to the position of a crane.

[0009] Means for solving technical problems

[0010] The crane control device according to the present invention is a crane control device for controlling a crane, and includes: a communication unit for communicating with a first base station and a second base station for wireless communication using a directional radio device; and a crane control unit for controlling the crane. In the operation range of the crane, there is an overlapping area where a first wireless communication area of ​​the first base station overlaps a second wireless communication area of ​​the second base station, and when the crane moves from the wireless communication area of ​​one of the first base station and the second base station to the wireless communication area of ​​the other base station, the crane control unit switches the connection from one base station to the other base station in the overlapping area.

[0011] In the crane control device, there is an overlapping area in which the first wireless communication area of ​​the first base station overlaps the second wireless communication area of ​​the second base station in the working range of the crane. Thus, the first wireless communication area and the second wireless communication area can be set so that the wireless communication areas are not interrupted in the working range of the crane. Here, when the crane moves from the wireless communication area of ​​one of the first base station and the second base station to the wireless communication area of ​​the other base station, the crane control unit switches the connection from one base station to the other base station in the overlapping area. Since the overlapping area is an area where communication with two base stations can be performed, if the wireless connection target base station is switched in the overlapping area, the base station can be switched without interrupting the communication. In addition, when the crane travels across the wireless communication areas of multiple base stations, by switching when the crane is located in the overlapping area, the switching can be performed at an appropriate time. Thus, the wireless connection target base station can be appropriately switched according to the position of the crane.

[0012] The crane control unit mounted on the crane can switch the connection from one base station to another in the overlapping area. The wireless connection target base station can be switched appropriately according to the position of the crane. In this case, since the crane control unit is mounted on the crane, it can switch at an appropriate time according to the situation of the crane.

[0013] The crane control unit may acquire data indicating the relationship between the first wireless communication area and the second wireless communication area and the position within the operating range of the crane, and switch the connection from one base station to another base station based on the data. In this case, the crane control unit can easily determine the attribute of the wireless communication area of ​​the position where the crane is traveling by using the data.

[0014] The crane control unit may decelerate or stop the crane in the overlapping area. In this case, the crane control unit may improve the reliability of switching the wireless connection target in the overlapping area.

[0015] The crane control unit can obtain the current position and target position of the crane and determine whether the base station needs to be switched. In this case, the crane control unit can easily grasp the travel range of the crane based on the current position and target position of the crane, and can therefore easily determine whether the base station needs to be switched by considering the attributes of the wireless communication area at each position in the travel range.

[0016] The crane control unit may include an access module that communicates with the radio device as a communication partner through web access. In this case, the crane control unit can modify the settings of the radio device as a communication partner according to the situation of the crane.

[0017] The crane control system according to the present invention is a crane control system for controlling a crane, and includes: a first base station and a second base station for wireless communication using a directional radio device; and a crane control unit for controlling the crane. In the operation range of the crane, there is an overlapping area where a first wireless communication area of ​​the first base station overlaps a second wireless communication area of ​​the second base station, and the crane control unit sets a base station as a communication target to any one of the first base station and the second base station in the overlapping area.

[0018] According to the crane control system, there is an overlapping area in which the first wireless communication area of ​​the first base station overlaps the second wireless communication area of ​​the second base station in the working range of the crane. Thus, the first wireless communication area and the second wireless communication area can be set so that the wireless communication area is not interrupted in the working range of the crane. Here, the crane control unit switches the connection from one base station to another base station in the overlapping area. Since the overlapping area is an area where communication with two base stations can be performed, if the wireless connection target base station is switched in the overlapping area, the base station can be switched without interrupting the communication. Thus, the wireless connection target base station can be appropriately switched according to the position of the crane.

[0019] The crane control method involved in the present invention is a crane control method for controlling a crane, wherein an overlapping area exists in the working range of the crane where a first wireless communication area of ​​a first base station that uses a directional radio device for wireless communication overlaps with a second wireless communication area of ​​a second base station that uses a directional radio device for wireless communication, and when the crane moves from the wireless communication area of ​​one of the first base station and the second base station to the wireless communication area of ​​the other base station, the connection of the crane control unit is switched from one base station to the other in the overlapping area.

[0020] According to this crane control method, the same effects as those of the above-mentioned crane control device can be obtained.

[0021] Effects of the Invention

[0022] According to the present invention, it is possible to provide a crane control device and a crane control method capable of appropriately switching a wireless connection target base station according to the position of a crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a plan view showing a container terminal.

[0024] Figure 2 It is a perspective view showing an example of a crane arranged in a container yard.

[0025] Figure 3 This is a block diagram showing the functions of the crane control device and the crane control system according to the present embodiment.

[0026] Figure 4 This is a diagram showing an example of a display screen for web page access.

[0027] Figure 5 This is a diagram for explaining the first control.

[0028] Figure 6 This is a flowchart showing the first control.

[0029] Figure 7 This is a flowchart showing the first control.

[0030] Figure 8 This is a flowchart showing the first control.

[0031] Fig. 9 This is a flowchart showing the first control.

[0032] Fig.10 This is a flowchart showing the first control.

[0033] Fig.11 It is a diagram for explaining the second control.

[0034] Fig.12 This is a flowchart showing the second control.

[0035] Fig.13 This is a flowchart showing the second control.

[0036] Fig.14 This is a flowchart showing the second control.

[0037] Fig.15 This is a flowchart showing the second control.

[0038] Fig.16 This is a flowchart showing the second control.

[0039] Fig.17 This is a flowchart showing the second control.

[0040] Fig.18 This is a flowchart showing the second control.

[0041] Explanation of symbols:

[0042] 10-Crane, 7A-Base station (first base station), 7B-Base station (second base station), 25-Sensor, 26-Camera, 27-Wireless mobile station, 30-Crane control device, 31-Crane control operation unit, 32-Access module, 70-Communication equipment for monitoring, 100-Crane control system. DETAILED DESCRIPTION

[0043] Hereinafter, embodiments of the crane control system and the crane control method according to the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same or equivalent elements are marked with the same reference numerals, and repeated descriptions are appropriately omitted. In addition, for the sake of ease of understanding, the drawings may be partially simplified or enlarged, and the dimensional ratios and the like are not limited to those described in the drawings.

[0044] Figure 1 is a plan view showing the container terminal 1. Figure 1 As shown, a container terminal 1 is provided with a configuration container C (reference Figure 2 ), a plurality of cranes 10 disposed in the container yard 2 for loading and unloading containers C, and a host system 6 for exchanging information between the plurality of cranes 10. The host system 6 is installed in a management building of the container terminal 1, for example.

[0045] For example, the container yard 2 includes a storage area for storing containers C and a transport trolley travel path. A transport trolley such as a truck, a trailer or an AGV (Automated Guide Vehicle) travels on the transport trolley travel path. The crane 10 obtains the container C transported by the transport trolley and loads the container C in the loading area indicated by a prescribed number of the container yard 2. For example, a plurality of cranes 10 are respectively arranged in each container yard 2. The crane 10 transfers the container C loaded on the container yard 2 to the transport trolley and moves the container C to the outside by the transport trolley. Conversely, the crane 10 transfers the container C loaded on the transport trolley to the loading area of ​​the container yard 2.

[0046] The host system 6 exchanges various information with each crane 10 in the container terminal 1 and manages each crane 10. The host system 6 has a management server and a remote control console. The host system 6 has base stations 7A and 7B for communicating with antennas installed in each crane 10. The base station 7A (first base station) and the base station 7B (second base station) are base stations that use directional radio equipment for wireless communication. Figure 1 In the example shown, the host system 6 includes two base stations 7A and 7B having a predetermined radio wave irradiation angle. Thus, the host system 6 can communicate with each crane 10 in the container yard 2 via the base stations 7A and 7B.

[0047] Figure 2 1 is a perspective view showing an example of a crane 10 disposed in the container yard 2. Figure 2As shown, the crane 10 is a container handling crane for loading and unloading containers C. In the present embodiment, a rubber tire gantry crane (RTG) is exemplified as the crane 10. The crane 10 automatically performs at least a part of the loading and unloading operation of the container C placed in the container yard 2 at the container terminal 1, for example.

[0048] The crane 10 includes, for example, a pair of leg parts 11, a crane main beam 12 connecting the upper ends of the pair of leg parts 11, a trolley 13 capable of transverse movement on the crane main beam 12, a spreader 14 for holding a container C, and a pair of travel parts 15A and 15B having wheels 23. The pair of leg parts 11 and the crane main beam 12 are in a gate shape. The crane 10 includes, for example, two sets of the pair of leg parts 11 and the crane main beam 12 in a gate shape, and the two sets are arranged in a row along the X direction.

[0049] The trolley 13 moves laterally in the Y direction, for example, by being driven by a traverse motor. In the present embodiment, the Y direction coincides with the traverse direction of the trolley 13. The X direction coincides with the travel direction of the travel parts 15A and 15B. Therefore, the X direction is orthogonal to the Y direction. As an example, the trolley 13 has a winding drive unit 16 including a drum that is rotated forward and reversely by a drum drive motor, and the sling 14 is suspended via a suspension component 18 including a wire rope. The suspension component 18 extends from two positions of the trolley 13 arranged along the X direction. The sling 14 is suspended on the suspension component 18 at two positions arranged along the X direction.

[0050] The spreader 14 is a hoisting device for lifting the container C. The spreader 14 has, for example, a rectangular shape extending in the X direction. The spreader 14 can lock the container C from above, and performs loading and unloading operations of the container C by locking and lifting the container C. For example, the movement of the spreader 14 is controlled by driving the above-mentioned traverse motor and the drum drive motor. The driving of the traverse motor and the drum drive motor is controlled by the crane control device 30 involved in this embodiment.

[0051] The traveling parts 15A and 15B are mechanisms for traveling on the straight crane travel path of the container yard 2. The crane 10 includes a pair of traveling parts 15A and 15B provided below each leg part 11 at both end sides in the Y direction. Each traveling part 15A and 15B includes a connecting member 21 for connecting the leg parts 11 separated from each other in the X direction and a plurality of wheel units 22 provided below the connecting member 21. One wheel unit 22 is provided at each end in the X direction of the connecting member 21. The wheel unit 22 includes a plurality of wheels 23 and a wheel support part 24 for supporting the wheels 23. The wheel support part 24 supports a pair of wheels 23 arranged in the Y direction, and supports the pair of wheels 23 in two groups in a state arranged in the X direction. In addition, the number of wheels 23 included in each wheel unit 22 and the number of wheel units 22 included in the traveling parts 15A and 15B are not particularly limited.

[0052] The crane 10 receives the container C from the transport trolley parked on the transport trolley travel path on one side of the Y direction, and transfers the container C to the storage area on the other side of the Y direction. In addition, the crane 10 hands over the container C stored in the storage area to the transport trolley parked on the loading and unloading lane. At least part of such loading and unloading actions of the crane 10 is performed by remote operation or automatic operation. Therefore, the crane 10 has a sensor 25, a camera 26, and a wireless mobile station 27. The sensor 25 is a variety of sensors such as 3D laser radar (LiDAR) that detect objects around the crane 10. The camera 26 is a device that obtains images around the crane 10. The mounting positions of the sensor 25 and the camera 26 are not particularly limited. The wireless mobile station 27 is a device that wirelessly sends and receives various information between the base stations 7A and 7B of the upper system 6. In the upper system 6, an operating console for remote operation can be provided. The antenna of the wireless mobile station 27 has directional characteristics, and in order to communicate with the upper system 6, it needs to be oriented in the direction of the upper system 6. For example, when a base axis AX extending in one direction from the antenna of the wireless mobile station 27 is provided, the base axis AX only needs to be directed in the direction of the host system 6 .

[0053] Figure 3 1 is a block diagram showing the functions of the crane control device 30 and the crane control system 100 according to the present embodiment. The crane control system 100 is a system for controlling a plurality of cranes 10. Figure 3 As shown, the crane control system 100 includes a plurality of cranes 10 having a crane control device 30 and a host system 6 .

[0054] The host system 6 is connected to the base stations 7A and 7B by wire via lines L1 and L2 based on a local area network such as a LAN. Thus, the host system 6 can communicate with the crane control device 30 by wireless via the base stations 7A and 7B and the wireless mobile station 27 .

[0055] The crane control device 30 is mounted on the crane 10. The crane control device 30 includes the above-mentioned sensor 25, camera 26, wireless mobile station 27 (communication unit, radio equipment) and crane control unit 40. In the crane 10, the sensor 25, camera 26, and wireless mobile station 27 are connected to the crane control unit 40 in a wired manner via lines L3, L4, and L5 based on a local area network such as a LAN. These sensors 25, camera 26, and wireless mobile station 27 become target devices 41 accessed by the web page of the crane control unit 40. The target device 41 is a device that can be variously set by web page access.

[0056] The crane control unit 40 includes, for example, a processor, a memory, a storage device, a communication interface, and a user interface, and can be configured as a normal computer. The processor is a computing unit such as a CPU (Central Processing Unit). The memory is a storage unit such as a ROM (Read Only Memory) or a RAM (Random Access Memory). The storage device is a storage unit (storage medium) such as a HDD (Hard Disk Drive). The communication interface is a communication device for realizing data communication. The processor controls the memory, the storage device, the communication interface, and the user interface. In the crane control unit 40, for example, a program stored in the ROM is loaded into the RAM, and various functions are realized by the CPU executing the program loaded into the RAM.

[0057] The crane control unit 40 includes a crane control calculation unit 31, an access module 32, and a drive control unit 33. In this embodiment, the crane control unit 40 can exchange information with the sensor 25, the camera 26, and the wireless mobile station 27 as the target device 41 by using web access (http access). The crane control unit 40 modifies the information of the target device 41 according to the situation of the crane 10. The crane control unit 40 modifies the information of the wireless connection target base station of the wireless mobile station 27. For example, the crane control unit 40 modifies the wireless connection target base station of the wireless mobile station 27 and switches it from one of the base stations 7A and 7B to the other. The details of the modification of the information on the target device 41 will be described later.

[0058] The crane control operation unit 31 performs various operations in the control of the crane 10. The crane control operation unit 31 is composed of a crane control application installed in the crane control unit 40. The crane control operation unit 31 obtains various information required for the control of the crane 10. For example, the crane control operation unit 31 receives various information such as a travel command signal and a traverse command signal of the crane 10 from the host system 6 in a wireless manner. In addition, the crane control operation unit 31 sends various signals based on the operations to the access module 32 and the drive control unit 33.

[0059] The drive control unit 33 sends a control signal to the drive unit such as the motor of the crane 10 to perform drive control. When the operation is performed by the operator, the drive control unit 33 performs drive control according to the operation. During automatic operation, the drive control unit 33 performs drive control so that the operation calculated by the crane control calculation unit 31 or the operation instruction received from the host system 6 can be realized.

[0060] Here, the crane control operation unit 31 controls the content of information exchange with the target device 41. The crane control operation unit 31 exchanges information with the target device 41 via the access module 32. The crane control operation unit 31 obtains the setting information or telemetry information of the target device 41. And, when the setting of the target device 41 is changed according to the acquired information, the crane control operation unit 31 adjusts the changed content.

[0061] The access module 32 performs web page access to the target device 41. The access module 32 performs required processing on the target device 41 according to the command signal from the crane control operation unit 31, and sends the information obtained from the target device 41 to the crane control operation unit 31. The access module 32 has a code correspondence table for modifying the information of the target device 41. Each target device 41 has a code required for modifying the information of the target device 41. In order to change the setting content related to the desired item, the code corresponding to the item is required. Therefore, after receiving the command signal for modifying the specified item to the specified target device 41 from the crane control operation unit 31, the access module 32 obtains the code corresponding to the item in the target device 41 from the correspondence table. Then, the access module 32 uses the obtained code to modify the information of the target device 41.

[0062] Here, the functions of the crane control calculation unit 31 and the access module 32 are described. Figure 4, the following describes a case where a worker changes the wireless connection target base station of the wireless mobile station 27 by accessing a web page. First, a worker uses an information terminal such as a personal computer constituting the crane control unit 40 to access a web page for referring to / changing the settings of the wireless mobile station 27. At this time, a login screen is displayed on the monitor, and the worker enters a user name and password. The worker accesses the page for setting information of the wireless connection target. At this time, the following is displayed on the monitor: Figure 4 The setting screen shown. The staff can perform an operation to change the wireless connection target base station in the "Wireless Connection Target" item of the screen. This operation is performed by the staff referring to the display screen of the display and making a judgment based on the setting information, and performing an operation to modify the setting information. The crane control device 30 involved in this embodiment can automatically perform the work performed by the staff using the crane control operation unit 31 and the access module 32. The crane control operation unit 31 has the function of viewing the setting information, making a judgment, and modifying the setting information performed by the staff. The access module 32 has the function of accessing the desired web page and inputting / modifying various information on the web page by the information terminal according to the operation of the staff. However, the processing of the crane control operation unit 31 is performed inside the crane control unit 40, and there is no need to visually display the web page. Therefore, the access module 32 obtains the code of the target web page, and inputs / modifies the code corresponding to the information when inputting / modifying information.

[0063] [1st control]

[0064] Next, refer to Figure 5 The first control is described. The first control is an example of control when the crane control unit 40 switches the wireless connection target base station from one of the base stations 7A and 7B to the other. In addition, an example of processing when the crane control unit 40 exchanges information with the wireless mobile station 27 in the first control is described. Figure 5 It is a figure which shows the state of the container terminal 1 under the first control.

[0065] exist Figure 5 In the figure, the working range ME of each crane 10 is indicated by a dotted line. The entire working range ME cannot be covered by only one of the wireless communication area CEA (first wireless communication area) of the base station 7A and the wireless communication area CEB (second wireless communication area) of the base station 7B. Therefore, by setting the wireless communication area CEA and the wireless communication area CEB in a staggered manner, the entire working range ME can be covered by either the wireless communication area CEA or CEB. At this time, in the working range ME of the crane 10, there is an overlapping area LCE where the wireless communication area CEA overlaps with the second wireless communication area CEB. Figure 5In FIG. 5 , the overlapping area LCE is marked with grayscale.

[0066] When the crane 10 moves from the wireless communication area of ​​one of the base stations 7A and 7B to the wireless communication area of ​​the other base station, the crane control unit 40 switches the connection from the one base station to the other in the overlap area LCE. That is, when the crane 10 moves from the wireless communication area CEA of the base station 7A to the wireless communication area CEB of the base station 7B, the crane control unit 40 switches the connection from the base station 7A to the base station 7B in the overlap area LCE. And, when the crane 10 moves from the wireless communication area CEB of the base station 7B to the wireless communication area CEA of the base station 7A, the crane control unit 40 switches the connection from the base station 7B to the base station 7A in the overlap area LCE. The crane control unit 40 mounted on the crane 10 switches the connection from the one base station to the other in the overlap area LCE.

[0067] The crane control unit 40 acquires data indicating the relationship between the wireless communication area CEA and the wireless communication area CEB and the position in the working range ME of the crane 10. The crane control unit 40 switches the connection from one base station to another base station based on the data. For example, the crane control unit 40 may acquire data indicating the relationship between the wireless communication area CEA and the wireless communication area CEB and the position in the working range ME of the crane 10. Figure 6 Data shown. Figure 6 The data shown is a table including information of locations in the container terminal 1 and information on whether each location belongs to the wireless communication area CEA, CEB. Each location in the container terminal 1 is represented by a container area-bay coordinate. When each location is within the range of the wireless communication area CEA, CEB, it is indicated by "yes", and when it is not within the range of the wireless communication area CEA, CEB, it is indicated by "no".

[0068] Here, when the crane 10 moves, the crane control unit 40 acquires the current position and target position of the crane 10. Then, the crane control unit 40 determines whether the base station needs to be switched based on the current position and target position. The crane control unit 40 decelerates or stops the crane 10 in the overlap area LCE.

[0069] Specifically, it is assumed that the crane control unit 40 receives an instruction from the host system 6 to move the crane 10A to the target position P3. At this time, the crane control unit 40 obtains its own position information in the container terminal 1. The crane control unit 40 compares the position of the target position P3 with the position of the crane 10A. Figure 6The crane 10B detects that the target position P3 is covered only by the wireless communication area CEB of the base station 7B by comparing the data shown. Similarly, the crane control unit 40 detects that the current position P1 is covered only by the wireless communication area CEA of the base station 7A. When the connection target base station at the target position P3 is different from the base station at the current position P1, the crane control unit 40 determines that it is necessary to switch the connection target base station during driving. In addition, the current position P4 and the target position P5 of the crane 10B are both within the range of the wireless communication area CEB of the base station 7B. Therefore, the crane control unit 40 recognizes that it is not necessary to switch the connection target base station.

[0070] Here, in Figure 6 In the data shown, the overlapping area LCE is a position where "yes" is registered in both the wireless communication area CEA and the wireless communication area CEB. Therefore, the crane control unit 40 searches for how many overlapping areas LCE exist in the section between the current position P1 and the target position P3. Then, the crane control unit 40 sets the middle position where there are a plurality of overlapping areas LCE in the moving section as the switching position P2. The crane control unit 40 decelerates or stops the crane 10 at the switching position P2 set in this way and performs the switching.

[0071] The crane control unit 40 controls the driving unit so that the crane 10 moves from the current position P1 to the switching position P2. When the crane 10 reaches the switching position P2, the crane control unit 40 communicates with the wireless mobile station 27 (radio device) that is the communication target through web access. The access module 32 performs web access to the wireless mobile station 27 in response to the request of the crane control operation unit 31. The crane control operation unit 31 modifies the wireless connection target base station through the web access based on the access module 32. When the wireless connection target base station is modified, the crane control unit 40 controls the driving unit to move from the switching position P2 to the target position P3.

[0072] In addition, Figure 3 In the embodiment, one wireless mobile station 27 switches the wireless connection destination between the base station 7A and the base station 7B. Alternatively, two wireless mobile stations 27 may be provided, one of which is always connected to the base station 7A, and the other wireless mobile station 27 is always connected to the base station 7B, and the crane control unit 40 switches the wireless mobile station 27 to be used at an appropriate timing. According to this control method, compared with the case of using one wireless mobile station 27, the communication interruption time during switching is shortened, so the need to temporarily stop the crane 10 is reduced.

[0073] Next, refer to Figure 7 to Figure 10 An example of the processing content of the crane control system 100 will be described. Figure 7 to Figure 10 This is a flowchart showing an example of the processing contents of the crane control system 100. Figure 5 The operation of the crane 10A moving from the current position P1 to the target position P3 will be described. In addition, in the following description, for the sake of convenience, the access module 32 may process the content of the web page or the display screen by accessing the web page to the wireless mobile station 27. This means that the access module 32 does not actually display the web page on the screen, but performs processing equivalent to displaying the web page in the calculation processing of the crane control unit 40.

[0074] When the host system 6 specifies the target position, the crane control calculation unit 31 starts the movement control. Figure 7 As shown, the crane control operation unit 31 issues an instruction to the crane access module 32 to confirm the wireless connection destination status of the wireless mobile station 27 (step S10). The access module 32 performs HTTP access to the wireless mobile station 27, accesses and opens the homepage for setting the wireless mobile station 27 (step S20). The access module 32 automatically enters the user and password on the homepage (step S30).

[0075] Next, the access module 32 obtains the version information from the wireless mobile station 27 (step S40). The access module 32 compares the obtained version information of the wireless mobile station 27 with the version information of the processing object of its own software to determine whether they are consistent (step S60). If they are consistent, the access module 32 proceeds to step S40. Figure 8 On the other hand, in the case of inconsistency, the access module 32 issues a version inconsistency warning to the crane control operation unit 31 (step S70) and ends the http access (step S80).

[0076] After a predetermined time has passed since step S10, the crane control calculation unit 31 determines whether a warning has been issued (step S90). If a warning has been issued in step S70, the crane control calculation unit 31 proceeds to step S90. Fig.10 "A" shown in the flowchart is displayed, and after the switching process in this flowchart is completed, the process returns to step S10. On the other hand, if it is determined in step S90 that there is no warning, the crane control calculation unit 31 instructs the access module 32 to continue the process (step S110).

[0077] After step S110, Figure 8 As shown, the access module 32 selects the display screen of the wireless connection target of the wireless mobile station 27 (for example, Figure 4The access module 32 obtains the wireless connection target information from the selected display screen and sends it to the crane control operation unit 31 (step S130). The crane control operation unit 31 obtains the wireless connection target information (step S140). Next, the access module 32 switches to the display screen of the reception strength (step S160). The access module 32 obtains the reception strength in the wireless communication between the base station 7 and the wireless mobile station 27 from the switched display screen and sends it to the crane control operation unit 31 (step S170). The crane control operation unit 31 obtains the reception strength information (step S180). For example, in Figure 5 When the crane 10A is present at the current position P1, the base station 7A becomes the wireless connection target and the reception strength in the wireless communication with the base station 7A is acquired. When the reception strength is less than a predetermined threshold, the crane control operation unit 31 issues a drive stop command to the drive control unit 33.

[0078] Here, when the reception intensity is equal to or greater than a predetermined threshold, the crane control operation unit 31 receives an automatic driving instruction of the crane 10 from the host system 6 (step S200). The crane control operation unit 31 obtains the destination of the crane 10 from the instruction information from the host system 6 (step S210). Figure 5 Taking the crane 10A as an example, the crane control operation unit 31 obtains the target position P3. Next, the crane control operation unit 31 checks the attributes of the wireless communication area of ​​the traveling movement section of the crane 10 (step S220). Figure 5 As an example of the crane 10A, the crane control operation unit 31 uses Figure 6 The data shown in the figure shows that the wireless communication area CEA, the overlapping area LCE, and the wireless communication area CEB exist in the travel movement section of the crane 10A in order from the current position P1. In addition, the crane control calculation unit 31 determines the switching position P2 for decelerating / stopping and switching the wireless connection target. If the crane control calculation unit 31 determines the switching position P2 of the wireless connection target, the drive control unit 33 starts the drive control so that the crane 10A moves toward the switching position P2. In addition, when the target position is the target position where the wireless connection target does not need to be switched, the drive control unit 33 starts the drive control so that the crane 10A moves toward the target position.

[0079] Then, if Fig. 9As shown, the crane control operation unit 31 determines whether it is necessary to decelerate / stop during the travel of the crane 10 (step S230). If it is determined that deceleration / stop is necessary, the crane control operation unit 31 performs automatic deceleration / stop processing of the crane 10 at the position based on the verification result in step S220 (step S240). The crane control operation unit 31 determines whether it is necessary to change the wireless connection target of the wireless mobile station 27 (step S260). If it is determined that it is necessary to change, the crane control operation unit 31 instructs the access module 32 to switch the wireless connection target (step S270). Figure 5 Taking the crane 10A shown in FIG. 1 as an example, the crane control operation unit 31 controls the crane 10A to decelerate / stop at the switching position P2. In addition, the crane control operation unit 31 issues an instruction to the access module 32 to switch the wireless connection target from the base station 7A to the base station 7B. On the other hand, in step S230, if it is determined that deceleration / stopping is not necessary, the process proceeds to step S260. In step S260, it is assumed that there is no need to change the wireless connection target and the process proceeds to step S260. Fig.10 The "A" of.

[0080] After step S270, the access module 32 selects the display screen of the wireless connection target of the wireless mobile station 27 (step S280). The access module 32 writes the information that the target base station 7 is changed as the wireless connection target on the selected display screen (step S290). As a completion process, the access module 32 automatically presses the Save / Apply button with the written content and refreshes the display screen (step S310). The access module 32 reads the newly set wireless connection target information and sends it to the crane control operation unit 31 (step S320). Figure 5 Taking the crane 10A as an example, the crane control operation unit 31 switches the wireless connection target base station from the base station 7A to the base station 7B.

[0081] Then, if Fig.10As shown, the crane control operation unit 31 obtains new wireless connection target information (step S330). The crane control operation unit 31 determines whether the new wireless connection target indicated in step S270 is consistent with the new wireless connection target obtained in step S330, thereby confirming whether the switching process of the wireless connection target has been completed (step S340). In the case of consistency, the switching process is terminated. On the contrary, in the case of inconsistency, the crane control operation unit 31 performs abnormal processing (step S360) and terminates the switching process. If the switching process based on the crane control operation unit 31 is completed, the drive control unit 33 starts drive control so that the crane 10A moves from the switching position P2 to the target position P3. If the movement of the crane 10A to the target position P3 is completed, the movement control is terminated, and the crane control operation unit 31 waits until the next instruction is received from the upper system. In addition, the access module 32 always maintains connection with the wireless mobile station 27 during the operation of the crane 10A. Therefore, when receiving the designation of the next target position from the host system 6 , the crane control calculation unit 31 can omit steps S20 to S110 .

[0082] [Second Control]

[0083] Next, refer to Fig.11 The second control is described. The second control is another example of control when the crane control unit 40 switches the wireless connection target base station from one of the base stations 7A and 7B to the other. In the second control, an example of processing when the crane control unit 40 exchanges information with the wireless mobile station 27 is described. Fig.11 It is a figure which shows the state of the container terminal 1 under the second control.

[0084] exist Fig.11 In FIG, the working range ME of each crane 10 is shown by a dotted line. The wireless communication area CEA (first wireless communication area) of the base station 7A and the wireless communication area CEB (second wireless communication area) of the base station 7B both cover the entire working range ME. At this time, there is an overlapping area LCE where the wireless communication area CEA overlaps with the second wireless communication area CEB to cover the entire working range ME of the crane 10. Fig.11 In FIG. 5 , the overlapping area LCE is marked with grayscale.

[0085] A part of the plurality of crane control units 40 located in the overlap area LCE is connected to the base station 7A, and another part is connected to the base station 7B. For example, the crane control units 40 of the cranes 10A and 10B are connected to the base station 7A, and the crane control units 40 of the cranes 10C and 10D are connected to the base station 7B. When the communication quality of the base station 7A is degraded, the crane control units 40 of the cranes 10A and 10B connected to the base station 7A switch the connection to the base station 7B. When the communication quality of the base station 7A is restored, the crane control units 40 of the cranes 10A and 10B switch the connection back to the base station 7A. When the communication quality of the base station 7B is degraded, the crane control units 40 of the cranes 10C and 10D connected to the base station 7B switch the connection to the base station 7A. When the communication quality of the base station 7B is restored, the crane control units 40 of the cranes 10C and 10D switch the connection back to the base station 7B.

[0086] The crane control unit 40 of the crane 10A, 10B monitors the communication quality of the other base station even when it is connected to one of the base stations 7A and 7B. By connecting the base stations 7A and 7B in a wired manner so as to be communicable, the crane control unit 40 can monitor the communication quality of the other base station via a wireless connection with one of the base stations 7A and 7B. Instead of such a configuration, the crane control system 100 may further include a monitoring communication device 70 that monitors the base station 7A and 7B that is not connected to any crane control unit 40. Thus, even if the communication quality of one of the base stations 7A and 7B is degraded and is no longer connected to any crane control unit 40, the recovery of the communication quality can be grasped.

[0087] The base station 7B is connected to the crane control units 40 of the cranes 10C and 10D before the crane control units 40 of the cranes 10A and 10B are connected. The base station 7B has the capability to communicate with both the crane control units 40 of the cranes 10A and 10B and the crane control units 40 of the cranes 10C and 10D. The base station 7A is connected to the crane control units 40 of the cranes 10A and 10B before the crane control units 40 of the cranes 10C and 10D are connected. The base station 7A has the capability to communicate with both the crane control units 40 of the cranes 10C and 10D and the crane control units 40 of the cranes 10A and 10B. That is, any of the base stations 7A and 7B has the bandwidth capability to accommodate all the crane control units 40 within the operating range ME. However, the base stations 7A and 7B are usually operated at half the load rate. Therefore, when any of the base stations fails to function properly, the crane control unit 40 can automatically switch the connection to a normal base station.

[0088] Next, refer to Figures 12 to 18An example of the processing content of the crane control system 100 will be described. Figures 12 to 18 1 is a flowchart showing an example of the processing contents of the crane control system 100. Fig.11 For example, the crane 10A is used to connect to the base station 7A in a normal state. When the communication quality of the base station 7A decreases, the base station 7B is switched to. In addition, the words "primary base station" and "secondary base station" appear in the flowchart. The primary base station refers to the base station 7 that is the wireless connection target of the crane 10 in a normal state, and the secondary base station refers to the switching target base station to be switched when the communication quality of the primary base station 7 decreases. Fig.11 In the crane 10A, the base station 7A is the main base station 7 and the base station 7B is the auxiliary base station 7.

[0089] The crane control unit 40 acquires the quality information of the wireless communication at predetermined intervals. Figures 12 to 18 The processing shown is a processing started at a predetermined interval. The crane control operation unit 31 instructs the access module 32 to check the wireless connection target status between the currently connected base station and the wireless mobile station 27 at a predetermined interval (step S410). Fig.12 Steps S410 to S510 and Fig.13 The processing of steps S520 to S580 is respectively related to the first control Figure 7 Steps S10 to S110 and Figure 8 Since the processing in steps S120 to S180 is the same as that in the above step, the description thereof will be omitted.

[0090] After step S580, the crane control calculation unit 31 determines whether the current wireless connection target base station of the crane 10 is the main base station 7 (step S590). If it is determined that it is not the main base station, the process proceeds to step S591. Fig.15 On the other hand, if it is determined that the base station is the main base station, the crane control operation unit 31 determines whether the communication quality of the main base station 7 is insufficient (step S610). If it is determined that the quality is not insufficient, there is no need to switch the base station 7, so it goes to step S720. Fig.18 "A" shown, and the switching process ends.

[0091] On the other hand, in the case of a judgment of insufficient quality, Fig.14 As shown in FIG. 6 , the crane control operation unit 31 issues a switching instruction to the access module 32 to switch the wireless connection destination of the wireless mobile station 27 (step S620). Fig.11 Taking the crane 10A as an example, since the communication quality of the primary base station 7A is insufficient, the crane control operation unit 31 instructs to switch the wireless connection target to the secondary base station 7B.

[0092] Fig.14 Steps S630 to S670 and Fig.15 The processing of steps S680 to S710 is respectively related to the first control Fig. 9 Steps S280 to S320 and Fig.10 The processing in steps S330 to S360 is the same as that in step S330, so the description is omitted.

[0093] In step S690, if the new wireless connection target indicated in step S620 is consistent with the new wireless connection target acquired in step S680, the crane control operation unit 31 determines whether the current wireless connection target base station 7 of the crane 10 is the secondary base station 7 (step S720). If it is determined that it is not the secondary base station, the process proceeds to step S720. Fig.18 If it is determined to be the secondary base station, the crane control operation unit 31 issues an instruction to the access module 32 to obtain information about the primary base station 7 in order to monitor whether the communication quality of the primary base station 7 has been restored (step S730). Fig.11 Taking the crane 10A as an example, the crane control operation unit 31 issues an instruction to obtain information of the main base station 7A while being connected to the auxiliary base station 7B. The access module 32 is connected to the main base station A via a wireless connection with the auxiliary base station 7B.

[0094] Fig.16 The processing of steps S740 to S810 is the same as that of the first control Figure 7 Since the processing in steps S20 to S80 is the same as that in steps S20 to S80, the description thereof will be omitted.

[0095] If it is determined in step S780 that the versions are consistent, the access module 32 selects the status diagnosis display screen of the main base station 7 (step S820). The access module 32 obtains the status diagnosis information of the main base station 7 from the selected display screen (step S830). Fig.17 As shown, the crane control operation unit 31 obtains the status diagnosis information of the main base station 7 (step S840). As a status diagnosis, for example, the reception strength information can be obtained in the same order as steps S510 to S580. The crane control operation unit 31 determines whether the main base station 7 has been restored based on the status diagnosis information (step S860). When the reception strength as the status diagnosis information is greater than a specified threshold, the crane control operation unit 31 can determine that the main base station 7 has been restored. When the reception strength as the status diagnosis information is less than a specified threshold, the crane control operation unit 31 can determine that the main base station 7 has not been restored. In the case where it is determined that the main base station 7 has not been restored, go to Fig.18When it is determined that the main base station 7 has been restored, the crane control operation unit 31 issues an instruction to the access module 32 to switch the wireless connection target, so that the wireless connection target base station 7 of the wireless mobile station 27 is switched back to the main base station 7 (step S870). Fig.11 In the case of the crane 10A, after the main base station 7A is restored, the crane control operation unit 31 issues a switching instruction of the wireless connection target to switch back to the main base station 7A.

[0096] Fig.17 Steps S880 to S920 and Fig.18 The processing of steps S930 to S960 is respectively related to the first control Fig. 9 Steps S280 to S320 and Fig.10 The crane control calculation unit 31 performs the same processing as steps S330 to S360, and therefore the description thereof is omitted. Fig.18 After the processing shown is completed, Fig.12 The process of S510 is repeated again.

[0097] In the first control and the second control described above, the wireless mobile station 27 is used as an example of the object device 41 accessed by the web page. When the object device 41 is set to the camera 26, the crane control unit 40 can obtain camera information, change the camera image quality, change the zoom, etc. through web page access according to the situation. At this time, the parameter setting check or reliability confirmation of the camera 26 can be automatically performed. In addition, it is possible to optimize not only the image quality and the field of view, but also the network load. In the case of reduced network reliability, emergency measures can be automatically taken, such as reducing the image quality and transmitting the minimum necessary image. The initial setting of parameters can also be automatically performed.

[0098] When the target device 41 for web page access is a sensor 25, the crane control unit 40 can obtain sensor information and adjust the sensitivity, detection area, scanning angle, etc. of the sensor through web page access according to the situation. In this case, the parameter setting check or reliability confirmation of the sensor 25 can be automatically performed. Multiple sensors can be integrated into one sensor 25. In the case of interference between sensors 25, the interference can be avoided by appropriately changing the time or frequency. The initial setting of parameters can also be automatically performed.

[0099] When the target device 41 for web page access is a network device, the crane control unit 40 can acquire network device information, change various settings, etc. through web page access as needed. In this case, parameter setting check or reliability confirmation of the network device can be automatically performed. Parameter initialization can also be automatically performed.

[0100] Next, the effects of the crane control device 30 according to the present embodiment will be described.

[0101] In the crane control device 301, there is an overlap area LCE in which the wireless communication area CEA of the base station 7A overlaps with the wireless communication area CEB of the base station 7B in the working range of the crane 10. Thus, the wireless communication area CEA and the wireless communication area CEB can be set so that the wireless communication area in the working range of the crane 10 is not interrupted. Here, when the crane 10 moves from the wireless communication area of ​​one of the base stations 7A and the base station 7B to the wireless communication area of ​​the other base station, the crane control unit 40 switches the connection from one base station to the other in the overlap area LCE. Since the overlap area LCE is an area where communication with two base stations can be performed, if the wireless connection target base station is switched in the overlap area LCE, the base station can be switched without interrupting the communication. In addition, when the crane travels across the wireless communication areas of multiple base stations, by switching at the time when the crane exists in the overlap area LCE, the switching can be performed at an appropriate time. Thus, the wireless connection target base station can be appropriately switched according to the position of the crane 10.

[0102] The crane control unit 40 mounted on the crane 10 can switch the connection from one base station to another base station in the overlap area LCE. The wireless connection target base station can be switched appropriately according to the position of the crane 10. At this time, since the crane control unit 40 is mounted on the crane 10, it can be switched at an appropriate time according to the situation of the crane 10.

[0103] The crane control unit 40 can obtain data indicating the relationship between the wireless communication area CEA and the wireless communication area CEB and the position within the operating range of the crane 10, and switch the connection from one base station to another base station based on the data. In this case, the crane control unit 40 can easily determine the attribute of the wireless communication area of ​​the position where the crane 10 is traveling by using the data.

[0104] The crane control unit 40 can decelerate or stop the crane in the overlap area LCE. In this case, the crane control unit can improve the reliability of switching the wireless connection destination in the overlap area.

[0105] The crane control unit 40 can obtain the current position P1 and the target position P3 of the crane 10 and determine whether the base station needs to be switched. At this time, the crane control unit 40 can easily grasp the travel range of the crane 10 based on the current position P1 and the target position P3 of the crane 10, and can therefore easily determine whether the base station needs to be switched by considering the attributes of the wireless communication area at each position in the travel range.

[0106] The crane control unit 40 may include an access module 32 that communicates with the radio device as a communication partner through web access. In this case, the crane control unit 40 can modify the settings of the radio device as a communication partner according to the situation of the crane 10.

[0107] The crane control system 100 involved in this embodiment is a crane control system 100 for controlling a crane 10, and comprises: a base station 7A and a base station 7B, which perform wireless communication using directional radio equipment; and a crane control unit 40, which controls the crane 10, wherein there is an overlapping area LCE in which the wireless communication area CEA of the base station 7A overlaps with the wireless communication area CEB of the base station 7B in the working range of the crane 10, and the crane control unit 40 sets the base station as the communication object in the overlapping area LCE to be either the base station 7A or the base station 7B.

[0108] According to the crane control system 100, there is an overlapping area LCE in which the wireless communication area CEA of the base station 7A overlaps with the wireless communication area CEB of the base station 7B in the working range of the crane 10. Thus, the wireless communication area CEA and the wireless communication area CEB can be set so that the wireless communication area in the working range of the crane 10 is not interrupted. Here, the crane control unit 40 switches the connection from one base station to another in the overlapping area LCE. Since the overlapping area LCE is an area where communication with two base stations can be performed, if the wireless connection target base station is switched in the overlapping area LCE, the base station can be switched without interrupting the communication. Thus, the wireless connection target base station can be appropriately switched according to the position of the crane 10.

[0109] The crane control method involved in this embodiment is a crane control method for controlling a crane 10, wherein there is an overlapping area LCE in the working range of the crane 10 where the wireless communication area CEA of a base station 7A that uses a directional radio device for wireless communication overlaps with the wireless communication area CEB of a base station 7B that uses a directional radio device for wireless communication, and when the crane 10 moves from the wireless communication area of ​​one of the base stations 7A and 7B to the wireless communication area of ​​the other base station, the connection of the crane control unit 40 is switched from one base station to another in the overlapping area LCE.

[0110] According to this crane control method, the same effects as those of the above-mentioned crane control device 30 can be obtained.

[0111] In the crane control system 100, there is an overlapping area LCE in which the wireless communication area CEA of the base station 7A overlaps with the wireless communication area CEB of the base station 7B in the operating range of the crane 10. In the overlapping area LCE, the crane control unit 40 can be connected to any base station. Here, part of the plurality of crane control units 40 located in the overlapping area LCE is connected to the base station 7A, and the other part is connected to the base station 7B. In this way, in the overlapping area LCE, by distributing the wireless connection targets of the plurality of cranes 10 to the base station 7A and the base station 7B, the load of each base station can be reduced. As a result, the quality of wireless communication can be improved.

[0112] When the communication quality of the base station 7A is degraded, the crane control unit 40 of the crane 10A or 10B connected to the base station 7A can switch the connection to the base station 7B. In this case, even if the communication quality of the base station 7A is degraded, the crane control unit 40 of the crane 10A or 10B can be connected to the base station 7B as a backup base station.

[0113] When the communication quality of the base station 7A has been restored, the crane control unit 40 of the cranes 10A and 10B can switch the connection back to the base station 7A. This can reduce the burden on the base station 7B after the base station 7A has been restored.

[0114] The crane control unit 40 can monitor the communication quality of the other base station even when connected to one of the base stations 7A and 7B. Thus, the crane control unit 40 of the cranes 10A and 10B can quickly recognize that the communication quality of the other base station has been restored.

[0115] The base station 7B may be connected to the crane control units 40 of the cranes 10C and 10D before the crane control units 40 of the cranes 10A and 10B are connected, and the base station 7B may have a performance capable of communicating with both the crane control units 40 of the cranes 10C and 10D and the crane control units 40 of the cranes 10A and 10B. In this way, the base station 7B has a performance capable of handling all communications of the crane control units 40 of the cranes 10C and 10D and the crane control units 40 of the cranes 10A and 10B, but is connected only to the crane control units 40 of the cranes 10C and 10D in a normal state, thereby reducing the load in a normal state.

[0116] The crane control system 100 may further include a monitoring communication device 70 that monitors the base station 7A and the base station 7B that is not connected to any crane control unit 40. Thus, the monitoring communication device 70 can quickly grasp the recovery of the communication quality of the base station.

[0117] The crane control unit 40 may include an access module 32 for communicating with the wireless mobile station 27 (radio device) as a communication partner through web access. In this case, the crane control unit 40 can modify the settings of the radio device of the communication partner according to the situation of the crane 10.

[0118] The crane control method involved in this embodiment is a crane control method for controlling multiple cranes 10, wherein there is an overlapping area LCE in the working range of the crane 10 where the wireless communication area CEA of the base station 7A that uses directional radio equipment for wireless communication overlaps with the wireless communication area CEB of the base station 7B that uses directional radio equipment for wireless communication, and a part of the multiple crane control units 40 located in the overlapping area LCE is connected to the base station 7A, and the other part is connected to the base station 7B.

[0119] According to this crane control method, the same effects as those of the above-mentioned crane control device 30 can be obtained.

[0120] In the crane control device 30, the crane control unit 40 exchanges information with the target device 41 mounted on the crane 10 by using web access. In this way, by using web access, the crane control unit 40 can easily exchange information with the target device 41. As a result, the setting of the target device 41 can be easily changed according to the situation of the crane 10.

[0121] The crane control unit 40 can modify the information of the target device 41 according to the situation of the crane 10. Thus, the target device 41 can be installed according to the situation of the crane 10.

[0122] Specifically, the crane control unit 40 may include an access module 32 for accessing a web page of the target device 41 , and a crane control calculation unit 31 for controlling the content of information exchange with the target device 41 .

[0123] The access module 32 may have a correspondence table of codes for modifying information of the target device 41. Thus, the access module 32 can easily modify information of various target devices using the correspondence table of codes.

[0124] For example, the target device 41 can be selected from at least any one of the wireless mobile station 27, the camera 26, the sensor 25, and the network device.

[0125] The target device 41 may be the wireless mobile station 27, and the crane control unit 40 may modify the information of the wireless connection destination base station of the wireless mobile station 27. Thus, the crane control unit 40 can easily switch the wireless connection destination base station of the wireless mobile station 27 according to the situation of the crane 10.

[0126] The crane control method according to the present embodiment is a crane control method for controlling the crane 10 by the crane control device 30 mounted on the crane 10 , and the crane control method exchanges information with the target device 41 mounted on the crane 10 by using web page access.

[0127] According to this crane control method, the same effects as those of the above-mentioned crane control device 30 can be obtained.

[0128] The present invention is not limited to the above-mentioned embodiments.

[0129] For example, in the above-mentioned embodiment, the crane control unit accesses the web page of the wireless mobile station, but it is not necessary to access the web page.

[0130] [First Publication]

[0131] [Method 1]

[0132] A crane control device for controlling a crane, the crane control device comprising:

[0133] a communication unit that communicates with a first base station and a second base station that perform wireless communication using a directional radio device; and

[0134] A crane control unit controls the crane.

[0135] In the operating range of the crane, there is an overlapping area where the first wireless communication area of ​​the first base station overlaps with the second wireless communication area of ​​the second base station.

[0136] When the crane moves from a wireless communication area of ​​one of the first base station and the second base station to a wireless communication area of ​​the other base station, the crane control unit switches connection from the one base station to the other base station in the overlapping area.

[0137] [Method 2]

[0138] The crane control device according to embodiment 1, wherein:

[0139] The crane control unit mounted on the crane switches connection from the one base station to the other base station in the overlapping area.

[0140] [Method 3]

[0141] The crane control device according to embodiment 1 or 2, wherein:

[0142] The crane control unit performs the following processing:

[0143] acquiring data indicating a relationship between the first wireless communication area and the second wireless communication area and a position in the working range of the crane; and

[0144] Switching the connection from the one base station to the other base station is performed based on the data.

[0145] [Method 4]

[0146] A crane control device according to any one of Modes 1 to 3, wherein:

[0147] The crane control unit decelerates or stops the crane in the overlapping area.

[0148] [Method 5]

[0149] A crane control device according to any one of Modes 1 to 4, wherein:

[0150] The crane control unit obtains the current position and target position of the crane and determines whether a base station needs to be switched.

[0151] [Method 6]

[0152] A crane control device according to any one of Modes 1 to 5, wherein:

[0153] The crane control unit includes an access module that communicates with a wireless device as a communication partner through web access.

[0154] [Method 7]

[0155] A crane control system for controlling a crane, the crane control system comprising:

[0156] The first base station and the second base station perform wireless communication using directional radio equipment; and

[0157] A crane control unit controls the crane.

[0158] In the operating range of the crane, there is an overlapping area where the first wireless communication area of ​​the first base station overlaps with the second wireless communication area of ​​the second base station.

[0159] The crane control unit sets a base station as a communication target in the overlapping area to be either the first base station or the second base station.

[0160] [Method 8]

[0161] A crane control method, which controls a crane, wherein:

[0162] In the working range of the crane, there is an overlapping area where a first wireless communication area of ​​a first base station that uses a directional wireless device for wireless communication overlaps with a second wireless communication area of ​​a second base station that uses a directional wireless device for wireless communication,

[0163] When the crane moves from a wireless communication area of ​​one of the first base station and the second base station to a wireless communication area of ​​the other base station, connection of the crane control unit is switched from the one base station to the other base station in the overlapping area.

[0164] [Effects of the first disclosure]

[0165] In the first disclosed method 1, there is an overlapping area in the working range of the crane where the first wireless communication area of ​​the first base station overlaps with the second wireless communication area of ​​the second base station. Thus, the first wireless communication area and the second wireless communication area can be set so that the wireless communication area in the working range of the crane is not interrupted. Here, when the crane moves from the wireless communication area of ​​one of the first base station and the second base station to the wireless communication area of ​​the other base station, the crane control unit switches the connection from one base station to the other base station in the overlapping area. Since the overlapping area is an area where communication with two base stations can be performed, if the wireless connection target base station is switched in the overlapping area, the base station can be switched without interrupting the communication. In addition, when the crane travels across the wireless communication areas of multiple base stations, by switching at the time when the crane is in the overlapping area, the switching can be performed at an appropriate time. Thus, the wireless connection target base station can be appropriately switched according to the position of the crane.

[0166] According to the method 2, the wireless connection target base station can be switched appropriately according to the position of the crane. In this case, since the crane control unit is mounted on the crane, it can be switched at an appropriate timing according to the situation of the crane.

[0167] According to the third aspect, the crane control unit can easily determine the attribute of the wireless communication area at the location where the crane is traveling by using the data.

[0168] According to aspect 4, the crane control unit can improve the reliability of switching the wireless connection destination in the overlapping area.

[0169] According to aspect 5, the crane control unit can easily grasp the travel section of the crane based on the current position and target position of the crane, and can therefore easily determine whether the base station needs to be switched in consideration of the attributes of the wireless communication area at each position in the travel section.

[0170] According to the sixth aspect, the crane control unit can modify the settings of the radio equipment of the communication partner according to the situation of the crane.

[0171] According to mode 7, there is an overlapping area in which the first wireless communication area of ​​the first base station overlaps the second wireless communication area of ​​the second base station in the working range of the crane. As a result, the first wireless communication area and the second wireless communication area can be set so that the wireless communication areas are not interrupted in the working range of the crane. Here, the crane control unit switches the connection from one base station to another base station in the overlapping area. Since the overlapping area is an area where communication with two base stations can be performed, if the wireless connection target base station is switched in the overlapping area, the base station can be switched without interrupting the communication. As a result, the wireless connection target base station can be appropriately switched according to the position of the crane.

[0172] According to the eighth aspect, the same effects as those of the first aspect can be obtained.

[0173] [Second Publication]

[0174] [Method 1]

[0175] A crane control system for controlling a plurality of cranes, the crane control system comprising:

[0176] The first base station and the second base station perform wireless communication using directional radio equipment; and

[0177] A plurality of crane control units for controlling each of the cranes,

[0178] In the operating range of the crane, there is an overlapping area where the first wireless communication area of ​​the first base station overlaps with the second wireless communication area of ​​the second base station.

[0179] A part of the plurality of crane control units located in the overlapping region is connected to the first base station, and another part is connected to the second base station.

[0180] [Method 2]

[0181] The crane control system according to embodiment 1, wherein:

[0182] When the communication quality of the first base station is degraded, the first crane control unit connected to the first base station switches the connection to the second base station.

[0183] [Method 3]

[0184] The crane control system according to embodiment 2, wherein:

[0185] When the communication quality of the first base station has recovered, the first crane control unit switches the connection back to the first base station.

[0186] [Method 4]

[0187] The crane control system according to Mode 2 or 3, wherein:

[0188] Even when the first crane control unit is connected to one of the first base station and the second base station, the first crane control unit monitors the communication quality of the other base station.

[0189] [Method 5]

[0190] A crane control system according to any one of Modes 2 to 4, wherein:

[0191] The second base station is connected to the second crane control unit before the first crane control unit is connected.

[0192] The second base station has a capability of being able to communicate with both the second crane control unit and the first crane control unit.

[0193] [Method 6]

[0194] A crane control system according to any one of Modes 1 to 5, wherein:

[0195] The invention further includes a monitoring communication device configured to monitor a base station that is not connected to any of the crane control units, among the first base station and the second base station.

[0196] [Method 7]

[0197] A crane control system according to any one of Modes 1 to 6, wherein:

[0198] The crane control unit includes an access module that communicates with a wireless device as a communication partner through web access.

[0199] [Method 8]

[0200] A crane control method controls a plurality of cranes, wherein:

[0201] In the working range of the crane, there is an overlapping area where a first wireless communication area of ​​a first base station that uses a directional wireless device for wireless communication overlaps with a second wireless communication area of ​​a second base station that uses a directional wireless device for wireless communication,

[0202] A part of the plurality of crane control units located in the overlapping region is connected to the first base station, and another part of the plurality of crane control units is connected to the second base station.

[0203] [Effects of the Second Publication]

[0204] According to the second disclosed method 1, there is an overlapping area in the working range of the crane where the first wireless communication area of ​​the first base station overlaps the second wireless communication area of ​​the second base station. In the overlapping area, the crane control unit can be connected to any base station. Here, part of the plurality of crane control units located in the overlapping area is connected to the first base station, and the other part is connected to the second base station. In this way, in the overlapping area, by distributing the wireless connection targets of the plurality of cranes to the first base station and the second base station, the load on each base station can be reduced. As a result, the quality of wireless communication can be improved.

[0205] According to the second aspect, even if the communication quality of the first base station is degraded, the first crane control unit can be connected to the second base station as a backup base station.

[0206] According to the method 3, after the first base station is restored, the load on the second base station can be reduced.

[0207] According to the fourth aspect, the first crane control unit can quickly recognize that the communication quality of the other base station has been restored.

[0208] According to the fifth aspect, the second base station has the capability to handle all communications of the second crane control unit and the first crane control unit, but is connected only to the second crane control unit in a normal state, thereby reducing the load in a normal state.

[0209] According to the sixth aspect, the monitoring communication device can quickly grasp the recovery of the communication quality of the base station.

[0210] According to the seventh aspect, the crane control unit can modify the settings of the radio equipment of the communication partner according to the situation of the crane.

[0211] According to the eighth aspect, the same effects as those of the first aspect can be obtained.

[0212] [Publication No. 3]

[0213] [Method 1]

[0214] A crane control device is mounted on a crane and controls the crane, the crane control device comprising:

[0215] The target equipment is mounted on the crane; and

[0216] The crane control unit exchanges information with the target device by accessing a web page.

[0217] [Method 2]

[0218] The crane control device according to embodiment 1, wherein:

[0219] The crane control unit corrects the information of the target device according to the situation of the crane.

[0220] [Method 3]

[0221] The crane control device according to embodiment 1 or 2, wherein:

[0222] The crane control unit includes:

[0223] An access module, accessing a web page of the target device; and

[0224] The crane control calculation unit controls the content of the information exchange with the target device.

[0225] [Method 4]

[0226] The crane control device according to Embodiment 3, wherein:

[0227] The access module has a correspondence table of codes for modifying the information of the target device.

[0228] [Method 5]

[0229] A crane control device according to any one of Modes 1 to 4, wherein:

[0230] The target device is selected from at least any one of a wireless mobile station, a camera, a sensor, and a network device.

[0231] [Method 6]

[0232] A crane control device according to any one of Modes 1 to 5, wherein:

[0233] The target device is a wireless mobile station,

[0234] The crane control unit modifies information of a wireless connection destination base station of the wireless mobile station.

[0235] [Method 7]

[0236] A crane control method, which controls the crane by a crane control device mounted on the crane, wherein:

[0237] Information is exchanged with the target device mounted on the crane by accessing a web page.

[0238] [Effects of the third disclosure]

[0239] In the third disclosed method 1, the crane control unit exchanges information with the target device mounted on the crane by using web access. In this way, by using web access, the crane control unit can easily exchange information with the target device. As a result, the setting of the target device can be easily changed according to the situation of the crane.

[0240] According to the second aspect, the target equipment can be installed according to the situation of the crane.

[0241] Specifically, method 3 can be adopted as the crane control unit.

[0242] According to the fourth aspect, the access module can easily modify the information of various target devices using the code correspondence table.

[0243] For example, the target device may be selected from at least any one of a wireless mobile station, a camera, a sensor, and a network device.

[0244] According to aspect 6, the crane control unit can easily switch the wireless connection destination base station of the wireless mobile station according to the situation of the crane.

[0245] According to the seventh aspect, the same effects as those of the first aspect can be obtained.

Claims

1. A crane control device for controlling a crane, the crane control device comprising: a communication unit that communicates with a first base station and a second base station that perform wireless communication using a directional radio device; and a crane control unit, which controls the crane, In the operating range of the crane, there is an overlapping area where the first wireless communication area of ​​the first base station overlaps with the second wireless communication area of ​​the second base station. When the crane moves from a wireless communication area of ​​one of the first base station and the second base station to a wireless communication area of ​​the other base station, the crane control unit switches connection from the one base station to the other base station in the overlapping area.

2. The crane control device according to claim 1, wherein: The crane control unit mounted on the crane switches connection from the one base station to the other base station in the overlapping area.

3. The crane control device according to claim 1, wherein: The crane control unit performs the following processing: acquiring data indicating a relationship between the first wireless communication area and the second wireless communication area and a position in an operating range of the crane; and A connection is switched from the one base station to the another base station based on the data.

4. The crane control device according to claim 1, wherein: The crane control unit decelerates or stops the crane in the overlapping area.

5. The crane control device according to claim 1, wherein: The crane control unit obtains the current position and target position of the crane and determines whether a base station needs to be switched.

6. The crane control device according to claim 1, wherein: The crane control unit includes an access module that communicates with a wireless device as a communication partner through web access.

7. A crane control system for controlling a crane, the crane control system comprising: A first base station and a second base station that perform wireless communication using directional radio equipment; and A crane control unit, used to control the crane, In the operating range of the crane, there is an overlapping area where the first wireless communication area of ​​the first base station overlaps with the second wireless communication area of ​​the second base station. The crane control unit sets a base station as a communication target in the overlapping area to be either the first base station or the second base station.

8. A crane control method, which controls a crane, wherein: In the working range of the crane, there is an overlapping area where a first wireless communication area of ​​a first base station that uses a directional wireless device for wireless communication overlaps with a second wireless communication area of ​​a second base station that uses a directional wireless device for wireless communication, When the crane moves from a wireless communication area of ​​one of the first base station and the second base station to a wireless communication area of ​​the other base station, connection of the crane control unit is switched from the one base station to the other base station in the overlapping area.

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