Crane and crane measurement system

Abstract

To provide a crane capable of automatically checking whether a cargo handling operation is being normally operated, and a crane measurement system.SOLUTION: A monitor unit 53 can check whether a cargo handling operation is being normally operated on the basis of the detection result of a three-dimensional distance detection unit 40. The three-dimensional distance detection unit 40 detects the distances of a chassis 11 and a container C of a trailer 10 from a lateral side. The monitor unit 53 can grasp a gap GP generated between the chassis 11 and the container C of the trailer 10, a positional relationship between the chassis 11 and the container C of the trailer 10, etc., during a cargo handling operation by using the distances of the chassis 11 and the container C of a trailer 10 from the lateral side. Thus, the monitor unit 53 can automatically check whether the cargo handling operation is being normally operated on the basis of information obtained from such detection results of the three-dimensional distance detection unit 40.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a crane and a measurement system for a crane. [Background technology]

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

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-239343 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, the operator visually checks whether loading and unloading operations, such as lifting a container placed on a transport vehicle and loading a container onto a transport vehicle, are being carried out normally.

[0005] An object of the present invention is to provide a crane and a crane measurement system that can automatically check whether cargo handling operations are being performed normally. [Means for solving the problem]

[0006] The crane of the present invention is a crane for transporting objects, and comprises a hoisting device for lifting an object placed on a transport cart and loading the object onto the transport cart, a crane main body that supports the hoisting device and travels, a three-dimensional distance detection unit provided on the crane main body that detects the distance to a measured object located within a three-dimensional space that is the detection range, and a monitoring unit that monitors the loading status of the object on the transport cart based on the detection results of the three-dimensional distance detection unit, and the three-dimensional distance detection unit detects the distance between the transport cart and the object from the side.

[0007] The crane includes a three-dimensional distance detection unit provided in the crane body that detects the distance to a measurement object located within a three-dimensional space, which is a detection range, and a monitoring unit that monitors the loading status of the object relative to the transport vehicle based on the detection results of the three-dimensional distance detection unit. Therefore, the monitoring unit can confirm whether loading and unloading operations, such as lifting a container placed on the transport vehicle and loading a container onto the transport vehicle, are being performed normally based on the detection results of the three-dimensional distance detection unit. Here, the three-dimensional distance detection unit detects the distance between the transport vehicle and the object from the side. By using the distances from the side of the transport vehicle and the object, the monitoring unit can grasp the gap formed between the transport vehicle and the object during loading and unloading operations, the positional relationship between the transport vehicle and the object, and the like. Therefore, the monitoring unit can automatically confirm whether loading and unloading operations are being performed normally based on information obtained from the detection results of the three-dimensional distance detection unit.

[0008] When the lifting tool lifts an object placed on the transport vehicle, the monitoring unit may monitor the lifting operation based on the gap between the lower part of the object and the transport vehicle detected by the three-dimensional distance detection unit. When the lifting operation of the object is performed normally, a gap is formed between the lower part of the object and the transport vehicle. Therefore, the monitoring unit can confirm whether the lifting operation is being performed normally based on the gap.

[0009] The monitoring unit may determine that the lifting operation was performed normally if the size of the gap is equal to or greater than a specified value. When the lifting operation of an object is performed normally, a gap of a size corresponding to the amount of lifting by the lifting tool is formed. Therefore, the monitoring unit can confirm whether the lifting operation is performed normally based on the size of the gap.

[0010] When the hoist loads the object onto the transport vehicle, the monitoring unit may monitor the loading operation based on the positional relationship between the transport vehicle and the object detected by the three-dimensional distance detection unit. If the loading operation of the object is performed correctly, the object is loaded onto the transport vehicle without any positional deviation. Therefore, the monitoring unit can confirm whether the loading operation is performed correctly based on the positional relationship between the transport vehicle and the object.

[0011] The monitoring unit may determine that the loading operation has been performed normally when the positional deviation between the transport vehicle and the object is equal to or less than a specified value. When the loading operation of the object has been performed normally, the positional deviation between the transport vehicle and the object will be equal to or less than a specified value. Therefore, the monitoring unit can confirm whether the loading operation has been performed normally based on the magnitude of the positional deviation.

[0012] The monitoring unit may acquire information regarding the work content using the hoisting device and the type of object being handled by the hoisting device before monitoring the cargo handling status, thereby enabling the monitoring unit to perform accurate monitoring according to the work content and the type of object.

[0013] The three-dimensional distance detection unit may be provided at a position where it can detect the boundary position between the transport vehicle and the object in the height direction during loading and unloading work, thereby allowing the monitoring unit to grasp any gaps or misalignments between the transport vehicle and the object.

[0014] The three-dimensional distance detection unit may be provided at a position in the travel direction of the crane body where it can detect the edge of the object during loading and unloading work, thereby enabling the monitoring unit to grasp the positional deviation between the transport vehicle and the object in the travel direction.

[0015] The crane measurement system of the present invention is a crane measurement system installed on a crane that transports objects, and is equipped with a hoisting device that lifts an object placed on a transport cart and loads the object onto the transport cart, and a crane main body that runs while supporting the hoisting device, and is equipped with a three-dimensional distance detection unit that is installed on the crane main body and detects the distance to a measured object that exists within a three-dimensional space that is the detection range, and a monitoring unit that monitors the loading status of the object on the transport cart based on the detection results of the three-dimensional distance detection unit, and the three-dimensional distance detection unit detects the positional relationship between the transport cart and the object from the side.

[0016] The measurement system for the crane according to the present invention can achieve the same functions and effects as the above-mentioned crane. [Effects of the Invention]

[0017] According to the present invention, it is possible to provide a crane and a crane measurement system that can automatically check whether loading and unloading operations are being performed normally. [Brief explanation of the drawings]

[0018] [Figure 1] FIG. 1 is a block diagram of a crane and a measurement system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a perspective view showing a crane device. [Figure 3] FIG. 2 is a schematic front view showing a state in which the crane device is suspending a container. [Figure 4] FIG. 2 is a schematic side view of a lower portion of the crane apparatus as viewed from the lateral direction. [Figure 5] FIG. 10 is a schematic diagram showing the state of operation when the hoisting tool hoists a container placed on the chassis of a trailer. [Figure 6] FIG. 10 is a schematic diagram showing the state of operation when the hoisting tool hoists a container placed on the chassis of a trailer. [Figure 7] FIG. 10 is a schematic diagram showing the operation of the hoisting tool when loading a container onto the chassis of a trailer. [Figure 8]FIG. 10 is a schematic diagram showing the operation of the hoisting tool when loading a container onto the chassis of a trailer. [Figure 9] 10 is a flowchart showing the processing contents of the monitoring unit when the hoisting device loads a container onto the chassis of the trailer. [Figure 10] 10 is a flowchart showing the processing contents of the monitoring unit when the hoisting device loads a container onto the chassis of the trailer. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, exemplary embodiments will be described with reference to the drawings. In each drawing, the same or corresponding parts are designated by the same reference numerals, and redundant explanations will be omitted.

[0020] A crane 100 according to an embodiment of the present invention will be described with reference to Figures 1 to 4. Figure 1 is a block diagram of a crane 100 according to an embodiment of the present invention and a measurement system 110. Figure 2 is a perspective view showing a crane apparatus 20. Figure 3 is a schematic front view showing the crane apparatus 20 suspending a container. Figure 4 is a schematic side view of the lower part of the crane apparatus 20 as seen from the lateral travel direction. As shown in Figure 1, the crane 100 comprises the crane apparatus 20, a control device 50, and a three-dimensional distance detection unit 40. Of these, the control device 50 and the three-dimensional distance detection unit 40 form a measurement system 110.

[0021] As shown in FIG. 2, the crane apparatus 20 is a gantry-type crane apparatus. The crane apparatus 20 is a crane apparatus that handles containers C (objects) in, for example, a container yard of a container terminal where containers C (objects) are transferred onto and from a docked container ship. A loading lane, which is a travel path for trailers 10 (transportation vehicles) onto which containers C are transferred, is laid in the container yard CY. The crane apparatus 20 automatically transfers the containers C onto, for example, the trailers 10 stopped on the loading lane. The crane apparatus 20 retrieves the containers C that are being carried in by the trailers 10, and places the containers C at predetermined positions in the container yard CY. The crane apparatus 20 also retrieves the containers C that are placed in the container yard CY, places the containers C onto the trailers 10, and has the trailers 10 carry the containers C out.

[0022] The crane apparatus 20 includes a crane body 21 and a hoisting device 22. The crane body 21 is capable of traveling by a traveling unit 25 equipped with tires and wheels. The traveling unit 25 is a mechanism provided at the lower ends of two pairs of legs 26, 26, and is driven by a traveling motor. The crane body 21 is formed into a generally gate-like shape by including girders 27, 27 connecting the upper ends of the legs 26, 26. The crane body 21 further includes a trolley 28 that can travel laterally on the girders 27 in a direction perpendicular to the traveling direction. The trolley 28 travels laterally by driving a traverse motor. The trolley 28 includes a winding drive unit 29 consisting of a drum drive motor and a drum that rotates forward and backward by the drum drive motor. The trolley 28 suspends the hoisting device 22 via a hoisting member 30 composed of a wire. The hoisting device 22 has a shape that extends in the traveling direction. Suspension members 30 extend from the trolley 28 at two points in the traveling direction, and the sling 22 is suspended from the suspension members 30 at two points in the traveling direction.

[0023] Note that mechanisms for moving the hoisting device 22 in the horizontal direction, such as the traveling unit 25 and the trolley 28, may be referred to as the movement drive unit 35. The movement drive unit 35 includes the above-mentioned traveling motor and traverse motor. As shown in FIG. 1, the traveling motor and traverse motor of the movement drive unit 35 are controlled by a control device 50. In addition, the drum drive motor of the winding drive unit 29 is controlled by the control device 50.

[0024] The hoisting tool 22 is a device for holding and lifting the container C. The hoisting tool 22 can lock the container C from the top side, and loads and hoists the container C by locking and lifting it. The hoisting tool 22 is suspended via a sheave 33 around which a hoisting member 30 from the hoisting drive unit 29 is wound, and can be raised and lowered by the forward and reverse rotation of the hoisting drive unit 29. The hoisting tool 22 is controlled by the control unit 23.

[0025] The hoisting tool 22 has a shape substantially identical to the shape of the upper surface of the container C in a plan view. The crane body 21 has, above the center in the longitudinal direction, a sheave 33 around which the hoisting member 30 is reeled. The hoisting tool 22 is positioned above the container C when the hoisting tool 22 locks onto the container C. The hoisting tool 22 includes a guide 32 and a lock pin (not shown). When the hoisting tool 22 acquires the target container C to be acquired by the hoisting tool 22, the guide 32 guides the hoisting tool 22 onto the target container C as the hoisting tool 22 descends. The guides 32 are provided at one end and the other end in the horizontal direction of the hoisting tool 22 in the short side direction, near both ends in the longitudinal direction.

[0026] The three-dimensional distance detection unit 40 is a measuring device that detects the distance to a measurement object present within a three-dimensional space, which is the detection range. As shown in FIGS. 3 and 4, the three-dimensional distance detection unit 40 is provided on the crane main body 21. The three-dimensional distance detection unit 40 detects the distance between the trailer 10 and the container C from the side. The three-dimensional distance detection unit 40 is provided on the leg 26, of the pair of legs 26, that is closer to the trailer 10. The three-dimensional distance detection unit 40 is also provided on the inner side of the leg 26 in the lateral direction, near the lower end of the leg 26. As a result, the three-dimensional distance detection unit 40 measures the container C on the trailer 10 from the outside to the inside in the lateral direction. The three-dimensional distance detection unit 40 measures the distance from the three-dimensional distance detection unit 40 to an object present within the detection range. The three-dimensional distance detection unit 40 is configured, for example, by a 3D LIDAR. The three-dimensional distance detection unit 40 transmits the detection results to the control device 50 (see FIG. 1).

[0027] The three-dimensional distance detection unit 40 is provided at a position in the height direction where it can detect the boundary position LP between the trailer 10 and the container C during loading and unloading operations (see also Figures 6 to 8). The container C is loaded on the chassis 11 of the trailer 10. Therefore, the three-dimensional distance detection unit 40 is provided at a position in the height direction where it can detect the boundary position LP between the chassis 11 and the container C. Here, "the three-dimensional distance detection unit 40 being provided at a position where it can detect the boundary position LP" means that the detection range DE (see Figures 5 and 7) of the three-dimensional distance detection unit 40 can be set to a position that includes the boundary position LP.

[0028] As shown in FIG. 4 , the three-dimensional distance detection unit 40 is provided at a position in the travel direction D2 of the crane main body 21 where it can detect the ends Ca and Cb of the container C during loading and unloading operations. The crane 100 according to this embodiment can load and unload a 40-foot container C1 and a 20-foot container C2. In this case, the three-dimensional distance detection unit 40 includes a three-dimensional distance detection unit 40A capable of detecting one end C1a of the 40-foot container C1 in the travel direction D2, and a three-dimensional distance detection unit 40B capable of detecting the other end C1b. The three-dimensional distance detection unit 40 also includes a three-dimensional distance detection unit 40C capable of detecting one end C2a of the 20-foot container C2 in the travel direction D2, and a three-dimensional distance detection unit 40D capable of detecting the other end C2b.

[0029] Here, providing the three-dimensional distance detection units 40A, 40B at positions where they can detect the ends C1a, C1b means that the detection range DE (see FIG. 7) of the three-dimensional distance detection units 40A, 40B can be set to a position that includes the ends C1a, C1b. The same applies to the three-dimensional distance detection units 40C, 40D. In the example shown in FIG. 4, the three-dimensional distance detection units 40A, 40B, 40C, and 40D are attached to the wheel holders 41 of the running unit 25 on the leg 16, but they may be attached to any position on the leg 16. For example, the three-dimensional distance detection units 40A, 40B, 40C, and 40D may be attached to a jig or the like provided on the leg 16.

[0030] As shown in FIG. 1, the control device 50 is configured as a general computer, including a processor, memory, 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 medium such as a ROM (Read Only Memory) or RAM (Random Access Memory). The storage is a storage medium such as a HDD (Hard Disk Drive). The communication interface is a communication device that realizes data communication. The user interface is an output device such as an LCD or speaker, and an input device such as a control lever, buttons, a keyboard, a touch panel, or a microphone. The processor controls the memory, storage, communication interface, and user interface, and realizes the functions described below. The control device 50 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 control device 50 may be configured with multiple computers.

[0031] The control device 50 is a device that comprehensively controls the entire crane 100. The control device 50 includes a calculation unit 51, a crane control unit 52, a monitoring unit 53, and a storage unit .

[0032] The calculation unit 51 performs various calculations necessary for controlling the crane 100. The calculation unit 51 calculates the operation when the hoisting device 22 grips the container C, the transport position of the container C, and the like. The crane control unit 52 controls the operation of the crane 100. The crane control unit 52 controls the horizontal movement of the hoisting device 22 by sending control signals to the travel motor and traverse motor of the movement drive unit 35. The crane control unit 52 also controls the hoisting and lowering operations of the hoisting device 22 via the hoisting member 30 by sending control signals to the drum drive motor of the hoist drive unit 29. The memory unit 54 stores various information.

[0033] The monitoring unit 53 monitors the loading status of the container C on the chassis 11 of the trailer 10 based on the detection results of the three-dimensional distance detection unit 40. Before monitoring the loading status, the monitoring unit 53 acquires information regarding the work content by the hoisting tool 22 and the type of container C to be loaded by the hoisting tool 22. Based on the control content of the crane 100 by the control device 50, the monitoring unit 53 acquires information regarding whether the hoisting tool 22 is performing a lifting operation to lift the container C placed on the chassis 11 of the trailer 10, or whether the hoisting tool 22 is performing an operation to load the container C onto the chassis 11 of the trailer 10. Based on the control content of the crane 100 by the control device 50, the monitoring unit 53 acquires information regarding whether the container C involved in the loading operation is a 40-foot container C1 or a 20-foot container C2.

[0034] Next, the processing contents of the monitoring unit 53 will be described in detail with reference to Fig. 5 to Fig. 8. Fig. 5 and Fig. 6 are schematic diagrams showing the state of work when the hoisting tool 22 lifts up the container C placed on the chassis 11 of the trailer 10. Fig. 7 and Fig. 8 are schematic diagrams showing the state of work when the hoisting tool 22 loads the container C onto the chassis 11 of the trailer 10. In the following explanation of Fig. 5 to Fig. 8, a 40-foot container C1 will be exemplified as the container C involved in the loading and unloading work.

[0035] 5 and 6, when the hoisting device 22 hoists the container C1 placed on the chassis 11 of the trailer 10, the monitoring unit 53 monitors the hoisting operation based on the gap GP detected by the three-dimensional distance detection unit 40 between the bottom of the container C1 and the chassis 11 of the trailer 10. After the hoisting device 22 locks the container C1, the monitoring unit 53 measures the gap GP between the bottom of the container C1 and the chassis 11 when the container C1 reaches a specified distance from the hoisting height at which the landing detection limit switch turns off. Specifically, the monitoring unit 53 obtains the detection result of the three-dimensional distance detection unit 40 near the boundary position LP. As a result, the monitoring unit 53 obtains the distance between each location within the detection range DE and the three-dimensional distance detection unit 40.

[0036] As shown in FIG. 6, the distance between the outer end C1c of the container C1 involved in the loading / unloading operation in the lateral direction D1 and the three-dimensional distance detection unit 40 is defined as L1. The container C adjacent to the container C1 on the inside in the lateral direction D1 is defined as container CA. The distance between the outer end CAc of the container CA in the lateral direction D1 and the three-dimensional distance detection unit 40 is defined as L2. As shown in FIG. 6, when a gap GP is formed between the container C1 and the chassis 11, the three-dimensional distance detection unit 40 detects the distance L2 from the end CAc of the container CA via the gap GP. Therefore, when the detection result of the three-dimensional distance detection unit 40 includes the distance L2, the monitoring unit 53 can determine that a gap GP has formed. The monitoring unit 53 can also obtain the size H1 of the gap GP based on the vertical range of the detected distance L2. On the other hand, if no gap GP is formed between the container C1 and the chassis 11, the three-dimensional distance detection unit 40 detects only the distance L1 to the end C1a of the container C1 involved in the loading and unloading, without detecting the distance L2 to the end CAc of the container CA. In this case, the monitoring unit 53 determines that the size of the gap GP at the boundary position LP is "0."

[0037] The monitoring unit 53 determines that the lifting operation was performed normally when the size H1 of the acquired clearance GP is equal to or greater than a specified value. In this case, the monitoring unit 53 notifies the driver to continue operation, or, in the case of automatic operation, causes the control device 50 to continue automatic operation. On the other hand, when the size H1 of the acquired clearance GP is smaller than a specified value, the monitoring unit 53 determines that an abnormality has occurred (ground clearance has not been properly achieved). In this case, the monitoring unit 53 stops operation of the crane 100 using an interlock and displays an abnormality. This allows the operator to check the lock pin of the chassis 11.

[0038] As shown in FIGS. 7 and 8, when the hoisting device 22 loads the container C onto the chassis 11 of the trailer 10, the monitoring unit 53 monitors the loading operation based on the positional relationship between the chassis 11 of the trailer 10 and the container C1 detected by the three-dimensional distance detection unit 40. The monitoring unit 53 measures the positional relationship between the container C1 and the chassis 11 when the hoisting device 22 lands the container C1. Specifically, the monitoring unit 53 measures the positional deviation between the end C1a of the container C1 in the traveling direction D2 and the end 11a of the chassis 11, and the positional deviation between the end C1b of the container C1 in the traveling direction D2 and the end 11b of the chassis 11, based on the detection result of the three-dimensional distance detection unit 40 (see FIG. 7). The monitoring unit 53 also measures the positional deviation between the end C1c of the container C1 in the lateral direction D1 and the end 11c of the chassis 11, based on the detection result of the three-dimensional distance detection unit 40 (see FIG. 8). Specifically, the monitoring unit 53 obtains the detection results of the three-dimensional distance detection unit 40 near the ends C1a and Cb, thereby obtaining the distance between each part within the detection range DE and the three-dimensional distance detection unit 40.

[0039] The end C1a of the container C1 and the end 11a of the chassis 11 are locations where the distance related to the detection result of the three-dimensional distance detection unit 40 changes suddenly. Therefore, the monitoring unit 53 can grasp the position of the end C1a of the container C1 in the traveling direction D2. The monitoring unit 53 can obtain the difference between the position of the end C1a of the container C1 in the traveling direction D2 and the position of the end 11a of the chassis 11 in the traveling direction D2 as a positional deviation. The same applies to the positional deviation between the end C1b of the container C1 and the end 11b of the chassis 11. The monitoring unit 53 can obtain the difference between the position of the end C1c of the container C1 in the lateral direction D1 and the position of the end 11c of the chassis 11 in the lateral direction D1 as a positional deviation, from the difference between the detection result of the three-dimensional distance detection unit 40 at the end C1c of the container C1 and the detection result of the three-dimensional distance detection unit 40 at the end 11c of the chassis 11.

[0040] The monitoring unit 53 determines that the loading operation has been performed normally when the magnitude of the acquired positional deviation is equal to or smaller than a specified value. In this case, the monitoring unit 53 notifies the driver to continue driving, or in the case of automatic driving, causes the control device 50 to continue automatic driving. On the other hand, when the positional deviation is smaller than the specified value, the monitoring unit 53 determines that an abnormality has occurred (the loading operation has not been performed normally). In this case, the monitoring unit 53 instructs the driver to redo the loading operation, or in the case of automatic driving, instructs the control device 50 to redo the loading operation.

[0041] Next, a flowchart of the processing contents of the monitoring unit 53 will be described with reference to Fig. 9 and Fig. 10. Fig. 9 is a flowchart showing the processing contents of the monitoring unit 53 when the hoisting device 22 loads a container C onto the chassis 11 of the trailer 10. Fig. 10 is a flowchart showing the processing contents of the monitoring unit 53 when the hoisting device 22 loads a container C onto the chassis 11 of the trailer 10.

[0042] When the lifting operation of the container C is performed by the hoisting tool 22, as shown in FIG. 9, the monitoring unit 53 acquires information regarding the work content by the hoisting tool 22 and the type of container C being handled by the hoisting tool 22 (step S10). Next, the monitoring unit 53 measures the size of the gap GP at the boundary position LP between the container C and the chassis 11 (step S20). Next, the monitoring unit 53 determines whether the size of the gap GP is equal to or greater than a specified value (step S30). If the size of the gap GP is equal to or greater than the specified value, the monitoring unit 53 determines that the lifting operation is being performed normally (step S40). On the other hand, if the size of the gap GP is smaller than the specified value in step S30, the monitoring unit 53 determines that an abnormality has occurred (step S50). This completes the control process shown in FIG. 9.

[0043] When the loading operation of a container C is performed by the hoist 22, as shown in FIG. 10, the monitoring unit 53 acquires information regarding the operation content by the hoist 22 and the type of container C to be loaded by the hoist 22 (step S110). Next, the monitoring unit 53 measures the positional relationship between the container C and the chassis 11 (step S120). Next, the monitoring unit 53 determines whether the positional deviation between the container C and the chassis 11 is equal to or less than a specified value (step S130). If the magnitude of the positional deviation is equal to or less than the specified value, the monitoring unit 53 determines that the loading operation is being performed normally (step S140). On the other hand, if the magnitude of the positional deviation is greater than the specified value in step S130, the monitoring unit 53 determines that an abnormality has occurred (step S150). This completes the control process shown in FIG. 10.

[0044] Next, the functions and effects of the crane 100 and the measurement system 110 for the crane 100 according to this embodiment will be described.

[0045] The crane 100 includes a three-dimensional distance detection unit 40 provided in the crane main body 21 and configured to detect the distance to a measurement object existing within a three-dimensional space, which is a detection range, and a monitoring unit 53 configured to monitor the loading / unloading state of the container C relative to the chassis 11 of the trailer 10 based on the detection results of the three-dimensional distance detection unit 40. Therefore, the monitoring unit 53 can confirm whether loading / unloading operations, such as lifting the container C placed on the trailer 10 and loading the container C onto the chassis 11 of the trailer 10, are being performed normally based on the detection results of the three-dimensional distance detection unit 40. Here, the three-dimensional distance detection unit 40 detects the distance between the chassis 11 of the trailer 10 and the container C from the side. By using the distances from the side of the chassis 11 of the trailer 10 and the container C, the monitoring unit 53 can grasp the gap GP formed between the chassis 11 of the trailer 10 and the container C during loading / unloading operations, the positional relationship between the chassis 11 of the trailer 10 and the container C, and the like. Therefore, the monitoring unit 53 can automatically check whether the cargo handling work is being carried out normally based on the information obtained from the detection results of the three-dimensional distance detection unit 40.

[0046] When the hoisting device 22 hoists the container C placed on the chassis 11 of the trailer 10, the monitoring unit 53 may monitor the hoisting operation based on the gap between the lower part of the container C and the chassis 11 of the trailer 10, detected by the three-dimensional distance detection unit 40. When the hoisting operation of the container C is performed normally, a gap GP is formed between the lower part of the container C and the chassis 11 of the trailer 10. Therefore, the monitoring unit 53 can confirm whether the hoisting operation is being performed normally based on the gap GP.

[0047] The monitoring unit 53 may determine that the lifting operation has been performed normally if the size of the gap GP is equal to or greater than a specified value. When the lifting operation of the container C is performed normally, a gap GP of a size corresponding to the amount of lifting by the hoisting tool 22 is formed. Therefore, the monitoring unit 53 can confirm whether the lifting operation is being performed normally based on the size of the gap GP.

[0048] When the hoisting device 22 loads the container C onto the chassis 11 of the trailer 10, the monitoring unit 53 may monitor the loading operation based on the positional relationship between the chassis 11 of the trailer 10 and the container C detected by the three-dimensional distance detection unit 40. When the loading operation of the container C is performed normally, the container C is loaded onto the chassis 11 of the trailer 10 without any positional deviation. Therefore, the monitoring unit 53 can confirm whether the loading operation is being performed normally based on the positional relationship between the chassis 11 of the trailer 10 and the container C.

[0049] The monitoring unit 53 may determine that the loading operation has been performed normally when the positional deviation between the chassis 11 of the trailer 10 and the container C is equal to or less than a specified value. When the loading operation of the container C has been performed normally, the positional deviation between the chassis 11 of the trailer 10 and the container C falls within a specified value. Therefore, the monitoring unit 53 can confirm whether the loading operation has been performed normally based on the magnitude of the positional deviation.

[0050] Before monitoring the cargo handling status, the monitoring unit 53 may acquire information regarding the work content performed by the hoisting device 22 and the type of container C to be handled by the hoisting device 22. This allows the monitoring unit 53 to perform accurate monitoring according to the work content and the type of container C.

[0051] The three-dimensional distance detection unit 40 may be provided at a position in the height direction where it can detect the boundary position LP between the chassis 11 of the trailer 10 and the container C during loading and unloading operations. This allows the monitoring unit 53 to grasp the gap GP and positional deviation between the chassis 11 of the trailer 10 and the container C.

[0052] The three-dimensional distance detection unit 40 may be provided at a position where it can detect the end of the container C during loading and unloading work in the traveling direction D2 of the crane main body 21. This allows the monitoring unit 53 to grasp the positional deviation between the chassis 11 of the trailer 10 and the container C in the traveling direction.

[0053] The measurement system 110 of the crane 100 in this embodiment is equipped with a hoisting device 22 that lifts the container C placed on the chassis 11 of the trailer 10 and loads the container C onto the chassis 11 of the trailer 10, and a crane main body 21 that travels while supporting the hoisting device 22, and is a measurement system 110 of the crane 100 that is installed on a crane that transports the container C. The measurement system 110 is equipped with a three-dimensional distance detection unit 40 that is installed on the crane main body 21 and detects the distance to the container C, and a monitoring unit 53 that monitors the loading status of the container C relative to the chassis 11 of the trailer 10 based on the detection results of the three-dimensional distance detection unit 40, and the three-dimensional distance detection unit 40 detects the positional relationship between the chassis 11 of the trailer 10 and the container C from the side.

[0054] The measurement system 110 for the crane 100 according to this embodiment can achieve the same effects and aims as the crane 100 described above.

[0055] The present invention is not limited to the above-described embodiments.

[0056] For example, in the above-described embodiment, a tire-type crane having tires is used as an example of the crane, but the type of crane is not particularly limited. For example, the measurement system may be used in a container crane that handles containers between ships at a quay, a Rail Mounted Gantry Crane (RMGC) that has wheels instead of tires, or other cranes. [Explanation of symbols]

[0057] 10...trailer (transport vehicle), 11...chassis (transport vehicle), 21...crane main body, 22...hoisting device, 40...three-dimensional distance detection unit, 53...monitoring unit, 100...crane, 110...measuring system, C...container, GP...gap, LP...boundary position.

Claims

1. A crane that transports an object, a lifting tool that lifts the object placed on the transporting vehicle and loads the object onto the transporting vehicle; a crane body that travels while supporting the hoisting tool; a three-dimensional distance detection unit provided on the crane body and detecting a distance to a measurement object existing within a three-dimensional space that is a detection range; a monitoring unit that monitors a loading state of the object on the transporting platform based on a detection result of the three-dimensional distance detection unit, The three-dimensional distance detection unit detects the distance between the transporting vehicle and the object from the side.

2. 2. The crane according to claim 1, wherein when the lifting device lifts the object placed on the transporting cart, the monitoring unit monitors the lifting operation based on the gap between the lower part of the object and the transporting cart detected by the three-dimensional distance detection unit.

3. The crane according to claim 2 , wherein the monitoring unit determines that the lifting operation has been performed normally when the size of the gap is equal to or larger than a specified value.

4. The crane according to any one of claims 1 to 3, wherein when the lifting device loads the object onto the transporting cart, the monitoring unit monitors the loading operation based on the positional relationship between the transporting cart and the object detected by the three-dimensional distance detection unit.

5. The crane according to claim 4 , wherein the monitoring unit determines that the loading operation has been performed normally when a positional deviation between the transporting vehicle and the object is equal to or smaller than a specified value.

6. The crane according to any one of claims 1 to 5, wherein the monitoring unit acquires information regarding the work content performed by the hoisting tool and the type of object to be loaded using the hoisting tool before monitoring the loading status.

7. The crane according to any one of claims 1 to 6, wherein the three-dimensional distance detection unit is provided at a position in a height direction where it can detect a boundary position between the transporting vehicle and the object during loading and unloading operations.

8. The crane according to any one of claims 1 to 7, wherein the three-dimensional distance detection unit is provided at a position in the traveling direction of the crane body where it can detect an end of the object during loading and unloading operations.

9. A crane measurement system provided on a crane that transports an object, the system comprising: a hoisting tool that hoists an object placed on a transporting vehicle and loads the object onto the transporting vehicle; and a crane main body that travels while supporting the hoisting tool, a three-dimensional distance detection unit provided on the crane body and detecting a distance to a measurement object existing within a three-dimensional space that is a detection range; a monitoring unit that monitors a loading state of the object on the transporting platform based on a detection result of the three-dimensional distance detection unit, The three-dimensional distance detection unit is a crane measurement system that detects the positional relationship between the transport vehicle and the object from the side.

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