Crane control system and control method thereof, and crane

Abstract

The present invention provides a crane control system and control method that allows for easier setting of appropriate constraints according to the type of lifting equipment, as well as a crane itself. [Solution] The control system 1 for controlling the cargo handling of a crane 10X, to which a target lifting device 11Y selected from among candidates X is detachably connected to a connecting part 14Z, comprises a calculation device 2, the calculation device 2 having an auxiliary storage unit 3b which stores a dataset D1 in which constraint conditions for cargo handling of the crane 10X are accumulated for each of the lifting devices (11a to 11f) included in candidate X, an input unit 4 to which a lifting device cable 15 derived from the target lifting device 11Y is connected, and a calculation processing unit 5, and when an identification signal SY is input via the input unit 4, the calculation processing unit 5 performs data processing to select constraint conditions corresponding to the target lifting device 11Y from the dataset D1 based on the identification signal SY.

Description

Technical Field

[0001] The present invention relates to a crane control system and its control method, and a crane. More specifically, it relates to a crane control system and its control method that can more easily set appropriate constraint conditions according to the type of lifting tool, and a crane.

Background Art

[0002] In a crane, various types of lifting tools such as a spreader, a hook, a slab lifter, a slab tong, a lifting magnet, and a coil lifter are used according to the specifications of the goods to be handled. When the type of the lifting tool is different, the constraint conditions during the handling operation are significantly different.

[0003] Although not related to a crane, a control system has been proposed that sets a turning acceleration according to the type of attachment attached to the tip of a working machine and the operation amount of a turning operation device by a controller (see Patent Document 1). Examples of the attachment include a bucket, a breaker, a grapple, and a lifting magnet. However, in the control system proposed in Patent Document 1, the type of the attachment is input by an operator's operation of an input unit (see paragraph 0042 of Patent Document 1). That is, in the control system proposed in Patent Document 1, it takes time to change the type of the attachment by a manual operation. Further, since a manual operation is involved in the input of the type of the attachment, an incorrect input occurs. Therefore, there is room for improvement in more easily setting appropriate constraint conditions according to the type of the lifting tool.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The object of the present invention is to provide a crane control system and control method, as well as a crane, that can more easily set appropriate constraints according to the type of lifting equipment. [Means for solving the problem]

[0006] The crane control system of the present invention, which achieves the above objective, is a crane control system comprising a computing device that controls the cargo handling of a crane in which a target lifting device selected from among the candidates is detachably connected to a connecting part suspended from a trolley via a wire rope, wherein the computing device has a storage unit that stores a dataset in which constraint conditions for the cargo handling of the crane are accumulated for each of the lifting devices included in the candidates, an input unit to which a lifting device cable derived from the target lifting device is connected, and a computing processing unit, wherein when an identification signal unique to each of the lifting devices included in the candidates is input via the input unit, the computing processing unit performs data processing to select the constraint conditions corresponding to the target lifting device from the dataset based on the identification signal.

[0007] The present invention relates to a crane control method in which a crane controls the handling of cargo by which a target lifting device selected from among several types of lifting devices is suspended from a trolley via a wire rope and detachably connected to a connecting part, using a computing device. The method is characterized in that, in a preparation stage prior to connecting the target lifting device to the connecting part, a dataset is created in which constraint conditions for handling cargo by the crane are accumulated for each of the lifting devices included in the candidates. When the target lifting device is connected to the connecting part and the lifting device cable derived from the target lifting device is connected to the computing device, and a unique identification signal is input for each of the lifting devices included in the candidates, the computing device selects the constraint conditions corresponding to the target lifting device from the dataset based on the identification signal.

[0008] The crane of the present invention is characterized by comprising the crane control system described above. [Effects of the Invention]

[0009] According to the present invention, since the input identification signal is determined for each target suspension device, different constraint conditions can be automatically selected by data processing in the computing device for each type of target suspension device connected to the connection part. Therefore, if a dataset containing the unique constraint conditions for each of the candidate suspension devices is prepared in advance, human intervention can be eliminated from selecting constraint conditions appropriate to the type of target suspension device by simply connecting the suspension device cable derived from the target suspension device to the computing device. This effectively avoids missettings caused by human intervention, allowing for more accurate setting of appropriate constraint conditions according to the type of target suspension device. [Brief explanation of the drawing]

[0010] [Figure 1] This is an explanatory diagram illustrating an embodiment of a crane and its control system in which the target lifting device is a spreader. [Figure 2] This is an explanatory diagram illustrating an embodiment of a crane and its control system in which the target lifting device is a hook. [Figure 3] This is an explanatory diagram illustrating an embodiment of a crane and its control system in which the target lifting device is a slab lifter. [Figure 4] This is an explanatory diagram illustrating an embodiment of a crane and its control system in which the target lifting device is a slab tong. [Figure 5] This is an explanatory diagram illustrating an embodiment of a crane and its control system in which the target lifting device is a lifting magnet. [Figure 6] This is an explanatory diagram illustrating an embodiment of a crane and its control system in which the target lifting device is a coil lifter. [Figure 7] This is an explanatory diagram illustrating the suspension cable and input section. [Figure 8] This is an explanatory diagram illustrating a portion of the dataset. [Figure 9]This is an illustrative diagram illustrating the remaining portion of the dataset. [Figure 10] This is a flowchart illustrating the procedure in an embodiment of a crane control method. [Figure 11] This is an explanatory diagram illustrating a crane and its control system for handling cargo such as biological containers. [Figure 12] This is an illustrative diagram illustrating a crane and its control system for handling tank containers. [Figure 13] This is an explanatory diagram illustrating a dataset of modified examples. [Figure 14] This is an explanatory diagram illustrating the procedure for controlling a modified crane. [Modes for carrying out the invention]

[0011] The crane control system and control method of the present invention, as well as the crane itself, will be described below based on the embodiments shown in the figures.

[0012] The embodiment of the control system 1 illustrated in Figures 1 to 6 includes a computing device 2, which has a storage unit (auxiliary storage unit 3b), an input unit 4 (system cable 6, connector seat 7, interface 8), and a computing processing unit 5. This control system 1 controls the handling of cargo by a crane 10X (any of 10A to 10C) to which a target lifting device 11Y (any of 11a to 11f) selected from candidate X (any of A to C) is detachably connected to a connecting unit 14Z (any of 14A or 14B) suspended from a trolley 12 via a wire rope 13. Candidate X refers to one of candidates A, B, or C; crane 10X refers to one of cranes 10A, 10B, or 10C; target lifting device 11Y refers to one of spreader 11a, hook 11b, slab lifter 11c, slab tongs 11d, lifting magnet 11e, or coil lifter 11f; and connecting part 14Z refers to one of head block 14A or lifting beam 14B.

[0013] The crane 10X equipped with this control system 1 corresponds to an embodiment of the crane of the present invention. Each crane 10X has different candidate X, target lifting tool 11Y, and connecting part 14Z according to different cargos (C1 to C5) to be handled and handling situations (such as facilities in operation), but other configurations are generally the same.

[0014] The crane 10A illustrated in FIGS. 1 and 2 is, for example, in operation at a container terminal, and the cargos to be handled are containers C1, long goods C2, etc. This crane 10A includes a spreader 11a and a hook 11b in candidate A, and the target lifting tool 11Y selected from among candidate A is connected to the head block 14A.

[0015] The crane 10B illustrated in FIGS. 3 and 4 is, for example, in operation at a steel mill, and the cargos to be handled are slabs (semi-finished products before steel plates C4 and coils C5) C3, etc. This crane 10B includes a slab lifter 11c and a slab tong 11d in candidate B, and the target lifting tool 11Y selected from among candidate B is connected to the suspension beam 14B.

[0016] The crane 10C illustrated in FIGS. 5 and 6 is in operation at a steel mill like the crane 10B, and the cargos to be handled are steel plates C4, coils (formed by winding the steel plate C4 into a cylindrical shape) C5, etc. This crane 10C includes a lifting magnet 11e and a coil lifter 11f in candidate C, and the target lifting tool 11Y selected from among candidate C is connected to the suspension beam 14B.

[0017] An embodiment of the crane control method illustrated in Figure 10, described later, is implemented using the control system 1 provided by the crane 10X. This control method is used to appropriately control the cargo handling by the crane 10X according to the type of lifting device 11Y. In the procedure of this control method, a data set D1 illustrated in Figures 8 and 9, described later, is created in the preparation stage before the lifting device 11Y is connected to the connecting section 14Z (S110). Next, the lifting device 11Y is connected to the connecting section 14Z, and the lifting device cable 15 derived from the lifting device 11Y is connected to the input section 4 of the computing device 2 (S120, S130). Next, when an identification signal SY is input via the input section 4, the computing device 2 selects constraint conditions corresponding to the lifting device 11Y from the data set D1 based on the identification signal SY (S150). Finally, the cargo handling by the crane 10X is controlled based on the selected constraint conditions.

[0018] First, we will explain the details of the crane 10X and the control system 1.

[0019] The crane 10X illustrated in Figures 1 to 6 can be any known type of crane, such as a transfer crane, a gantry crane, or an overhead crane. An example of a crane 10X is a gantry crane, which has a lifting device 11Y, a trolley 12, a wire rope 13, a connecting section 14Z, a lifting cable 15, a connector 16, a girder section 17, a leg structure 18, and a traveling device 19.

[0020] The target lifting device 11Y is appropriately selected from among candidate X(A~B) and is detachably connected to the connecting part 14Z. Candidate X can be any multiple types of lifting devices selected from various known lifting devices, and the number of types can also be arbitrarily selected. Various known lifting devices such as spreaders 11a, hooks 11b, slab lifters 11c, slab tongs 11d, lifting magnets 11e, and coil lifters 11f can be used as multiple types of lifting devices.

[0021] Candidate X can be a single candidate formed by combining candidates A, B, and C, but it is preferable to use candidates that are individually classified according to the specifications of the cargo to be handled and the handling conditions of the cargo (such as the specifications of the facility), as in this embodiment. Candidates A, B, and C each include multiple types of lifting equipment. Candidate A includes lifting equipment used in container terminals where containers C1 and long items C2 are handled, such as spreaders 11a and hooks 11b. Candidates B and C include lifting equipment used in steel mills where slabs C3, steel plates C4, coils C5, etc., are handled. Candidate B includes lifting equipment that targets only slabs C3, such as slab lifters 11c, slab tongs 11d, and slab hooks (not shown). Candidate C includes lifting equipment that targets products such as steel plates C4 and coils C5, such as lifting magnets 11e, coil lifters 11f, and steel plate hooks (not shown). Candidates B and C can also be treated as a single candidate.

[0022] The trolley 12 runs along the girder section 17 which extends in the depth direction of the paper. The girder section 17 can be a girder in a gantry crane or overhead crane, or a girder and cantilever (a girder projecting from one or both ends of a girder in the direction of its extension), or a boom and girder in a gantry crane. For example, the crane 10A illustrated in Figures 1 and 2 has a girder section 17 made up of girders. The cranes 10B and 10C illustrated in Figures 3 to 6 have a girder section 17 made up of girders and cantilevers. It is also possible to have a common configuration for the girder sections 17 of cranes 10A, 10B, and 10C. The wire rope 13 is wound up and unwound by a hoisting device (for example, a combination of an electric motor and a drum) installed on the trolley 12 or the leg structure 18.

[0023] The connecting section 14Z is suspended from the trolley 12 via a wire rope 13, and the target lifting device 11Y is detachably connected to it. The connecting section 14Z is a known head block 14A or a lifting beam 14B, etc. The appropriate connecting section 14Z is selected according to the type of target lifting device 11Y used. A common connecting section 14Z can also be used for all target lifting devices 11Y included in candidates A to C. For example, the connecting section 14Z may consist of a head block and a lifting beam detachably connected to this head block. When connecting the target lifting device 11Y included in candidate A, a head block is used, and when connecting the target lifting devices 11Y included in candidates B and C, a lifting beam connected to the head block is used. In this case, the connector seat 7, which will be described later, may be installed on the head block.

[0024] The suspension cable 15 is led out from the suspension device 11Y, and a connector (male connector) 16 is connected to one end. Details of the suspension cable 15 and connector 16 will be described later.

[0025] The girder section 17 extends in the depth direction of the paper and is supported on the upper part of the leg structure 18. The leg structure 18 consists of four upright legs and sill beams and tie beams connecting the legs. The running device 19 is installed at the lower end of the leg structure 18.

[0026] The configuration of crane 10X is not particularly limited and can be changed as appropriate. For example, in the case of an overhead crane, the leg structure 18 can be omitted. Furthermore, the facilities in which crane 10X is operated are not limited to container terminals or steel mills.

[0027] The arithmetic unit 2 is composed of a computer, and various data are input and stored, and data processing is performed using this data. Various known computers can be used for the arithmetic unit 2. The arithmetic unit 2 has a main memory unit (memory) 3a, an auxiliary memory unit (e.g., HDD) 3b, an input unit 4 (6, 7, 8), and an arithmetic processing unit (CPU) 5. The auxiliary memory unit 3b corresponds to the memory unit of the present invention. The dataset D1, which will be described later, is stored in this auxiliary memory unit 3b. The input unit 4 has a system cable 6, a connector seat 7, an interface 8 such as a wireless communication device, etc. Details of the system cable 6 and connector seat 7 will be described later. The interface 8 only needs to be able to communicate with a higher-level system (not shown), and various known interfaces such as wireless communication devices are used.

[0028] Figure 7 shows the input unit 4 and suspension cable 15 when candidate X includes two types of suspension devices. The input unit 4 has a system cable 6 that is led out from the main body of the arithmetic unit 2 (the housing that houses the auxiliary storage unit 3b and the arithmetic processing unit 5) and a connector seat 7 (female connector) connected to one end of this system cable 6. The system cable 6 contains multiple control codes 6a and multiple pairs of discrimination codes 6b. In Figure 7, the dashed line represents the control code 6a and the dashed line represents the discrimination code 6b.

[0029] More specifically, the multiple control codes 6a carry electrical signals that activate various parts of the target suspension device 11Y, as well as electrical signals detected by various sensors, and are used to control the target suspension device 11Y. The multiple control codes 6a are electrically connected to the multiple control codes 15a on the suspension device cable 15 by the coupling of the connector seat 7 and the connector 16. At least some of the multiple control codes 6a are shared among the suspension devices included in candidate X. For example, in candidate B illustrated in Figures 3 and 4, the six control codes 15a that activate the left and right claws of the slab lifter 11c and the six control codes 15a that open and close the tongs of the slab tongs 11d are all common to the six control codes 6a that are electrically connected to each of them. In addition, the three control codes 6a that are electrically connected to the three control codes 15a of the landing sensors of the slab lifter 11c and the slab tongs 11d are also common to both. The number of control codes 6a is set to the largest value among the number of control codes 15a derived from the lifting devices included in candidate X. For example, the control codes 15a of the spreader 11a include codes connected to flippers, twist locks, landing sensors, inclinometers, etc. (not shown). That is, the number of control codes 15a of the spreader 11a is larger than the number of control codes 15a of the other lifting devices, so in candidate X which includes the spreader 11a, the number of control codes 6a is set to match the number of control codes 15a of the spreader 11a.

[0030] When the connector seat 7 is connected to the connector 16, the jumper 16c on the connector 16 short-circuits a specific pair of identification codes 6b from among the multiple pairs, causing an electrical signal to flow only through that specific short-circuited pair of identification codes 6b. This electrical signal constitutes the identification signal SY (one of Sa to Sf). In other words, the multiple pairs of identification codes 6b are used to identify the target lifting device 11Y. The number of pairs of identification codes 6b is at least the same as the number of types of lifting devices included in candidate X. For example, if the types of lifting devices included in candidate B are two types, slab lifter 11c and slab tongs 11d, then the number of pairs of identification codes 6b will be two.

[0031] The connector seat 7 is installed in the connecting section 14Z. The connector seat 7 is coupled with the connector (male connector) 16 to electrically connect the system cable 6 and the suspension cable 15. The connector seat 7 consists of a control female terminal 7a individually connected to the control code 6a and a discrimination female terminal 7b individually connected to the discrimination code 6b. That is, the number of control female terminals 7a is the same as the number of control codes 6a, and the number of discrimination female terminals 7b is the same as the number of discrimination codes 6b.

[0032] The suspension cable 15 is led out from the target suspension device 11Y, and a connector (male connector) 16 is connected to one end. The suspension cable 15 contains multiple control codes 15a that are connected to the main body of the computing device 2 via input sections (6, 7).

[0033] The connector 16 is connected to the connector seat 7. The connector 16 has a male terminal 16a that is individually connected to the control cord 15a, an empty terminal 16b to which the control cord 15a is not connected, and a jumper 16c. The number of male terminals 16a is the same as the number of female control terminals 7a, and the number of empty terminals 16b is the same as the number of female identification terminals 7b. There is only one jumper 16c.

[0034] Jumper 16c short-circuits only a specific pair of unused terminals 16b among several unused terminals 16b. Jumper 16c only needs to be able to short-circuit a specific pair of unused terminals 16b; various known electronic components and circuits such as jumper wires, jumper switches, DIP switches, and jumper-free circuits can be used.

[0035] The pair of unused terminals 16b that jumper 16c short-circuits differ for each type of suspension device 11Y. Therefore, when the connector seat 7 and the connector 16 are connected, the jumper 16c on the connector 16 short-circuits only the specific pair of identification codes 6b that differ for each type of suspension device 11Y. This short-circuited electrical signal is input to the main body of the arithmetic unit 2 as the identification signal SY.

[0036] For example, in Figure 7, two of the four unused terminals 16b located on the left are short-circuited by a jumper 16c. When the target suspension device 11Y is a slub lifter 11c, the connector seat 7 and the connector 16 are connected, and the identification signal Sc of the slub lifter 11c flows to the left-hand pair of identification codes 6b among the two pairs of identification codes 6b. Also, when the target suspension device 11Y is a slub tong 11d, two of the four unused terminals 16b located on the right are short-circuited by a jumper 16c, and the identification signal Sd of the slub tong 11d flows to the right-hand pair of identification codes 6b among the two pairs of identification codes 6b.

[0037] The dataset D1 illustrated in Figures 8 and 9 is created in the preparation stage before connecting the target lifting device 11Y to the connecting part 14Z, and is stored in the auxiliary storage unit 3b of the computing unit 2. The dataset D1 aggregates the control conditions for cargo handling of the crane 10X for each of the lifting devices included in candidate X. Different datasets D1 may be created for each of candidates A, B, and C, but in this embodiment, a common dataset D1 is created for each of candidates A, B, and C. That is, the common dataset D1 for each of candidates A, B, and C aggregates the constraint conditions for cargo handling of cranes 10A to 10C for each of the multiple types of lifting devices (11a to 11e, ...).

[0038] More specifically, dataset D1 has different types of lifting devices (11a~11f, ...) set for each identification signal SY (Sa~Sf, ...) in the leftmost column of the table. Dataset D1 also contains various setting values ​​and limit ranges as constraints related to the lifting and lowering of the target lifting device 11Y, the traversing of the trolley 12, and the travel of the cranes 10A~10C.

[0039] The identification signal SY (Sa~Sf, ...) is an electrical signal that flows through a pair of identification codes 6b that are short-circuited by jumper 16c. That is, since a pair of identification codes 6b that are short-circuited is determined for each type of target suspension device 11Y, the identification signal SY can be considered a signal that represents the type of target suspension device 11Y connected to the coupling section 14Z.

[0040] The constraints are set appropriately according to the specifications of the cargo being handled by the crane 10X and the handling conditions (such as facility specifications). The constraints should be such that, when the handling of the crane 10X is automatically controlled by the computing device 2 to satisfy those constraints, the maximum handling efficiency can be obtained while ensuring safety. Ensuring safety means that during the handling of the crane 10X, there is no damage to the workers or the crane at the container terminal or steel mill, and it can be assumed that no damage occurs to the cargo being handled.

[0041] The constraints include the speed (m / min) and acceleration / deceleration (m / s) used when controlling the lifting and lowering of the target lifting device 11Y, the traversing of the trolley 12, and the travel of the crane 10X during cargo handling by the crane 10X. 2 The constraints include the operating limit range (mm) and rated load (t). The control conditions can be the numerical range that the set values ​​such as speed, acceleration / deceleration, operating limit range, and rated load must satisfy, or the limit range (%) for various set values ​​in a reference state that is stored in advance in the auxiliary storage unit 3b. The reference state should preferably be one in which the target lifting device 11Y is not connected to the connecting part 14Z. The constraint conditions shown in the figure use the reference state in which the target lifting device 11Y is not connected to the connecting part 14Z, and the limit range for various set values ​​in that reference state is used. Note that there is a condition that the sum of the weight of the connecting part 14Z, the weight of the target lifting device 11Y, and the rated load (the upper limit of the weight of the cargo to be handled) is less than the weight limit, so the rated load is based on the weight limit.

[0042] For example, the constraints include limit ranges (%) for the lifting and lowering of the target lifting device 11Y, such as load speed, unload speed, acceleration time, deceleration time, acceleration, deceleration, upper height limit, lower height limit, and rated load. Similarly, the constraints include limit ranges for the traversing of the trolley 12, such as load speed, unload speed, acceleration time, deceleration time, acceleration, deceleration, and limit positions (two locations at both ends of the girder section 12), and limit ranges for the travel of the crane 10X, such as load speed, unload speed, acceleration time, deceleration time, acceleration, and deceleration.

[0043] The constraints preferably include acceleration, deceleration, acceleration time, and deceleration time, which have a significant impact on safety and cargo handling efficiency. For example, the crane 10X does not move during cargo handling using the lifting device included in candidate A, but the crane 10X moves during cargo handling using the lifting devices included in candidates B and C. Therefore, the constraints for the lifting device included in candidate A preferably include acceleration, deceleration, acceleration time, and deceleration time during the lifting and lowering of the target lifting device 11Y and the traversing of the trolley 12, and the constraints for the lifting device included in candidates B and C preferably include acceleration, deceleration, acceleration time, and deceleration time during the lifting and lowering of the target lifting device 11Y, the traversing of the trolley 12, and the travel of the crane 10X. Furthermore, the constraints for each crane preferably include the speed with load (speed when the lifting device and load are connected) and the speed without load (speed when the lifting device is not connected to a load).

[0044] Furthermore, it is preferable that the constraints include operational limitations (such as upper and lower height limits for lifting, and traverse limits) resulting from the different shapes and sizes of different types of target suspension devices 11Y and connecting parts 14Z. For example, in the combination of spreader 11a and head block 14A illustrated in Figure 1, the distance from the upper end of the head block 14A to the lower end of the spreader 11a is relatively small. In contrast, in the combination of slab rifter 11c and suspension beam 14B illustrated in Figures 3 and 4, the distance from the upper end of the suspension beam 14B to the lower end of the slab rifter 11c is relatively large. Therefore, the upper and lower height limits for lifting in the combination of slab rifter 11c and suspension beam 14B are smaller compared to the upper and lower height limits for lifting in the combination of spreader 11a and head block 14A.

[0045] Furthermore, it is preferable that the constraints include the rated load (the upper limit of the weight of the cargo to be handled). The rated load is determined not only by satisfying the condition that the sum of the weight of the connecting part 14Z, the weight of the target lifting device 11Y, and the rated load is less than the weight limit, but also by taking into account the degree of connection between the target lifting device 11Y and the cargo. For example, the degree of connection between the lifting magnet 11e and the steel plate C4, as exemplified in Figure 5, is smaller than the degree of connection between the spreader 11a and the container C1, as exemplified in Figure 1. Therefore, the rated load at the lifting magnet 11e is smaller than the rated load at the spreader 11a.

[0046] The constraints may also include conditions specific to the target lifting device 11Y. For example, the slab tongs 11d extend and contract vertically simultaneously with the opening and closing of the tongs. Therefore, the alignment of the slab tongs 11d must take into account the extension and contraction relative to the alignment with the slab lifter 11c. Also, since the center of gravity of the lifting device does not change even when the claws of the slab lifter 11c are opened and closed, it is possible to open and close the claws while the trolley 12 is moving and / or while the crane 10B is traveling. Therefore, the constraints may also include conditions for the operation of such devices.

[0047] Next, the procedure for each step S110 to S150 of the embodiment of the crane control method illustrated in Figure 10 will be described in detail below.

[0048] Step S110 is performed in the preparation stage before connecting the target lifting device 11Y to the connecting part 14Z. In this step S110, the dataset D1 illustrated in Figures 8 and 9 above is created. The created dataset D1 is stored in the auxiliary storage unit 3b of the computing unit 2.

[0049] Constraints can be set using either measured or predicted values. For measured values, representative values ​​can be obtained from actual loading and unloading operations of a desired cargo multiple times using a desired crane (e.g., any of cranes 10A to 10C) at a desired facility (such as a container terminal or steel mill). For predicted values, a vast amount of pre-accumulated data can be utilized. Engineers who operate and manage facilities where cranes 10X are used, such as container terminals or steel mills, or engineers who manufacture and develop cranes 10X, have accumulated a vast amount of data, including data from actual cargo handling using cranes 10X and data from computer simulations that mimic cargo handling by cranes 10X. From this vast amount of data, appropriate conditions can be identified as constraints for each of the multiple types of lifting equipment (11a to 11f). Furthermore, predicted values ​​can be obtained using a prediction model constructed through machine learning that uses this vast amount of data as training data. It is advisable to ensure a predetermined margin (tolerance) for the obtained measured or predicted values ​​when setting constraints. This margin is, for example, around ±5% to 10%. Furthermore, the constraints should be fine-tuned to match the specifications of the crane actually used, the specifications of the facilities such as container terminals and steel mills where the crane operates, and the specifications of the cargo actually being handled.

[0050] In the created dataset D1, the constraint conditions for each type of target lifting device 11Y connected to the connecting section 14Z are associated with the identification signal SY. In other words, when this dataset D1 is used for data processing in the computing unit 2, the type of target lifting device 11Y connected to the connecting section 14Z is determined based on the identification signal SY, and appropriate constraint conditions corresponding to that type are identified.

[0051] Once created, dataset D1 can be used repeatedly as long as there are no changes to the specifications of the crane 10X or the type of lifting equipment included in candidate X, i.e., the type of target lifting equipment 11Y connected to the connecting section 14Z. Therefore, dataset D1 does not need to be recreated each time this control method is implemented. If dataset D1 is already stored in the auxiliary storage unit 3b, this step S110 can be omitted.

[0052] In step S120, the target suspension device 11Y is connected to the connecting section 14Z. Next, in step S130, the suspension cable 15 led out from the target suspension device 11Y connected to the connecting section 14Z is connected to the input section 4. Specifically, the connector 16 connected to one end of the suspension cable 15 and the connector seat 7 connected to one end of the system cable 6 are coupled together, electrically connecting the control code 15a and the control code 6a, and a jumper 16c short-circuits a specific pair of identification codes 6b.

[0053] In step S140, the arithmetic unit 2 performs data processing to select constraint conditions from the dataset D1 according to the type of lifting device 11Y based on the identification signal SY input via the input unit 4. The selected constraint conditions are stored in the auxiliary storage unit 3b and used when actually controlling the loading and unloading of the crane 10X.

[0054] As described above, according to this embodiment, since the input identification signal SY is determined for each target suspension device 11Y, different constraint conditions can be automatically selected by data processing in the computing device 2 for each type of target suspension device 11Y connected to the connecting part 14Z. Therefore, if a dataset D1 containing constraint conditions unique to each suspension device included in candidate X is prepared in advance, human intervention can be eliminated from selecting constraint conditions suitable for the type of target suspension device 11Y by the simple method of connecting the suspension device cable 15 derived from the target suspension device 11Y to the computing device 2. This effectively avoids missettings associated with human intervention, and allows for more accurate setting of appropriate constraint conditions tailored to the type of target suspension device 11Y.

[0055] The constraints in dataset D1 are set to achieve maximum cargo handling efficiency while ensuring safety. Therefore, by controlling cargo handling by crane 10X to satisfy these constraints, it is possible to achieve both safe cargo transport and the maintenance of the desired cargo handling efficiency. This will greatly contribute to automation in port facilities such as container terminals and steel mills.

[0056] For cranes 10X with generally identical configurations, the constraints for the same type of lifting equipment will generally be the same. Therefore, by creating a dataset D1 in advance that aggregates constraints for various types of lifting equipment, it is possible to apply it to cranes 10X with generally identical configurations. Consequently, the effort of setting individual constraints for each type of target lifting equipment 11Y can be eliminated, significantly reducing the manufacturing cost of the cranes.

[0057] The crane 10A illustrated in Figures 11 and 12 has a spreader 11a connected as the target lifting device 11Y, and is used to load and unload biological containers C1A and tank containers C1B as cargo. As such, the containers C1 handled by the spreader 11a include containers of different dimensions such as 40 feet, 20 feet, and 45 feet, as well as special containers with different uses such as those for frozen / refrigerated cargo, large cargo that cannot be packed into containers such as 40 feet or 20 feet, and liquid cargo.Therefore, a modification of this embodiment uses the dataset D1A illustrated in Figure 13, which is an improved version of the dataset D1 illustrated in Figures 8 and 9, to select appropriate constraints according to the specifications (dimensions and use) of the cargo to be handled, in addition to the type of target lifting device 11Y.In this modification, the dataset D1A used is different from the embodiment described above, and the control procedure is also different, but the configuration of the control system 1 is the same.

[0058] The dataset D1A illustrated in Figure 13, like dataset D1, is created in the preparation stage before connecting the target lifting device 11Y to the connecting part 14Z, and is stored in the auxiliary storage unit 3b of the computing unit 2. This dataset D1A is a collection of data for each of the lifting devices included in candidate X, with constraints provided for the specifications of the cargo to be handled.

[0059] More specifically, dataset D1A has different types of lifting devices (11a, ...) set for each identification signal SY (Sa, ...) in the leftmost column of the table. Furthermore, for each lifting device, the specifications of the cargo to be handled by that device are set (40 feet, 20 feet, ..., and also dry, reefer, open top, flat rack, tank, biological, ...). And constraints are set for each specification of the cargo to be handled. In other words, dataset D1A collects constraints for the specifications of the cargo to be handled, including various setting values ​​related to the lifting and lowering of the target lifting device 11Y, the traversing of the trolley 12, and the travel of the cranes 10A to 10C, or limiting ranges relative to the setting values ​​of the reference state. Figure 13 shows a group of data for the constraints for each specification of the cargo to be handled for spreader 11a.

[0060] The specifications of the cargo are classified based on the characteristics (dimensions, intended use, quantity, etc.) of the cargo handled by the same lifting equipment (e.g., spreader 11a). Containers C1 handled by spreader 11a are generally classified into 40-foot, 20-foot, and 45-foot containers based on their dimensions, and into dry containers, reefer containers, open-top containers, flat rack containers, biological containers C1A, and tank containers C1B based on their intended use. Coils C5 handled by coil lifter 11f are generally classified into 36-foot (914mm x 1829mm) and 48-foot (1219mm x 2438mm) based on their dimensions, and into steel-packaged coils, paper-packaged coils, and black-skin coils (unpackaged) based on their intended use. While general classifications can be used for the specifications of the cargo, arbitrary indicators may be used depending on the handling situation (facility specifications and crane specifications). For example, the number of slabs C3 handled at once by a slab lifter 11c and slab tongs 11d will vary depending on the dimensions of each slab C3 being handled. Therefore, the number of slabs C3 handled at once, the dimensions of each slab C3, and the sum of the weights of each slab C3 can be used as indicators for classifying the specifications of the cargo.

[0061] The constraints, similar to those in dataset D1 described above, should be such that, when the crane's handling is automatically controlled by the computing unit 2 to satisfy those constraints, the maximum handling efficiency can be obtained while ensuring safety. Different characteristics of the cargo being handled will result in different conditions for ensuring safety during handling and maintaining handling efficiency. Therefore, the constraints in dataset D1A should take into account the specifications of the cargo being handled, i.e., specific conditions corresponding to the characteristics of the cargo being handled. For example, the constraints for biological container C1A and tank container C1B should preferably be smaller than those for general dry containers, with smaller speeds for lifting and lowering (especially at bottoming) and acceleration / deceleration of the spreader 11a, and smaller speeds for traversing and acceleration / deceleration of the trolley 12.

[0062] In the modified crane control method illustrated in Figure 14, step S150 is added to the procedure in Figure 10 described above, and step S160 is executed instead of step S140. That is, in this modified method, a cargo handling instruction including the specifications of the cargo to be handled is obtained via the input unit 4 (interface 8) from a higher-level system (not shown) (S150). Next, based on the identification signal SY and the cargo handling instruction including the specifications of the cargo to be handled, a group of data corresponding to the type of target lifting device 11Y is selected from the dataset D1A, and constraint conditions corresponding to the specifications of the cargo to be handled are selected from that group of data (S160). The details of steps S150 and S160 will be described below.

[0063] In step S150, a cargo handling instruction transmitted from the higher-level system is received via interface 8. The control system 1 controls the cargo handling by the crane 10X based on the cargo handling instruction transmitted from the higher-level system, and this cargo handling instruction includes the specifications of the cargo to be handled. In addition to the specifications of the cargo to be handled, the cargo handling instruction also includes the source and destination of the cargo.

[0064] In step S160, data processing is performed to select constraint conditions from dataset D1A based on the identification signal SY input via the system cable 6 and connector seat 7, and the handling instructions (including the specifications of the cargo to be handled) input via interface 8. Specifically, a group of data corresponding to the type of lifting device 11Y is selected from dataset D1A based on the identification signal SY, and constraint conditions corresponding to the specifications of the cargo to be handled in the handling instructions are selected from that group of data.

[0065] As described above, the modified configuration allows for the automatic selection of appropriate constraints not only based on the type of lifting device 11Y but also on the specifications of the cargo being handled by that lifting device 11Y. This is advantageous for accurately setting appropriate constraints. Furthermore, by classifying the specifications of the cargo being handled in detail, it becomes possible to set appropriate constraints according to the characteristics of each cargo being handled, which is advantageous for ensuring higher safety during cargo handling and maintaining the desired cargo handling efficiency.

[0066] The embodiments and modifications described above illustrate a configuration in which cargo handling by the crane 10X is performed automatically by the control system 1. However, the configuration can also be applied to a configuration in which cargo handling by the crane 10X is operated manually by an operator. In this case, the constraints set by the control system 1 function as limitations on human operation, which is advantageous for ensuring high safety in cargo handling performed manually. Furthermore, even an inexperienced operator can perform cargo handling that generally satisfies the constraints, thus maintaining a level of cargo handling efficiency comparable to that of a skilled operator.

[0067] Although embodiments of the present invention have been described above, the crane control system and its control method, as well as the crane itself, are not limited to specific embodiments, and various modifications and changes are possible within the scope of the gist of the present invention. [Explanation of Symbols]

[0068] 1. Control System 2 Arithmetic unit 3a Main memory 3b Auxiliary storage section (storage section) 4 Input section 5. Arithmetic Processing Unit 6 System Cables 6a Control code 6b Identification code 7 Connector seat 7a Control female terminal 7b Female terminal for identification 8 Interface 10A~10C, 10X Crane 11Y Target Lifting Equipment 11a Spreader 11b Hook 11c Slab Lifter 11d Slab Tongs 11e Lifting Magnet 11f Coil Lifter 12 Trolley 13 Wire rope 14Z connection part 14A Head Block 14B Suspension beam 15 Cables for suspension devices 15a Control code 16 Plug 16a male connector 16b Unused terminal 16c Jumper 17 digits 18 leg structure 19. Traveling device D1, D1A datasets C1 Container C1A Container for Biological Use C1B Tank Container C2 Long items C3 Slab C4 steel plate C5 Coil A~C, X candidates Sa~Sf, SY identification signal

Claims

1. In a crane control system equipped with a computing device for controlling the handling of cargo by a crane, in which a target lifting device selected from among several types of lifting devices is detachably connected to a connecting part suspended from a trolley via a wire rope, The aforementioned computing device includes a storage unit that stores a dataset in which constraint conditions for the handling of cargo by the crane are accumulated for each of the lifting devices included in the candidates, an input unit to which a lifting device cable derived from the target lifting device is connected, and a calculation processing unit. A crane control system configured such that when a unique identification signal is input to each of the lifting devices included in the candidates via the input unit, the calculation processing unit performs data processing to select the constraint conditions corresponding to the target lifting device from the dataset based on the identification signal.

2. The crane control system according to claim 1, wherein the input unit has a system cable derived from the computing device and a connector seat attached to one end of the system cable and installed at the connecting part, the system cable contains at least the same number of pairs of identification codes as the number of types of lifting devices included in the candidates, and when the connector seat is connected to a connector attached to one end of the lifting device cable, a jumper on the connector short-circuits the different pairs of identification codes for each of the lifting devices included in the candidates, so that the electrical signal flowing through the short-circuited pairs of identification codes constitutes the identification signal.

3. The control system for a crane according to claim 1, wherein the constraints include at least the acceleration, deceleration, acceleration time, and deceleration time during the raising and lowering of the target lifting device, and the acceleration, deceleration, acceleration time, and deceleration time during the traversing of the trolley.

4. The crane control system according to claim 3, wherein the constraints include at least the rated load.

5. The crane control system according to claim 3, wherein the constraints include at least the operating range of the target lifting device.

6. The input unit has an interface that can communicate with a higher-level system that issues handling instructions including the specifications of the cargo to be handled by the crane. The dataset comprises a set of data for each of the lifting devices included in the candidates, where the constraints are applied to the specifications of the cargo to be handled. The crane control system according to claim 1, wherein when the electrical signal is input via the input unit, the arithmetic processing unit performs data processing to select a group of data corresponding to the target lifting device from the dataset and select the constraint conditions corresponding to the specifications of the cargo to be handled from the group of data, based on the electrical signal and the cargo handling instruction input via the input unit.

7. In a crane control method in which a crane's cargo handling is controlled by a computing device, the target lifting device selected from among several types of lifting devices is suspended from a trolley via a wire rope and detachably connected to a coupling part, and the handling of the crane is controlled by a computing device, Prior to connecting the target lifting device to the connecting portion, a preparation stage is made in which the constraints for cargo handling by the crane are accumulated for each of the lifting devices included in the candidates. The target suspension device is connected to the connecting portion, and the suspension device cable extending from the target suspension device is connected to the computing device. A crane control method comprising: when a unique identification signal is input to each of the lifting devices included in the candidates, the computing device selects the constraint conditions corresponding to the target lifting device from the dataset based on the identification signal.

8. A crane comprising a crane control system according to any one of claims 1 to 6.

9. The crane according to claim 8, wherein the connecting portion is a head block and the candidate includes a spreader.

10. The crane according to claim 8, wherein the connecting portion is a lifting beam, and the candidates include a slab lifter, a slab tong, or a lifting magnet, a coil lifter.

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