Crane operation system and method

Abstract

To provide a crane operating system and operating method that identifies the shape of each irregularly stacked load before the crane handles the load.SOLUTION: A crane operating system comprises a distance meter 11 installed at a height between the top of a loading platform 5 and the top of a plurality of cargo objects 3, and an arithmetic device 13 on the side of a travel path 6 on which a transport vehicle 4 that transports the plurality of cargo objects 3 stacked in a Z direction on the loading platform 5 runs. The arithmetic device 13 performs data processing to identify the shape of the outer surface of each of the plurality of cargo objects 3 based on a distance data D1 and D2 to the horizontally facing outer surface of each of the plurality of cargo objects 3 measured by the distance meter 11.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a crane operation system and an operation method, and more particularly to a crane operation system and an operation method for handling a plurality of objects stacked vertically on the platform of a transport vehicle. [Background technology]

[0002] In order to automate a crane that handles steel pieces such as slabs, the computing device that controls the crane's handling needs to accurately grasp the shape of the loaded items, such as the steel pieces. In relation to this, a method has been proposed in which a camera positioned diagonally above captures planar and side images of multiple steel pieces stacked vertically, and the center point of the steel pieces is calculated from the planar image and the height of the steel pieces from the side image to determine the center of gravity of the steel pieces (see Patent Document 1). The invention described in Patent Document 1 is capable of calculating the shapes of all loaded items when the sizes of multiple stacked steel pieces or other loaded items decrease in order from the bottom to the top.

[0003] For example, if the size of the topmost cargo object is larger than the other cargo objects stacked below it and the other cargo objects are hidden by the topmost cargo object, the camera placed diagonally above can only capture the topmost cargo object. Therefore, in order to automate a crane by applying the invention described in Patent Document 1, it is necessary to organize the stacking of the cargo objects on the loading platform according to a predetermined rule. Therefore, the cargo handling efficiency may decrease due to the effort and time required to organize the cargo objects on the loading platform. In addition, if there are no restrictions on the stacking of the cargo objects, there are times when the shape information of the next topmost cargo object cannot be calculated unless the topmost cargo object is loaded. In other words, the invention described in Patent Document 1 cannot load multiple cargo objects at once, and the cargo objects are loaded one by one, which may decrease the cargo handling efficiency. Thus, there is room for improvement in identifying the shape of each of the irregularly stacked cargo objects before the crane loads the cargo. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 7-330287 Summary of the Invention [Problem to be solved by the invention]

[0005] SUMMARY OF THE PRESENT EMBODIMENT An object of the present invention is to provide a crane operation system and method that identifies the shape of each of irregularly stacked objects before the crane loads the objects. [Means for solving the problem]

[0006] The crane operation system of the present invention for achieving the above object includes a distance meter installed at the side of a roadway along which a transport vehicle for transporting a plurality of objects stacked vertically on a platform travels, at a height between the top end of the platform and the top ends of the plurality of objects, and a calculation device, and the calculation device stores distance data measured by the distance meter to the outer peripheral surface of each of the plurality of objects facing in the horizontal direction. and distance data from the upper end of the loading platform to the outer peripheral surface of the loading platform facing the horizontal direction. The present invention is characterized in that data processing is performed to identify the shape of the outer peripheral surface based on the above. The crane operation system of the present invention comprises a distance meter installed on the side of a roadway along which a transport vehicle traveling to transport multiple objects stacked vertically on a loading platform runs, at a height between the top end of the loading platform and the top ends of the multiple objects, and a calculation device, wherein the calculation device performs data processing to identify the shape of the outer circumferential surface based on distance data to the horizontally facing outer circumferential surface of each of the multiple objects measured by the distance meter, and, when the multiple objects have equal specific gravities, performs data processing to identify the weight of each of the multiple objects based on the identified shape of the outer circumferential surface and the specific gravity. The crane operation system of the present invention comprises a plurality of distance meters installed on the side of a roadway along which a transport vehicle traveling for carrying a plurality of objects stacked vertically on a loading platform runs, at a height between the top end of the loading platform and the top ends of the plurality of objects, and a calculation device, wherein the plurality of distance meters measure the horizontally facing outer periphery of each of the plurality of objects from four directions, and the calculation device performs data processing to identify the shape of the outer periphery based on distance data to the horizontally facing outer periphery of each of the plurality of objects measured by the distance meters. The crane operation system of the present invention comprises a distance meter installed on the side of a roadway along which a transport vehicle traveling to transport multiple objects stacked vertically on a loading platform runs, at a height between the top of the loading platform and the top ends of the multiple objects, and a calculation device, wherein multiple stopping positions are set within the measurement range of the distance meter, the distance meter measures distance data to the horizontally facing outer peripheral surface of each of the multiple objects when the transport vehicle stops at each of the stopping positions, and the calculation device performs data processing to identify the shape of the outer peripheral surface based on the distance data measured by the distance meter for more than half the circumference of the outer peripheral surface.

[0007] The crane operation method of the present invention for achieving the above object includes, while a transport vehicle travels along a travel path and transports a plurality of objects stacked vertically on a loading platform to a crane, measuring distance data to the outer peripheral surfaces of the plurality of objects facing in the horizontal direction by a distance meter installed at a height between the top end of the loading platform and the top ends of the plurality of objects on the side of the travel path. and distance data from the upper end of the loading platform to the outer peripheral surface of the loading platform facing the horizontal direction. The distance measured by the range finder is calculated by a calculation device. Each The distance data is processed to identify the shape of the outer circumferential surface of each of the plurality of cargo objects. Effect of the Invention

[0008] According to the present invention, by measuring distance data to the horizontally facing outer peripheral surface of each of the multiple cargo objects and identifying the shape of each of the multiple cargo objects, the shape of the outer peripheral surface of all the cargo objects can be identified even if the cargo object stacked on the top layer is larger than the other cargo objects. In other words, multiple cargo objects can be stacked irregularly on the loading platform, and there is no need to organize the stacking of the cargo objects on the loading platform according to a predetermined rule. In addition, since the shape of the outer peripheral surface of all the cargo objects can be identified regardless of the stacking of the multiple cargo objects on the loading platform, it is possible to grasp the number of cargo objects that can be stably grasped by the crane. As a result, the safety and efficiency of loading and unloading multiple cargo objects stacked irregularly can be improved. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a configuration diagram illustrating an embodiment of a crane operation system. [Diagram 2] 1 is a perspective view illustrating a state in which a transport vehicle is stopped at a stop position between two stop lines; [Diagram 3] 1 is a perspective view illustrating a state in which the transport vehicle is stopped at a stop position where the rear end of the transport vehicle is aligned with a stop line; FIG. [Figure 4] 11 is an explanatory diagram illustrating an example of distance data to the outer peripheral surfaces of a plurality of objects stacked on a loading platform, the outer peripheral surfaces facing in the X direction. FIG. [Diagram 5] 11 is an explanatory diagram illustrating an example of distance data to the outer peripheral surface facing in the Y direction of multiple objects stacked on a loading platform. FIG. [Figure 6] FIG. 1 is a flow diagram illustrating steps of an embodiment of a method for operating a crane. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] The crane operation system and crane operation method of the present invention will be described below based on the embodiment shown in the drawings. In the drawings, the X direction is the transverse direction of the travel path 6 (the vehicle width direction of the transport vehicle 4) when the distance meter 11 is used for measurement, the Y direction is the extension direction of the travel path 6 (the front-rear direction of the transport vehicle 4) when the distance meter 11 is used for measurement, and the Z direction is the vertical direction.

[0011] The embodiment of the operation system 10 illustrated in Fig. 1 automatically controls the handling of goods 3 by a crane 2 in a storage yard 1. The goods 3 are semi-finished products obtained by rolling steel ingots into blooms, and examples of such goods include slabs, blooms, and billets. The goods 3 have a rectangular plate shape when viewed in the Z direction, but the shape is not particularly limited as long as the goods 3 can be stacked on top of each other in the Z direction.

[0012] The storage yard 1 may be any of various known storage yards in which multiple objects 3 are temporarily stored. One example of the storage yard 1 is a storage yard in which multiple objects 3 are stacked in the Z direction and arranged at intervals in the Y direction, and these rows are arranged at intervals in the X direction. The storage yard 1 is not particularly limited in structure as long as it can store the objects 3. The arrangement direction of the multiple objects 3 in the storage yard 1 is not particularly limited. In addition, the intervals between adjacent objects 3 in the X direction or Y direction do not need to be constant and may be different.

[0013] The crane 2 may be any of various known cranes, such as a gantry crane or an overhead crane. An example of the crane 2 is a gantry crane that travels in the X direction across the storage yard 1 in the Y direction. The crane 2 moves the hoisting tool by traversing the trolley in the Y direction and traveling in the X direction using a traveling device, and performs the loading and unloading operation of the multiple objects 3 by raising and lowering the hoisting tool in the Z direction. The hoisting tool (not shown) may be any tool suitable for the objects 3, and any of various known hoisting tools may be used. When the multiple objects 3 are slabs, blooms, billets, or the like, slab tongs or slab lifters are used as the hoisting tool.

[0014] The transport vehicle 4 may be any of various known vehicles that transport the objects 3 to the storage yard 1. Examples of the transport vehicle 4 include a self-propelled carrier or a pallet truck that crawls under a platform 5 (also called a pallet) on which multiple objects 3 are stacked, lifts the platform 5 upward, transports the platform 5 to the storage yard 1, lowers the platform 5 to a predetermined position, and crawls out from under the lowered platform 5. The transport vehicle 4 may be configured to transport multiple objects 3, and is not limited to a separate platform 5, but may be one in which the platform 5 is integrally mounted. The platform 5 of this embodiment has a platform 5a on which the stacked objects 3 are placed, and legs 5b that support the platform 5a. The platform 5 is transported by the transport vehicle 4, installed at a predetermined position in the storage yard 1, and transported again by the transport vehicle 4 after the loading and unloading of the objects 3 placed thereon is completed.

[0015] A stop line 7 is installed on the road 6 along which the transport vehicle 4 travels. The stop line 7 is used as a guide for the transport vehicle 4 to stop. Note that a circuit breaker or the like may be installed instead of the stop line 7. In the figure, two stop lines 7 are installed, and the distance between the two stop lines 7 is four transport vehicle lengths.

[0016] The driving system 10 includes a distance meter 11, a vehicle detection sensor 12, and a calculation device 13. The driving system 10 identifies the shape of the outer periphery of each of the multiple objects 3 stacked in the Z direction on the platform 5 of the transport vehicle 4 by processing data using the calculation device 13 based on the distance data D1 and D2 measured by the distance meter 11, and automatically controls the loading and unloading of the crane 2 by acquiring each data required for loading and unloading using the identified outer periphery shapes.

[0017] Hereinafter, each device of the driving system 10 will be described in detail with reference to FIG. 2 and FIG. 3. Each of FIG. 2 and FIG. 3 shows a state in which the transport vehicle 4 is stopped at a predetermined stop position. Specifically, FIG. 2 shows a state in which the transport vehicle 4 is stopped between two stop lines 7 (7a, 7b). FIG. 3 shows a state in which the transport vehicle 4 is stopped with its rear end aligned with the stop line 7 (7b). Hereinafter, when both the distance meters 11a and 11b are indicated, they will be referred to as the distance meter 11, when both the stop lines 7a and 7b are indicated, they will be referred to as the stop line 7, and when both the vehicle detection sensors 12a and 12b are indicated, they will be referred to as the vehicle detection sensor 12. Hereinafter, the distance meter 11a is disposed on the left side of the travel path 6 when viewed in the traveling direction of the transport vehicle 4, and the distance meter 11b is disposed on the right side. The stop line 7a is disposed on the rear side of the traveling direction of the transport vehicle 4, and the stop line 7b is disposed on the front side. The vehicle detection sensor 12a is disposed on the rear side in the traveling direction of the transport vehicle 4, and the vehicle detection sensor 12b is disposed on the front side.

[0018] The distance meter 11 (11a, 11b) may be any of various known distance meters, such as an ultrasonic distance meter or a laser beam distance meter. When the loading platform 5 is being transported by the transport vehicle 4, the distance meter 11 irradiates ultrasonic waves or a laser beam onto the outer peripheral surface of each of the multiple objects 3 stacked in the Z direction on the loading platform 5, and measures distance data D1, D2 to each of the outer peripheral surfaces. Details of the distance data D1, D2 will be described later. The outer peripheral surface of each of the multiple objects 3 facing horizontally includes a surface perpendicular to the horizontal direction, but may also include a surface intersecting the horizontal direction (a surface excluding a surface facing the vertical direction).

[0019] The distance meter 11 is disposed on the side of the road 6 on which the transport vehicle 4 travels, between the upper end of the loading platform 5 of the transport vehicle 4 and the uppermost ends of the multiple cargo objects 3. The side of the road 6 is the outside of the road 6, and the measurement range of the distance meter 11 is from the outside of the road 6 to the inside of the road 6. The upper end of the loading platform 5 indicates the upper end of the loading platform 5 when the loading platform 5 is transported by the transport vehicle 4, and its position in the Z direction is indicated by H1 in FIG. 2. The uppermost ends of the multiple cargo objects 3 indicate the uppermost ends of the multiple cargo objects 3 when a preset maximum number of cargo objects 3 are stacked on the loading platform 5 of the transport vehicle 4, and its position in the Z direction is indicated by H2 in FIG. 2. By disposing the distance meter 11 between the upper end of the loading platform 5 and the uppermost ends of the multiple cargo objects 3, the distance meter 11 and the multiple cargo objects 3 are positioned to face each other in a substantially horizontal direction. Therefore, it is possible to minimize the frequency with which the ultrasonic waves or laser beams emitted from the range finder 11 are blocked by the top end of the loading platform 5 or the largest cargo object 3 among the multiple cargo objects 3 as viewed in the Z direction. The range finder 11 may be located between the top end of the loading platform 5 and the topmost ends of the multiple cargo objects 3, but it is more preferable to locate it at the midpoint between the top end of the loading platform 5 and the topmost ends of the multiple cargo objects 3.

[0020] The distance meter 11 only needs to be able to measure the distance data D1, D2 before the transport vehicle 4 loads the multiple objects 3 using the crane 2. In other words, the distance meter 11 only needs to be placed before the transport vehicle 4 arrives at the loading area of ​​the crane 2. In Fig. 1, the distance meter 11 is placed on a portion of the travel path 6 extending in the Y direction.

[0021] It is desirable to place the rangefinder 11 in a position where the influence on the distance data D1, D2 and the rangefinder 11 itself is low when the transport vehicle 4 passes close to the rangefinder 11. The influence indicates the degree of influence on the accuracy of the measurement by the rangefinder 11 and the degree of influence on the durability of the rangefinder 11. At a position where the influence is low, the measurement accuracy can be maintained even if the transport vehicle 4 passes close to the rangefinder 11 many times, but at a position where the influence is high, when the transport vehicle 4 passes close to the rangefinder 11, the measurement accuracy decreases and the durability of the rangefinder 11 decreases quickly.

[0022] The degree of influence is generally understood by a person skilled in the art based on experience, and the position with low influence can be set by using the experience of a person skilled in the art. For example, when the cargo 3 is a slab, bloom, billet, etc., the influence caused by the temperature of the cargo 3 immediately after manufacture is exemplified. The temperature of the slab, bloom, or billet immediately after manufacture may be as high as 900°C, and if the distance meter 11 and the passing transport vehicle 4 are close to each other, the high temperature may cause the distance meter 11 itself or a part supporting the distance meter 11 to break down due to heat loss. In this case, the position with low influence is a position where the influence of the radiation (radiation) heat transfer from the slab, bloom, or billet immediately after manufacture is low, and irradiance can be used as an index of the influence. The side of the running path 6 is not limited to the outside of the running path 6, and may be the inside of the running path 6 as long as the influence is low.

[0023] It is desirable that the measurement range of the distance meter 11 is a range in the Z direction from the top end of the loading platform 5 to the topmost loading object 3 when multiple loading objects 3 are stacked on the loading platform 5 of the transport vehicle 4 to a stackable height, and is also a range wider than the outer circumferential surface of the top end of the loading platform 5 in the XY plane. By including the top end of the loading platform 5 in the measurement range of the distance meter 11, it becomes possible to identify the outer circumferential surfaces of the multiple loading objects 3 by comparison with known shapes, making it easier to identify them.

[0024] It is sufficient that one distance meter 11 is disposed on the side of the travel path 6. Although it depends on the measurement range of the distance meter 11, by changing the stopping position of the transport vehicle 4, even one distance meter 11 can measure more than half the circumference of the horizontally facing outer periphery of the multiple objects 3 stacked on the loading platform 5 of the transport vehicle 4. When the shape of the outer periphery of the objects 3 is symmetrical, it is possible to roughly grasp the shape of the outer periphery if about half the circumference of the outer periphery is the measurement target. However, it is preferable that a plurality of distance meter 11 is disposed on the side of the travel path 6, and the entire circumference of the horizontally facing outer periphery of each of the multiple objects 3 stacked on the loading platform 5 of the transport vehicle 4 is measured by the measurement of the multiple distance meter 11. By providing a plurality of distance meter 11 and measuring the entire circumference of the outer periphery, it is possible to identify the outer periphery of the objects 3 even if the shape of the outer periphery is asymmetric, which is advantageous for identifying the shape of the outer periphery in more detail.

[0025] The pair of distance meters 11a, 11b are arranged facing each other on both sides of the travel path 6. The direction in which the pair of distance meters 11a, 11b face each other may be the transverse direction (X direction) of the travel path 6, or may be inclined from the transverse direction. In other words, the pair of distance meters 11a, 11b may be arranged facing each other point-symmetrically with respect to the center of the stopped transport vehicle 4 as viewed in the Z direction when the transport vehicle 4 stops between the two stop lines 7a, 7b. By arranging the pair of distance meters 11a, 11b facing each other point-symmetrically with respect to the center of the stopped transport vehicle 4, it becomes possible to cover the entire area of ​​the outer peripheral surface facing the horizontal direction of each of the multiple handled objects 3 stacked on the loading platform 5 as the measurement target.

[0026] The pair of distance meters 11a, 11b measure distance data D1 to the outer circumferential surface facing the X direction of each of the multiple objects 3 stacked on the loading platform 5 when the transport vehicle 4 stops between the two stop lines 7a, 7b. The pair of distance meters 11a, 11b also measure distance data D2 to the outer circumferential surface facing the Y direction of each of the multiple objects 3 stacked on the loading platform 5 of the stopped transport vehicle 4 when the transport vehicle 4 stops with its front end positioned behind the pair of distance meters 11a, 11b, or its rear end positioned ahead of the pair of distance meters 11a, 11b. When the front end of the transport vehicle 4 is positioned behind the pair of distance meters 11a, 11b, the front end of the transport vehicle 4 is aligned with the stop line 7a and the transport vehicle 4 stops. When the rear end of the transport vehicle 4 is located forward of the pair of distance meters 11a, 11b, the rear end of the transport vehicle 4 is aligned with the stop line 7b and the transport vehicle 4 stops. The pair of distance meters 11a, 11b can measure distance data D1, D2 when the transport vehicle 4 passes near each other without stopping, but to measure distance data D1, D2 with higher accuracy, it is preferable to measure when the transport vehicle 4 stops at a predetermined position. Three positions are exemplified as the predetermined position: a position between the two stop lines 7a, 7b, and a position where the front or rear end of the transport vehicle 4 is located on each stop line 7.

[0027] 4 and 5 show examples of distance data D1, D2 measured by a pair of distance meters 11a, 11b. The distance data D1 shown in FIG. 4 is measured by the distance meter 11a when the transport vehicle 4 stops at a stop position between two stop lines 7a, 7b. The same distance data D1 is measured by the distance meter 11b. The distance data D2 shown in FIG. 5 is measured by the distance meter 11a when the transport vehicle 4 stops at a stop position where the front end of the transport vehicle 4 meets the stop line 7a. The same distance data D2 is measured by the distance meter 11b when the transport vehicle 4 stops at a stop position where the rear end of the transport vehicle 4 meets the stop line 7b.

[0028] That is, two distance data D1 and two distance data D2 are measured by the pair of distance meters 11a and 11b at three stopping positions. The two distance data D1 indicate the distance to each outer peripheral surface of the cargo object 3 facing in the X direction, and the two distance data D2 indicate the distance to each outer peripheral surface of the cargo object 3 facing in the Y direction. That is, the data combining the two distance data D1 and the two distance data D2 is data accumulating the distance to the outer peripheral surfaces of the multiple cargo objects 3 facing in the horizontal direction over the entire circumference of the outer peripheral surfaces. In this way, if the multiple cargo objects 3 are measured from four directions (for example, from left to right in the X direction, from right to left, from front to rear in the Y direction, and from rear to front in the Y direction, a total of four directions), the distance to the outer peripheral surfaces of the multiple cargo objects 3 facing in the horizontal direction can be obtained over the entire circumference of the outer peripheral surfaces. In this example, a laser beam type range finder is used as the range finder 11.

[0029] The many points in the figure indicate the locations where the laser beam was irradiated. In other words, the many points in the figure are the measured distance data D1 and D2 plotted in a three-dimensional coordinate system. The distances from the many points in the figure to the limits of the three-dimensional coordinate system are the measured distance data D1 and D2.

[0030] 4 includes a large number of distance data to the outer peripheral surfaces facing the X direction among the outer peripheral surfaces facing the horizontal direction of each of the multiple cargo objects 3. This distance data D1 also includes a large number of distance data to the outer peripheral surfaces facing the X direction among the outer peripheral surfaces of the upper end part of the loading platform 5. This distance data D1 does not include distance data to the outer peripheral surfaces facing the Y direction among the outer peripheral surfaces facing the horizontal direction of each of the multiple cargo objects 3.

[0031] Distance data D2 shown in Fig. 5 includes a large number of distance data to the outer peripheral surfaces facing the Y direction among the outer peripheral surfaces facing the horizontal direction of each of the multiple cargo objects 3. This distance data D2 also includes a large number of distance data to the outer peripheral surfaces facing the Y direction among the outer peripheral surfaces of the upper end of the loading platform 5. This distance data D2 further includes a part of the distance data to the outer peripheral surfaces facing the X direction among the outer peripheral surfaces facing the horizontal direction of each of the multiple cargo objects 3. In the distance data D2, the distance data of a part of the outer peripheral surface facing the Y direction of the cargo object 3 located at the top of the multiple cargo objects 3 cannot be obtained because the laser beam is blocked by the cargo object 3 located below it.

[0032] The vehicle detection sensors 12 (12a, 12b) may be any of various known sensors capable of detecting that the transport vehicle 4 has stopped in line with the stop lines 7 (7a, 7b). Examples of the sensor include a ground-mounted geomagnetic sensor or loop coil sensor installed at the same location as the stop lines 7, a microwave sensor that irradiates frequency-modulated continuous waves or unmodulated continuous waves and is arranged on the side of the travel path 6 like the distance meter 11, or a near-infrared sensor that utilizes the reflection or blocking of irradiated near-infrared rays.

[0033] The vehicle detection sensor 12 only needs to detect the stopping position of the transport vehicle 4 according to the measurement status of the distance meter 11. In one example, the vehicle detection sensors 12a and 12b, which are made of near-infrared sensors, are installed at each of the stop lines 7a and 7b. When the two vehicle detection sensors 12a and 12b simultaneously detect the transport vehicle 4, it is determined that the transport vehicle 4 is present between the two stop lines 7a and 7b. When only one of the two vehicle detection sensors 12a and 12b detects the transport vehicle 4, it is determined that the transport vehicle 4 is present on one of the two stop lines 7a and 7b. Therefore, by combining the two vehicle detection sensors 12a and 12b with the two stop lines 7a and 7b, it is possible to detect that the transport vehicle 4 has stopped at three stopping positions. Then, the detection result can be used as a trigger when the pair of distance meters 11a and 11b measure the distance data D1 and D2.

[0034] Although not shown, an alarm device may be provided to notify the driver of the transport vehicle 4 of the stopped state of the transport vehicle 4 according to the detection result of the vehicle detection sensor 12. As the alarm device, a known alarm device using a blinking light or a sound can be used. By providing the alarm device, the driver of the transport vehicle 4 can grasp the stopped state of the transport vehicle 4. In addition, this alarm device can be used to notify the driver of the transport vehicle 4 that the measurement of the distance data D1 and D2 by the distance meter 11 has been completed. Note that even if an alarm device is not provided, the completion of the measurement can be estimated from the stopped time of the transport vehicle 4, so an alarm device is not essential.

[0035] The arithmetic device 13 may be any of various known computers. The arithmetic device 13 has a central processing unit (CPU), a main storage unit (memory), an auxiliary storage unit (e.g., HDD), and an input / output unit. The arithmetic device 13 is electrically connected to the rangefinder 11 and the vehicle detection sensor 12. The arithmetic device 13 may be connected to the rangefinder 11 and the vehicle detection sensor 12 via a network. The auxiliary storage unit stores distance data D1 and D2 measured by the rangefinder 11.

[0036] When a predetermined program is started and executed, the arithmetic device 13 executes each data processing instructed by the program. Specifically, the program causes the arithmetic device 13 to execute a procedure of identifying the shapes of the outer peripheral surfaces of the multiple objects 3 being transported by the transport vehicle 4, acquiring various data used for loading and unloading the multiple objects 3, and a procedure of loading and unloading the objects 3 based on the identified shapes of the outer peripheral surfaces.

[0037] FIG. 6 shows an example of the procedure in the step (S100) of acquiring the operation method of the crane 2. In this procedure, first, a pair of distance meters 11a, 11b measures the outer peripheral surfaces of multiple objects 3 facing the horizontal direction from four directions to acquire two pieces of distance data D1, D2 (S110, S120). Next, the shape of the outer peripheral surface is identified based on the acquired distance data D1, D2 (S130). Next, various data are identified from the identified shape of the outer peripheral surface (S140, 150). The contents of each step (S110) to (S150) are described in detail below.

[0038] Steps (S110) and (S120) are looped and are repeated for n stopping positions. In one example, the loop is repeated for three stopping positions: a position between the two stop lines 7a and 7b, a position where the front end of the transport vehicle 4 meets the stop line 7a, and a position where the rear end of the transport vehicle 4 meets the stop line 7b.

[0039] In the step (S110) of detecting a stop at the i-th stop position, the vehicle detection sensor 12 detects the stop of the transport vehicle 4 at a predetermined stop position. The n stop positions are assigned an order according to the order of travel of the transport vehicle 4. In one example, the first (i=1) stop position is a position where the front end of the transport vehicle 4 meets the stop line 7a, the second (i=2) stop position is a position between the two stop lines 7a and 7b, and the third (i=3) stop position is a position where the rear end of the transport vehicle 4 meets the stop line 7b. The stop of the transport vehicle 4 at the first stop position is detected when the vehicle detection sensor 12a detects the transport vehicle 4 and the vehicle detection sensor 12b does not detect the transport vehicle 4. The stop of the transport vehicle 4 at the second stop position is detected when both the vehicle detection sensors 12a and 12b detect the transport vehicle 4 simultaneously. The stopping of the transport vehicle 4 at the third stopping position is detected because the vehicle detection sensor 12a does not detect the transport vehicle 4 but the vehicle detection sensor 12b detects the transport vehicle 4.

[0040] In the step (S120) of measuring distance data, the arithmetic device 13 issues a measurement instruction to the pair of distance meters 11a, 11b according to the detection status of the vehicle detection sensors 12a, 12b, and executes data processing in which the pair of distance meters 11a, 11b measure distance data D1, D2 indicating the distance to the outer peripheral surfaces facing the horizontal direction of the multiple cargo objects 3 based on the instruction. In one example, when it is detected that the transport vehicle 4 has stopped at the first stopping position, the arithmetic device 13 issues a measurement instruction to the distance meter 11a, and the distance meter 11a measures distance data D2 indicating the distance to the outer peripheral surfaces facing forward in the Y direction of the multiple cargo objects 3. When it is detected that the transport vehicle 4 has stopped at the second stopping position, the arithmetic device 13 issues a measurement instruction to each of the pair of distance meters 11a, 11b, and the distance meter 11a, 11b measures distance data D1 indicating the distance to the outer peripheral surfaces facing left and right in the X direction of the multiple cargo objects 3. When it is detected that the transport vehicle 4 has stopped at the third stopping position, the calculation device 13 issues a measurement instruction to the distance meter 11b, and the distance meter 11b measures distance data D2 indicating the distance to the outer peripheral surface facing rearward in the Y direction of the multiple cargo objects 3.

[0041] In the step (S130) of identifying the shape of the outer periphery, the computing device 13 executes data processing to identify the shape of each of the outer periphery of the multiple cargo objects 3 based on the distance data D1, D2 measured by the distance meters 11a, 11b. The identified shape of each of the outer periphery of the multiple cargo objects 3 is made up of various parameters that indicate the shape in more detail as viewed in the Z direction. In one example, the multiple cargo objects 3 are rectangular plate-shaped, so the shape of the outer periphery is made up of four parameters: depth (length in the Y direction), width (length in the X direction), thickness (length in the Z direction), and shape (shape as viewed in the Z direction). Since the measured distance data D1, D2 each include data in different coordinate systems, they need to be converted into a reference coordinate system. As the reference coordinate system, a coordinate system with the midpoint of the pair of distance meters 11a, 11b as the origin can also be used, but in this example, a coordinate system that indicates the shape of the upper end of the loading platform 5 is used. Each of the distance data D1, D2 includes distance data of the outer periphery facing the horizontal direction of the upper end of the loading platform 5. The shape of the outer circumferential surface of the upper end of the loading platform 5 is known. In other words, the distance data of the upper end of each loading platform 5 is converted into a reference coordinate system along with the conversion to match the known shape of the outer circumferential surface of the loading platform 5. This identifies four parameters of each of the multiple loading objects 3, namely, the depth (length in the Y direction), width (length in the X direction), thickness (length in the Z direction), and shape (shape as viewed in the Z direction).

[0042] In the step of identifying the center position (S140), the computing device 13 executes data processing to identify the center position of each of the identified multiple objects 3 based on the shape of the outer circumferential surface of each of the identified multiple objects 3. The identified center position of each of the multiple objects 3 indicates a position in a coordinate system having the center position of the shape of the outer circumferential surface of the loading platform 5 as the origin.

[0043] In the step of specifying the weight (S150), the calculation device 13 executes data processing to specify the weight of each of the multiple cargo objects 3 based on the shape of the outer peripheral surface of each of the specified multiple cargo objects 3 and the specific gravity of each of the multiple cargo objects 3. The specific gravity of each of the multiple cargo objects 3 is stored in advance in the auxiliary storage unit of the calculation device 13. This step is effective when the specific gravity of each of the multiple cargo objects 3 is equal, but when the specific gravity of each of the multiple cargo objects 3 is not equal, if there is a correlation between the shape of the outer peripheral surface of each of the multiple cargo objects 3 and the specific gravity, the correlation can also be used. For example, if it is possible to grasp in advance the correlation that the specific gravity of the cargo object 3 with the shape of the outer peripheral surface A is a and the specific gravity of the cargo object with the shape of the outer peripheral surface B is b, the specific gravity of the cargo object 3 can be specified by the specified shape of the outer peripheral surface, and the weight of the cargo object 3 can be specified.

[0044] The computing device 13 controls the handling of the objects 3 by the crane 2 based on the outer peripheral shape, central position, and weight of each of the multiple objects 3 identified by the above flow. Specifically, it determines the number of objects 3 to be grasped at one time by the hoisting gear of the crane 2, the gripping method, etc., and controls the handling of the objects 3 by the crane 2 based on that determination.

[0045] As described above, according to this embodiment, the distance data D1, D2 to the outer peripheral surface facing the horizontal direction of each of the multiple objects 3 is measured, and the shape of the outer peripheral surface of each of the multiple objects 3 is specified. Even if the uppermost object 3 is larger than the other objects 3, the shape of the outer peripheral surface of all the objects 3 stacked on the platform 5 can be specified. In other words, the multiple objects 3 can be stacked irregularly on the platform 5, and it is not necessary to organize the stacking of the objects 3 on the platform 5 according to a predetermined rule. In addition, since the shape of the outer peripheral surface of all the objects 3 can be specified regardless of the stacking of the multiple objects 3 on the platform 5, it is possible to grasp the number of objects 3 that can be stably grasped by the crane 2. As a result, the safety and efficiency of handling the multiple objects 3 stacked irregularly can be improved.

[0046] The manufactured objects 3 are stacked one by one on a loading platform 5 and stored in the storage yard 1 by the crane 2. According to this embodiment, the objects 3 can be stored in the storage yard 1 while knowing the shape of the outer periphery, the center position, the weight, and the like of each of the objects 3. In other words, by using each of the specified data, the objects 3 stored in the storage yard 1 can be easily managed.

[0047] Conventionally, a product number or the like has been written on the cargo object 3 to identify the cargo object 3. If this product number can be confirmed, the shape, weight, and the like of the cargo object 3 can be confirmed. However, when multiple cargo objects 3 are stacked, only the product number of the top cargo object 3 can be confirmed. In this regard, according to the present embodiment, the shape, center position, and weight of the cargo objects 3 other than the top cargo object 3 can be ascertained.

[0048] Although the embodiments of the present disclosure have been described above, the operation system 10 and the operation method of the crane 2 of the present disclosure are not limited to the specific embodiments, and various modifications and variations are possible within the scope of the gist of the present disclosure.

[0049] The operation system 10 is not limited to a system that controls the loading and unloading of the crane 2. The operation system 10 may be a system that outputs various identified data to an output unit such as a monitor to assist the operator in operating the crane 2. In other words, the operation system 10 not only contributes to the automation of the crane 2, but can also be used as an operation support for the crane 2.

[0050] The transport vehicle 4 may be a manned vehicle operated by a driver directly on board, or an unmanned vehicle operated by remote control from a remote location without a driver on board, or operated according to commands from a higher-level system. In the case of an unmanned vehicle, the detection results of the vehicle detection sensor 12 are transmitted to the unmanned vehicle, making it possible to control the stopping at multiple stopping positions.

[0051] The loading platform 5 is not limited to a separate structure from the transport vehicle 4, and the loading platform 5 may be mounted integrally on the transport vehicle 4. In this case, the transport vehicle 4 stops at a predetermined position until the multiple objects 3 stacked on the loading platform 5 are loaded and unloaded.

[0052] The range finder 11 may be a device such as a camera that captures an image of the outer peripheral surfaces of the multiple cargo objects 3 stacked on the loading platform 5, the outer peripheral surfaces facing in the horizontal direction. The shape of the outer peripheral surfaces can be identified by image analysis of the image data captured by the camera or the like. However, the image data captured by the camera does not easily distinguish the edges of the cargo objects 3, and there is a risk of the measurement accuracy being reduced. In addition, the measurement accuracy may be reduced depending on the weather. Therefore, in order to accurately identify the shape of the outer peripheral surfaces facing in the horizontal direction of the multiple cargo objects 3, a range finder such as a 3D laser sensor is preferable to a device that captures an image.

[0053] In the embodiment described above, the cargo objects 3 are rectangular plate-shaped and the central position and center of gravity position coincide, so in this step, the central position of each of the multiple cargo objects 3 is identified. However, if the central position and center of gravity position of the cargo objects 3 do not coincide, the center of gravity position may be identified instead of the central position.

[0054] The distance data D1 and D2 are data obtained by measuring the outer periphery of the multiple objects 3 stacked on the loading platform 5 from four directions, but the number of data is not particularly limited. For example, the distance data D2 may be measured by both of the pair of distance meters 11a and 11b when the transport vehicle 4 stops at a stopping position where the front end of the transport vehicle 4 meets the stop line 7a, or may be measured by both of the pair of distance meters 11a and 11b when the transport vehicle 4 stops at a stopping position where the rear end of the transport vehicle 4 meets the stop line 7b. Depending on the measurement range of the distance meters 11a and 11b, data obtained by combining the distance data D1 and the distance data D2 may be measured when the transport vehicle 4 stops at a stopping position where the front end of the transport vehicle 4 meets the stop line 7a and when the transport vehicle 4 stops at a stopping position where the rear end of the transport vehicle 4 meets the stop line 7b. [Explanation of symbols]

[0055] 2. Crane 3. Cargo 4 Transport vehicles 5 Cargo Platform 6. Running Track 7 Stop line 10. Driving System 11 Distance meter 12 Vehicle detection sensor 13 Arithmetic unit D1, D2 Distance data

Claims

1. The present invention is provided with a distance meter installed at a height between an upper end of the loading platform and the uppermost ends of the plurality of loading objects on the side of a road along which a transport vehicle for transporting a plurality of loading objects stacked vertically on a loading platform runs, and a calculation device, The calculation device is a crane operation system characterized in that it performs data processing to identify the shape of the outer periphery based on distance data to the horizontally facing outer periphery of each of the multiple cargo objects measured by the distance meter and distance data to the horizontally facing outer periphery of the upper end of the cargo platform.

2. The present invention is provided with a distance meter installed at a height between an upper end of the loading platform and the uppermost ends of the plurality of loading objects on the side of a road along which a transport vehicle for transporting a plurality of loading objects stacked vertically on a loading platform runs, and a calculation device, The calculation device performs data processing to identify the shape of the outer peripheral surface based on distance data to the horizontally facing outer peripheral surface of each of the multiple cargo objects measured by the distance meter, and, when the multiple cargo objects have the same specific gravity, performs data processing to identify the weight of each of the multiple cargo objects based on the identified shape of the outer peripheral surface and the specific gravity.

3. The present invention is provided with a plurality of distance meters installed at the side of a roadway along which a transport vehicle for transporting a plurality of cargo objects stacked vertically on a loading platform runs, at a height between an upper end of the loading platform and the uppermost ends of the plurality of cargo objects, and a calculation device, The plurality of distance meters measure the outer peripheral surface of each of the plurality of cargo objects facing the horizontal direction from four directions, A crane operation system characterized in that the computing device performs data processing to identify the shape of the outer peripheral surface based on distance data to the horizontally facing outer peripheral surface of each of the multiple cargo objects measured by the distance meter.

4. The present invention is provided with a distance meter installed at a height between an upper end of the loading platform and the uppermost ends of the plurality of loading objects on the side of a road along which a transport vehicle for transporting a plurality of loading objects stacked vertically on a loading platform runs, and a calculation device, a plurality of stopping positions are set within a measurement range of the distance meter, and the distance meter measures distance data to an outer peripheral surface facing a horizontal direction of each of the plurality of cargo objects when the transport vehicle stops at each of the stopping positions; A crane operation system characterized in that the calculation device performs data processing to identify the shape of the outer peripheral surface based on the distance data measured by the distance meter for more than half of the circumference of the outer peripheral surface.

5. The crane operation system according to any one of claims 1 to 4, wherein the calculation device performs data processing to identify the central position of each of the plurality of cargo objects in a vertical view based on the shape of each of the identified outer peripheral surfaces.

6. While the transport vehicle travels along a travel path and transports multiple objects stacked vertically on a loading platform to a crane, a distance meter is installed on the side of the travel path at a height between the top end of the loading platform and the top ends of the multiple objects to measure distance data to the horizontally facing outer peripheral surfaces of the multiple objects and distance data to the horizontally facing outer peripheral surface of the top end of the loading platform, A method for operating a crane, characterized in that the shape of the outer circumferential surface of each of the plurality of cargo objects is identified by processing the distance data measured by the distance meter using a computing device.

Images