Crane system and display device

Abstract

A crane system for suspending and loading containers onto a transport trolley, the crane system comprising: a detection unit for detecting the relative positional relationship between the crane and the transport trolley; and a display unit for displaying a guide image for guiding the transport trolley, wherein the relative positional relationship between the crane and the transport trolley detected by the detection unit is indicated by changing the guide image.

Description

Technical Field

[0001] This disclosure relates to a crane system and a display device. Background Technology

[0002] As a conventional crane, the crane described in Patent Document 1 is known. The crane lifts a container using a spreader while moving the spreader horizontally. This crane lifts containers placed on a transport trolley using the spreader, or loads containers suspended by the spreader onto the transport trolley.

[0003] Previous technical documents Patent documents Patent Document 1: Japanese Patent Application Publication No. 2005-239343 Summary of the Invention

[0004] The technical problem to be solved by the invention Here, it is necessary to position the transport trolley used to move containers to the crane in the correct location. Therefore, sometimes the driver of the transport trolley is guided to the position by sound or indicator lights. However, these methods are difficult to provide the driver with sufficient instructions.

[0005] The purpose of this disclosure is to provide a crane system and display device that can guide a transport trolley to an accurate position relative to a crane.

[0006] means for solving technical problems The crane system disclosed herein is a crane system that suspends a container and loads it onto a transport trolley by means of a crane. It includes: a detection unit that detects the relative positional relationship between the crane and the transport trolley; and a display unit that displays a guide image for guiding the transport trolley, and indicates the relative positional relationship between the crane and the transport trolley detected by the detection unit by changing the guide image.

[0007] The crane system is equipped with a display unit. Therefore, when the transport trolley approaches the crane to transfer a container, the trolley operator can align it to the target position relative to the crane based on the guidance image displayed on the display unit. Here, the display unit shows a guidance image for guiding the transport trolley. The crane system displays the relative positional relationship between the crane and the transport trolley as detected by the detection unit by changing the guidance image. Therefore, the crane system can display a guidance image for guiding the transport trolley, allowing the transport trolley operator to easily visually understand the relative positional relationship between the crane and the transport trolley. The operator accurately grasps the relative positional relationship between the crane and the transport trolley through this guidance image, and is thus accurately guided. As a result, the transport trolley can be guided to the accurate position relative to the crane.

[0008] The display unit can be installed on the outriggers of the crane on the side closest to the travel path of the transport platform. In this case, the driver of the transport platform can visually identify the outriggers on the nearby side, or visually identify the outriggers on the nearby side through the rearview mirror, while confirming the guidance image on the display unit.

[0009] The display unit may have a first display that can be viewed from the direction of travel of the crane and a second display that can be viewed from the inside of the crane in the width direction. At this time, when the driver of the transport trolley is away from the target position, the driver can check the first display from the direction of travel; when approaching the target position, the driver can check the second display from the inside of the width direction.

[0010] The guide image includes a first object that moves relative to the background of the display unit. The speed of movement of the first object can be adjusted according to the relative distance between the transport trolley and the crane. At this time, the operator can intuitively grasp the relative distance between the transport trolley and the crane based on the speed of movement of the first object. Furthermore, by highlighting the first object in the image, the operator can easily visually identify it even from a distance.

[0011] The color of the first object can vary depending on the relative distance between the transport trolley and the crane. This allows the operator to visually determine the relative distance based on the color. Furthermore, by highlighting the color in the image, the operator can easily identify it visually even from a distance.

[0012] The background color can vary depending on the relative distance between the transport trolley and the crane. This allows the driver to visually determine the distance between them. Furthermore, the background color is highly visible in the image, making it easy for the driver to identify even from a distance.

[0013] The guide image may include a second object representing the transport trolley and a third object representing the target position of the transport trolley. The relative positions of the second and third objects in the image are adjusted based on the relative distance between the transport trolley and the crane. At this point, the operator can intuitively grasp the relative distance between the transport trolley and the crane based on the relative positions of the second and third objects in the image. Furthermore, by highlighting the second and third objects in the image, the operator can easily visually identify them even from a distance.

[0014] The display device involved in this disclosure is a display device that displays images related to a crane system that suspends containers by a crane and loads them onto a transport trolley, wherein the relative positional relationship between the crane and the transport trolley is represented by changing the images.

[0015] According to this display device, the same effect as the crane system described above can be achieved.

[0016] Public effect According to this disclosure, a crane system and display device are provided that can guide a transport trolley to an accurate position relative to the crane. Attached Figure Description

[0017] Figure 1 This is a top view of an exemplary container terminal illustrating a crane system to which embodiments of the present disclosure are applied.

[0018] Figure 2 This is a schematic perspective view of an RTG crane configured in a container yard.

[0019] Figure 3 This is the front view of the RTG crane.

[0020] Figure 4 It is a perspective view showing the structure near one outrigger of the truck and RTG crane in the loading and unloading lane.

[0021] Figure 5 This is a block diagram illustrating the functions of the crane system according to this embodiment.

[0022] Figure 6 This is a flowchart illustrating the automated operation of an RTG crane.

[0023] Figure 7 This is an example of a guide image.

[0024] Figure 8 This is an example of an image shown on a display device.

[0025] Figure 9 This is an example of an image shown on a display device.

[0026] Figure 10 This is a flowchart illustrating the processing of the crane control device.

[0027] Figure 11 This is a diagram showing the guide image involved in the modified example.

[0028] Figure 12 This is a diagram showing the guide image involved in the modified example.

[0029] Figure 13 This is a diagram showing the guide image involved in the modified example. Detailed Implementation

[0030] Hereinafter, embodiments of the crane system and display device involved in this disclosure will be described with reference to the accompanying drawings. In the description of the drawings, the same or equivalent elements are labeled with the same symbols, and repeated descriptions are omitted where appropriate. Furthermore, regarding the drawings, for ease of understanding, some parts may be simplified or enlarged, and dimensions and proportions are not limited to those shown in the drawings.

[0031] Figure 1 This is a top view showing an exemplary container terminal 1 in which the crane system 100 according to this embodiment is applied. Figure 1 As shown, container terminal 1 is equipped with container 3 (refer to...). Figure 2 The system includes a container yard 2, multiple gantry cranes 4 for transferring containers 3 from berthed ships, multiple RTG cranes 10 (cranes) configured in the container yard 2 for loading and unloading containers 3, and a remote control room 5 capable of remotely operating the multiple RTG cranes 10. In this embodiment, RTG cranes 10 are exemplified as cranes, but the type of crane is not particularly limited. For example, a crane used for transferring containers from ships to handling trolleys can be used. For example, a gantry crane can be used as a crane.

[0032] For example, a path is laid out in the container yard 2 for transport trolleys such as trucks, lorries, or AGVs (Automated Guided Vehicles). An RTG crane 10 picks up containers 3 being transported by these trolleys and places them at positions indicated by predetermined numbers in the container yard 2. For example, multiple RTG cranes 10 are configured for each container yard 2. The RTG crane 10 picks up containers 3 placed in the container yard 2, transfers them to the transport trolleys, and moves them outwards via the transport trolleys.

[0033] Figure 2 This is a schematic perspective view of an RTG crane 10 configured in container yard 2. Figure 2 As shown, RTG crane 10 is a container handling crane for loading and unloading container 3, and is a rubber-tired gantry crane (RTG). In container terminal 1, RTG crane 10 automatically loads and unloads container 3 located in container yard 2.

[0034] like Figure 3As shown, the RTG crane 10 includes, for example, a main body 15, a crane trolley 11 capable of lateral movement on a crane beam 27 of the main body 15, a spreader 12 for loading and unloading containers 3, and a traveling device 13 with wheels. The main body 15 is gantry-shaped and includes a pair of outriggers 26 erected on a pair of traveling devices 13 and a crane beam 27 connecting the upper ends of the pair of outriggers to each other. The crane trolley 11 moves laterally, for example, driven by a lateral movement motor. As an example, the crane trolley 11 includes a drum that rotates forward and backward via a drum drive motor, and the spreader 12 is suspended via a wire rope. Furthermore, the direction of travel of the traveling device 13 is designated as the travel direction D2. The horizontal direction orthogonal to the travel direction D2 is designated as the width direction D1.

[0035] Spreader 12 is a spreader for suspending container 3. Spreader 12 can lock container 3 from above, and can load and unload container 3 by locking and lifting container 3.

[0036] The RTG crane 10 is, for example, a crane device used for loading and unloading containers 3 in a container yard CY of a container terminal where container 3 is transferred from berthed container ships. A loading / unloading lane CR is laid out in the container yard CY, which is the travel path for trucks 30 (transfer trolleys) and the like that that transfer containers C. The RTG crane 10 automatically transfers containers 3 relative to trucks 30 stopped in the loading / unloading lane CR. The RTG crane 10 takes the container 3 brought in by the truck 30 and places it at a predetermined position in the container yard CY. Then, the RTG crane 10 takes the container 3 placed in the container yard CY, places it on the truck 30 stopped in the loading / unloading lane CR, and moves the container 3 outside.

[0037] The RTG crane 10 includes a detection unit 40 for detecting the relative positional relationship between the RTG crane 10 and the truck 30. The detection unit 40 only needs to detect the truck 30 at the point where the container 3 is handed over, and can also detect a portion of the RTG crane 10. The installation location of the detection unit 40 can be, for example, the crane beam 27, but it can be any location as long as it can detect the relative positional relationship between the RTG crane 10 and the truck 30. The sensor constituting the detection unit 40 is not particularly limited; for example, distance sensors such as ToF cameras, 2D scanners, or 3D scanners, laser rangefinders, or ToF cameras can be used.

[0038] Figure 4 This is a perspective view showing the structure near the side outrigger 26 of the truck 30 in the loading / unloading lane CR and the RTG crane 10. (See diagram below.) Figure 4As shown, the truck 30 includes a loading platform 31 and a driver's cab 32. The loading platform 31 extends along the front-rear direction of the vehicle and is used for loading the container 3. The driver's cab 32 is where the driver sits and drives the truck 30. The RTG crane 10 includes a crane control device 20 for controlling the RTG crane 10. The crane control device 20 is installed at a predetermined position on the RTG crane 10 and moves as the RTG crane 10 moves. Figure 4 In the example shown, the crane control device 20 is located near the lower end of the outrigger 26 and above the traveling unit 13. Furthermore, the crane control device 20 is located above the traveling unit 13 closest to the loading / unloading lane CR of the pair of traveling units 13. The position adjacent to the traveling unit 13 in the loading / unloading lane CR is the handover position CP where the truck 30 stops and the container 3 is handed over. The handover position CP is set at a predetermined position with reference to the RTG crane 10. That is, in the relative position of the truck 30 relative to the RTG crane 10, the handover position CP becomes the relative target position of the truck 30. Therefore, the relative distance between the truck 30 and the handover position CP is included in the relative distance between the truck 30 and the RTG crane 10.

[0039] The crane system 100 includes a display device 50 (display unit). In this embodiment, the display device 50 is provided on the outrigger 26 of the RTG crane 10 near the loading / unloading lane CR. The display device 50 is a medium that visually displays information, often referred to as a digital sign. The display device 50 may be, for example, a liquid crystal panel, an OLED panel, or an LED display. Specifically, the display device 50 is provided on both one end of the travel direction D2 and the other end of the travel direction D2 of the traveling device 13. The display device 50 includes a first display 51 that can be viewed from the travel direction D2 and a second display 52 that can be viewed from the inside in the width direction D1. The first display 51 is configured to extend perpendicularly to the travel direction D2. The second display 52 is configured to intersect the width direction D1, for example, extending approximately perpendicularly. The display device 50 on the other end of the width direction D1 also includes the same first display 51 and second display 52. ​​The same image can be displayed on the first display 51 and the second display 52. However, depending on the time, different images can be displayed on the first display 51 and the second display 52.

[0040] When the truck 30 approaches the handover position CP, the display device 50 displays a guidance image to ensure the truck 30 stops accurately at the handover position CP. The guidance image is abstract visual information used to guide the truck 30 to the handover position CP based on the detection results of the detection unit 40. Details regarding the content displayed by the display device 50 will be described later. Furthermore, the abstract visual information is not simply an image captured by a camera or a digital display of the distance to the handover position CP, but rather an image generated taking into account the visual recognition of the truck 30's driver. Thus, the display device 50 represents the relative positional relationship between the RTG crane 10 and the truck 30 by changing the guidance image. Furthermore, the crane system 100 represents the relative positional relationship between the RTG crane 10 and the truck 30 detected by the detection unit 40 by changing the guidance image.

[0041] Figure 5 This is a block diagram illustrating the function of the crane system 100 according to this embodiment. The crane system 100 is a system capable of controlling multiple RTG cranes 10. Figure 5 As shown, the crane system 100 includes multiple RTG cranes 10, multiple control panels 6 capable of operating each RTG crane 10, and a system control device 55. Additionally, in Figure 5 The block diagram also shows the crane control device 20 of the RTG crane 10.

[0042] Furthermore, the operator console 6, crane control device 20, and system control device 55 may, for example, include a processor, memory, storage device, communication interface, and user interface, and can be configured as a conventional computer. The processor is an arithmetic unit 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 that enables data communication. The processor controls the memory, storage device, communication interface, and user interface. In the operator console 6, crane control device 20, and system control device 55, various functions are implemented, for example, by loading a program stored in ROM into RAM and executing the program loaded into RAM by the CPU. Additionally, the user interface of the operator console 6 and crane control device 20 includes output devices such as a display for display output, a speaker for sound output, and input devices such as joysticks, buttons, keyboards, touch panels, and microphones. In addition, the system control device 55 can be composed of a single computer located in one place, or multiple computers, or it can be set up in multiple locations.

[0043] The system control unit 55 receives loading and unloading operation requests from the terminal operating system that centrally manages the loading and unloading operations of the container terminal 1, and instructs each RTG crane 10 to perform loading and unloading. The system control unit 55 includes a communication unit 56 and a computing unit 57. The communication unit 56 sends and receives various information by communicating with other devices. The computing unit 57 performs various calculations related to the system control unit 55. The computing unit 57 associates operating consoles 6, which are not currently associated with any RTG crane 10, with RTG cranes 10 that have sent operation requests requesting operator intervention.

[0044] The crane control unit 20 includes a communication unit 21, an information acquisition unit 22, a drive control unit 23, and a calculation unit 24. Furthermore, the crane control unit 20 is connected to a detection unit 40 and a display unit 50. The communication unit 21 transmits and receives various information by communicating with other devices. The information acquisition unit 22 acquires information indicating various states for the automatic operation of the RTG crane 10. The information acquisition unit 22 acquires information from various sensors installed on the RTG crane 10. The information acquisition unit 22 receives detection results from the detection unit 40. The drive control unit 23 sends control signals to the drive units such as motors of the RTG crane 10 to perform drive control. Additionally, the drive control unit 23 can also be operated by an operator. During automatic operation, the drive control unit 23 performs drive control to realize the actions calculated by the calculation unit 24. The calculation unit 24 performs various calculations related to the RTG crane 10. During automatic operation, the calculation unit 24 calculates the actions of the RTG crane 10. Furthermore, based on the detection results detected by the detection unit 40, the calculation unit 24 instructs the display unit 24 to display an image on the display unit 50. In addition, the display device 50 may have an independent arithmetic unit, and the display device 50 displays an image based on the detection result detected by the detection unit 40.

[0045] Here, for reference Figure 6 The basic operations of the crane control device 20 for the automatic operation of the RTG crane 10 are explained. Figure 6 This is a flowchart illustrating the automatic operation of the RTG crane 10. Additionally, during execution... Figure 6 During processing, it is assumed that truck 30 is in a state near the handover position CP. Furthermore, in the following description, "automatic" refers to a state where each part of the RTG crane 10 operates autonomously even without operator intervention. For example... Figure 6As shown, the crane control device 20 receives instructions from the system control device 55 to move the container 3 (step S5). The crane control device 20 displays a guidance image for guiding the truck 30 to the handover position CP on the display device 50 (step S10). Further details regarding step S5 will be described later. In parallel with step S10, the crane control device 20 automatically moves the spreader 12 and uses it to grab the container 3 from the container yard CY (step S20). Next, the crane control device 20 automatically moves the container 3 to the handover position CP via the spreader 12 (step S30). At this time, the container 3 and the spreader 12 are positioned above the loading platform 31 of the truck 30 and remain in a safe position until the truck 30 arrives at the handover position CP. Then, when the truck 30 arrives at the handover position CP, the crane control device 20 lowers the spreader 12 and automatically loads the container 3 onto the truck 30 (step S40). The crane control device 20 releases the locking of the spreader 12 from the position where the container 3 is placed on the truck 30 and automatically winds it up (step S50). Next, the crane control device 20 automatically moves the spreader 12 back to its original position, or, if a next task is available, performs the action according to the next task (step S60). Thus, the task is completed. Figure 6 The processing. In addition, the order of steps S10 to S30 can be changed according to the condition of truck 30 and spreader 12.

[0046] Next, refer to Figure 7 The guide image displayed on the display device 50 will be explained below. The guide image displayed on the display device 50 is visual information generated based on the relative positional relationship between the RTG crane 10 and the truck 30, taking into account that the driver of the truck 30 can intuitively understand this positional relationship. The relative positional relationship between the RTG crane 10 and the truck 30 is mainly represented by changing the position, speed, color, etc., of the objects constituting the visual information. When the display device 50 is viewed from the truck 30 through the rearview mirror, the image appears to be reversed left to right; therefore, the objects constituting the visual information are preferably symmetrical left to right. Furthermore, even when the image is displayed on the display device 50, the detection results in the detection unit 40 are updated in real time. Therefore, the guide image displayed on the display device 50 is updated according to the update of the detection results.

[0047] If the detection unit 40 detects truck 30, the display device 50 will display as follows: Figure 7 The guide image 60A shown in (a) is shown. Figure 7The guide image 60A in (a) is an image when there is a junction position CP at a distance in front of the truck 30. The guide image 60A displays a moving arrow 61 (first object). The arrow 61 points upward and moves from bottom to top. If the arrow 61 reaches the top of the screen, a new arrow 61 is generated from the bottom side. The display device 50 indicates the relative distance between the truck 30 and the RTG crane by adjusting the moving speed V of the displayed arrow 61. Specifically, in the display device 50, the farther the truck 30 is from the junction position CP, which is the target position, the faster the moving speed V of the arrow 61 is displayed. In the display device 50, the closer the truck 30 is to the junction position CP, which is the target position, the slower the moving speed V of the arrow 61 is displayed. In addition, when there is a junction position CP at a distance behind the truck 30, Figure 7 Arrow 61 in (a) is displayed in reverse order. At this time, arrow 61 moves from top to bottom, and if it reaches the bottom of the screen, a new arrow 61 is generated from the top side.

[0048] like Figure 7 As shown in (b), (c), and (d), in the display device 50, if the distance between the truck 30 and the handover position CP falls below a first threshold, a truck image 62 (the second object) representing the truck 30 and an arrival area 63 (the third object) representing the target position of the truck 30 can be displayed together with or in place of arrow 61. The display device 50 adjusts the relative positional relationship between the truck image 62 and the arrival area 63 in the image based on the relative distance between the truck 30 and the RTG crane 10. In the image, the position of the arrival area 63 is fixed, and the truck image 62 moves. Figure 7 As shown in (b), the display device 50 displays the truck image 62 in the guide image 60B as the truck 30 approaches the handover position CP, moving closer to the arrival area 63. Figure 7 As shown in (c), if the distance between truck 30 and the handover position CP becomes less than a second threshold (less than a first threshold), the display device 50 displays a portion of truck image 62 entering arrival area 63 in the guide image 60C. Figure 7 As shown in (d), when the distance between truck 30 and the handover position CP is small enough to be considered that truck 30 has arrived at the handover position CP, the display device 50 displays truck image 62 entering arrival area 63 in guide image 60D. Additionally, considering the distance required for truck 30 to brake, a separate guide image urging stopping can be displayed on the display device 50 before truck 30 is about to arrive at the handover position CP (e.g., ...). Figure 8 (c) images, etc.).

[0049] The display device 50 can display colors based on the relative distance between the truck 30 and the RTG crane 10. The display device 50 can vary the background color 64 according to the relative distance between the truck 30 and the RTG crane 10. For example, the display device 50 can display the background 64 in sequence as "blue," "yellow," and "red" from a distance, depending on the distance between the truck 30 and the handover position CP. Figure 7 As shown in (a) and (b), when the truck 30 is separated from the handover position CP, the display device 50 uses "blue" to represent the background 64. Figure 7 As shown in (c), when truck 30 is near the handover position CP, display device 50 uses yellow to indicate the background 64. Figure 7 As shown in (d), when the truck 30 has reached the handover position CP, the display device 50 uses "red" to represent the background 64. The display device 50 can change the color of at least one object, either together with or in place of the background color 64, depending on the relative distance between the truck 30 and the RTG crane 10.

[0050] Additionally, in truck 30 from Figure 7 If the vehicle has passed the handover position CP in the state shown in (d), the display device 50 displays that it is in Figure 7 In (c), the truck image 62 is made to stand out from the top of the arrival area 63. At this time, the display device 50 changes the background 64 from "red" to "yellow". And, in Figure 7 In (c), arrow 61 (the first object) is displayed upside down. Furthermore, in the case where truck 30 has significantly passed the handover position CP, Figure 7 In (a), arrow 61 (object 1) is displayed upside down. At this time, arrow 61 (object 1) moves from top to bottom.

[0051] Additionally, the display device 50 can display other images at times other than guiding the truck 30 with a guide image. For example, the display device 50 can display an image indicating a standby state during the waiting period for container handling instructions. Figure 8 (a)). Furthermore, prior to receiving a container handling instruction and the truck 30 approaching the handover location CP, the display device 50 can display an image indicating that the RTG crane 10 is in a state of waiting for the truck to arrive. Figure 8 (b)). If the detection unit 40 detects truck 30, the display device 50 will then display the truck 30. Figure 8 The display shown in (b) is switched to Figure 7 The guide image 60A shown in (a). Furthermore, when the truck 30 arrives at the handover position CP and is waiting for container loading / unloading, the display device 50 can display an image instructing the truck 30 to stop. Figure 8 (c)). During container loading and unloading, display device 50 can display... Figure 8 The image shown in (d) indicates that the moving truck 30 is in danger and continues to instruct the driver to stop. Once loading and unloading are complete, the display device 50 can display an image indicating that the truck 30 is moving. Figure 9 (a)). If the guidance of truck 30 ends, the display device 50 can display again. Figure 8 The image shown in (a) is an example. The display device 50 can display images indicating the operating status of the RTG crane 10, as needed. For example, when the RTG crane 10 is being manually loaded and unloaded, the display device 50 can display... Figure 9 The image shown in (b). In case of an error, the display device 50 can display Figure 9 The image shown in (c). During the travel of the RTG crane 10, the display device 50 can display... Figure 9 Image (d) is shown.

[0052] Next, refer to Figure 10 The image processing steps for the guide image displayed on the display device 50 will be explained. Figure 10 This is a flowchart illustrating the image processing steps for a guide image displayed on the display device 50. For example... Figure 10 As shown, the crane control device 20 determines whether the truck 30 is approaching the handover position CP based on the detection result of the detection unit 40 (step S110). In step S110, the crane control device 20 can determine whether the detection unit 40 has detected the truck 30, or whether the distance between the truck 30 and the handover position CP is below a predetermined threshold. In step S110, if it is determined that the truck 30 is not approaching, the process of step S110 is repeated. In step S110, if it is determined that the truck 30 is approaching, the crane control device 20 displays the following... Figure 7 The moving arrow 61 shown in (a) begins to guide the truck 30 (step S120).

[0053] Next, the crane control device 20 determines whether the distance between the truck 30 and the handover position CP is below the first threshold (step S130). In step S130, if it is determined that the distance is not less than or equal to the threshold, the crane control device 20 repeats the process from step S120 again. At this time, as the truck 30 approaches the handover position CP, the movement speed of arrow 61 (the first object) is slowed down. In step S130, if it is determined that the distance is below the second threshold, as... Figure 7 As shown in (b), (c), and (d), the crane control device 20 displays the truck image 62 (the second object) and the arrival area 63 (the third object), and adjusts the color of the object (step S140). After proceeding to step S140, Figure 7The guide image 60B shown in (b) is displayed on the display device 50. Additionally, if the truck 30 has passed the handover position CP, the object can be displayed vertically inverted, or the object's direction of movement can be reversed.

[0054] Next, the crane control device 20 determines whether the truck 30 has reached the handover position CP, which is the target position, and stops (step S150). In step S150, if it is determined that the truck 30 has not stopped at the target position, the crane control device 20 repeats the process from step S140 again. At this time, the crane control device 20 adjusts the speed of the arrow 61, the positional relationship between the truck 30 and the handover position CP, and the background 64 according to the positional relationship between the truck 30 and the handover position CP. In step S150, if it is determined that the truck 30 has stopped at the target position, the crane control device 20 ends the display of the guide image on the display device 50 (step S160). The display device 50 can continue to display after the truck 30's guidance has ended. Figure 8 The instructions for truck 30 are shown in (c) and (d). Stopping at the target location can be detected, for example, based on a predetermined time after truck 30 has stopped.

[0055] Next, the effects of the crane system 100 and the display device 50 according to this embodiment will be explained.

[0056] In the crane system 100 of the RTG crane 10, automation is promoted to achieve labor saving and improve loading and unloading efficiency, so that the RTG crane can operate automatically. On the other hand, for trucks that transfer containers with the RTG crane, a manned RTG crane 10 is sometimes still used. Therefore, various position guidance methods have been used traditionally to guide the driver of the truck 30. However, with conventional methods such as using sound or rotating lights for indication, it is difficult to make high-precision (±30mm, etc.) position adjustments for the truck 30, which has a total length of, for example, about 20,000 mm. For example, the sound guidance method requires an instructor and is difficult to automate. Furthermore, the sound guidance method is difficult to fine-tune the indication. The guidance method using light sources such as lights or rotating lights has the problem of limited information.

[0057] In contrast, the crane system 100 according to this embodiment includes a display device 50. Therefore, when the truck 30 approaches the RTG crane 10 to deliver the container 3, the driver of the truck 30 can align with the target position relative to the RTG crane 10 based on the visual information displayed on the display device 50. Here, the display device 50 displays abstract visual information for guiding the truck 30 based on the detection result of the relative positional relationship between the RTG crane 10 and the truck 30. Therefore, the display device 50 can display abstract visual information for guiding the truck 30, making it easy for the driver of the truck 30 to visually understand the relative positional relationship between the RTG crane 10 and the truck 30. The driver accurately grasps the relative positional relationship between the RTG crane 10 and the truck 30 through this visual information, and is thus accurately guided. As a result, the truck 30 can be guided to an accurate position relative to the RTG crane 10. Furthermore, when the truck 30 is visually guided by the display device 50, detailed information can be provided to the driver, making automation of the crane system 100 easier to achieve compared to guidance via sound or lights.

[0058] That is, the crane system 100 includes a display device 50. Therefore, when the truck 30 approaches the RTG crane 10 to deliver the container 3, the driver of the truck 30 can align with the target position relative to the RTG crane 10 based on the guidance image displayed on the display device 50. Here, the display device 50 displays a guidance image for guiding the truck 30. The crane system 100 represents the relative positional relationship between the RTG crane 10 and the truck 30 detected by the detection unit 40 by changing the guidance image. Therefore, the crane system 100 can display a guidance image for guiding the truck 30, making it easy for the driver of the truck 30 to visually understand the relative positional relationship between the RTG crane 10 and the truck 30. Based on this guidance image, the driver accurately grasps the relative positional relationship between the RTG crane 10 and the truck 30, and is thus accurately guided. Therefore, the truck 30 can be guided to an accurate position relative to the RTG crane 10.

[0059] The display device 50 can be installed on the outrigger 26 of the RTG crane 10 on the side of the truck 30's travel path, i.e., the loading / unloading lane CR. At this time, the driver of the truck 30 can visually identify the outrigger 26 on the side of the truck 30, or visually identify the outrigger 26 on the side of the truck 30 through the rearview mirror, and confirm the guidance image (visual information) displayed on the display device 50.

[0060] The display device 50 may have a first display 51 that can be viewed from the travel direction D2 of the RTG crane 10 and a second display 52 that can be viewed from the inside of the width direction D1 of the RTG crane 10. At this time, when the driver of the truck 30 is away from the target position, the driver can check the first display 51 from the travel direction D2; when approaching the target position, the driver can check the second display 52 from the inside of the width direction D1.

[0061] The guiding image (visual information) includes an arrow 61 (first object) that moves relative to the background of the display device 50. The speed of movement of the arrow 61 can be adjusted according to the relative distance between the truck 30 and the RTG crane 10. At this time, the driver can intuitively grasp the relative distance between the truck 30 and the RTG crane 10 based on the speed of movement of the arrow 61. Furthermore, by highlighting the arrow 61 in the image, the driver can easily visually identify it even from a distance.

[0062] The color of arrow 61 (the first object) can vary depending on the relative distance between truck 30 and RTG crane 10. This allows the driver to visually determine the relative distance between truck 30 and RTG crane 10 based on the color. Furthermore, by highlighting the color in the image, the driver can easily visually identify it even from a distance.

[0063] The color of the background 64 can vary depending on the relative distance between the truck 30 and the RTG crane 10. This allows the driver to visually determine the relative distance between the truck 30 and the RTG crane 10 based on the background color. Furthermore, because the background color is prominent in the image, it is easily identifiable by the driver even from a distance.

[0064] The guidance image (visual information) may include a truck image 62 (second object) representing truck 30 and an arrival area 63 (third object) representing the target position of truck 30. The relative positional relationship between truck image 62 and arrival area 63 in the image is adjusted according to the relative distance between truck 30 and RTG crane 10. At this time, the driver can intuitively grasp the relative distance between truck 30 and RTG crane 10 based on the relative positional relationship between truck image 62 and arrival area 63 in the image. Furthermore, by highlighting truck image 62 and arrival area 63 in the image, the driver can easily visually identify them even from a distance.

[0065] The display device 50 involved in this embodiment is a display device 50 that displays images (visual information) related to the crane system 100 that suspends the container 3 by the RTG crane 10 and loads it onto the truck 30, wherein the relative positional relationship between the RTG crane 10 and the truck 30 is represented by changing the images.

[0066] According to the display device 50, the same effect as the crane system 100 described above can be obtained.

[0067] This disclosure is not limited to the embodiments described above.

[0068] Figure 7 The guide image shown is merely an example. As long as the visual information that has undergone image processing can be displayed based on the detection results of the detection unit 40, the specific content is not particularly limited.

[0069] For example, it can be adopted Figure 11 The guide image 70 is shown. The guide image 70 uses a bar graph 71 (first object) to represent the distance between the truck 30 and the target position. Furthermore, the distance is represented numerically in the display area 72. Additionally, the indication content is shown within the bar graph 71. Figure 7 Guide image 60 and Figure 11 Compared to the guide image 70, the target location range is easier to visually identify. Furthermore, text can sometimes be difficult to read from a distance. This is especially true when viewing the display device 50 from the truck 30 via the rearview mirror, where the text may appear reversed. Therefore, the text in the guide image 70 can be displayed in reverse. Figure 7 The guide images 60 are easier for drivers to recognize than text.

[0070] For example, it can be adopted Figure 12 The guide image 80 is shown. The guide image 80 has an arrow 81 (first object) and an indication content display area 82. The arrow 81 indicates distance by changing the shape of its lower end. Figure 12 The guide image 80A in (a) represents the state of truck 30 moving away from the target location. Figure 12 (b) Guide image 80B indicates that truck 30 is in a state of being at a moderate distance from the target location. Figure 12 The guide image 80C in (c) indicates the state of truck 30 approaching the target location. Figure 7 The guide image 60 with the moving arrow 61 Figure 12 Compared to arrow 81, it is easier to identify changes in objects. Therefore, it is easier for drivers to intuitively identify distances.

[0071] For example, Figure 7 Arrow 61 (the first object) in (a) indicates distance by adjusting its movement speed in the up-down direction. Alternatively, the flashing period of arrow 61 can also be adjusted to indicate distance. For example, the flashing period could be slower for farther distances and faster for closer distances. Furthermore, Figure 7 Compared to the blinking of arrow 61, the moving arrow 61 in the guide image 60 makes it easier to identify changes in the object. Therefore, for the driver, distance is easily and intuitively identified.

[0072] For example, it can be adopted Figure 13 The guide image 90 is shown. The guide image 90 has a truck image 91 (the second object) and an arrival area 93 (the third object). In addition, the guide image 90 adjusts the color of the frame 94 according to the distance. Figure 13 Box 94 of the guide image 90A in (a) indicates "blue". Figure 13 Box 94 in guide image 90B of (b) indicates "yellow". Figure 13 In (c), box 94 of the guide image 90C indicates "red". Additionally, compared to box 94, Figure 7 The changes in the background color (64) are easier to identify.

[0073] In the above embodiment, the display device 50 is provided at the lower end of the travel device of the RTG crane, but its location on the RTG crane is not particularly limited. Furthermore, the display device 50 may not be provided on the RTG crane itself. For example, a terminal in the operator's hand can be used as the display device, and a guidance image can be displayed on that terminal. Moreover, the display device 50 does not have to be a monitor. For example, a projector can be used as the display device, projecting the guidance image onto the outriggers of the RTG crane or the travel path of the transport trolley.

[0074] Figure 1 , Figure 2 , Figure 5 The system diagram shown is an example and can be modified as appropriate. Figure 3 and Figure 4 The structure of the RTG crane and truck shown can also be modified appropriately.

[0075] Crane systems with displays can be adapted to existing cranes.

[0076] Symbol Explanation 10-RTG crane, 30-truck (transfer trolley), 50-display device, 61-arrow (first object), 62-truck image (second object), 63-reaching area (third object), 100-crane system.

Claims

1. A crane system for suspending and loading containers onto a transport trolley, the crane system comprising: The detection unit detects the relative positional relationship between the crane and the transport trolley; and The display unit shows a guide image for guiding the transport trolley. The relative positional relationship between the crane and the transport trolley, as detected by the detection unit, is represented by changing the guide image.

2. The crane system according to claim 1, wherein, The display unit is located on the outrigger of the crane on the side of the travel path of the transport trolley.

3. The crane system according to claim 1, wherein, The display unit has: A first display that can be viewed from the direction of travel of the crane; and A second display that can be viewed from the inside in the width direction of the crane.

4. The crane system according to claim 1, wherein, The guide image includes a first object that moves relative to the background of the display unit, the moving speed of which is adjusted according to the relative distance between the transport trolley and the crane.

5. The crane system according to claim 4, wherein, The color of the first object varies depending on the relative distance between the transport trolley and the crane.

6. The crane system according to claim 5, wherein, The background color varies depending on the relative distance between the transport trolley and the crane.

7. The crane system according to claim 1, wherein, The guide image includes a second object representing the transport trolley and a third object representing the target position of the transport trolley. The relative positional relationship between the second object and the third object in the image is adjusted based on the relative distance between the transport trolley and the crane.

8. A display device that displays images related to a crane system that suspends a container by a crane and loads it onto a transport trolley, wherein, The relative positional relationship between the crane and the transport trolley is represented by changing the image.

Images