Automatic crane system and automatic cargo handling method

Abstract

To provide an automatic crane system and an automatic cargo handling method that improve the safety of transport cart operators.SOLUTION: An automated crane system 100 includes a wireless communication device 40 that is provided on a truck 30 side and transmits a stop request signal to an RTG crane 10 to stop. When the RTG crane 10 is performing automatic cargo handling operations, the driver of the truck 30 can operate the wireless communication device 40 according to the situation. In the event of an emergency, the driver can request the RTG crane 10 to stop via the wireless communication device 40. The RTG crane 10 is provided with a receiving device 55 that receives the stop request signal. Based on the stop request signal, the RTG crane 10 can perform an operation such as stopping the operation of the RTG crane 10. The RTG crane 10 can quickly stop its operation according to the driver's intention even during automatic work.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to an automated crane system and an automated cargo handling method. [Background technology]

[0002] A conventional crane is described in Patent Document 1. The crane hoists a container with a hoisting tool while moving the hoisting tool horizontally. This crane hoists a container placed on a transport cart with the hoisting tool, and loads the container suspended by the hoisting tool onto the transport cart. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2005-239343 A Summary of the Invention [Problem to be solved by the invention]

[0004] Here, automation of the loading and unloading work of the crane on the carrier is being promoted. However, there are cases where the operator is present on the carrier side. Therefore, when promoting automation of the crane, it is required to improve the safety of the operator of the carrier.

[0005] An object of the present disclosure is to provide an automatic crane system and an automatic cargo handling method that can improve the safety of the operator of a transport vehicle. [Means for solving the problem]

[0006] The automated crane system of the present disclosure is an automated crane system that suspends a container by a crane and loads it onto a transport cart, and is equipped with a wireless communication unit provided on the transport cart that transmits a stop request signal requesting the crane to stop, and a wireless receiving unit provided on the crane that receives the stop request signal.

[0007] The automatic crane system is provided with a wireless communication unit that is provided on the transport platform and transmits a stop request signal to the crane to request that it stop. Therefore, when the crane is automatically performing loading and unloading work, the driver of the transport platform can operate the wireless communication unit according to the situation. Here, the wireless communication unit can transmit a stop request signal to the crane to request that it stop. That is, in the case of an emergency, the driver can request the crane to stop via the wireless communication unit. In response to this, the crane is provided with a wireless receiving unit that receives the stop request signal. This allows the crane to perform an operation such as stopping the operation of the crane based on the stop request signal. Therefore, the crane can quickly stop its operation according to the driver's intention even in the middle of performing work automatically. As a result, the safety of the driver of the transport platform can be improved.

[0008] The automated crane system further includes a crane control unit that controls the crane, and when the wireless receiver receives the stop request signal, the crane control unit may stop the operation of the crane based on the stop request signal. This enables the crane control unit to perform control according to the operator's intention.

[0009] The wireless communication unit may transmit a linking request signal to request that the operator console be linked to a crane that performs work on the transport vehicle. In this case, when the driver does not want to stop the crane but wants to request remote operation by the operator at the console, the operator can request that the operator console be linked to the crane by operating the wireless communication unit.

[0010] The crane that is the target of the pegging request signal may be given a high pegging priority, in which case the operator's console can be quickly pegged to the crane in response to the operator's request.

[0011] The wireless communication unit may include identification information of the transport vehicle in the signal to the crane, which makes it possible for the crane to easily recognize that the transport vehicle that sent the signal is the transport vehicle that is the target of the work.

[0012] The crane control unit may receive only signals from the wireless communication unit of the transporting vehicle that is the target of the work. In this case, it is possible to prevent erroneous reception of signals from the wireless communication unit of another transporting vehicle.

[0013] The crane control unit may receive signals from the wireless communication unit only when the container is to be loaded onto the transport vehicle. In this case, the crane control unit can prevent erroneous reception of signals from the wireless communication of other transport vehicles by regarding signals that are not received when loading is not being performed as not coming from the transport vehicle that is the subject of the operation.

[0014] The automatic loading and unloading method according to the present disclosure is an automatic loading and unloading method in which a container is suspended by a crane and loaded onto a transport cart, and from the time the transport cart arrives at a container transfer location until it leaves the location, the driver of the transport cart holds a wireless communication unit, and the crane performs container loading and unloading operations in a state in which it can be stopped in an emergency by the driver operating the wireless communication unit.

[0015] According to the automatic loading and unloading operation method, the driver of the transporting platform vehicle has the wireless communication unit from when the transporting platform vehicle arrives at the container delivery location until when the transporting platform vehicle leaves the delivery location. Therefore, when the crane automatically performs loading and unloading work on the transporting platform vehicle, the driver of the transporting platform vehicle can operate the wireless communication unit according to the situation. Here, the wireless communication unit can be operated to perform an emergency stop of the crane. In other words, the crane performs container loading and unloading work in a state where it can be stopped in an emergency by the driver's operation of the wireless communication unit. Therefore, the crane can quickly stop its operation according to the driver's intention even in the middle of performing work automatically. As described above, the safety of the driver of the transporting platform vehicle can be improved. Effect of the Invention

[0016] According to the present disclosure, it is possible to provide an automated crane system and an automated cargo handling method that can improve the safety of the driver of the transport vehicle. [Brief description of the drawings]

[0017] [Figure 1] FIG. 1 is a plan view showing an exemplary container terminal to which an automated crane system according to an embodiment of the present disclosure is applied. [Diagram 2] FIG. 1 is a perspective view showing a schematic view of an RTG crane arranged in a container yard. [Diagram 3] FIG. 2 is a front view of the RTG crane. [Figure 4] FIG. 2 is a perspective view showing a configuration of a truck in a loading lane and the vicinity of one leg of an RTG crane. [Diagram 5] 1 is a block diagram showing functions of an automatic crane system according to an embodiment of the present invention. [Figure 6] 1 is a flowchart showing the details of automatic operation of an RTG crane. [Figure 7] FIG. 1 is a schematic diagram showing a configuration of a wireless communication device. [Figure 8] 10 is a flowchart showing the processing contents of the crane control device that has received a signal from the wireless communication device. [Figure 9] FIG. 2 is a process diagram showing the work process of a truck driver. [Figure 10] FIG. 2 is a diagram illustrating an example of a signal configuration of a wireless communication device. [Figure 11] 13 is a flowchart showing the processing contents of the crane control device when target limitation is performed. [Figure 12] 13 is a flowchart showing the processing contents of the crane control device when scene limitation is performed. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, an embodiment of an automatic crane system and an automatic cargo handling method according to the present disclosure will be described with reference to the drawings. In the description of the drawings, the same or corresponding elements are given the same reference numerals, and duplicated descriptions are omitted as appropriate. In addition, the drawings may be partially simplified or exaggerated for ease of understanding, and the dimensional ratios and the like are not limited to those shown in the drawings.

[0019] FIG. 1 is a plan view showing an exemplary container terminal 1 to which an automated crane system 100 according to this embodiment is applied. As shown in FIG. 1, the container terminal 1 is provided with a container yard 2 in which containers 3 (see FIG. 2) are placed, a plurality of gantry cranes 4 that transfer the containers 3 to ships that are berthed, a plurality of RTG cranes 10 (cranes) that are placed in the container yard 2 and that load and unload the containers 3, and a remote operation room 5 that can remotely operate the plurality of RTG cranes 10. Note that, in this embodiment, the RTG crane 10 is illustrated as an example of the crane, but the type of the crane is not particularly limited. For example, a crane for transferring containers from a ship to a transport cart may be adopted. For example, a gantry crane may be adopted as the crane.

[0020] For example, in the container yard 2, a running path for transport vehicles such as freight cars, trucks, or AGVs (Automated Guide Vehicles) is laid. The RTG crane 10 acquires the container 3 transported by the transport vehicle, and places the container 3 at a position indicated by a predetermined address in the container yard 2. For example, a plurality of RTG cranes 10 are arranged for each container yard 2. The RTG crane 10 acquires the container 3 placed in the container yard 2, transfers the container 3 to the transport vehicle, and causes the transport vehicle to carry the container 3 outside.

[0021] Fig. 2 is a perspective view showing a schematic diagram of an RTG crane 10 arranged in a container yard 2. As shown in Fig. 2, the RTG crane 10 is a container handling crane that loads and unloads containers 3, and is a rubber-tired gantry crane (RTG). The RTG crane 10 automatically loads and unloads containers 3 arranged in the container yard 2 in the container terminal 1.

[0022] As shown in Fig. 3, the RTG crane 10 includes, for example, a main body 15, a trolley 11 capable of traversing on a crane girder 27 of the main body 15, a spreader 12 for loading and unloading containers 3, and a traveling device 13 having wheels. The main body 15 has a gate shape including a pair of legs 26 erected on the pair of traveling devices 13, and a crane girder 27 connecting the upper ends of the pair of legs. The trolley 11 traverses by, for example, driving a traverse motor. As an example, the trolley 11 includes a drum that rotates forward and backward by a drum drive motor, and suspends the spreader 12 via a wire.

[0023] The spreader 12 is a hoisting device that suspends the container 3. The spreader 12 is capable of engaging the container 3 from above, and loads and unloads the container 3 by engaging and lifting the container 3.

[0024] The RTG crane 10 is a crane device that handles the loading and unloading of containers 3 in a container yard CY of a container terminal where containers 3 are transferred to and from a berthed container ship, for example. A loading and unloading lane CR, which is a travel path for trucks 30 (transportation vehicles) on which containers C are transferred, is laid in the container yard CY. The RTG crane 10 automatically transfers the container 3 to, for example, a truck 30 stopped on the loading and unloading lane CR. The RTG crane 10 acquires the container 3 carried in by the truck 30 from the truck 30 and places the container 3 at a predetermined position in the container yard CY. The RTG crane 10 also acquires the container 3 placed in the container yard CY, places the container 3 on the truck 30 stopped on the loading and unloading lane CR, and transports the container 3 to the outside.

[0025] FIG. 4 is a perspective view showing the configuration of the truck 30 of the loading lane CR and the vicinity of one leg 26 of the RTG crane 10. As shown in FIG. 4, the truck 30 includes a loading platform 31 and a riding section 32. The loading platform 31 extends in the front-rear direction of the vehicle and is a section for loading the container 3. The riding section 32 is a section in which a driver rides and drives the truck 30. Here, the truck 30 includes an in-yard truck that repeatedly circulates within the premises of the container terminal 1, and an outside truck that comes from the outside of the container terminal 1 and leaves the container terminal 1 after loading the container 3. The automatic crane system 100 according to this embodiment is applicable to both the in-yard truck and the outside truck. In addition, as shown in FIG. 4, the truck 30 includes a manned truck with a driver and an unmanned truck that operates fully automatically without a driver. The automatic crane system 100 according to this embodiment is particularly effective when the truck is a manned truck, regardless of whether it is an in-yard truck or an outside truck.

[0026] As shown in Fig. 4, the RTG crane 10 is equipped with a crane control device 20 that controls the RTG crane 10. The crane control device 20 is attached to a predetermined position on the RTG crane 10 and moves as the RTG crane 10 moves. In the example shown in Fig. 4, the crane control device 20 is provided near the lower end of the leg 26 and on the upper part of the traveling gear 13. The crane control device 20 is also provided on the upper part of the traveling gear 13, which is closer to the loading lane CR, of the pair of traveling gears 13. The place on the loading lane CR adjacent to the traveling gear 13 is a transfer location CP where the truck 30 stops and transfers the container 3.

[0027] The wireless communication device 40 is provided in the riding section 32 of the truck 30. The wireless communication device 40 is a device that transmits various signals to the crane control device 20 based on the operation of the driver. The wireless communication device 40 transmits at least a stop request signal to request the RTG crane 10 to stop. The contents of the signal transmitted by the wireless communication device 40 will be described later. There is no limitation on how the wireless communication device 40 is provided on the truck 30, but it is preferable that the wireless communication device 40 is provided in a position where the driver can quickly operate the wireless communication device 40 in an emergency. For example, the wireless communication device 40 may be detachably attached to the driver's seat of the riding section 32. Note that the state in which the wireless communication device 40 is provided on the truck 30 may include not only a state in which the wireless communication device 40 is attached to the wireless communication device 40 by a fixture or the like, but also a state in which the wireless communication device 40 is placed on the driver's seat or carried by the driver, such as in the driver's pocket, as long as it is present in the riding section 32.

[0028] The signal SG transmitted by the wireless communication device 40 is received by a receiving device 55 (wireless receiving unit) connected to the crane control device 20. The receiving device 55 functions as a wireless receiving unit that receives a stop request signal from the wireless communication device 40. The location at which the receiving device 55 is provided is not particularly limited, and the receiving device 55 may be provided at any position on the RTG crane 10. However, it is preferable that the receiving device 55 is provided at a position close to the driver who has parked the truck 30 at the transfer location CP. Therefore, when the crane control device 20 is provided next to the transfer location CP, the receiving device 55 may be provided on the outer wall of the crane control device 20, for example.

[0029] Fig. 5 is a block diagram showing functions of an automated crane system 100 according to this embodiment. The automated crane system 100 is a system capable of controlling a plurality of RTG cranes 10. As shown in Fig. 4, the automated crane system 100 includes a truck 30, a plurality of RTG cranes 10, a plurality of operation consoles 6 capable of operating each of the RTG cranes 10, and a system control device 50. Note that in the block diagram of Fig. 3, a crane control device 20 included in the RTG crane 10 and a wireless communication device 40 included in the truck 30 are shown.

[0030] The operation console 6, the crane control device 20, and the system control device 50 may be configured as a general computer, for example, including a processor, a memory, a storage, a communication interface, and a user interface. The processor is a computing device 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 is a storage unit (storage medium) such as a HDD (Hard Disk Drive). The communication interface is a communication device that realizes data communication. The processor controls the memory, the storage, the communication interface, and the user interface. In the operation console 6, the crane control device 20, and the system control device 50, for example, a program stored in the ROM is loaded into the RAM, and the program loaded into the RAM is executed by the CPU to realize various functions. The user interface of the operation console 6 and the crane control device 20 includes output devices such as a display for display output and a speaker for audio output, as well as input devices such as a steering lever, a button, a keyboard, a touch panel, and a microphone. The system control device 50 may be configured by a single computer installed in one location, or may be configured by multiple computers, or may be installed in a distributed state at multiple locations.

[0031] The system control device 50 includes a communication unit 51 and a calculation unit 52. The communication unit 51 transmits and receives various information by communicating with other devices. The calculation unit 52 performs various calculations related to the system control device 50. The calculation unit 52 links an operator console 6 that is not linked to any of the RTG cranes 10 among the multiple operator consoles to an RTG crane 10 that is issuing an operation request requesting an operation by an operator among the multiple RTGs.

[0032] Here, an example of how the system controller 50 links multiple RTG cranes 10 to multiple operation consoles 6 will be described. The calculation unit 52 of the system controller 50 acquires information related to the availability of each operation console 6 via the communication unit 51. A state in which the operation console 6 is available means that the operation console 6 is not linked to any RTG crane 10 and cannot operate any of the RTG cranes 10. A state in which the operation console 6 is not available means that the operation console 6 is linked to any RTG crane 10 and can operate that RTG crane 10. The calculation unit 52 can acquire operation requests from each RTG crane 10 via the communication unit 51.

[0033] When the calculation unit 52 acquires an operation request for any of the RTG cranes 10 while the operation console 6 is available, the calculation unit 52 links the RTG crane 10 that has issued the operation request to any of the available operation consoles 6. When the calculation unit 53 acquires an operation request for any of the RTG cranes 10 while the operation console 6 is not available, the calculation unit 52 sets the RTG crane 10 that has issued the operation request in a standby state until the operation console 6 becomes available. Furthermore, when multiple RTG cranes 10 are in a standby state, the calculation unit 52 adjusts the order in which the operation consoles 6 are linked based on the conditions of each RTG crane 10. For example, the calculation unit 52 may link the free operation console 6 based on the first-come-first-served order of the operation requests. That is, the calculation unit 52 links the RTG crane 10 with the earliest operation request among the standby RTG cranes 10 to the operation console 6 that became available earlier. Furthermore, the calculation unit 52 may link the free operation console 6 based on the urgency order of the operation requests. For example, the priority may be increased if requested by the driver of truck 30 .

[0034] The crane control device 20 includes a communication unit 21 (wireless receiving unit), an information acquisition unit 22, a drive control unit 23, and a calculation unit 24. The communication unit 21 transmits and receives various information by communicating with other devices. The above-mentioned receiving device 55 (see FIG. 4) may be included in the communication unit 21. The information acquisition unit 22 acquires information indicating various states for the RTG crane 10 to perform automatic operation. The information acquisition unit 22 acquires information from various sensors provided in the RTG crane 10. The drive control unit 23 transmits control signals to the drive units such as the motor of the RTG crane 10 to perform drive control. When an operation is performed by an operator's operation, the drive control unit 23 performs drive control according to the operation. When the drive control unit 23 is in automatic operation, the drive control unit 23 performs drive control so that the operation calculated by the calculation unit 24 can be realized. The calculation unit 24 performs various calculations related to the RTG crane 10. When the operation is in automatic operation, the calculation unit 24 calculates the operation content of the RTG crane 10.

[0035] During automatic operation, the crane control device 20 can transmit an operation request from the operation console 6 by receiving a request from the driver of the truck 30 via the wireless communication device 40. The communication unit 21 also transmits the operation request to the system control device 50.

[0036] Here, the basic operation when the crane control device 20 automatically operates the RTG crane 10 will be described with reference to FIG. 6. FIG. 6 is a flowchart showing the contents of the automatic operation of the RTG crane 10. It is assumed that the truck 30 has arrived at the transfer location CP and is in a standby state when the process of FIG. 6 is executed. In the following description, "automatically" means that each part of the RTG crane 10 operates autonomously without the operation of the operator of the operation console. As shown in FIG. 6, the crane control device 20 receives an instruction to transport the container 3 from the operation console 6 (step S10). Next, the crane control device 20 automatically moves the spreader 12 to grab the container 3 in the container yard CY with the spreader 12 (step S20). Next, the crane control device 20 automatically transports the container 3 to the transfer location CP via the spreader 12 (step S30). At this time, the container 3 and the spreader 12 are disposed above the loading platform 31 of the truck 30. Next, the crane controller 20 lowers the spreader 12 downward, thereby automatically loading the container 3 onto the truck 30 (step S40). The crane controller 20 releases the spreader 12 from the position where the container 3 was placed on the truck 30, and automatically hoists it up (step S50). Next, the crane controller 20 automatically moves the spreader 12 to the home position, or operates according to the next job item if there is one (step S60). With the above, the processing of FIG. 6 is completed.

[0037] Next, the wireless communication device 40 provided in the truck 30 will be described in detail with reference to Fig. 5 and Fig. 7. As shown in Fig. 5, the wireless communication device 40 includes a communication unit 41, an information input unit 42, and a signal generation unit 43.

[0038] The communication unit 41 transmits and receives various information by communicating with other devices. As shown in Fig. 7, a signal transmission / reception unit 46 of the communication unit 41 is provided in a part of a case 44 of the wireless communication device 40.

[0039] The information input unit 42 acquires various information input based on the driver's operation. The information input unit 42 acquires information indicating a request from the driver. As shown in Fig. 7, a plurality of buttons 47 are provided on the case 44. The information input unit 42 acquires the request from the driver based on which of the plurality of buttons 47 has been pressed.

[0040] The information input unit 42 acquires, as a request from the driver, a stop request that requests the RTG crane 10 to stop loading / unloading operations. The information input unit 42 also acquires a linking request that requests that the operation console 6 be linked to the RTG crane 10 performing work on the truck 30. The information input unit 42 also acquires a request to notify that the truck 30 has reached the delivery location together with its identification information. For these requests, each button 47 is assigned in a one-to-one relationship. Therefore, when the driver wants to make a request, he presses the button 47 that corresponds to the request.

[0041] The signal generating unit 43 generates a request signal based on the information inputted by the information input unit 42. For example, the signal generating unit 43 generates a stop request signal that requests the RTG crane 10 to stop the loading / unloading operation. After generating the stop request signal, the wireless communication device 40 transmits the stop request signal to the target RTG crane. The crane control device 20 receives the stop request signal from the wireless communication device 40. The crane control device 20 stops the operation of the RTG crane 10 based on the stop request signal. For example, the automatic work in steps S40 and S50 in FIG. 6 is performed at a position where the spreader 12 approaches the truck 30. Therefore, when the RTG crane 10 is performing an automatic work near the truck 30, if the driver judges that an emergency stop should be performed to ensure safety, the driver presses the stop request button 47 (see FIG. 7). In this case, the crane control device 20 issues a command to the drive system of the RTG crane 10 to perform an emergency stop of the automatic work.

[0042] For example, the signal generating unit 43 generates a pegging request signal requesting that the operation console 6 be pegged to the RTG crane 10 performing work on the truck 30. After generating the pegging request signal, the wireless communication device 40 transmits the pegging request signal to the target RTG crane 10 to peg it. The crane control device 20 receives the pegging request signal from the wireless communication device 40. For example, when the truck 30 has arrived at the transfer location CP but the automatic work of step S40 in FIG. 6 does not start, or when it is not necessary to perform an emergency stop but it is desired to request the operator of the operation console 6 to remotely control the truck 30, the user presses the pegging request button 47 (see FIG. 7).

[0043] Based on the pegging request signal, the crane controller 20 issues a command to the system controller 50 to peg one of the operator consoles 6 to the RTG crane 10. The RTG crane 10 that is the target of the pegging request signal is given a higher pegging priority. In other words, even if another RTG crane 10 is able to be pegged first in the pegging queue, the system controller 50 advances the order of the RTG crane 10 of the crane controller 20 that issued the pegging request signal. Note that the operator console 6 may output information such as voice or text so that the operator can notice the remote operation request from the truck 30.

[0044] For example, the signal generating unit 43 generates a signal indicating that the truck 30 has reached the transfer location and a signal indicating the identification information. When the driver of the truck 30 reaches the transfer location, he or she presses a button 47 (see FIG. 7) to notify the driver of the arrival of the transfer location. The wireless communication device 40 transmits these signals to the crane control device 20. When the crane control device 20 receives these signals, it starts the task of loading the container 3 onto the truck 30 (step S40 in FIG. 6).

[0045] With reference to FIG. 8, an exemplary process of the crane control device 20 when a signal is received from the wireless communication device 40 will be described. FIG. 8 is a flowchart showing the process contents of the crane control device 20 when a signal is received from the wireless communication device 40. As shown in FIG. 8, the crane control device 20 grasps the contents of the received signal (step S100). Next, the crane control device 20 judges whether the received signal is a signal indicating the arrival of the truck 30 at the transfer location CP (step S110). If the signal indicates the arrival (NO in step S110), the crane control device 20 starts the operation of loading the container 3 onto the truck 30 (step S120). When step S120 is completed, the process of FIG. 8 ends. On the other hand, when step S110 is YES, the crane control device 20 judges whether the signal is a stop request signal (step S130). If the signal is a stop request signal (YES in step S130), the crane control device 20 stops the RTG crane 10 (step S140). When step S140 is completed, the process of FIG. 8 ends. If step S130 is NO, it is determined whether the signal is a pegging request signal (step S150). If the signal is a pegging request signal (YES in step S150), the crane controller 20 requests the system controller 50 for pegging (step S160). When step S160 is completed, the process in FIG. 8 ends. If the signal is not a pegging request signal (NO in step S150), no request for pegging is made and the process in FIG. 8 ends.

[0046] Next, referring to FIG. 9, an exemplary process of the work of the driver of the truck 30 will be described. FIG. 9 is a process diagram showing the work process of the driver of the truck 30. Here, the content when an external truck 30 comes to the container terminal 1 is shown. As shown in FIG. 9, the driver acquires the wireless communication device 40 at the entrance of the premises or the like (step S400). Next, the driver moves to the target transfer location CP (step S410). When the driver arrives, the driver operates the wireless communication device 40 and notifies the crane control device 20 that he has arrived at the transfer location CP together with the identification information (step S420). During the loading and unloading work of the RTG crane 10, the driver makes a request to the crane control device 20 using the wireless communication device 40 as necessary (step S430). However, if there is no request, step S430 is omitted. When the loading and unloading work of the RTG crane 10 is completed, the driver moves from the transfer location CP (step S440). When leaving the premises, the driver returns the wireless communication device 40 (step S450). As described above, the driver of the truck 30 has the wireless communication device 40 from when the truck 30 arrives at the transfer location CP for the container 3 until it leaves the transfer location CP. The RTG crane 10 performs container loading and unloading operations in a state in which it can be stopped in an emergency by the driver operating the wireless communication device 40. Note that if the driver has his own wireless communication device 40 or if the truck 30 is within the premises and is equipped with a wireless communication device 40, steps S400 and S450 are omitted.

[0047] Here, the communication method adopted by the wireless communication device 40 will be described. The first communication method is a method for making the entire area wireless. This communication method is a communication method using a system configuration that makes the entire area wireless by utilizing, for example, 5G / LTE, mesh WiFi, etc., and integrates and manages the terminals accommodated in the wireless area to link information. The first communication method has the advantage of enabling advanced information linkage, but has the disadvantages of delay, complexity, and cost, and low wireless quality. The second communication method is a direct wireless connection between targets. This communication method is a method that assumes that targets that want to exchange signals are directly connected wirelessly to each other and use a configuration for sending and receiving signals. The second communication method has the advantage of being fast, simple, and inexpensive, and has high wireless quality, but is not good at advanced information linkage, and has a problem that the signal reaches other nearby RTG cranes 10. The communication method adopted by the wireless communication device 40 is not particularly limited, but the second "direct wireless connection method between targets" may be adopted, focusing on wireless quality, which is considered to be the most important as a safety device. However, the first method may be adopted.

[0048] As described above, when the "direct wireless connection method between targets" is adopted, there is a problem that the signal reaches not only the RTG crane 10 performing the work on the truck 30, but also the RTG crane 10 if there is another RTG crane 10 nearby. That is, the target of container transfer between the truck 30 and the RTG crane 10 changes in an "N to M" manner according to the flow of loading and unloading time. Therefore, in the direct wireless connection between targets that want to exchange signals, the target to be wirelessly connected is different at each time, and wireless connection must be made with the nearby target at the appropriate time. Therefore, when a wireless radio wave is sent from the truck 30, a problem occurs in that all RTG cranes 10 in the vicinity receive the signal.

[0049] To address this issue, the information sent from the wireless communication device 40 corresponding to each truck 30 can be made unique, and the crane control device 20 can receive a signal "limited to the target" that matches the identification information (ID) of the truck 30 to which the container 3 is to be transferred. Furthermore, when it is difficult to respond by limiting the target, or in addition to responding by limiting the target, the crane control device 20 may receive a signal "limited to the situation" where the container is transferred between the RTG crane 10 and the truck 30.

[0050] The above-mentioned "target limitation" will be described in detail with reference to Figs. 10 and 11. Fig. 10 is a diagram showing an example of the configuration of a signal of the wireless communication device 40. Fig. 11 is a flowchart showing the processing contents of the crane control device 20 when target limitation is performed. As shown in Fig. 10, the wireless communication device 40 may include the identification information (ID) of the truck 30 in the signal to the RTG crane 10. The signal shown in Fig. 10 includes composite information of the identification information of the truck 30 and the information to be notified. The signal is composed of a number of multiple digits. The three digits on the left side indicate the truck ID of the truck 30. The numbers on the right side indicate the contents that the driver wants to notify the RTG crane 10. The first digit from the right side indicates a stop request, the second digit indicates a pegging request, and the third digit indicates a notification of arrival at the transfer location. When a request or notification is made, "1" is entered, and when not, "0" is entered. The other digits are prepared as spares.

[0051] The crane control device 20 receives signals only from the wireless communication device 40 of the truck 30 that is the target of the work. Specifically, when the signal of FIG. 10 is received, the crane control device 20 performs the process of FIG. 11. The crane control device 20 grasps the contents of the identification information contained in the signal (step S200). Next, the crane control device 20 judges whether the identification information grasped in step S200 is that of the truck 30 that is the target of the work (step S210). If the identification information is that of the target truck 30, the crane control device 20 accepts the signal (step S220). On the other hand, if the grasped identification information is not that of the truck 30 that is the target of the work, the crane control device 20 does not accept the signal (step S230).

[0052] With reference to FIG. 12, the above-mentioned response in the "scene limitation" will be described in detail. FIG. 12 is a flowchart showing the processing contents of the crane control device 20 when the scene limitation is performed. At this time, the crane control device 20 receives signals from the wireless communication device 40 only when the work of loading the container 3 onto the truck 30 is performed. Specifically, the processing of FIG. 12 is executed. The processing of FIG. 12 is obtained by adding processing contents for scene limitation to the processing contents of steps S10 to S60 of FIG. 6. As shown in FIG. 12, at the timing immediately before loading the container 3 onto the truck 30 in step S40, the crane control device 20 starts to allow reception of signals (step S300). At the timings of steps S10 to S30 before this, the crane control device 20 does not receive signals from any of the wireless communication devices 40. From this state, from step S300 onwards, the crane control device 20 accepts signals from all nearby wireless communication devices 40. When the hoisting of the spreader 12 is completed in step S50, the crane control device 20 prohibits reception of signals (step S310). After this, the crane control device 20 does not receive any signals from any of the wireless communication devices 40.

[0053] Next, the operation and effect of the automatic crane system 100 and the automatic cargo handling method according to this embodiment will be described.

[0054] First, an automatic crane system according to Comparative Example 1 will be described. In the automatic crane system 100 according to this embodiment, all the processes shown in Fig. 6 are performed automatically, whereas in Comparative Example 1, steps S40 and S50 in which the spreader 12 approaches the truck 30 are remotely operated by an operator at the operation console 6. In the automatic crane system 100 according to this embodiment, as shown in Fig. 3, the automatic operation area AE is set to substantially the entire area inside the RTG crane 10, including the truck 30. In contrast, in Comparative Example 1, the vicinity area CE of the truck 30 is excluded from the automatic operation area AE.

[0055] In contrast to the above-mentioned Comparative Example 1, Comparative Example 2 simply automates steps S40 and S50, and includes the vicinity area CE in the automatic driving area AE. In Comparative Example 2, the container transfer to and from the truck 30 is fully automated, so the important function of safety monitoring by a remote operator, which was guaranteed in Comparative Example 1, is lost. In Comparative Example 2, the container transfer to and from the truck 30 is fully automated, so the remote operation by the remote operator is no longer performed, and the mutual communication between the remote operator and the driver of the truck 30 through voice and video, which was provided in Comparative Example 1, is cut off. Therefore, in Comparative Example 2, a means is required for the driver of the truck 30 at the site to notify of an unexpected situation. In Comparative Example 1, the truck ID to which the container is about to be transferred is collated and confirmed by visually checking the truck number through the remote operation console monitor. In contrast, in Comparative Example 2, this function is also lost due to full automation, and it becomes necessary to provide an alternative means.

[0056] In order to solve the above-mentioned problems, the automatic crane system 100 according to this embodiment includes a wireless communication device 40 (wireless communication unit) that is provided on the truck 30 (transport vehicle) side and transmits a stop request signal to the RTG crane 10 to request the RTG crane 10 to stop. Therefore, when the RTG crane 10 automatically performs a loading / unloading operation, the driver of the truck 30 can operate the wireless communication device 40 according to the situation. Here, the wireless communication device 40 can transmit a stop request signal to the RTG crane 10 to request the RTG crane 10 to stop the loading / unloading operation. That is, in the case of an emergency, the driver can request the RTG crane 10 to stop via the wireless communication device 40. In response to this, the RTG crane 10 is provided with a receiving device 55 (wireless receiving unit) that receives the stop request signal. This allows the RTG crane 10 to perform an operation such as stopping the operation of the RTG crane 10 based on the stop request signal. Therefore, the RTG crane 10 can quickly stop the operation according to the driver's intention even in the middle of performing an automatic operation. As a result, the safety of the driver of the transport vehicle can be improved. In addition, safety can be ensured from the viewpoint of the work site side.

[0057] The automated crane system 100 further includes a crane control device 20 (crane control unit) that controls the RTG crane 10. When the receiving device 55 receives a stop request signal, the crane control device 20 may stop the operation of the RTG crane 10 based on the stop request signal. This enables the crane control device 20 to perform control in accordance with the intention of the operator.

[0058] The wireless communication device 40 may transmit a pegging request signal requesting that the operator console 6 be pegged to the RTG crane 10 performing work on the truck 30. In this case, when the driver does not want to stop the RTG crane 10 but wants to request remote operation of the operator at the operator console 6, the driver can request that the operator console 6 be pegged to the RTG crane 10 by operating the wireless communication device 40.

[0059] The RTG crane 10 that is the target of the pegging request signal may be given a high pegging priority. In this case, the operator console can be quickly pegged to the RTG crane 10 in response to a request from the operator.

[0060] The wireless communication device 40 may include identification information of the truck 30 in the signal to the RTG crane 10. In this case, it becomes possible for the RTG crane 10 to easily recognize that the truck 30 that is the source of the signal is the truck 30 that is the target of the work. In this case, visual confirmation by the operator of the control console 6 can be eliminated.

[0061] The crane control device 20 may receive only signals from the wireless communication device 40 of the truck 30 that is the target of the work. In this case, it is possible to prevent erroneous reception of signals from the wireless communication of other trucks 30.

[0062] The crane control device 20 may receive a signal from the wireless communication device 40 only when the container 3 is being loaded onto the truck 30. In this case, by regarding a signal that is not received when loading work is not being performed as not coming from the truck 30 that is the subject of the work, it is possible to prevent erroneous reception of a signal from the wireless communication of another truck 30.

[0063] The automatic loading and unloading method according to this embodiment is an automatic loading and unloading method in which a container 3 is suspended by an RTG crane 10 and loaded onto a truck 30, and from the time the truck 30 arrives at the container 3 transfer location CP until it leaves the transfer location CP, the driver of the truck 30 holds a wireless communication device 40, and the RTG crane 10 performs loading and unloading work on the container C in a state in which it can be stopped in an emergency by the driver operating the wireless communication device 40.

[0064] According to the automatic loading and unloading method, the driver of the truck 30 has the wireless communication device 40 from when the truck 30 arrives at the container 3 transfer location CP until it leaves the transfer location CP. Therefore, when the RTG crane 10 automatically performs loading and unloading work on the truck 30, the driver of the truck 30 can operate the wireless communication device 40 according to the situation. Here, the wireless communication device 40 can be operated to perform an emergency stop of the RTG crane 10. That is, the RTG crane 10 performs loading and unloading work on the container 3 in a state in which it can be stopped in an emergency by the driver's operation of the wireless communication device 40. Therefore, the RTG crane 10 can quickly stop its operation according to the driver's intention even in the middle of performing the work automatically. As a result, the safety of the truck driver can be improved.

[0065] The present disclosure is not limited to the above-described embodiments.

[0066] The diagrams of the entire system shown in Figures 1, 2 and 5 are merely examples and may be modified as appropriate. The configurations of the RTG cranes and trucks shown in Figures 3 and 4 may also be modified as appropriate.

[0067] In the above embodiment, an example has been described in which the wireless communication device 40 is capable of generating a plurality of request signals. However, since signals other than a stop request are not essential, they may be omitted as appropriate.

[0068] Although an example in which step S300 is executed between steps S30 and S40 has been described with reference to FIG. 12, step S300 may be executed at any timing between steps S10 and S40.

[0069] The automated crane system having the wireless communication device 40 and the receiving device 55 may be applied to an existing crane. [Explanation of symbols]

[0070] 10...RTG crane, 20...crane control device (crane control unit), 21...communication unit (wireless receiving unit), 30...truck (transport cart), 40...wireless communication device (wireless communication unit), 55...receiving device (wireless receiving unit), 100...automated crane system.

Claims

1. An automated crane system that suspends a container with a crane and loads it onto a transport vehicle, a wireless communication unit that is provided on the transport vehicle and transmits a stop request signal to the crane to request the crane to stop; a wireless receiving unit provided on the crane for receiving the stop request signal.

2. Further comprising a crane control unit for controlling the crane, The automatic crane system according to claim 1 , wherein the crane control unit stops the operation of the crane based on the stop request signal when the wireless receiving unit receives the stop request signal.

3. The automatic crane system according to claim 1 , wherein the wireless communication unit transmits a linking request signal requesting that an operator console be linked to the crane performing an operation on the transport vehicle.

4. The automated crane system according to claim 3 , wherein a crane that is the target of the pegging request signal is given a high pegging priority.

5. The automated crane system according to claim 1 , wherein the wireless communication unit includes identification information of the transport vehicle in a signal for the crane.

6. 3. The automated crane system according to claim 2, wherein the crane control unit receives only a signal from the wireless communication unit of the transport vehicle that is the subject of work.

7. 3. The automated crane system according to claim 2, wherein the crane control unit receives a signal from the wireless communication unit only when an operation of loading the container onto the transport vehicle is performed.

8. An automatic loading and unloading method for suspending a container by a crane and loading it onto a transport vehicle, comprising the steps of: During the period from when the transport vehicle arrives at the container delivery location to when the transport vehicle leaves the delivery location, a driver of the transport vehicle has a wireless communication unit, The crane automatically performs container loading and unloading work in a state in which the crane can be stopped in an emergency by the operator operating the wireless communication unit.

Images