Crane system and display device

Abstract

To provide a crane system capable of guiding a conveyance truck relative to a crane to an accurate position, and a display device.SOLUTION: A display device 50 displays abstract visual information for guiding a truck 30 on the basis of a detection result of relative positional relationship between an RTG crane 10 and the truck 30. Therefore, the display device 50 can display the abstract visual information for guiding the truck 30 to allow a driver of the truck 30 to visually understand the relative positional relationship between the RTG crane 10 and the truck 30. The driver accurately understands the relative positional relationship between the RTG crane 10 and the truck 30, thereby guiding the truck accurately with the visual information.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to a crane system and a display device.

Background Art

[0002] As a conventional crane, the one described in Patent Document 1 is known. The crane lifts a container with a spreader while moving the spreader in the horizontal direction. This crane lifts a container placed on a carrier truck with a spreader, or loads a container lifted by the spreader onto the carrier truck.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, it is necessary to place a carrier truck for transporting a container to an accurate position with respect to the crane. Therefore, the driver of the carrier truck may be guided to the position by voice, a lamp, or the like. However, with these methods, it has been difficult to give sufficient instructions to the driver.

[0005] An object of the present disclosure is to provide a crane system and a display device that can guide a carrier truck to an accurate position with respect to a crane.

Means for Solving the Problems

[0006] A crane system according to the present disclosure is a crane system that suspends a container with a crane and loads it onto a carrier truck, and includes a detection unit that detects a relative positional relationship between the crane and the carrier truck, and a display unit that displays abstract visual information for guiding the carrier truck based on a detection result of the detection unit.

[0007] The crane system is provided with a display unit. Therefore, when the carrier truck approaches the crane for container transfer, the driver of the carrier truck can align it with the target position with respect to the crane based on the visual information displayed on the display unit. Here, the display unit displays abstract visual information for guiding the carrier truck based on the detection result of the relative positional relationship between the crane and the carrier truck. Therefore, the display unit can display abstract visual information for guiding the carrier truck so that the relative positional relationship between the crane and the carrier truck is easier for the driver of the carrier truck to visually understand. The driver is accurately guided by accurately grasping the relative positional relationship between the crane and the carrier truck based on the visual information. From the above, the carrier truck can be accurately guided to the correct position with respect to the crane.

[0008] The display unit may be provided on the leg of the crane on the side closer to the traveling path of the carrier platform. In this case, the driver of the carrier truck can check the visual information of the display unit while visually recognizing the leg on the near side or while visually recognizing the leg on the near side through a mirror.

[0009] The display unit may include a first display visible from the traveling direction of the crane and a second display visible from the inside in the width direction of the crane. In this case, when the driver of the carrier truck is far from the target position, the driver can check the first display from the traveling direction, and when approaching near the target position, the driver can check the second display from the inside in the width direction.

[0010] The visual information includes a first object that moves with respect to the background of the display unit, and the moving speed of the first object may be adjusted according to the relative distance between the carrier truck and the crane. In this case, the driver can intuitively grasp the relative distance between the carrier truck and the crane from the moving speed of the first object. Also, by making the first object prominent in the image, it becomes easier for the driver to visually recognize it even from a distance.

[0011] The color of the first object may vary according to the relative distance between the carrier vehicle and the crane. In this case, the driver can intuitively grasp the relative distance between the carrier vehicle and the crane based on the color. Also, by making the color prominent in the image, it becomes easier for the driver to visually recognize it even from a distance.

[0012] The color of the background may vary according to the relative distance between the carrier vehicle and the crane. In this case, the driver can intuitively grasp the relative distance between the carrier vehicle and the crane based on the background color. Also, since the background color is prominent in the image, it becomes easier for the driver to visually recognize it even from a distance.

[0013] The visual information includes a second object indicating the carrier vehicle and a third object indicating the target position of the carrier vehicle, and based on the relative distance between the carrier vehicle and the crane, the relative positional relationship between the second object and the third object in the image may be adjusted. In this case, the driver can intuitively grasp the relative distance between the carrier vehicle and the crane based on the relative positional relationship between the second object and the third object in the image. Also, by making the second object and the third object prominent in the image, it becomes easier for the driver to visually recognize them even from a distance.

[0014] The display device according to the present disclosure is a display device that displays visual information related to a crane system that suspends a container with a crane and loads it onto a carrier vehicle, and displays abstract visual information for guiding the carrier vehicle based on the relative positional relationship between the crane and the carrier vehicle.

[0015] According to this display device, it is possible to obtain the same functions and effects as those of the above-described crane system.

Advantages of the Invention

[0016] According to the present disclosure, it is possible to provide a crane system and a display device that can accurately guide a carrier vehicle to a correct position with respect to a crane.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Mode for Carrying Out the Invention

[0018] Hereinafter, embodiments of a crane system and a display device 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 denoted by the same reference numerals, and redundant descriptions are omitted as appropriate. Also, the drawings may be drawn with some parts simplified or exaggerated for ease of understanding, and 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 the crane system 100 according to the present embodiment is applied. As shown in FIG. 1, the container terminal 1 includes a container yard 2 where containers 3 (see FIG. 2) are arranged, a plurality of gantry cranes 4 for transferring the containers 3 to and from a docked ship, a plurality of RTG cranes 10 (cranes) arranged in the container yard 2 for handling the containers 3, and a remote operation room 5 capable of remotely operating the plurality of RTG cranes 10. In the present embodiment, the RTG crane 10 is exemplified as the crane, but the type of the crane is not particularly limited. For example, a crane for transferring a container of a ship to a carrier vehicle may be employed. For example, a gantry crane may be employed as the crane.

[0020] For example, in the container yard 2, a traveling path for carrier vehicles such as trucks, lorries, or AGVs (Automated Guide Vehicles) is laid. The RTG crane 10 acquires the container 3 transported by the carrier vehicle and places the container 3 at a position indicated by a predetermined address in the container yard 2. For example, each of the plurality of RTG cranes 10 is 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 carrier vehicle, and the container 3 is carried out to the outside by the carrier vehicle.

[0021] FIG. 2 is a perspective view schematically showing the RTG crane 10 arranged in the container yard 2. As shown in FIG. 2, the RTG crane 10 is a container handling crane for handling the container 3 and is a rubber tired gantry crane (RTG). The RTG crane 10 automatically performs handling of the container 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 that can travel horizontally on a crane girder 27 of the main body 15, a spreader 12 for handling the container 3, and a traveling device 13 having wheels. The main body 15 has a portal 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 travels horizontally, for example, by driving a traversing 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. The direction in which the traveling device 13 travels is defined as the traveling direction D2. The horizontal direction orthogonal to the traveling direction D2 is defined as the width direction D1.

[0023] The spreader 12 is a lifting tool for suspending the container 3. The spreader 12 can lock the container 3 from above, and performs the handling of the container 3 by locking and lifting the container 3.

[0024] The RTG crane 10 is, for example, a crane device for handling the container 3 in a container yard CY of a container terminal where transfer of the container 3 is performed for a container ship docked at the shore. In the container yard CY, a handling lane CR, which is a traveling path such as a truck 30 (carrier) on which the container C is transferred, is laid. The RTG crane 10 automatically transfers the container 3 to, for example, the truck 30 stopped on the handling 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. Further, the RTG crane 10 acquires the container 3 placed in the container yard CY, places the container 3 on the truck 30 stopped on the handling lane CR, and discharges the container 3 to the outside.

[0025] The RTG crane 10 is provided with a detection unit 40 that detects the relative positional relationship between the RTG crane 10 and the truck 30. The detection unit 40 only needs to be able to detect the truck 30 at the location where the truck 30 performs the transfer of the container 3 and also detect a part of the RTG crane 10. As the mounting position of the detection unit 40, for example, the crane gantry 27 or the like may be adopted, but it may be anywhere 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, and for example, a ToF camera, a laser distance meter such as a 2D scanner or a 3D scanner, or a distance sensor such as a ToF camera may be adopted.

[0026] FIG. 4 is a perspective view showing the configuration near one leg portion 26 of the truck 30 in the cargo handling lane CR and the RTG crane 10. As shown in FIG. 4, the truck 30 includes a loading platform 31 and a cab 32. The loading platform 31 extends in the longitudinal direction of the vehicle and is a part for loading the container 3. The cab 32 is a part where the driver rides to drive the truck 30. The RTG crane 10 is provided with a crane control device 20 that controls the RTG crane 10. The crane control device 20 is attached to a predetermined position of 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 near the lower end of the leg portion 26 and is provided on the upper part of the traveling device 13. Further, the crane control device 20 is provided on the upper part of the traveling device 13 that is closer to the cargo handling lane CR among the pair of traveling devices 13. Among the cargo handling lane CR, the location adjacent to the traveling device 13 is a transfer location CP where the truck 30 stops to transfer the container 3. The transfer location CP is set at a predetermined position with reference to the RTG crane 10. That is, among the relative positions of the truck 30 with respect to the RTG crane 10, the transfer location CP becomes the relative target position for the truck 30. Therefore, the relative distance between the truck 30 and the transfer location CP is included in the relative distance between the truck 30 and the RTG crane 10.

[0027] The crane system 100 includes a display device 50 (display unit). In this embodiment, the display device 50 is provided on the leg portion 26 closer to the cargo handling lane CR of the RTG crane 10. The display device 50 is a medium for visually displaying information, which is so-called digital signage. The display device 50 is, for example, a liquid crystal panel, an OLED panel, an LED display, etc. Specifically, the display device 50 is provided on both one end side in the traveling direction D2 and the other end side in the traveling direction D2 of the traveling device 13. The display device 50 includes a first display 51 visible from the traveling direction D2 and a second display 52 visible from the inside in the width direction D1. The first display 51 is provided so as to extend perpendicular to the traveling direction D2. The second display 52 is provided so as to extend, for example, substantially perpendicular to intersect the width direction D1. The display device 50 on the other end side in the width direction D1 also includes a first display 51 and a second display 52 of the same purport. The same image may be displayed on the first display 51 and the second display 52. However, depending on the timing, different images may be displayed on the first display 51 and the second display 52.

[0028] When the truck 30 approaches the delivery location CP, the display device 50 displays a guiding image for accurately stopping the truck 30 at the delivery location CP. The guiding image is abstract visual information for guiding the truck 30 to the delivery location CP based on the detection result of the detection unit 40. Details of the display content of the display device 50 will be described later. Note that the abstract visual information is not simply an image captured by a camera or a distance to the delivery location CP displayed numerically, but an image created in consideration of the visibility from the driver of the truck 30.

[0029] FIG. 5 is a block diagram showing the functions of the crane system 100 according to the present embodiment. The crane system 100 is a system capable of controlling a plurality of RTG cranes 10. As shown in FIG. 5, the crane system 100 includes a plurality of RTG cranes 10, a plurality of operation desks 6 operable for each RTG crane 10, and a system control device 55. In the block diagram of FIG. 5, a crane control device 20 included in the RTG crane 10 is shown.

[0030] Note that the operation desk 6, the crane control device 20, and the system control device 55 may include, for example, a processor, a memory, a storage, a communication interface, and a user interface, and may be configured as a general computer. The processor is an arithmetic unit such as a CPU (Central Processing Unit). The memory is a storage unit such as a ROM (ReadOnly Memory) or a RAM (Random Access Memory). The storage is a storage unit (storage medium) such as an 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 desk 6, the crane control device 20, and the system control device 55, for example, a program stored in the ROM is loaded into the RAM, and various functions are realized by executing the program loaded into the RAM by the CPU. Note that the user interfaces of the operation desk 6 and the crane control device 20 include an output device such as a display for performing display output and a speaker for performing voice output, and an input device such as a control lever, a button, a keyboard, a touch panel, and a microphone. Note that the system control device 55 may be configured by a single computer installed in one place, may be configured by a plurality of computers, or may be installed in a distributed state at a plurality of locations.

[0031] The system control device 55 receives a handling work request from a terminal operation system that comprehensively manages the handling work process of the container terminal 1, and instructs each RTG crane 10 to perform handling work. The system control device 55 includes a communication unit 56 and a calculation unit 57. The communication unit 56 transmits and receives various information by communicating with other devices. The calculation unit 57 performs various calculations related to the system control device 55. The calculation unit 57 associates an operation console 6 that is not associated with any of the RTG cranes 10 among a plurality of operation consoles with the RTG crane 10 that issues an operation request for requesting an operator's operation among the plurality of RTGs.

[0032] The crane control device 20 includes a communication unit 21, an information acquisition unit 22, a drive control unit 23, and a calculation unit 24. The crane control device 20 is also connected to a detection unit 40 and a display device 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 RTG crane 10 to perform automatic operation. The information acquisition unit 22 acquires information from various sensors provided on the RTG crane 10. The information acquisition unit 22 receives the detection result of the detection unit 40. The drive control unit 23 transmits a control signal to a drive unit such as a motor of the RTG crane 10 to perform drive control. Note that the drive control unit 23 can also operate by an operator's operation. During automatic operation, the drive control unit 23 performs drive control so as to realize the operation 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 operation content of the RTG crane 10. Further, the calculation unit 24 issues a command for an image to be displayed on the display device 50 based on the detection result detected by the detection unit 40. Note that the display device 50 may have its own calculation unit, and the display device 50 may display an image based on the detection result detected by the detection unit 40.

[0033] Here, the basic operation when the crane control device 20 performs the automatic operation of the RTG crane 10 will be described with reference to FIG. 6. FIG. 6 is a flowchart showing the content of the automatic operation of the RTG crane 10. When the process of FIG. 6 is executed, it is assumed that the truck 30 is in a state of approaching near the delivery location CP. In the following description, "automatically" means that each part of the RTG crane 10 operates autonomously without the operation of the operator on the operation panel. As shown in FIG. 6, the crane control device 20 receives an instruction from the system control device 55 to convey the container 3 (step S5). The crane control device 20 displays a guidance image for guiding the truck 30 to the delivery location CP on the display device 50 (step S10). The detailed content of step S5 will be described later. In parallel with step S10, the crane control device 20 automatically moves the spreader 12 to grasp the container 3 in the container yard CY with the spreader 12 (step S20). Next, the crane control device 20 automatically conveys the container 3 toward the delivery location CP via the spreader 12 (step S30). At this time, the container 3 and the spreader 12 are arranged above the loading platform 31 of the truck 30 and wait at a safe position until the truck 30 arrives at the delivery location CP. Next, when the truck 30 arrives at the delivery location CP, the crane control device 20 automatically loads the container 3 onto the truck 30 by lowering the spreader 12 downward (step S40). The crane control device 20 releases the fixation of the spreader 12 and automatically winds it up from the position where the container 3 is placed on the truck 30 (step S50). Next, the crane control device 20 automatically moves the spreader 12 to the home position, or operates according to the next job situation if there is a next job item (step S60). Thus, the process of FIG. 6 is completed. The order of steps S10 to S30 may be changed according to the situation of the truck 30 and the spreader 12.

[0034] Next, referring to FIG. 7, the guidance image displayed on the display device 50 will be described. The guidance image displayed on the display device 50 is visual information considered so that the driver of the truck 30 can intuitively understand the relative positional relationship between the RTG crane 10 and the truck 30 based on the relative positional relationship between them. Mainly, the relative positional relationship between the RTG crane 10 and the truck 30 is expressed by changing the position, speed, color, etc. of the objects constituting the visual information. When looking at the display device 50 through the mirror from the truck 30, the image appears reversed left and right, so the objects constituting the visual information are preferably left-right symmetric. Note that even when the display device 50 is displaying an image, the detection result at the detection unit 40 is constantly updated. Therefore, the guidance image displayed on the display device 50 is updated based on the update of the detection result.

[0035] When the detection unit 40 detects the truck 30, the display device 50 displays a guidance image 60A as shown in FIG. 7(a). The guidance image 60A in FIG. 7(a) is an image when there is a delivery location CP far ahead of the truck 30. The guidance image 60A displays a moving arrow 61 (the first object). The arrow 61 is facing upward and moves from bottom to top. When the arrow 61 reaches the upper end of the screen, a new arrow 61 appears from the lower end 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, the display device 50 displays the moving speed V of the arrow 61 (faster) the farther the truck 30 is from the delivery location CP which is the target position. The display device 50 displays the moving speed V of the arrow 61 (slower) the closer the truck 30 is to the delivery location CP which is the target position. Note that when the delivery location CP is far behind the truck 30, the arrow 61 in FIG. 7(a) is displayed upside down. At this time, the arrow 61 moves from top to bottom, and when it reaches the lower end of the screen, a new arrow 61 appears from the upper end side.

[0036] As shown in FIGS. 7(b), (c), and (d), when the distance between the truck 30 and the transfer location CP becomes equal to or less than a first threshold value, the display device 50 may display a truck image 62 (second object) indicating the truck 30 and an arrival area 63 (third object) indicating the target position of the truck 30 together with the arrow 61 or instead of the 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. As shown in FIG. 7(b), as the truck 30 approaches the transfer location CP, the display device 50 displays the truck image 62 in the guidance image 60B so as to approach the arrival area 63. As shown in FIG. 7(c), when the distance between the truck 30 and the transfer location CP becomes equal to or less than a second threshold value that is smaller than the first threshold value, the display device 50 displays a part of the truck image 62 entering the arrival area 63 in the guidance image 60C. As shown in FIG. 7(d), when the distance between the truck 30 and the transfer location CP is sufficiently small and the truck 30 is considered to have reached the transfer location CP, the display device 50 displays the truck image 62 entering the arrival area 63 in the guidance image 60D. Note that, in consideration of the distance required for the truck 30 to brake, a separate guidance image (such as the image in FIG. 8(c)) prompting the truck 30 to stop may be displayed on the display device 50 immediately before the truck 30 arrives at the transfer location CP.

[0037] The display device 50 may display a color based on the relative distance between the truck 30 and the RTG crane 10. The display device 50 may 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 may display the background 64 as "blue", "yellow", and "red" in order from the farther one according to the distance between the truck 30 and the delivery location CP. As shown in FIGS. 7(a) and 7(b), when the truck 30 is separated from the delivery location CP, the display device 50 indicates the background 64 as "blue". As shown in FIG. 7(c), when the truck 30 is close to the delivery location CP, the display device 50 indicates the background 64 as "yellow". As shown in FIG. 7(d), when the truck 30 has reached the delivery location CP, the display device 50 indicates the background 64 as "red". The display device 50 may vary the color of at least one object according to the relative distance between the truck 30 and the RTG crane 10, together with or instead of the background color 64.

[0038] In addition, when the truck 30 has passed through the delivery location CP from the state shown in FIG. 7(d), the display device 50 displays in FIG. 7(c) such that the truck image 62 protrudes from the upper end of the arrival area 63. At this time, the display device 50 changes the background 64 from "red" to "yellow". Also, in FIG. 7(c), the arrow 61 (the first object) is displayed upside down. Further, when the truck 30 has passed through the delivery location CP significantly, the arrow 61 (the first object) is displayed upside down in FIG. 7(a). In that case, the arrow 61 (the first object) moves from top to bottom.

[0039] In addition, the display device 50 may display other images at timings other than when guiding the truck 30 with the guiding image. For example, the display device 50 may display the image of FIG. 8(a) indicating the standby state at the stage of waiting for the container transfer instruction. Also, at the stage before the truck 30 approaches the transfer location CP after receiving the container transfer instruction, the display device 50 may display the image of FIG. 8(b) indicating that the RTG crane 10 is waiting for the arrival of the truck. When the detection unit 40 detects the truck 30, the display device 50 switches from the display of FIG. 8(b) to the guiding image 60A of FIG. 7(a). Also, when the truck 30 reaches the transfer location CP and is waiting for the container handling, the display device 50 may display the image of FIG. 8(c) instructing the truck 30 to stop. During the container handling, the display device 50 may display the image of FIG. 8(d) indicating that it is dangerous for the truck 30 to move and continuously instructing to stop. When the handling is completed, the display device 50 may display the image of FIG. 9(a) instructing the truck 30 to move. When the guidance of the truck 30 is completed, the display device 50 may display the image of FIG. 8(a) again. The display device 50 may display an image indicating the operating state of the RTG crane 10 as necessary. For example, when the RTG crane 10 is performing the handling manually, the display device 50 may display the image of FIG. 9(b). When an error occurs, the display device 50 may display the image of FIG. 9(c). When the RTG crane 10 is traveling, the display device 50 may display the image of FIG. 9(d).

[0040] Next, with reference to FIG. 10, the image processing procedure of the guidance image displayed on the display device 50 will be described. FIG. 10 is a flowchart showing the image processing procedure of the guidance image displayed on the display device 50. As shown in FIG. 10, the crane control device 20 determines whether the truck 30 has approached the delivery location CP based on the detection result of the detection unit 40 (step S110). In step S110, the crane control device 20 may determine whether the detection unit 40 has detected the truck 30, or whether the distance between the truck 30 and the delivery location CP has become equal to or less than a predetermined threshold. In step S110, if it is determined that they are not close, the process of step S110 is repeated again. In step S110, if it is determined that they are close, the crane control device 20 displays the moving arrow 61 as shown in FIG. 7(a) and starts guiding the truck 30 (step S120).

[0041] Next, the crane control device 20 determines whether the distance between the truck 30 and the delivery location CP has become equal to or less than a first threshold (step S130). In step S130, if it is determined that the distance is not equal to or less than the threshold, the crane control device 20 repeats the process from step S120 again. At this time, when the truck 30 approaches the delivery location CP, the moving speed of the arrow 61 (the first object) is slowed down. In step S130, if it is determined that the distance is equal to or less than a second threshold, as shown in FIGS. 7(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). Immediately after shifting to step S140, the guidance image 60B shown in FIG. 7(b) is displayed on the display device 50. If the truck 30 has passed by the delivery location CP, the object may be displayed upside down, or the moving direction of the object may be reversed.

[0042] Next, the crane control device 20 determines whether the truck 30 has arrived at the delivery location CP, which is the target position, and stopped (step S150). In step S150, if it is determined that the truck 30 is not stopped at the target position, the crane control device 20 repeats the process from step S140. At this time, according to the positional relationship between the truck 30 and the delivery location CP, the crane control device 20 adjusts the speed of the arrow 61, the positional relationship between the truck image 62 and the arrival area 63, and the background 64. 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 guidance image on the display device 50 (step S160). After the guidance of the truck 30 is completed, the display device 50 may continue to display the instructions to the truck 30 shown in FIGS. 8(c) and 8(d). The stop at the target position may be detected, for example, based on the fact that the truck 30 has stopped for a predetermined time.

[0043] Next, the operations and effects of the crane system 100 and the display device 50 according to the present embodiment will be described.

[0044] In the crane system 100 of the RTG crane 10, automation is being promoted to automatically operate the RTG crane in order to achieve labor saving and improve handling efficiency. On the other hand, for trucks that transfer containers to and from the RTG crane, manual operation of the RTG crane 10 may still be adopted in some cases. Therefore, various position guidance methods for the driver of the truck 30 have been conventionally used. However, with conventional methods such as instructions using voice or rotating lights, it has not been easy to adjust the position of a truck 30 with a total length of, for example, about 20,000 mm with high precision (such as ±30 mm). For example, the method of guiding by voice has problems that an instructor is required and automation is difficult. Also, the method of guiding by voice has a problem that it is difficult to give instructions for fine adjustment. The method of guiding by a light source such as a lamp or a rotating light has a problem of a small amount of information.

[0045] In contrast, the crane system 100 according to the present embodiment includes a display device 50. Therefore, when the truck 30 approaches the RTG crane 10 for the delivery of the container 3, the driver of the truck 30 can align with the target position with respect 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 so that the relative positional relationship between the RTG crane 10 and the truck 30 can be easily visually understood by the driver of the truck 30. The driver is accurately guided by accurately grasping the relative positional relationship between the RTG crane 10 and the truck 30 based on the visual information. As described above, the truck 30 can be accurately guided to the correct position with respect to the RTG crane 10. Further, when the truck 30 is visually guided by the display device 50 in this way, detailed information can be presented to the driver. Therefore, compared with guidance by a light source such as voice or a lamp, the automation of the crane system 100 is easier to perform.

[0046] The display device 50 may be provided on the leg portion 26 of the RTG crane 10 on the side closer to the cargo handling lane CR which is the traveling path of the truck 30. In this case, the driver of the truck 30 can confirm the visual information of the display device 50 while visually recognizing the leg portion 26 on the near side or while visually recognizing the leg portion 26 on the near side through the mirror.

[0047] The display device 50 may include a first display 51 visible from the traveling direction D2 of the RTG crane 10 and a second display 52 visible from the inside in the width direction D1 of the RTG crane 10. In this case, when the driver of the truck 30 is far from the target position, the driver can confirm the first display 51 from the traveling direction D2, and when approaching near the target position, the driver can confirm the second display 52 from the inside in the width direction D1.

[0048] The visual information includes an arrow 61 (first object) that moves relative to the background of the display device 50, and the moving speed of the arrow 61 may be adjusted according to the relative distance between the truck 30 and the RTG crane 10. In this case, the driver can intuitively grasp the relative distance between the truck 30 and the RTG crane 10 from the moving speed of the arrow 61. Also, by making the arrow 61 prominent in the image, it becomes easier for the driver to visually recognize it even from a distance.

[0049] The color of the arrow 61 (first object) may vary according to the relative distance between the truck 30 and the RTG crane 10. In this case, the driver can intuitively grasp the relative distance between the truck 30 and the RTG crane 10 based on the color. Also, by making the color prominent in the image, it becomes easier for the driver to visually recognize it even from a distance.

[0050] The color of the background 64 may vary according to the relative distance between the truck 30 and the RTG crane 10. In this case, the driver can intuitively grasp the relative distance between the truck 30 and the RTG crane 10 based on the background color. Also, since the background color is prominent in the image, it becomes easier for the driver to visually recognize it even from a distance.

[0051] The visual information includes a truck image 62 (second object) indicating the truck 30 and an arrival area 63 (third object) indicating the target position of the truck 3, and based on the relative distance between the truck 30 and the RTG crane 10, the relative positional relationship between the truck image 62 and the arrival area 63 in the image may be adjusted. In this case, the driver can intuitively grasp the relative distance between the truck 30 and the RTG crane 10 based on the relative positional relationship between the truck image 62 and the arrival area 63 in the image. Also, by making the truck image 62 and the arrival area 63 prominent in the image, it becomes easier for the driver to visually recognize them even from a distance.

[0052] The display device 50 according to this embodiment is a display device 50 that displays visual information regarding a crane system 100 for suspending a container 3 with an RTG crane 10 and loading it onto a truck 30, and displays abstract visual information for guiding the truck 30 based on the relative positional relationship between the RTG crane 10 and the truck 30.

[0053] According to this display device 50, it is possible to obtain the same functions and effects as those of the above-described crane system 100.

[0054] This disclosure is not limited to the above-described embodiments.

[0055] The guidance image shown in FIG. 7 is merely an example, and the specific content is not particularly limited as long as it displays visual information obtained by performing image processing based on the detection result of the detection unit 40.

[0056] For example, the guidance image 70 shown in FIG. 11 may be adopted. The guidance image 70 shows the distance between the truck 30 and the target position with a bar graph 71 (first object). Also, at the display location 72, the distance is shown numerically. Furthermore, the indication content is shown within the bar graph 71. Note that the guidance image 60 in FIG. 7 is easier to visually recognize the target position range compared to the guidance image 70 in FIG. 11. Also, the characters may be difficult to read from a distance. Especially when viewing the display device 50 through the mirror from the truck 30, it is even more difficult to read and the characters may be inverted. Therefore, the characters of the guidance image 70 may be displayed in an inverted manner. The guidance image 60 in FIG. 7 is easier for the driver to recognize compared to the characters.

[0057] For example, the guiding image 80 shown in FIG. 12 may be adopted. The guiding image 80 has an arrow 81 (first object) and an indication content display portion 82. The arrow 81 indicates the distance by the change in the shape of the lower end portion. The guiding image 80A in FIG. 12(a) shows a state where the truck 30 is far from the target position. The guiding image 80B in FIG. 12(b) shows that the truck 30 is at a medium distance from the target position. The guiding image 80C in FIG. 12(c) shows a state where the truck 30 is close to the target position. The moving arrow 61 of the guiding image 60 in FIG. 7 is easier to recognize the change of the object compared with the arrow 81 in FIG. 12. Therefore, it is easier for the driver to intuitively recognize the distance.

[0058] For example, the arrow 61 (first object) in FIG. 7(a) indicated the distance by adjusting the moving speed in the vertical direction. Instead of this, the distance may be indicated by adjusting the blinking period of the arrow 61. For example, the blinking period may be made slower as the distance is farther, and may be made faster as the distance is nearer. Note that the moving arrow 61 of the guiding image 60 in FIG. 7 is easier to recognize the change of the object compared with the blinking of the arrow 61. Therefore, it is easier for the driver to intuitively recognize the distance.

[0059] For example, the guiding image 90 shown in FIG. 13 may be adopted. The guiding image 90 has a truck image 91 (second object) and an arrival area 93 (third object). Further, the guiding image 90 adjusts the color of the frame 94 according to the distance. The frame 94 of the guiding image 90A in FIG. 13(a) shows "blue". The frame 94 of the guiding image 90B in FIG. 13(b) shows "yellow". The frame 94 of the guiding image 90C in FIG. 13(c) shows "red". Note that the background 64 in FIG. 7 is easier to recognize the change in color compared with the frame 94.

[0060] In the above-described embodiment, the display device 50 is provided at the lower end portion of the traveling device of the RTG crane, but there is no particular limitation on where the RTG crane is provided. Further, the display device 50 does not necessarily have to be provided on the RTG crane. For example, a terminal or the like at the driver's hand may be used as the display device, and a guiding image may be displayed on the terminal.

[0061] The overall diagrams of the system shown in FIGS. 1, 2, and 5 are examples and may be changed as appropriate. The configurations of the RTG crane and the truck shown in FIGS. 3 and 4 can also be changed as appropriate.

[0062] A crane system having a display unit may be applied to an existing crane.

Explanation of Signs

[0063] 10…RTG crane, 30…truck (transport carriage), 50…display device, 61…arrow (first object), 62…truck image (second object), 63…reach area (third object), 100…crane system.

Claims

1. A crane system for suspending a container with a crane and loading it onto a transport cart, comprising: a detection unit that detects the relative positional relationship between the crane and the transport cart; a display unit that displays abstract visual information for guiding the transport cart based on the detection result of the detection unit.

2. The crane system according to claim 1, wherein the display unit is provided on a leg portion of the crane on a side closer to the travel path of the transport cart.

3. The display unit has a first display visible from the traveling direction of the crane, and a second display visible from the inside in the width direction of the crane.

4. The visual information includes a first object that moves with respect to the background of the display unit, and the moving speed of the first object is adjusted according to the relative distance between the transport cart and the crane.

5. The color of the first object is different according to the relative distance between the transport cart and the crane.

6. The color of the background is different according to the relative distance between the transport cart and the crane.

7. The visual information includes a second object indicating the transport cart and a third object indicating the target position of the transport cart, and based on the relative distance between the transport cart and the crane, the relative positional relationship between the second object and the third object in the image is adjusted.

8. A display device for displaying visual information related to a crane system for suspending a container with a crane and loading it onto a transport cart, comprising: a display device that displays the abstract visual information for guiding the transport cart based on the relative positional relationship between the crane and the transport cart.

Images