Container crane and operation assistance device

Abstract

To provide a container crane and an operation assistance device that are able to perform operation assistance to easily perform loading / unloading maneuver toward a loading / unloading place.SOLUTION: A container crane 100 includes: a cab 14 having a maneuvering unit 41 that maneuvers a loading and unloading unit 10; and an HUD display device 20 that projects an image into the cab 14 (an HUD display device 20). Based on detection results of a line-of-sight detection unit 23 and a position detection unit 26, the HUD display device 20 projects an image for maneuvering assistance at a position on a line of sight SL (see FIG. 6) toward a loading / unloading place P. Therefore, the HUD display device 20 can accurately grasp the position of the line of sight of a driver DV and the position of the loading / unloading place P, and then accurately project the image for maneuvering assistance at a position on the line of sight of the driver DV who is maneuvering. The driver DV can perform loading / unloading at the loading / unloading place P while viewing the projected image, with the line of sight maintained during the maneuver.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] One aspect of the present invention relates to a container crane and an operation assistance device. [Background technology]

[0002] Conventionally, a container crane equipped with a handling unit for handling containers has been known, as shown in Patent Document 1. In the container crane described in Patent Document 1, the handling unit grabs a container and places it at a handling location, such as on top of another container. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-193158 Summary of the Invention [Problem to be solved by the invention]

[0004] When a driver operates the vehicle from the cab, the driver visually checks the loading area and the loading section from the cab. However, because the cab and the loading area are far apart, it is difficult to operate the vehicle while visually checking. Furthermore, if the driving assistance does not allow the driver to quickly check the loading area, there is a problem that loading efficiency decreases.

[0005] Therefore, one aspect of the present invention aims to provide a container crane and an operation assistance device that provide operation assistance that allows easy maneuvering of cargo handling to a loading and unloading location. [Means for solving the problem]

[0006] In order to solve the above problems, one embodiment of the container crane of the present invention comprises a loading / unloading unit that loads and unloads containers, a trolley that supports the loading / unloading unit so that it can be raised and lowered, a driver's cab that has a control unit that operates the loading / unloading unit and moves along with the trolley, an image projection unit that projects images into the driver's cab, a line-of-sight detection unit that detects the line of sight of the driver who operates the control unit, and a position detection unit that detects the location where the container is to be loaded by the loading / unloading unit, and the image projection unit projects an image to assist in operation at a position on the line of sight toward the loading / unloading location based on the detection results of the line-of-sight detection unit and the position detection unit.

[0007] The container crane has a control unit for controlling the loading / unloading unit, a driver's cab that moves along with the trolley, and an image projection unit that projects images into the driver's cab. Therefore, the image projection unit can project images to assist the driver in controlling the crane from within the driver's cab. The gaze detection unit detects the line of sight of the driver controlling the control unit. Therefore, the gaze detection unit can detect the driver's line of sight to determine an appropriate position for projecting the image. The position detection unit detects the location where the container is to be unloaded by the loading / unloading unit. Therefore, the position detection unit can accurately determine the location of the unloading location to project an image corresponding to the unloading location. The image projection unit projects an image to assist the driver in controlling the crane to a position on the line of sight toward the unloading location based on the detection results of the gaze detection unit and the position detection unit. Therefore, the image projection unit can accurately project an image for assisting the driver in controlling the crane to a position on the line of sight of the driver while controlling the crane, after accurately determining the position of the driver's line of sight and the location of the unloading location. The driver can perform unloading operations at the unloading location while maintaining his or her line of sight. As a result, driving assistance can be provided that makes it easy to maneuver the vehicle to load and unload at the loading location.

[0008] The image projection unit may project a first image that highlights the loading location at a position corresponding to the loading location, allowing the driver to accurately identify the loading location while operating the vehicle.

[0009] The image projection unit may project an image of detailed information on the steering assistance content based on the positional relationship between the loading unit and the loading location. In this case, when the loading unit approaches the loading location, the driver can accurately steer the vehicle while grasping the detailed information.

[0010] When a blind spot for the loading and unloading area is created by the loading and unloading unit, the image projection unit may project a second image different from the first image at a position corresponding to the blind spot. In this case, even when a blind spot is created, the driver can accurately grasp the location of the loading and unloading area within the blind spot.

[0011] The image projection unit may use the floor of the control unit as a projection surface, in which case the driver can see the projected image when viewing the loading area below the driver's cab through the floor.

[0012] The driving assistance device is an driving assistance device for a container crane that is equipped with a loading and unloading unit that loads and unloads containers, a trolley that supports the loading and unloading unit so that it can be raised and lowered, and a driver's cab that has a control unit that controls the loading and unloading unit and moves along with the trolley, and is equipped with an image projection unit that projects an image into the driver's cab, a gaze detection unit that detects the line of sight of the driver who controls the control unit, and a position detection unit that detects the location where the container is to be loaded and unloaded by the loading and unloading unit, and the image projection unit projects an image to assist in driving between the eye position detected by the gaze detection unit and the loading and unloading location detected by the position detection unit.

[0013] This operation support device can provide the same functions and effects as the container crane described above. [Effects of the Invention]

[0014] According to one aspect of the present invention, a container crane and an operation assistance device are provided that provide operation assistance that allows for easy maneuvering of a container to be loaded at a loading location. [Brief explanation of the drawings]

[0015] [Figure 1]FIG. 1 is a diagram illustrating the overall configuration of a container crane equipped with an operation support device according to this embodiment. [Figure 2] FIG. 2 is a perspective view showing the loading and unloading section. [Figure 3] FIG. 3 is a diagram showing the configuration inside the driver's cab. [Figure 4] FIG. 4 is a diagram showing the state when the driver is operating the cargo handling section in the driver's cab. [Figure 5] FIG. 5 is a block diagram showing the block configuration of a container crane. [Figure 6] FIG. 6 is a schematic diagram showing the relationship between the line of sight and an image. [Figure 7] FIG. 7 is a diagram showing an example of an image projected by the HUD display device. [Figure 8] FIG. 8 is a diagram showing an example of an image projected by the HUD display device. [Figure 9] FIG. 9 is a diagram showing an example of an image projected by the HUD display device. [Figure 10] FIG. 10 is a schematic diagram illustrating a blind spot. [Figure 11] FIG. 11 is a flowchart showing the processing contents of the container crane. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, an embodiment of a container crane and a monitoring device according to the present invention will be described with reference to the accompanying drawings. In the following description, the same or equivalent elements will be designated by the same reference numerals, and duplicated explanations will be omitted.

[0017] First, an overview of a container crane and a monitoring device according to an embodiment of the present invention will be described with reference to Fig. 1. Fig. 1 is a diagram illustrating the overall configuration of a container crane equipped with a monitoring device according to an embodiment.

[0018] As shown in FIG. 1, the container crane 100 is a crane that transports a container C placed inside a container ship 50 (vessel) that is moored alongside a quay 51. The container C is an ISO standard container or other container. The container C has a long rectangular parallelepiped shape and has a predetermined length in its longitudinal direction, for example, 20 feet or 40 feet. In this example, the container crane 100 is a bridge crane. The container crane 100 includes a leg structure 11, a boom 12 (guide member), a trolley 7, a cab 14, a cargo handling unit 10, and an operation support device 1.

[0019] The container crane 100 loads containers C in the space within the container ship 50 (underdeck) and also loads containers C onto the upper side of the deck DK (overdeck). The container crane 100 grabs and suspends the containers C loaded on the quay 51 with the handling section 10, transports them onto the container ship 50, and loads the containers C at a loading and unloading location P. The loading and unloading location P may be, for example, the top surface of an already loaded container C, the position of a cell guide, the bottom surface of the container ship 50, or on the deck DK. In the drawing, the top surface of the colored container C is designated as the loading and unloading location P.

[0020] The leg structure 11 is installed on the ground of the quay 51, and is H-shaped when viewed in the traveling direction, extending upward to support the entire container crane 1. The leg structure 11 is formed into a pair of left and right leg structures 11, each having a traveling device 11a at its base end. Driven by a traveling motor, the traveling device 11a travels in the traveling direction along rails installed on the ground. The traveling direction is horizontal along the quay. This allows the leg structure 11 to travel on the quay 51 in the traveling direction.

[0021] The boom 12 extends horizontally from the leg structure 11 in a fore-and-aft direction (left-to-right direction on the paper in FIG. 1 ) that intersects with the traveling direction. The fore-and-aft direction is the horizontal direction between the sea side and the land side. The boom 12 is supported by the leg structure 11 and extends above the container ship 50 on the container ship 50 side beyond the quay 51. In other words, the boom 12 extends from the quay 51 out to sea.

[0022] The trolley 7 is capable of moving laterally along the boom 12. The trolley 7 is moved laterally by the drive of a traverse motor. As the trolley 7 moves, the operator's cab 14 and the cargo handling unit 10 can move forward and backward, which is the extension direction of the boom 12 (see direction MV1 in the figure). The trolley 7 is equipped with a drum 8 (see Figure 2) that rotates forward and backward by a drum drive motor, and suspends the cargo handling unit 10 via a wire rope 9 (hanging member) that is wound around the drum.

[0023] The handling unit 10 is suspended from the trolley 7 via a wire rope 9, and can be wound up or down by the wire rope 9. The handling unit 10 can hold the container C to be lifted and handles the container C. The handling unit 10 is suspended via a sheave 18 (see Figure 2) around which the wire rope 9 is wound, and can be raised and lowered by the forward and reverse rotation of the drum of the trolley 7.

[0024] Next, the detailed configuration of the loading / unloading unit 10 will be described with reference to Fig. 2. Fig. 2 is a perspective view of the loading / unloading unit 10. As shown in Fig. 2, the loading / unloading unit 10 is a loading mechanism called a spreader, which can be raised and lowered by a wire rope 9 and handles containers C. The loading / unloading unit 10 has a loading / unloading unit main body 15, a guide 17, and a lock pin 16.

[0025] The cargo handling unit main body 15 has, in a plan view, substantially the same shape as the shape of the upper surface of the container C. The cargo handling unit main body 15 has, on the upper side of the center in the longitudinal direction, the above-mentioned sheave 18 around which the wire rope 9 is wound. The cargo handling unit main body 15 is positioned above the container C when the cargo handling unit 10 latches the container C.

[0026] When the loading / unloading unit 10 acquires a target container C (hereinafter referred to as the "target container") to be acquired by the loading / unloading unit 10, the guides 17 guide the loading / unloading unit main body 15 onto the target container as the loading / unloading unit 10 descends. The guides 17 are provided on the outside of the loading / unloading unit main body 15 at the four corners of the loading / unloading unit main body 15. The lock pin 16 is a mechanism for locking the container C. The lock pin 16 is provided on the underside of the loading / unloading unit main body 15 so as to protrude downward from the loading / unloading unit main body 15. The lock pin 16 is provided at a position that corresponds to a hole (not shown) in the container C when the loading / unloading unit 10 locks the container C, and is located closer to the center of the loading / unloading unit main body 15 in the horizontal direction than the position of the guide 17. The lock pin 16 is, for example, a twist pin, and includes a locking piece (not shown) at its lower end that is rotatable about an axis extending in the vertical direction. The lock pin 16 can engage with the container C by entering through holes formed in the four corners of the top surface of the container C and rotating the locking piece.

[0027] An operator who operates the container crane 1 sits in the cab 14. The cab 14 has a control unit 41 for operating the cargo handling unit 10. As shown in FIG. 3, the cab 14 has the control unit 41 for operating the cargo handling unit 10, and moves along with the trolley 7. The control unit 41 is provided in a position where it can be operated by the driver DV (see FIG. 4) sitting in the driver's seat 42. The cab 14 has a front wall 46, side surfaces 47, and a floor 48 so that the driver DV sitting in the driver's seat 42 can see outside. The wall 46, side surfaces 47, and floor 48 are glass walls. The wall 46 is provided in front of the driver's seat 42. The side surfaces 47 are provided on the left and right sides of the driver's seat 42. The floor 48 is provided below the driver's seat 42.

[0028] As shown in FIG. 4, when the driver DV operates the control unit 41 to perform loading and unloading operations at the loading and unloading location P (see FIG. 1) in the loading and unloading section 10, the driver DV looks downward as if peering into the floor 48. A driving assistance device 1 according to this embodiment is provided in the driver's cab 14. The driving assistance device 1 is a device that assists the driver DV in driving when he or she is sitting in the driver's seat 42 and operating the control unit 41. The driving assistance device 1 provides the driver DV, who is peering into the floor 48, with an image that assists in driving. A more detailed configuration of the driving assistance device 1 will be described later.

[0029] Next, the system configuration of the container crane 100 will be described with reference to Fig. 5. Fig. 5 is a block diagram showing the system configuration of the container crane 100. The container crane 100 includes a crane controller 45, a cargo handling unit position detection unit 43, and an operation support device 1. Note that the system of the container crane 100 may have a map of the actual state of the container ship 50 using SLAM (Simultaneous Land Mobile Mapping), and may be assumed to compare this with the bay plan.

[0030] The crane controller 45 is a control device that controls the container crane 100. The crane controller 45 may be configured as a computer (also referred to as an on-board automatic control PC) that includes, for example, a processor, a memory, a storage, and a communication 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 an HDD (Hard Disk Drive). The communication interface is a communication device that realizes data communication. The processor controls the memory, storage, and communication interface to realize the functions of the crane controller 45. The crane controller 45 realizes various functions by, for example, loading a program stored in the ROM into the RAM and executing the program loaded into the RAM with the CPU. The number of computers that make up the crane controller 45 may be one or more.

[0031] The crane controller 45 is provided in the machine room 19 (see FIG. 1). The crane controller 45 controls the container crane 100 based on operation command information from the control unit 41 and information transmitted from each device. The crane controller 45 transmits information on the lock state of the cargo handling unit 10 to the display controller 21 of the operation assistance device 1.

[0032] The loading / unloading unit position detection unit 43 is a detection unit provided on the trolley 7. The loading / unloading unit position detection unit 43 detects the position of the loading / unloading unit 10. The loading / unloading unit position detection unit 43 detects the horizontal position of the loading / unloading unit 10 based on the position of the trolley 7 on the boom 12, and detects the vertical position of the loading / unloading unit 10 based on the amount of unwinding of the wire rope 9 of the trolley 7. The loading / unloading unit position detection unit 43 transmits the detected position information of the loading / unloading unit 10 to the display controller 21 of the driving assistance device 1.

[0033] The driving assistance device 1 includes a HUD (head-up display) display device 20, a display controller 21, a display position calculation unit 22, a gaze detection unit 23, a posture detection unit 24, and a position detection unit 26.

[0034] The gaze detection unit 23 detects the gaze of the driver who operates the control unit 41. The gaze detection unit 23 can detect the eye position of the driver DV and the direction of the gaze. The posture detection unit 24 detects the posture of the driver DV sitting in the driver's seat 42. The gaze detection unit 23 and the posture detection unit 24 are provided in the driver's cab 14. As shown in FIG. 3, the gaze detection unit 23 is provided on the floor surface 48 below the driver's seat 42. As described above, the driver DV takes a posture of looking down at the floor surface 48 (see FIG. 4), so the gaze detection unit 23 detects the gaze by looking up from the floor surface 48 to the face of the driver DV above. The posture detection unit 24 is provided on the front wall surface 46. The posture detection unit 24 sets a virtual posture detection plane DF at the position of the driver's seat. For example, when the driver DV looks down at the floor surface 48, the posture detection unit 24 detects that the driver DV is present on the posture detection plane DF. As a result, the posture detection unit 24 detects that the driver DV is in a posture of gazing at the floor surface 48. The detection results of the line of sight detection unit 23 and the posture detection unit 24 are transmitted to the display controller 21.

[0035] The position detection unit 26 detects the loading location P (see FIG. 1) of the container C by the loading / unloading unit 10. The position detection unit 26 is provided on the trolley 7 or the main body (boom, etc.) of the container crane 100. When loading a container C at the position of a cell guide CG (see FIG. 7), the position detection unit 26 detects the position of the cell guide CG. When loading a container C on top of a container C that has already been loaded, the position detection unit 26 detects the top surface of the container C. The position detection unit 26 transmits the detection result of the loading location P to the display position calculation unit 22.

[0036] A port management system 70 is provided outside the container crane 100. The port management system 70 transmits a bay plan (container installation plan information) to the display position calculation unit 22. The bay plan is information that pre-plans which containers C will be installed at which positions on the container ship 50.

[0037] The HUD display device 20 (image projection unit) is a device that projects an image into the cab 14. The HUD display device 20 projects an image that assists in maneuvering onto a position on the line of sight toward the loading and unloading location P based on the detection results of at least the line of sight detection unit 23 and the position detection unit 26. As shown in FIG. 3, the HUD display device 20 is specifically provided on a wall surface 46 of the cab 14. The HUD display device 20 uses the floor surface 48 as a projection surface PF. This allows the driver DV to visually check the loading and unloading location P through the image IG projected by the HUD display device 20 (see FIG. 6). Therefore, the driver DV can visually recognize the loading and unloading location P with the image IG superimposed on it.

[0038] Here, an example of the image IG projected by the HUD display device 20 will be described with reference to Figs. 7 to 9. Figs. 7 to 9 are diagrams showing the state of the loading and unloading area P as viewed from the driver's cab 14, along with the image IG projected by the HUD display device 20. As shown in Figs. 7 to 9, the position of the cell guide CG in an area where no containers C have yet been loaded is defined as the loading and unloading area P. The left and right bays of the loading and unloading area P are covered by hatch covers HC.

[0039] FIG. 7 is a diagram showing a state in which the loading and unloading unit 10, having grasped the container C, has moved away from the loading and unloading location P. At this time, the loading and unloading location P is not overlapped with the loading and unloading unit 10 grasping the container C. The HUD display device 20 projects a first image IG1 that highlights the loading and unloading location P at a position corresponding to the loading and unloading location P. The first image IG1 is an image in which the outline of the loading and unloading location P is traced with a thick line BL. The first image IG1 is a rectangular image whose four sides are drawn with a thick line BL. The HUD display device 20 projects this rectangle with the thick line BL onto the projection surface PF (see FIG. 3) on the floor surface 48 so that it is superimposed on the position corresponding to the loading and unloading location P as seen by the driver.

[0040] FIG. 8 is a diagram showing a state in which a blind spot occurs when the loading / unloading unit 10, having grasped a container C, overlaps with part of the loading / unloading location P. In this way, when a blind spot for the loading / unloading location P is created by the loading / unloading unit 10, the HUD display device 20 projects a third image IG3, which is different from the first image IG1, at a position corresponding to the blind spot. Specifically, among the sides of the rectangle representing the loading / unloading location P, the portions overlapping with the loading / unloading unit 10 having grasped the container C are indicated by dashed lines DL in the third image IG3. In FIG. 8, the lower side in the image is indicated by dashed lines DL. The other three sides are not in blind spots, and are therefore indicated by thick lines BL in the first image IG1. Note that when portions of the left and right sides of the image are in blind spots, the blind spot portions may be indicated by dashed lines DL, and the non-blind spot portions may be indicated by thick lines BL.

[0041] FIG. 9 illustrates a state in which the handling unit 10, holding a container C, completely overlaps the loading area P, rendering the entire loading area P a blind spot. In this case, all four sides of the rectangle representing the loading area P are indicated by dashed lines DL. The HUD display device 20 also projects a second image IG2 containing detailed information about the steering assistance based on the relative positions of the handling unit 10 and the loading area P. The HUD display device 20 may project the second image IG2 when the handling unit 10 approaches the loading area P to within a predetermined threshold. The second image IG2 includes a graphic image SC indicating the difference in distance between the handling unit 10 and the loading area P in the lateral direction, and an image NB indicating the difference in distance numerically. The image SC indicates the distance between the handling unit 10 and the loading area P using three bars B1, B2, and B3. Such a bar display can reduce the hassle of reading Arabic numerals during operation. In other words, the bar display function is employed to facilitate intuitive understanding of distance. For example, the upper and lower bars B1 and B3 may be ±50 cm (1 m wide), the middle bar B2 may represent the current position, and the center of the upper and lower bars B1 and B3 may represent directly above the loading position (±0 cm).

[0042] 5, the display position calculation unit 22 and the display controller 21 generate and adjust the image displayed by the above-described HUD display device 20. Note that, similar to the crane controller 45, the display position calculation unit 22 and the display controller 21 may be configured as a computer (also referred to as an on-board automatic control PC) including, for example, a processor, a memory, a storage, and a communication interface.

[0043] The display position calculation unit 22 calculates the position of the loading and unloading place P, where an image should be displayed, within the surroundings of the loading and unloading place P as viewed by the driver DV. The display position calculation unit 22 is partially provided in the machinery room 19 and partially provided in the driver's cab 14. However, the entire display position calculation unit 22 may be provided in the machinery room 19 or the driver's cab 14. The display position calculation unit 22 calculates the position of the loading and unloading place P, where the images IG1 and IG3 should be displayed. The display position calculation unit 22 calculates the position of the loading and unloading place P based on the bay plan acquired from the port management system 70 and the position information acquired from the position detection unit 26. In the example shown in FIG. 7 , the display position calculation unit 22 identifies the position of the cell guide CG next to the existing container C, among multiple cell guides CG present in the lateral direction, as the loading and unloading place P. The display position calculation unit 22 transmits the position information of the loading and unloading place P to the display controller 21.

[0044] The display position calculation unit 22 also calculates whether a blind spot occurs, and if so, calculates its coordinates. Blind spots will be explained with reference to FIG. 10. FIG. 10 shows the lines of sight SL1 and SL2 of the driver DV. The line of sight SL1 indicates the line of sight toward the landward end of the loading and unloading area P, and the line of sight SL2 indicates the line of sight toward the seaward end of the loading and unloading area P. As shown in FIG. 10(a), when the loading and unloading unit 10 holding the container C is away from the loading and unloading area P, the line of sight SL1 does not interfere with the loading and unloading area 10 and the container C. In this case, the display position calculation unit 22 determines that no blind spot has occurred. As shown in FIG. 10(b), when the loading and unloading area P approaches and the line of sight SL1 interferes with the loading and unloading area P, a blind spot BS occurs, and part of the seaward side of the loading and unloading area P becomes invisible. If the line of sight that meets the sea-side end of the loading and unloading unit 10 is defined as line of sight SL3, then the area below the loading and unloading unit 10 and the container C between line of sight SL2 (line of sight SL2 extended to the loading and unloading location P) and line of sight SL3 is the blind spot BS. The display position calculation unit 22 calculates such a blind spot BS. The display position calculation unit 22 calculates the coordinates of the blind spot BS by performing geometric calculations based on the positional relationship between the position of the driver's cab 14, the position of the loading and unloading location P, and the loading and unloading unit 10 that has grabbed the container C. The display position calculation unit 22 transmits the presence or absence of a blind spot BS and coordinate information of the blind spot BS to the display controller 21.

[0045] The display controller 21 calculates the content and projection position of the image projected by the HUD display device 20 and creates display data. The display controller 21 creates images IG1 and IG3 based on the position of the loading and unloading place P and coordinate information of the blind spot. The display controller 21 also creates an image IG2 to be displayed when the loading and unloading section 10 is close to the loading and unloading place P. The display controller 21 also calculates the positions of the created images IG1 and IG3 on the projection surface PF. As shown in FIG. 7, the display controller 21 calculates the positions of the images IG1 and IG3 on the projection surface PF, taking into account the position on the projection surface PF where the loading and unloading place P is visible from the driver DV. At this time, the display controller 21 also takes into account the eye position of the driver DV. For example, as shown in FIG. 7, even if the loading and unloading place P is the same, the position where the line of sight SL passes through the projection surface PF differs when the driver's eyes are at position PG1 and when the driver's eyes are at position PG2. Therefore, the display controller 21 adjusts the display position so that the images IG1 and IG3 are displayed at a position on the projection surface FP (floor surface 48) through which the line of sight SL passes. The display controller 21 also adjusts the timing at which the images are displayed. The display controller 21 transmits the created display data to the HUD display device 20.

[0046] Next, the control processing by the container crane 100 will be described with reference to Fig. 11. Fig. 11 is a flowchart showing the control processing of the container crane 100. Fig. 11 explains the loading operation when a new container C is loaded onto the container ship 50 from the land side. However, this control can also be applied when unloading. The order of the control contents can be changed as appropriate, and processing contents may be omitted as appropriate.

[0047] As shown in FIG. 11, first, the display position calculation unit 22 reads the bay plan (step S10). Next, the cargo handling unit position detection unit 43 detects the position of the trolley 7 in the front-to-rear direction, and the display position calculation unit 22 acquires the detected information (step S20). Next, the cargo handling unit position detection unit 43 detects the position of the cargo handling unit 10 in the up-down direction, and the display position calculation unit 22 acquires the detection result (step S30). Next, the display controller 21 determines whether or not the container C has been twist-locked in the cargo handling unit 10 (step S40). If it is determined that the twist lock has not been applied (NO in step S40), the display controller 21 waits, repeating step S20. Note that in the case of unloading, if the twist lock has been released, the determination in step S40 is YES.

[0048] On the other hand, if it is determined that the twist lock has been performed (YES in step S40), the position detection unit 26 detects the position of the cell guide on the container ship 50 or the position of an existing container C, and the display position calculation unit 22 acquires the detection result (step S50). Next, the display position calculation unit 22 calculates the coordinates of the entrance of the cell guide CG of the loading and unloading line for loading and unloading the container C grasped by the loading and unloading unit 10, or the coordinates of the top surface of the existing container C (step S60). This allows the display position calculation unit 22 to grasp the loading and unloading location P. In the case of unloading, the display position calculation unit 22 can grasp the position of the container C to be unloaded in the loading and unloading unit 10. Next, the display position calculation unit 22 calculates the coordinates of the blind spot (step S70). The gaze detection unit 23 detects the gaze of the driver DV, the posture detection unit 24 detects the posture of the driver DV, and the display controller 21 acquires these detection results (step S80).

[0049] The display position calculation unit 22 and the display controller 21 calculate the display content of the image of the HUD display device 20 (step S90). The HUD display device 20 projects and displays the image (step S100). At this time, when the loading and unloading unit 10 is far from the loading and unloading place P, the image IG1 in Fig. 7 is displayed, and when it is close and a blind spot occurs, the images IG1 and IG3 in Fig. 8 are displayed.

[0050] Next, the display controller 21 determines whether the cargo handling unit 10 has approached the vicinity of the cargo handling location P (step S110). If it is determined that the cargo handling unit 10 has not approached (NO in step S110), the process is repeated again from step S50. On the other hand, if it is determined that the cargo handling unit 10 has approached (YES in step S110), the HUD display device 20 additionally projects a second image IG2 of detailed information about the steering assistance content (step S120).

[0051] The display controller 21 determines whether the twist lock for the container C has been released by the cargo handling unit 10 (step S130). If it is determined that the twist lock has not been released (NO in step S130), the process is repeated from step S50. If it is determined that the twist lock has been released (YES in step S130), it is determined that the container C has been placed at the cargo handling location P by the cargo handling unit 10, and the HUD display device 20 ends the display of the image (step S140). When S140 is completed, the process shown in FIG. 11 ends. If there is a next container C, the process is repeated again from step S10. In the case of unloading, if the twist lock has been released, the result is YES in step S130.

[0052] Next, the actions and effects of the container crane 100 and the operation support device 1 according to this embodiment will be described.

[0053] The container crane 100 has a control unit 41 for controlling the loading / unloading unit 10, a cab 14 that moves along with the trolley 7, and a head-up display (HUD) 20 that projects an image into the cab 14. Therefore, the HUD 20 can project an image to assist the driver DV in controlling the crane from within the cab 14. The line-of-sight detection unit 23 detects the line of sight of the driver DV controlling the control unit 41. Therefore, the line-of-sight detection unit 23 can detect the line of sight of the driver DV to determine an appropriate position for projecting an image. The position detection unit 26 detects the loading / unloading location P of the container C by the loading / unloading unit 10. Therefore, the position detection unit 26 can accurately determine the location of the loading / unloading location P to project an image corresponding to the loading / unloading location P of the container C. Based on the detection results of the line-of-sight detection unit 23 and the position detection unit 26, the HUD 20 projects an image to assist the driver DV in controlling the crane from within the cab 14. Therefore, the HUD display device 20 can accurately grasp the position of the driver's line of sight and the position of the loading and unloading location P, and then accurately project an image for steering assistance onto the line of sight of the driver DV while steering. The driver DV can perform loading and unloading at the loading and unloading location P while looking at the projected image, while maintaining the line of sight while steering. As described above, driving assistance can be provided that makes it easy to steer the vehicle to unload at the loading and unloading location P.

[0054] The HUD display device 20 may project a first image IG1 that highlights the loading place P at a position corresponding to the loading place P. In this case, the driver can accurately grasp the loading place P while operating the vehicle.

[0055] The HUD display device 20 may project an image of detailed information on the steering assistance content based on the positional relationship between the cargo handling unit 10 and the loading location P. In this case, when the cargo handling unit 10 approaches the loading location P, the driver DV can accurately steer the vehicle while grasping the detailed information.

[0056] When a blind spot is created in the loading and unloading location P by the loading and unloading unit 10, the HUD display device 20 may project a second image IG2, which is different from the first image IG1, at a position corresponding to the blind spot. In this case, even when a blind spot is created, the driver DV can accurately grasp the location of the loading and unloading location P within the blind spot.

[0057] The HUD display device 20 may use the floor surface 48 of the control unit 41 as the projection surface PF. In this case, the driver DV can see the projected image when viewing the loading area P below the cab 14 through the floor surface 48 to confirm the loading area P.

[0058] The driving assistance device 1 is an driving assistance device 1 for a container crane 100 which has a loading / unloading unit 10 which loads and unloads containers C, a trolley 7 which supports the loading / unloading unit 10 so that it can be raised and lowered, and a driver's cab 14 which has a control unit 41 which controls the loading / unloading unit 10 and which moves along with the trolley 7, and is equipped with a HUD display device 20 which projects an image into the driver's cab 14, a gaze detection unit 23 which detects the line of sight of the driver DV who controls the control unit 41, and a position detection unit 26 which detects the loading location P of the container C by the loading / unloading unit 10, and the HUD display device 20 projects an image to assist in driving between the eye position detected by the gaze detection unit 23 and the loading location P detected by the position detection unit 26.

[0059] According to this operation support device 1, it is possible to obtain the same functions and effects as those of the container crane 100 described above.

[0060] The present invention is not limited to the above-described embodiments.

[0061] For example, the overall structure of the container crane shown in FIG. 1 may be modified as appropriate. [Explanation of symbols]

[0062] 1...operation assistance, 7...trolley, 9...wire rope (hanging material), 10...loading unit, 14...driver's cab, 23...gaze detection unit, 26...position detection unit, 20...HUD display device (image projection unit), 100...container crane.

Claims

1. a loading and unloading section that handles containers; a trolley that supports the loading / unloading unit so that the loading / unloading unit can be raised and lowered; A cab having a control unit for controlling the cargo handling unit and moving along with the trolley; an image projection unit that projects an image into the driver's cab; a gaze detection unit that detects the gaze of a driver who operates the control unit; a position detection unit that detects a loading and unloading location of the container by the loading and unloading unit, The container crane, wherein the image projection unit projects an image that assists in the operation at a position on the line of sight toward the loading and unloading location based on the detection results of the line of sight detection unit and the position detection unit.

2. The container crane according to claim 1 , wherein the image projection unit projects a first image that highlights the loading and unloading location at a position corresponding to the loading and unloading location.

3. The container crane according to claim 1, wherein the image projection unit projects a second image of detailed information about the operation support content based on a positional relationship between the loading and unloading unit and the loading and unloading location.

4. 3. The container crane according to claim 2, wherein, when a blind spot for the loading and unloading location is generated by the loading and unloading unit, the image projection unit projects a third image different from the first image at a position corresponding to the blind spot.

5. The container crane according to claim 1, wherein the image projection unit projects the image onto a floor surface of the control unit.

6. An operation support device for a container crane, comprising: a loading / unloading unit that loads and unloads containers; a trolley that supports the loading / unloading unit so that the loading / unloading unit can be raised and lowered; and a driver's cab that has a control unit that controls the loading / unloading unit and moves along with the trolley, an image projection unit that projects an image into the driver's cab; a gaze detection unit that detects the gaze of a driver who operates the control unit; a position detection unit that detects a loading and unloading location of the container by the loading and unloading unit, A driving assistance device, wherein the image projection unit projects an image that assists in the maneuvering between the eye position detected by the gaze detection unit and the loading location detected by the position detection unit.

Images