Crane, position measurement system, and position measurement method

Abstract

The present invention provides a crane, a position measurement system, and a position measurement method that can measure the position of an object to be aligned with high accuracy and responsiveness. [Solution] The first wireless signal receiving unit 52A can receive a signal from the first wireless signal transmitting unit 51A provided on the spreader 20 at at least one of the positions of the trolley 7 and the boom 12. Therefore, the crane 1 can measure the relative position of the spreader 20 with respect to the trolley 7 or boom 12 based on the signal received by the first wireless signal receiving unit 52A. As a result, the crane 1 can align the trolley 7 or boom 12 with the spreader 20 based on the measurement result. Since this position measurement is performed based on the transmission and reception of signals, it is more accurate and responsive than when using sensors such as lidar.

Description

Technical Field

[0001] One aspect of the present invention relates to a crane, a position measurement system, and a position measurement method.

Background Art

[0002] Conventionally, as shown in Patent Document 1, a crane provided with a cargo handling section for handling containers is known. In the crane described in Patent Document 1, the cargo handling section grasps a container and installs it at a cargo handling location such as the upper surface of another container. The crane detects its position using a rider (LiDAR) or the like.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above-described crane, it is necessary to accurately detect the relative positions of the alignment objects (for example, containers, spreaders, cell guides, hatch covers, etc.) in the stage before aligning the alignment objects. However, it is difficult to measure the positions of these objects using a rider or the like, and there is a problem of low responsiveness due to computational processing problems. In particular, when the trolley travels horizontally, an acceleration (inertial force) acts on the spreader and the container in the direction opposite to the moving direction of the trolley, causing cargo sway. Furthermore, rotational sway may occur around three rotation axes. As described above, when performing vibration damping by control using a rider or the like, it is difficult to detect vibration with high accuracy and responsiveness.

[0005] Therefore, an object of one aspect of the present invention is to provide a crane, a position measurement system, and a position measurement method capable of accurately and responsively measuring the positions of alignment objects. [Means for solving the problem]

[0006] To solve the above problems, a crane according to one aspect of the present invention is a crane for loading and unloading containers, comprising: a crane body having a guide member; a trolley that moves along the guide member; a spreader suspended from the trolley; a first wireless signal transmitting unit provided on the spreader; and a first wireless signal receiving unit provided on at least one of the trolley and the guide member.

[0007] The crane comprises a first wireless signal transmitting unit provided on the spreader and a first wireless signal receiving unit provided on at least one of the trolley and the guide member. Therefore, the first wireless signal receiving unit can receive signals from the first wireless signal transmitting unit provided on the spreader at the position of at least one of the trolley and the guide member. Accordingly, the crane can measure the relative position of the spreader with respect to the trolley or guide member based on the signals received by the first wireless signal receiving unit. As a result, the crane can align the spreader with the trolley or guide member based on the measurement results. Since this position measurement is performed based on the transmission and reception of signals, it is more accurate and responsive than when using sensors such as lidar. Thus, the position of the object to be aligned can be measured with high accuracy and responsiveness.

[0008] The first wireless signal transmission unit may perform ultra-wideband wireless communication. In this case, the accuracy and responsiveness of position measurement can be improved.

[0009] The crane may include a second wireless signal transmitting unit installed on the trolley and a second wireless signal receiving unit installed on the crane body. In this case, the relative position of the trolley with respect to the crane body can be measured.

[0010] The first wireless signal transmission unit may be provided at least three locations relative to the spreader. In this case, it becomes possible to acquire three-dimensional positional information of the spreader.

[0011] The first wireless signal transmitting unit may be located on the edge of the spreader. In this case, the distance between the first wireless signal transmitting units can be increased, improving the accuracy of detecting the three-dimensional position information of the spreader.

[0012] The first wireless signal receiving unit may be located within an area corresponding to the edge of the upper surface of the spreader. In this case, the first wireless signal receiving unit can receive signals from the first wireless signal transmitting unit of the spreader while avoiding interference with surrounding existing containers when the spreader is handling containers.

[0013] The crane includes a third radio signal receiving unit provided on at least one of the crane body and / or the trolley, and the third radio signal receiving unit may receive signals transmitted from a third radio signal transmitting unit located at a position indicating the target object on which the container will be loaded. In this case, the crane can measure the position of the target object on which the container will be loaded based on the signals from the third radio signal transmitting unit.

[0014] The target object may be a transport cart. In this case, the crane can measure the position of the transport cart, which is the object on which the container is loaded, based on the signal from the third wireless signal transmitter.

[0015] The target object may be the securing device of a container ship. In this case, the crane can measure the position of the securing device, which is the object on which the container is loaded, based on the signal from the third radio signal transmitter.

[0016] The positions of other securing devices may be estimated from the position of the securing device based on the position of the third wireless signal transmitter. In this case, the crane does not need to provide a third wireless signal transmitter for all securing devices.

[0017] The crane may create a map from the location of the detected third radio signal transmitter and correlate it with the bay plan. In this case, the crane can compare the bay plan with the actual container loading positions.

[0018] The crane further comprises a catenary support trolley and a fourth wireless signal receiving unit provided on the catenary support trolley, the fourth wireless signal receiving unit which may receive signals transmitted from the third wireless signal transmitting unit. In this case, if the third wireless signal transmitting unit cannot be seen from the crane body, the fourth wireless signal receiving unit on the catenary support trolley can receive signals from the third wireless signal transmitting unit. Furthermore, by receiving signals from the fourth wireless signal receiving unit on the catenary support trolley before the third wireless signal receiving unit on the trolley, it becomes possible to create a map more quickly.

[0019] The crane may detect the rocking motion of the container ship as the target object, and supplement and update the map. In this case, even if the position of the third radio signal receiver on the map shifts due to the rocking motion of the container ship, this shift can be corrected.

[0020] The position measurement system is a position measurement system used for measuring the position of an object with respect to a crane that handles containers, and comprises a first wireless signal transmitting unit provided on the spreader of the crane, a trolley that moves along the guide member of the crane, and a first wireless signal receiving unit provided on at least one of the guide member.

[0021] The position measurement method is a method for measuring the position of an object with respect to a crane that handles containers, and comprises: a transmission step of transmitting a signal from a first wireless signal transmitting unit provided on the spreader of the crane; a reception step of receiving a signal from the first wireless signal transmitting unit with a trolley that moves along the guide member of the crane and a first wireless signal receiving unit provided on at least one of the guide member; and a measurement step of measuring the position of the object based on the signal received by the first wireless signal receiving unit.

[0022] The position measurement system and position measurement method can achieve the same effects and functions as the crane described above. [Effects of the Invention]

[0023] According to one aspect of the present invention, it is possible to provide a crane, a position measurement system, and a position measurement method that can accurately and responsively measure the position of an object to be aligned.

Brief Description of the Drawings

[0024] [Figure 1] FIG. 1 is a diagram for explaining the overall configuration of a crane to which a position measurement system is applied. [Figure 2] FIG. 2 is a perspective view of the cargo handling section. [Figure 3] FIG. 3 is a block diagram showing the block configuration of the crane system. [Figure 4] FIG. 4 is a diagram showing an example of the arrangement of tags of the wireless signal transmitter. [Figure 5] FIG. 5 is a view seen from the direction of looking up at the spreader and trolley from directly below. [Figure 6] FIG. 6 is a plan view showing the carrier truck. [Figure 7] FIG. 7 is a perspective view showing the cell guide. [Figure 8] FIG. 8 is a perspective view showing the lashing bridge. [Figure 9] FIG. 9 is a perspective view showing the hatch cover. [Figure 10] FIG.10 is a plan view showing the hatch cover. [Figure 11] FIG. 11 is a diagram showing an arrangement example of the third wireless signal transmitter. [Figure 12] FIG. 12 is a diagram showing a state of looking up at the crane from the container ship side. [Figure 13] FIG.13 is a diagram showing a state of looking at the trolley from the front-rear direction. [Figure 14] FIG. 14 is a diagram showing the caterpillar support truck. [Figure 15] FIG. 15 is a process diagram showing the position measurement method. [Figure 16]Figure 16 is a flowchart showing an example of the processing content of the control device when each of the third radio signal transmitting units can be seen from the ship's side. [Figure 17] Figure 17 is a flowchart showing an example of the processing performed by the control device when the third radio signal transmitting unit cannot be seen from the ship. [Figure 18] Figure 18 is a flowchart showing an example of the processing performed by the control device when the third radio signal transmitting unit cannot be seen from the ship. [Modes for carrying out the invention]

[0025] Hereinafter, embodiments of the crane, position measurement system, and position measurement method according to the present invention will be described with reference to the attached drawings. In the following description, the same or equivalent elements will be denoted by the same reference numerals, and redundant explanations will be omitted.

[0026] First, with reference to Figure 1, an overview of the crane and position measuring device according to an embodiment of the present invention will be described. Figure 1 is a diagram illustrating the overall configuration of crane 1 to which the position measuring system according to the embodiment is applied.

[0027] As shown in Figure 1, Crane 1 is a crane used to transport containers C placed inside a container ship 90 (vessel) moored alongside the quay 91. Containers C are containers such as ISO standard containers. Containers C have a long rectangular parallelepiped shape and have a predetermined length in their longitudinal direction, such as 20 feet or 40 feet. Crane 1 in this case is a bridge crane. Crane 1 comprises a leg structure 11, a boom 12 (guide member), a trolley 7, an operator's cab 14, and a cargo handling section 10.

[0028] Crane 1 loads containers C into the space inside the container ship 90 (underdeck) and also loads containers C onto the upper part of deck DK (ondeck). Crane 1 grasps the containers C loaded on the quay 91 with the cargo handling unit 10, lifts them, transports them onto the container ship 90, and loads the containers C at the loading area P. The loading area P is, for example, the top surface of already loaded containers C, the location of the cell guide, the bottom surface of the container ship 90, or on deck DK. In the diagram, the top surface of the containers C, which is colored, is shown as the loading area P.

[0029] The leg structure 11 is installed on the ground of the quay 91, has an H-shape when viewed in the direction of travel, and supports the entire crane 1 while extending upward. The leg structure 11 consists of a pair, left and right, each having a traveling device 11a at its base end. The traveling device 11a moves in the direction of travel along rails provided on the ground, driven by a traveling motor. The direction of travel is horizontal along the quay. This allows the leg structure 11 to travel in the direction of travel on the quay 91. The crane body 13 has the leg structure 11, a mast 13a extending upward from the seaward leg of the leg structure 11, and the boom 12 mentioned above.

[0030] The boom 12 extends from the leg structure 11 in a longitudinal direction (left-right direction in Figure 1) that intersects the direction of travel in the horizontal direction. The longitudinal direction is the horizontal direction between the sea side and the land side. Supported by the leg structure 11, the boom 12 extends above the container ship 90, beyond the quay 91 towards the container ship 90. In other words, the boom 12 extends from the quay 91 into the sea.

[0031] The trolley 7 is capable of traversing along the boom 12. The trolley 7 traverses by the drive of a traversing motor. As the trolley 7 moves, the driver's cab 14 and the cargo handling section 10 are capable of moving in the front-rear direction, which is the extension direction of the boom 12 (see direction MV1 in the figure). The trolley 7 is equipped with drums 8A and 8B (see Figure 2) that rotate in forward and reverse directions by a drum drive motor, and the cargo handling section 10 is suspended via wire ropes 9 (suspension members) wrapped around the drums.

[0032] The cargo handling unit 10 is suspended from the trolley 7 via a wire rope 9, and can be raised or lowered by the wire rope 9. The cargo handling unit 10 can lock onto the container C to be lifted and performs the loading and unloading of the container C. The cargo handling unit 10 is suspended via a sheave 18 (see Figure 2) around which the wire rope 9 is wrapped, and can be raised and lowered by the forward and reverse rotation of the drum of the trolley 7.

[0033] Next, the detailed configuration of the cargo handling unit 10 will be described with reference to Figure 2. Figure 2 is a perspective view of the cargo handling unit 10. As shown in Figure 2, the cargo handling unit 10 is a cargo handling mechanism called a spreader 20, which can be raised and lowered by a wire rope 9 and is used for loading and unloading containers C. The cargo handling unit 10 has a cargo handling unit body 15. The cargo handling unit body 15 secures the containers C using lock pins or the like.

[0034] At least near both ends of the cargo handling unit body 15, the shape is substantially the same as the shape of the top surface of the container C in a plan view. The cargo handling unit body 15 has the aforementioned sheave 18 around which the wire rope 9 is wrapped, on the upper side of the central part in the longitudinal direction. The cargo handling unit body 15 is operated by the hoisting and lowering of drums 8A and 8B, which are provided at any position on the crane 1. Drum 8A is a hoisting drum that moves the cargo handling unit body 15 up and down. Drum 8B is a tilting drum that adjusts the angle of the cargo handling unit body 15. The cargo handling unit body 15 is positioned on the container C when the cargo handling unit 10 locks the container C. The cargo handling unit body 15 comprises a base part 15a and telescopic parts 15b on both sides. The telescopic parts 15b are provided on both sides in the longitudinal direction of the base part 15a and are members that can extend and retract in that longitudinal direction. The expandable section 15b adjusts the length of the cargo handling section 15 by expanding or contracting to match the size of the container C.

[0035] Figure 3 is a block diagram showing the block configuration of the crane system 100. As shown in Figure 3, the crane system 100 comprises a crane 1 and a position measurement system 200 applied to the crane 1. The position measurement system 200 comprises a wireless signal transmitting unit 51, a wireless signal receiving unit 52, and a control device 53. The position measurement system 200 is a device used to measure the position of an object with respect to the crane 1 that lifts and handles containers C. Of these, the wireless signal receiving unit 52, the control device 53, and part of the wireless signal transmitting unit 51 are provided on the crane 1. Note that the position measurement system 200 only needs to include at least the wireless signal transmitting unit 51 and the wireless signal receiving unit 52. For example, the crane 1 of this embodiment may be constructed by applying the wireless signal transmitting unit 51 and the wireless signal receiving unit 52 of the position measurement system 200 to an existing crane 1. The position measurement system 200 according to this embodiment may be, for example, a system that performs high-precision distance measurement using UWB (Ultra Wide Band) technology. UWB wireless communication (ultra-wideband wireless communication) is a wireless communication method that utilizes an ultra-wide frequency bandwidth. UWB positioning is a method of positioning that uses UWB wireless communication to emit very short pulses. Compared to other wireless communication methods, UWB wireless communication has high accuracy and responsiveness in position measurement and low power consumption, making it more suitable for application to cranes 1, where accuracy and responsiveness in position measurement are required and the frequency of maintenance such as battery replacement needs to be reduced.

[0036] The wireless signal transmitting unit 51 is a device that periodically transmits UWB signals. The wireless signal transmitting unit 51 is installed on an object that is to be aligned during cargo handling. The wireless signal transmitting unit 51 is configured as a tag 60 and is installed on the object at a location where its position is to be measured. The tag 60 of the wireless signal transmitting unit 51 comprises a transmitting module 61, a power supply 62, and a control unit 63. The transmitting module 61 is a module that generates and transmits UWB signals. The power supply 62 is a module that supplies power for the operation of the wireless signal transmitting unit 51. Details of the power supply 62 will be described later. The control unit 63 is a module that controls the operation of the wireless signal transmitting unit 51 and manages the timing of signal transmission by the transmitting module 61. The control unit 63 transmits signals from the transmitting module 61 at predetermined timings while power is supplied from the power supply 62. Details of the location where the tag 60 is installed and the power supply 62 will be described later.

[0037] The wireless signal receiving unit 52 is a device that receives signals from the wireless signal transmitting unit 51. The wireless signal receiving unit 52 comprises a receiving antenna 66, a signal processing unit 67, and a communication unit 68. The receiving antenna 66 is an antenna for receiving signals transmitted from the tag 60. The signal processing unit 67 is a module for processing the received signals and measuring the signal arrival time. The communication unit 68 is a communication module for transmitting the data obtained by the signal processing unit 67 to the control device 53. The wireless signal receiving unit 52 is capable of receiving signals from multiple tags 60. In addition, multiple wireless signal receiving units 52 may be provided on the crane 1. Details of the location where the wireless signal receiving unit 52 is provided will be described later.

[0038] The control device 53 is a device in the position measurement system 200 that collects data based on signals from each tag 60 and measures the position of each tag 60. Measuring the position of a tag 60 means determining the direction and distance of a particular tag 60 relative to the wireless signal receiving unit 52 of the crane 1. By measuring the position of the tags 60, the position measurement system 200 can measure the position of the object to which the tag 60 is attached relative to the crane 1. In this method, the straight-line distance between a single sensor and a single receiver is measured. By using multiple receivers for measurement, the direction can also be determined. The control device 53 may be configured as a computer (also called an on-board automatic control PC), for example, by including a processor, memory, storage, and a communication interface. The processor is an arithmetic unit such as a CPU (Central Processing Unit). The memory is a storage unit such as ROM (Read-Only Memory) or RAM (Random Access Memory). The storage 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, and functions as the control unit 53. The control unit 53, for example, loads a program stored in ROM into RAM, and then executes the program loaded into RAM using the CPU to perform various functions. The number of computers constituting the control unit 53 may be one or more.

[0039] The control device 53 may be installed, for example, in the machine room 19 (see Figure 1). The control device 53 comprises a measuring unit 69 and a calculation unit 65. The measuring unit 69 measures the position of an object based on the signal received by the wireless signal receiving unit 52. The measuring unit 69 is a module that collects data transmitted from each tag 60 and calculates the position of each tag 60 based on the collected data. The measuring unit 69 collects data from each tag 60 and calculates the position of each tag 60 with high precision using the arrival time difference. The calculation unit 70 performs various calculations in the crane system 100.

[0040] Next, the locations where the tag 60 and the wireless signal receiving unit 52 are installed will be described. The tag 60 is installed on an object involved in the cargo handling operations of the crane 1. Examples of such objects include the cargo handling unit 10 where cargo handling operations are performed, the container ship 90 which is the object on which the container C is loaded, and the loading area on the ground. The wireless signal receiving unit 52 is not particularly limited as long as it can receive signals from the tag 60, and may be installed at any location on the crane 1.

[0041] Specifically, the wireless signal transmitting unit 51 and the wireless signal receiving unit 52 may be positioned so that the crane 1 can prevent the spreader 20 and container C of the cargo handling unit 10 from swaying. When the trolley 7 moves horizontally, acceleration (inertial force) acts on the spreader 20 and container C in the opposite direction to the direction of movement of the trolley 7, causing the cargo to sway. To acquire information for controlling such sway prevention, the crane 1 may be equipped with a first wireless signal transmitting unit 51A provided on the spreader 20 and a first wireless signal receiving unit 52A provided on at least one of the trolley 7 and the boom 12. Furthermore, the crane 1 may be equipped with a second wireless signal transmitting unit 51B provided on the trolley 7 and a second wireless signal receiving unit 52B provided on the crane body 13.

[0042] Specifically, as shown in Figure 1, the first wireless signal transmitter 51A may be installed on the spreader 20, and the first wireless signal receiver 52A may be installed on the trolley 7. In this way, the signal from the first wireless signal transmitter 51A from the spreader 20 is received mainly by the first wireless signal receiver 52A on the trolley 7 and boom 12 above the spreader 20. Alternatively, the first wireless signal transmitter 51A may be installed on the spreader 20, the second wireless signal transmitter 51B on the trolley 7, the first wireless signal receiver 52A on the boom 12, and the second wireless signal receiver 52B on the crane body 13. The signal from the second wireless signal transmitter 51B from the trolley 7 is mainly received by the second wireless signal receiver 52B on the crane body 13. Note that Figure 1 schematically shows the mounting positions of each transmitter and receiver, and the number and mounting positions are not limited thereto.

[0043] Figure 2 shows an example of the arrangement when the first wireless signal transmitter 51A is provided on the spreader 20. At least three of the first wireless signal transmitters 51A must be mounted on the plane of each measurement target in order to obtain three-dimensional positional information. Therefore, the first wireless signal transmitters 51A may be provided in at least three locations on the spreader. This allows the crane 1 to acquire three-dimensional positional information of a virtual plane set at the upper (or lower) end of the spreader 20 based on signals from at least three of the first wireless signal transmitters 51A. The three-dimensional positional information includes the horizontal position of the virtual plane, the rotational position around the vertical axis, and the inclination. Figure 2 shows an example of an appropriate mounting position for the first wireless signal transmitter 51A on the spreader 20. For higher accuracy, it is preferable that the distance between tags on the plane is as large as possible. Also, the expandable section 15b of the spreader 20 expands and contracts according to the container size. Therefore, the first wireless signal transmitting unit 51A is provided at the tip 15c (edge) of the telescopic portion 15b of the spreader 20. A pair of first wireless signal transmitting units 51A are provided at the tip 15c of one side of the telescopic portion 15b. A pair of first wireless signal transmitting units 51A are provided at the tip 15c of the other side of the telescopic portion 15b. At each tip 15c, the pair of first wireless signal transmitting units 51A are spaced apart from each other in the shorter direction. As a result, a total of four first wireless signal transmitting units 51A are provided near the square portion of the spreader 20. The control device 53 can determine that the virtual plane of the spreader 20 is horizontal if the height positions of the four first wireless signal transmitting units 51A are the same. In Figure 2, the first wireless signal transmitting unit 51A is provided at the upper end of the spreader 20 to suppress signal interference with the spreader 20. Furthermore, as long as the first wireless signal receiving unit 52A can receive the signal, the location where it is installed is not limited to the location shown in Figure 2.

[0044] Here, it is preferable that the first wireless signal receiving unit 52A, which receives the signal from the first wireless signal transmitting unit 51A of the spreader 20, be positioned to take into account surrounding obstacles. For example, referring to Figure 4, let us describe the case where container C2A is loaded next to containers C1A and C1B that are already loaded. The position of one of the first wireless signal transmitting units 51A of the spreader 20 when container C2A is loaded is indicated by "51Aa". If the first wireless signal receiving unit 52A is positioned above the first wireless signal transmitting unit 51Aa, the signal SG is received by the first wireless signal receiving unit 52A without interfering with the existing containers C1A and C1B. On the other hand, let us describe the case where container C3A is loaded next to containers C2A and C2B that are already loaded. The position of one of the first wireless signal transmitting units 51A of the spreader 20 when container C3A is loaded is indicated by "51Ab". If the first wireless signal receiving unit 52A is positioned diagonally above the first wireless signal transmitting unit 51Ab, the signal SG will interfere with the existing container C2B.

[0045] Therefore, it is preferable that the first wireless signal receiving unit 52A is positioned so as to be able to receive signals from the first wireless signal transmitting unit 51A even when existing containers C are loaded on both sides of the container C to be handled. Specifically, the first wireless signal receiving unit 52A may be positioned as shown in Figure 5. Figure 5 is a view of the spreader 20 and trolley 7 from directly below (see "V1" in Figure 1). As shown in Figure 5, the first wireless signal receiving unit 52A is positioned within regions E1 and E2 corresponding to the edges of the upper surface of the spreader 20 (or container C). Here, a reference plane SF corresponding to the shape of the upper surface of the container C is set with respect to the upper surface of the spreader 20. At this time, regions E1 and E2 are set along the longitudinal edges SFa and SFb of the reference plane SF. In the example shown in Figure 2, a pair of first wireless signal receiving units 52A are provided at positions corresponding to regions E1 and E2, respectively. However, the number of first wireless signal receiving units 52A provided within regions E1 and E2 is not limited, and the more units there are, the higher the measurement accuracy can be. The first wireless signal receiving unit 52A provided on the boom 12 may be provided in a position where the signal from the first wireless signal transmitting unit 51A does not interfere with the trolley 7. When the second wireless signal receiving unit 52B is attached to the crane body 13, it may be provided in a position where the signal from the second wireless signal transmitting unit 51B is not obstructed by the trolley 7 or the like.

[0046] As shown in Figure 1, the wireless signal transmitting unit 51 and the wireless signal receiving unit 52 may be positioned so that the crane 1 can detect the position of the target object on which the container C will be loaded. Accordingly, the crane system 100 includes a third wireless signal receiving unit 52C provided on at least one of the crane body 13 and the trolley 7. The crane system 100 also includes a third wireless signal transmitting unit 51C provided at a position indicating the target object on which the container C will be loaded. The third wireless signal receiving unit 52C receives the wireless signal transmitted from the third wireless signal transmitting unit 51C.

[0047] The target object may be a transport trolley 80. In land-side cargo handling, it is necessary to detect the position of the transport trolley 80, such as an AGV or an in-plant chassis. Land-side cargo handling refers to the handling of containers C in an area on land side of the leg structure 11. Therefore, the third wireless signal transmitter 51C is attached to the transport trolley 80, which is the object to be detected. Similar to the spreader 20 shown in Figure 2, it is preferable that the distance between the third wireless signal transmitters 51C on the virtual plane set on the transport trolley 80 is large. Therefore, as shown in Figure 6, at least three, preferably all, third wireless signal transmitters 51C may be attached to the four corners of the container C loading section 81 of the transport trolley 80. Note that in land-side cargo handling, the stopping area of ​​the transport trolley 80 is generally fixed relative to the crane 1, and there are no obstructions like on the ship side. Therefore, at least one set (minimum three) of the third wireless signal receiver 52C should be provided at any position on the crane body 13. Furthermore, when the third wireless signal receiving unit 52C is attached to the trolley 7, it may be placed in the same position as the first wireless signal receiving unit 52A, but there are fewer placement constraints than with the first wireless signal receiving unit 52A.

[0048] The target object may be the securing device 79 of the container ship 90. The securing device 79 is, for example, the cell guide 70, fastening part 75, and lashing bridge 76 described later. The crane system 100 also needs to detect the position of the loading location during ship-side cargo handling. Here, in the container ship 90, the detection position (mounting position of the third radio signal transmitter 51C) differs between underdeck cargo handling and on-deck cargo handling. In underdeck cargo handling, the crane 1 handles the cargo by aligning the corner of the container C with the cell guide 70 (see Figure 7). As shown in Figure 7, the space in the underdeck section US of the container ship 90 (see also Figure 1) is divided into sections for loading container C by bulkheads 71 ​​in the longitudinal direction of the hull. Cell guides 70 extending in the vertical direction are provided on the bulkheads 71 ​​at the loading positions of the container C. The crane system 100 can determine the loading position of the container C by detecting the position of the cell guides 70. Therefore, as shown in Figure 7, the third wireless signal transmitter 51C may be provided at the upper end of the cell guide 70. In Figure 7, the third wireless signal transmitter 51C is attached to the upper end of all cell guides 70, but it may be provided to only some of the cell guides 70. In this case, the control device 53 may estimate the positions of the other cell guides 70 from the positions of some of the cell guides 70 based on the third wireless signal transmitter 51C. Since the cell guides 70 are provided at equal intervals, this estimation can be easily performed.

[0049] In the case of on-deck loading and unloading, crane 1 stacks containers C on fastening sections 75 of the hatch cover 73 on deck DK. As shown in Figure 8, the space on deck DK is divided into sections for loading containers C by wall sections 74 in the longitudinal direction of the hull. Lashing bridges 76 are provided at positions corresponding to the corners of each container C, extending vertically. Figure 10 is a view of the hatch cover 73 from above. As shown in Figure 10, fastening sections 75 are provided on the hatch cover 73 at the four corners of the underside of each container C. In addition, multiple fastening sections 75 are provided in a dense arrangement where the corners of containers C are adjacent to each other. The hatch cover 73 is provided with fastening sections 77 for hooking the lock of the spreader 20 in order to load and unload the hatch cover 73 itself. The crane system 100 can determine the loading position of the containers C by detecting the position of the lashing bridges 76. Therefore, as shown in Figure 8, the third wireless signal transmitter 51C may be provided at the upper end of the lashing bridge 76. The crane system 100 can determine the loading position of the container C by detecting the position of the fastening portion 75. Therefore, as shown in Figure 9, the third wireless signal transmitter 51C may be provided near the fastening portion 75. It is not necessary to provide the third wireless signal transmitter 51C for all of the lashing bridges 76 and fastening portions 75, and the control device 53 may estimate the positions of other lashing bridges 76 and fastening portions 75 from the positions of some of the lashing bridges 76 and fastening portions 75 based on the positions of the third wireless signal transmitter 51C.

[0050] Figure 11 shows an example of the mounting position of the third radio signal transmitter 51C on the fastening portion 75. Figure 11 is an enlarged view from above of the area where fastening portions 75A and 75B for fixing the corners of adjacent containers C1 and C2 are lined up. Figure 11 also shows the area near the corner of the hatch cover 73 itself. The part of the hatch cover 73 on the outer periphery from the edge corresponds to the hull portion 78. As shown in Figure 11(a), the third radio signal transmitter 51C may be installed for each fastening portion 75A and 75B. One third radio signal transmitter 51C is provided at the location corresponding to fastening portion 75A, with the gap GP between containers C1 and C2 in between, and the other third radio signal transmitter 51C is provided at the location corresponding to fastening portion 75B, with the gap GP in between. The third radio signal transmitter 51C, located at the position shown in Figure 11(a), is visible from the crane 1 side (line of sight V2) without being obstructed by the container C2. Alternatively, the third radio signal transmitter 51Ca may be provided on the hatch cover 73, or the third radio signal transmitter 51Cb may be provided on the hull 78. The third radio signal transmitter 51Cb on the hull 78 can also be used for underdeck cargo handling, but the hatch cover 73 may shift during navigation, in which case the fastening portion 75 on the hatch cover 73 cannot be accurately measured.

[0051] As shown in Figures 11(b) and 11(c), the third wireless signal transmitter 51C may be located at a position corresponding to the gap GP. In this case, one third wireless signal transmitter 51C can indicate the position of the corners of both containers C1 and C2. In Figure 11(b), the third wireless signal transmitters 51Ca and 51Cb are positioned on the outer periphery of containers C1 and C2, on the extension of the gap GP. The third wireless signal transmitter 51C at the position shown in Figure 11(b) is visible from the crane 1 side (line of sight V2) without being obstructed by container C2. In Figure 11(c), the third wireless signal transmitter 51C is positioned in the gap GP. The third wireless signal transmitter 51C at the position shown in Figure 11(c) is obstructed by container C2 and is not visible from the crane 1 side (line of sight V2).

[0052] The arrangement of the third radio signal receiving unit 52C will now be described. Here, as shown in Figure 4(a), the third radio signal transmitting unit 51C can be seen in the width direction of the ship regardless of the loading status of the containers C (line of sight V2). In this case, the third radio signal receiving unit 52C on the crane 1 side can receive signals from the third radio signal transmitting unit 51C while suppressing interference with the containers C. For example, the third radio signal transmitting unit 51C arranged as shown in Figures 11(a) and 11(b) can be detected by line of sight. In this case, as shown in Figure 12, the third radio signal receiving unit 52C may be provided on the crane body 13. Figure 12 is a diagram showing the view looking up at the crane 1 from the container ship 90 side (line of sight V3, see Figure 1). As shown in Figure 12, the third radio signal receiving unit 52C may be provided in the area E3 set in each beam portion 11b of the leg structure 11 of the crane body 13. Region E3 may be set in both the sea-side and land-side beam sections 11b. Region E3 may be set to the left and right of the boom 12. Region E3 is set to extend laterally. At least three third wireless signal receiving units 52C may be provided within region E3, and the more units there are, the higher the detection accuracy. Also, as shown in Figure 13, a third wireless signal receiving unit 52C may be provided on the trolley 7. Figure 13 is a diagram showing the trolley 7 viewed from the front and rear directions. As shown in Figure 13, the trolley has extension members 86 that extend to the left and right. The third wireless signal receiving unit 52C may be provided in region E4 set on the extension members 86. At least three third wireless signal receiving units 52C may be provided within region E4, and the more units there are, the higher the detection accuracy.

[0053] Here, the loading position of container C is provided as a bay plan from the TOS (Terminal Operating System). It is preferable that this bay plan be able to be compared with the actual position of container C. Therefore, the control device 53 may create a map from the detected position of the third wireless signal transmission unit 51C and match it with the bay plan. Details of this process will be described later.

[0054] On the other hand, unlike in Figure 4(a), there are cases where the third wireless signal receiver 52C cannot detect the third wireless signal transmitter 51C from the crane 1 side in line of sight. For example, as shown in Figure 4(b), if the third wireless signal transmitter 51C is located in the gap between containers C, depending on the position of the third wireless signal receiver 52C, some units can be detected and others cannot. For example, the third wireless signal receiver 52C can detect the third wireless signal transmitter 51Cx directly below it, but cannot detect the other third wireless signal transmitters 51Cy and 51Cz because the signal SG interferes with the container C. For example, the third wireless signal transmitter 51 arranged as shown in Figure 11(c) cannot be detected in line of sight. In this case, the third wireless signal receiver 52C may be provided in the regions E1 and E2 shown in Figure 5 above. Furthermore, as shown in Figure 14, the crane 1 may also be equipped with a fourth wireless signal receiver 52D provided on the catenary support trolley 85. The fourth wireless signal receiver 52D receives signals transmitted from the third wireless signal transmitter 51C. Figure 14(a) is a view of the boom 12 from the side. Figure 14(b) is a view of the boom 12 from the container ship 90 side (line of sight V3, see Figure 1). The catenary support trolley 85 is a device that prevents sagging of the cable 87 that runs along the boom 12. The catenary support trolley 85 is a device that moves along the boom 12 in sync with the trolley 7 at half the speed of the trolley 7 at positions in front of and behind the trolley 7. As shown in Figure 14(b), the fourth wireless signal receiver 52D may be provided in a region E5 set on the catenary support trolley 85. Region E5 is a region that extends laterally. At least three fourth wireless signal receiving units 52D may be provided within region E5, and the more units there are, the higher the detection accuracy.

[0055] If the third radio signal receiving unit 52C cannot continuously detect the third radio signal transmitting unit 51C, the third radio signal transmitting unit 51C may suddenly be detected when it is no longer shielded, or vice versa. Therefore, the control device 53 needs to create a map from the detected location of the third radio signal transmitting unit 51C and correlate it with the bay plan. The control device 53 first detects and stores the third radio signal transmitting unit 51C using the fourth radio signal receiving unit 52D installed on the catenary support trolley 85 and creates a map. Because the container ship 90 floats on the sea, the ship itself oscillates, so the oscillation of the container ship 90 (planar swaying) may be detected by sensors such as lidar, and the map may be supplemented and updated. In this case, sensors such as lidar or cameras may be provided in region E5.

[0056] Next, referring to Figure 15, the position measurement method for crane 1, which lifts and handles container C, will be explained. As shown in Figure 15, the crane system 100 transmits a signal from a wireless signal transmitting unit 51 installed on the object whose position is to be measured (step S20, transmission step). Next, the crane system 100 receives the signal from the wireless signal transmitting unit 51 with a wireless signal receiving unit 52 installed on the crane 1 side (step S30, reception step). Based on the signal received by the wireless signal receiving unit 52, the crane system 100 measures the position of the object (step S40, measurement step).

[0057] Next, referring to Figure 16, an example of the processing content of the control device 53 when each of the third radio signal transmitting units 51C can be seen from the ship side will be described. As shown in Figure 16, the control device 53 acquires various information (step S100). In S100, the control device 53 acquires container size, bay plan, ship information, etc. Next, the control device 53 measures the position of each tag 60 (third radio signal transmitting unit 51C) (step S110). The control device 53 compares this with the bay plan and determines whether it has received signals from all the loading positions of the containers C (step S120). The control device 53 determines whether the undetected loading positions can be interpolated by estimation from other detected loading positions (step S130). If interpolation is possible, the control device 53 performs interpolation processing (step S135). If interpolation is not possible, the control device 53 determines whether the number of times interpolation is not possible has exceeded a threshold (step S140). If the threshold is exceeded, the control device 53 performs error processing (step S145) and terminates the process shown in Figure 16. If the threshold is not exceeded, the process is repeated again from S110.

[0058] If all signals are received in S120, or after S135 is completed, the control device 53 calculates the loading position of container C based on the measurement results and creates a map (step S150). In S150, the control device 53 creates a map using the container size or ship information and bay plan. The control device 53 calculates the position of the spreader 20 from the measurement results of the first radio signal transmitter 51A (step S160). Based on the calculation result in S160, the map, and the bay plan, the control device 53 calculates the relative position between the spreader 20 and the loading position of the target container C (step S170). Thus, the process shown in Figure 16 is completed, and the process is repeated from S100.

[0059] Next, with reference to Figures 17 and 18, an example of the processing of the control device 53 when the third radio signal transmitting unit 51 cannot be seen from the ship side will be described. As shown in Figure 17, the control device 53 acquires various information (step S200). In S200, the control device 53 acquires container size, bay plan, ship information, etc. The control device 53 drives the trolley 7 and, in conjunction with it, drives the catenary support trolley 85 (step S210). The control device 53 measures the position of the catenary support trolley 85 in absolute coordinates (step S220). The control device 53 measures the position of the third radio signal transmitting unit 51C using the detection result of the fourth radio signal receiving unit 52D of the catenary support trolley 85 (step S230). The control device 53 calculates the absolute position of the third radio signal transmitting unit 51C that has successfully received the signal (step S240). The control device 53 calculates the loading position of container C based on the calculation result in S240 and creates a map (step S250). The control device 53 determines whether the map of the area around the loading position to be handled is complete (step S260). If the map is not complete in S260, the control device 53 performs error processing and terminates the process shown in Figures 17 and 18.

[0060] When the map is completed in S260, the control device 53 measures the oscillation of the container ship 90 using sensors such as the LiDAR on the catenary support trolley 85 (step S300). The control device 53 corrects the position of the third radio signal transmitter 51C, which is on the map but can no longer receive signals, and reflects this in the map (step S310). The control device 53 moves the trolley 7 to the vicinity of the loading position to be handled. The control device 53 precisely measures the position of the third radio signal transmitter 51C using the third radio signal receiver 52C of the trolley 7 (step S330).

[0061] The control device 53 compares the measurement results from step S330 with the map and determines whether it has received a signal from the tag 60 from all the loading positions of the containers C (step S340). The control device 53 determines whether the undetected loading positions can be interpolated by estimation from other detected loading positions (step S350). If interpolation is possible, the control device 53 performs interpolation processing (step S355). If interpolation is not possible, the control device 53 determines whether the number of times interpolation has been deemed impossible has exceeded a threshold (step S360). If it has exceeded the threshold, the control device 53 performs error processing (step S365) and terminates the process shown in Figure 18. If the threshold has not been exceeded, the process is repeated from S330.

[0062] The control device 53 calculates the absolute position of the spreader 20 from the measurement results of the first wireless signal transmission unit 51A (step S370). Based on the calculation result from S370, the map, and the bay plan, the control device 53 calculates the relative position between the spreader 20 and the loading position of the target container C (step S380). Thus, the process shown in Figures 17 and 18 is completed, and the process is repeated again from S200.

[0063] Next, the operation and effects of the crane 1, position measurement system 200, and position measurement method according to this embodiment will be described.

[0064] The crane 1 includes a first wireless signal transmitting unit 51A provided on the spreader 20 and a first wireless signal receiving unit 52A provided on at least one of the trolley 7 and the boom 12 (guide member). Therefore, the first wireless signal receiving unit 52A can receive signals from the first wireless signal transmitting unit 51A provided on the spreader 20 at the position of at least one of the trolley 7 and the boom 12. Accordingly, the crane 1 can measure the relative position of the spreader 20 with respect to the trolley 7 or boom 12 based on the signals received by the first wireless signal receiving unit 52A. As a result, the crane 1 can align the trolley 7 or boom 12 with the spreader 20 based on the measurement results. Since this position measurement is performed based on the transmission and reception of signals, it is more accurate and responsive than when using sensors such as lidar. Therefore, the position of the object to be aligned can be measured with high accuracy and responsiveness.

[0065] The first wireless signal transmission unit 51A may perform ultra-wideband wireless communication. In this case, the accuracy and responsiveness of position measurement can be improved.

[0066] The crane 1 may include a second wireless signal transmitting unit 51B provided on the trolley 7 and a second wireless signal receiving unit 52B provided on the crane body 13. In this case, the relative position of the trolley 7 with respect to the crane body 13 can be measured.

[0067] The first wireless signal transmission unit 51A may be provided at least three locations relative to the spreader 20. In this case, it becomes possible to acquire three-dimensional positional information of the spreader 20.

[0068] The first wireless signal transmitting unit 51A may be provided at the tip 15c (edge) of the spreader 20. In this case, the distance between the first wireless signal transmitting units 51A can be increased, improving the accuracy of detecting the three-dimensional position information of the spreader 20.

[0069] The first wireless signal receiving unit 52A may be located within areas E1 and E2 corresponding to the edges of the upper surface of the spreader 30. In this case, the first wireless signal receiving unit 52A can receive signals from the first wireless signal transmitting unit 51A of the spreader 20 while avoiding interference with surrounding existing containers C (see Figure 4(b)) when the spreader 20 is loading and unloading containers C.

[0070] The crane 1 includes a third radio signal receiving unit 52C provided on at least one of the crane body 13 and the trolley 7, and the third radio signal receiving unit 52C may receive a signal transmitted from a third radio signal transmitting unit 51C provided at a position indicating the target object on which the container C will be loaded. In this case, the crane 1 can measure the position of the target object on which the container C will be loaded based on the signal from the third radio signal transmitting unit 51C.

[0071] The target object may be a transport trolley 80. In this case, the crane 1 can measure the position of the transport trolley 80, which is the object on which the container C is loaded, based on the signal from the third wireless signal transmitter 51C.

[0072] The target object may be the securing device 79 of the container ship 90. In this case, the crane 1 can measure the position of the securing device 79, which is the object on which the container C is loaded, based on the signal from the third radio signal transmitter 51C.

[0073] The positions of other securing devices 79 may be estimated from the position of the securing device 79 based on the position of the third wireless signal transmitting unit 51C. In this case, the crane 1 does not need to provide the third wireless signal transmitting unit 51C for all securing devices 79.

[0074] Crane 1 may create a map from the detected location of the third wireless signal transmitter 51C and correlate it with the bay plan. In this case, Crane 1 can compare the bay plan with the actual loading position of the container C.

[0075] Crane 1 further comprises a catenary support trolley 85 and a fourth wireless signal receiving unit 52D provided on the catenary support trolley 85, and the fourth wireless signal receiving unit 52D may receive signals transmitted from the third wireless signal transmitting unit 51C. In this case, if the third wireless signal transmitting unit 51C cannot be seen from the crane body 13 side, the fourth wireless signal receiving unit 52D of the catenary support trolley 85 can receive signals from the third wireless signal transmitting unit 51C. Furthermore, by the fourth wireless signal receiving unit 52D of the catenary support trolley 85 receiving signals before the third wireless signal receiving unit 52C of the trolley 7, it becomes possible to quickly create a map.

[0076] Crane 1 may detect the oscillation of the container ship 90, which is the target object, and supplement and update the map. In this case, even if the position of the third radio signal receiving unit 52C on the map shifts due to the oscillation of the container ship 90, the shift can be corrected.

[0077] The position measurement system 200 is used to measure the position of an object with respect to a crane 1 that loads and unloads a container C, and comprises a first wireless signal transmitting unit 51A provided on the spreader 20 of the crane 1, a trolley 7 that moves along the boom 12 of the crane 1, and a first wireless signal receiving unit 52A provided on at least one of the boom 12.

[0078] The position measurement method is a method for measuring the position of an object with respect to a crane 1 that loads and unloads a container C, and comprises a transmission step of transmitting a signal from a first wireless signal transmitting unit 51A provided on the spreader 20 of the crane 1; a reception step of receiving a signal from the first wireless signal transmitting unit 51A with a trolley 7 that moves along the boom 12 of the crane 1 and a first wireless signal receiving unit 52A provided on at least one of the boom 12; and a measurement step of measuring the position of an object based on the signal received by the first wireless signal receiving unit 52A.

[0079] The position measurement system 200 and the position measurement method can be used to obtain the same functions and effects as the crane 1 described above.

[0080] The present invention is not limited to the embodiments described above.

[0081] For example, the overall structure of the crane shown in Figure 1 may be modified as appropriate. Also, the type of crane 1 is not limited to that of this embodiment, and an RTG crane may be used.

[0082] Furthermore, measurement systems other than UWB technology may be used. For example, BLE beacons, which are distance measurement technologies using Bluetooth®, may be used. [Explanation of Symbols]

[0083] 1...Crane, 7...Trolley, 12...Boom (guide member), 13...Crane body, 20...Spreader, 51...Wireless signal transmitter, 51A...First wireless signal transmitter, 51B...Second wireless signal transmitter, 51C...Third wireless signal transmitter, 52...Wireless signal receiver, 52A...First wireless signal receiver, 52B...Second wireless signal receiver, 52C...Third wireless signal receiver, 52D...Fourth wireless signal receiver, 85...Catenary support trolley, 200...Position measurement system.

Claims

1. A crane for loading and unloading containers, A crane body having a guide member, A trolley that moves along the guide member, A spreader suspended from the trolley, The first wireless signal transmission unit provided in the spreader, A crane comprising a first wireless signal receiving unit provided on at least one of the trolley and the guide member.

2. The crane according to claim 1, wherein the first wireless signal transmitting unit performs ultra-wideband wireless communication.

3. A second wireless signal transmitting unit is provided on the trolley, The crane according to claim 1, further comprising a second wireless signal receiving unit provided on the crane body.

4. The crane according to claim 1, wherein the first wireless signal transmitting unit is provided at least three locations relative to the spreader.

5. The crane according to claim 1, wherein the first wireless signal transmitting unit is provided on the edge of the spreader.

6. The crane according to claim 1, wherein the first wireless signal receiving unit is arranged in a region corresponding to the edge of the upper surface of the spreader.

7. The crane body and the trolley are equipped with a third wireless signal receiving unit, The crane according to claim 1, wherein the third wireless signal receiving unit receives a signal transmitted from a third wireless signal transmitting unit located at a position indicating a target object on which the container is loaded.

8. The crane according to claim 7, wherein the target object is a transport trolley.

9. The crane according to claim 7, wherein the target object is a securing device for a container ship.

10. The crane according to claim 9, which estimates the position of other securing devices from the position of the securing device based on the position of the third wireless signal transmitting unit.

11. The crane according to claim 7, wherein a map is created from the detected location of the third wireless signal transmitting unit and correlated with the bay plan.

12. Catenary support trolley and The catenary support trolley further comprises a fourth wireless signal receiving unit, The crane according to claim 7, wherein the fourth wireless signal receiving unit receives a signal transmitted from the third wireless signal transmitting unit.

13. The crane according to claim 11, which detects the oscillation of a container ship as the target object, interpolates the map, and updates it.

14. A position measurement system used for measuring the position of an object in a crane used for loading and unloading containers, A first wireless signal transmitting unit is provided on the spreader of the crane, A position measurement system comprising a trolley that moves along a guide member of the crane, and a first wireless signal receiving unit provided on at least one of the guide members.

15. A position measurement method for a crane used for loading and unloading containers, which measures the position of an object, A transmission step of transmitting a signal from a first wireless signal transmitting unit provided on the spreader of the crane, A trolley that moves along the guide member of the crane, and a receiving step of receiving the signal from the first wireless signal transmitting unit with a first wireless signal receiving unit provided on at least one of the guide members, A position measurement method comprising: a measurement step of measuring the position of an object based on the signal received by the first wireless signal receiving unit.

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