Boom collision prevention device for cargo handling machinery

Abstract

To provide a boom collision prevention device for a cargo handling machine capable of preventing a collision regardless of the shape of a collision object.SOLUTION: A boom collision prevention device for a cargo handling machine has a 3D sensor 90, a controller 91, and a display 92. The 3D sensor 90 is mounted on a boom 60 of a container crane 10 and emits a pulsed laser beam to a collision object 80 to detect the scattered light reflected from the object. The controller 91 determines the distance from the 3D sensor 90 to the collision object 80 based on the changing measurement data of the scattered light detected by the 3D sensor 90, and calculates the relative travel speed between the collision object 80 and the boom 60 using the distance and time. The display unit 92 displays the collision object 80 and the boom 60 so that their relative positions are recognized based on the travel speed calculated by the controller 91.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a boom collision prevention device for a cargo handling machine. [Background technology]

[0002] Generally, as shown in FIG. 6, a container crane 10 as a cargo handling machine deployed on a traveling rail Rx on a quay Q of a port H has a lower frame 22 extending parallel to the traveling rail Rx so as to connect the lower ends of the support legs 21 of a main frame 20, and a traveling device 30 and a braking device 40 mounted on the lower frame 22.

[0003] The traveling device 30 has traveling wheels 31 that can roll freely along traveling rails Rx, and is driven to rotate by a motor (not shown).

[0004] The braking device 40 applies braking by pressing a brake pad 41 against the traveling rail Rx.

[0005] A total of four support legs 21 are erected, two on the land side and two on the sea side, and the upper parts of the land-side and sea-side support legs 21 are connected by a connecting frame 23 extending in a direction intersecting with the traveling rail Rx.

[0006] A girder 50 is provided on the upper part of the main frame 20, extending horizontally from the land side to the sea side, and a boom 60 is attached to the tip of the girder 50, extending on its extension.

[0007] A lateral rail Ry is laid on the girder 50 and the boom 60, and a trolley 70 that lifts and lowers a load C (container) travels lateral along the lateral rail Ry.

[0008] Furthermore, if the mast or the like of the ship carrying the load C extends high upward, there is a possibility that it may collide with the boom 60.

[0009] In order to avoid such collisions, conventionally, as shown in Figures 7 and 8, a collision prevention device has been used in which a rope W is stretched on the outside of a boom 60, and when a collision object 80 such as the mast of a ship approaches the boom 60 and pushes in the rope W, or when a cargo handling machine is traveling and the boom 60 approaches the collision object 80 and the rope W is pushed in by the collision object 80, the tension in the rope W increases to detect the collision object 80.

[0010] There is also a collision prevention device that uses an optical sensor instead of a rope W.

[0011] Incidentally, for example, Patent Document 1 shows the general technical level of a collision prevention device using an optical sensor. [Prior art documents] [Patent documents]

[0012] [Patent Document 1] Japanese Utility Model Application Publication No. 59-64892 Summary of the Invention [Problem to be solved by the invention]

[0013] However, in the case of conventional collision prevention devices using ropes W or optical sensors, the detection range is limited, and there is a problem in that unless the collision object 80 has a linear shape, it cannot be detected before the collision.

[0014] Incidentally, for example, if the collision object 80 is a rod-shaped object extending in the vertical direction, it can be detected by the rope W (or light) and there is no particular problem. However, as shown by the imaginary lines in Figures 7 and 8, if the collision object 80 has a protrusion 80a, the protrusion 80a will avoid the rope W (or light) and collide with the boom 60.

[0015] Furthermore, a bracket Wb is required to install the rope W, but the maximum length of the bracket Wb is limited to approximately 3 m, making it difficult to ensure a sufficient distance from the side of the boom 60 to the rope W. As a result, the object 80 to be hit cannot be detected until it has come very close to the boom 60, leaving room for improvement.

[0016] The present invention has been made in consideration of the above-mentioned conventional problems, and aims to provide a boom collision prevention device for a cargo handling machine that can prevent a collision with an object of any shape. [Means for solving the problem]

[0017] The present invention provides a 3D sensor that is attached to a boom of a cargo handling machine, irradiates a collision object with a pulsed laser beam, and detects scattered light reflected from the collision object; a controller that calculates the distance from the 3D sensor to the object of collision based on measurement data of scattered light detected by the 3D sensor that changes from moment to moment, and calculates the relative movement speed of the object of collision and the boom based on the distance and time; a display that displays the relative positional relationship between the collision object and the boom based on the moving speed calculated by the controller so that the relative positional relationship between the collision object and the boom can be recognized; Boom collision prevention device for cargo handling machinery equipped with And, the controller arranges a plurality of virtual mesh filters at required intervals in a laser light irradiation direction from the 3D sensor, and determines a moving direction and moving speed of the object to be hit based on a change over time in a point cloud indicating the object to be hit measured within the mesh of the virtual mesh filters. This relates to:

[0018] The boom collision prevention device for the cargo handling machine may be provided with an alarm that issues an alarm when the distance from the 3D sensor to the object to be hit becomes equal to or less than a first set value.

[0019] When the distance from the 3D sensor to the object to be hit becomes equal to or less than a second set value which is smaller than the first set value, the controller can output a travel signal to a stopped loading / unloading machine to move the boom in a direction to avoid the collision, and output a travel stop signal to a loading / unloading machine that is moving and approaching the object to be hit. [Effects of the Invention]

[0021] The boom collision prevention device for cargo handling machinery of the present invention can prevent collisions regardless of the shape of the object to be hit, and also has the excellent effect of improving visibility and enabling efficient monitoring of the object to be hit, as the relative positional relationship between the object to be hit and the boom can be recognized on the display. [Brief explanation of the drawings]

[0022] [Figure 1] 1 is a plan view showing an embodiment of a boom collision prevention device for a cargo handling machine according to the present invention. [Figure 2] 1 is a front view showing an embodiment of a boom collision prevention device for a cargo handling machine according to the present invention. [Figure 3] 1 is a perspective view showing a virtual mesh filter in an embodiment of a boom collision prevention device for a cargo handling machine according to the present invention. FIG. [Figure 4] 1 is a schematic diagram showing a collision object passing through a virtual mesh filter in an embodiment of a boom collision prevention device for a cargo handling machine of the present invention. FIG. [Figure 5] 5 is a schematic diagram showing a collision object passing through the virtual mesh filter after a set time has elapsed from the state shown in FIG. 4. FIG. [Figure 6] FIG. 1 is a perspective view showing an example of a container crane as a general cargo handling machine. [Figure 7] FIG. 1 is a plan view showing an example of a conventional boom collision prevention device for a cargo handling machine. [Figure 8] FIG. 1 is a front view showing an example of a conventional boom collision prevention device for a cargo handling machine. DETAILED DESCRIPTION OF THE INVENTION

[0023] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0024] 1 to 5 show an embodiment of a boom collision prevention device for a cargo handling machine according to the present invention, and in the figures, parts that are given the same reference numerals as in FIGS. 6 to 8 represent the same things.

[0025] As shown in FIG. 1, the boom collision prevention device of this embodiment includes a 3D sensor 90, a controller 91, a display 92, and an alarm 93.

[0026] The 3D sensor 90 is a sensor used for LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging), and is attached to the boom 60 of a container crane 10 serving as a cargo handling machine, and is configured to irradiate a pulsed laser beam onto a collision object 80 and detect the scattered light reflected therefrom. Incidentally, the 3D sensor 90 may be, for example, a ToF (Time of Flight) camera type that irradiates infrared light with a wavelength of 850 [nm] or 940 [nm].

[0027] The controller 91 determines the distance from the 3D sensor 90 to the collision object 80 based on the measurement data of the scattered light detected by the 3D sensor 90, which changes from moment to moment, and calculates the relative movement speed between the collision object 80 and the boom 60 based on the distance and time.

[0028] The display 92 displays the collision object 80 and the boom 60 based on the moving speed calculated by the controller 91 so that the relative positional relationship between them can be recognized.

[0029] The alarm 93 issues an alarm when the distance from the 3D sensor 90 to the collision object 80 becomes less than a first set value (e.g., 10 m) to alert the operator of the container crane 10.

[0030] In addition, when the distance from the 3D sensor 90 to the collision object 80 becomes equal to or less than a second set value (e.g., 3 m) that is smaller than the first set value, the controller 91 outputs a travel signal to a stopped container crane 10 to move the boom 60 in a collision avoidance direction, and outputs a travel stop signal to a traveling container crane 10 that is approaching the collision object 80.

[0031] On the other hand, the controller 91 can process the point cloud data using a virtual mesh filter 94, as shown in FIGS.

[0032] A plurality of the virtual mesh filters 94 are arranged at required intervals from the 3D sensor 90 in the laser light irradiation direction. In the example shown in the figure, the virtual mesh filters 94 have 5 × 5 = 25 meshes 94a, and 13 virtual mesh filters 94 (1) to (13) are arranged, with the interval between the virtual mesh filters 94 (1) to (4) set to 1 [m], the interval between the virtual mesh filters 94 (4) and (5) set to 3 [m], the interval between the virtual mesh filters 94 (5) to (9) set to 2 [m], and the interval between the virtual mesh filters 94 (9) to (13) set to 1 [m]. In this case, the controller 91 is configured to determine the moving direction and moving speed of the collision object 80 based on the change over time in the point cloud representing the collision object 80 measured within the meshes 94a of the virtual mesh filters 94.

[0033] Incidentally, as shown in Figures 4 and 5, the spacing of the virtual mesh filters 94 from (9) to (13), which are in an area farther away than the first set value (for example, 10 [m]), is set to a relatively narrow 1 [m] in order to grasp the shape and speed of the collision object 80 at an early stage, capture its movement tendency, and accurately issue an alarm from the alarm device 93.

[0034] In addition, the spacing between the virtual mesh filters 94 from (5) to (9) in the region from near the first set value to near the second set value (for example, 3 [m]) is set to a relatively wide 2 [m], and the spacing between the virtual mesh filters 94 from (4) to (5) is set to an even wider 3 [m], because an alarm has already been issued and strict processing is not required other than grasping the size of the collision object 80.

[0035] Furthermore, the spacing between the virtual mesh filters 94 (1) to (4) in the area closest to the 3D sensor 90 and near the second set value (for example, 3 [m]) is set to a relatively narrow 1 [m] in order to accurately detect the shape and speed of the collision object 80 and accurately output a travel signal from the controller 91 to a stopped container crane 10 to move the boom 60 in a collision avoidance direction, while accurately outputting a travel stop signal from the controller 91 to a traveling container crane 10 approaching the collision object 80.

[0036] It goes without saying that the number of meshes 94a of the virtual mesh filter 94, the number of virtual mesh filters 94, and the spacing between them can be changed as needed.

[0037] Next, the operation of the above embodiment will be described.

[0038] 1 and 2, when there is an object that may interfere with the boom 60, for example, a collision object 80 such as the mast of a container ship, a pulsed laser light is emitted from the 3D sensor 90 and the reflected scattered light is detected by irradiating the collision object 80. Incidentally, although a case is mainly assumed in which the collision object 80 is moving and the container crane 10 is stopped, even when the collision object 80 is stopped, there are also cases in which the container crane 10 is traveling and the boom 60 is moving, or in which both the collision object 80 and the container crane 10 are moving.

[0039] The measurement data of the scattered light detected by the 3D sensor 90, which changes from moment to moment, is input to the controller 91, which determines the distance from the 3D sensor 90 to the object of collision 80 based on the measurement data, and calculates the relative movement speed between the object of collision 80 and the boom 60 based on the distance and time.

[0040] When the moving speed is calculated by the controller 91, the relative positional relationship between the collision object 80 and the boom 60 is displayed on the display 92 based on the moving speed so that the operator of the container crane 10 can recognize the relative positional relationship between the collision object 80 and the boom 60, and the operator can operate the container crane 10 while checking the display on the display 92 and monitoring the collision object 80.

[0041] When the distance from the 3D sensor 90 to the object to be hit 80 becomes less than a first set value (for example, 10 m), an alarm is sounded from the alarm 93 to alert the operator of the container crane 10.

[0042] Furthermore, when the distance from the 3D sensor 90 to the collision object 80 becomes equal to or less than a second set value (e.g., 3 m) that is smaller than the first set value, if the collision object 80 moves and the container crane 10 stops, a travel signal is output from the controller 91 to the stopped container crane 10 to move the boom 60 in a collision avoidance direction, thereby preventing the collision object 80 from colliding with the boom 60.

[0043] On the other hand, when the distance from the 3D sensor 90 to the collision object 80 becomes equal to or less than a second set value (e.g., 3 m) that is smaller than the first set value, even if the collision object 80 is stopped, if the container crane 10 is traveling and the boom 60 is approaching the collision object 80, a travel stop signal is output from the controller 91 to the traveling container crane 10, thereby preventing the boom 60 from colliding with the collision object 80.

[0044] In the case of this embodiment, unlike conventional collision prevention devices using ropes W or optical sensors as shown in Figures 7 and 8, the detection range is not limited, and even if the collision object 80 is not linear in shape but has a protrusion 80a, as shown in Figures 1 and 2, it is possible to detect it before the collision occurs.

[0045] Furthermore, the bracket Wb for installing the rope W is no longer necessary, and it becomes possible to take measures in advance before the object 80 to be hit approaches the boom 60.

[0046] On the other hand, the data processing of the point cloud by the virtual mesh filter 94 performed in the controller 91 will be described with reference to FIGS.

[0047] For example, at a certain point in time, as shown in Figure 4, a point cloud representing a cross section of the collision object 80 is captured in mesh 94a of Ac, Bb, Bc, Bd, and Cc in virtual mesh filter 94 (5) and acquired as data.

[0048] Then, several seconds later (for example, 2 seconds), as shown in Figure 5, if a point cloud representing the cross section of the collision object 80 is captured in a form that moves to the mesh 94a of Bc, Cb, Cc, Cd, and Dc in the virtual mesh filter 94 of (4) and acquired as data, since the interval (for example, 3 [m]) between the virtual mesh filters 94 of (4) and (5) is set in advance, it becomes possible for the controller 91 to calculate in which direction and at what speed the collision object 80 is moving based on the interval of the virtual mesh filter 94 and the time over which the point cloud moves.

[0049] In this way, collision can be prevented regardless of the shape of the object to be hit 80, and the relative positional relationship between the object to be hit 80 and the boom 60 can be recognized on the display 92, improving visibility and enabling efficient monitoring of the object to be hit 80.

[0050] It should be noted that the boom collision prevention device for cargo handling machines of the present invention is not limited to the above-described embodiment, and it is possible to make various modifications without departing from the spirit and scope of the present invention, such as being applicable not only to container cranes but also to cargo handling machines such as unloaders. [Explanation of symbols]

[0051] 10 Container crane (cargo handling equipment) 20 Main frame 21 Support legs 22 Lower frame 23 Connecting Frame 30 Running gear 31 Running wheels 40 Braking device 41 Brake pads 50 Guarda 60 Boom 70 Trolley 80 Collision object 80a protrusion 90 3D sensors 91 Controller 92 Display 93 Alarm 94 Virtual Mesh Filter 94a mesh C Hanging load H port Q Quay Rx running rail Ry traverse rail Double Rope Wb Bracket

Claims

1. a 3D sensor attached to a boom of the cargo handling machine, which irradiates a pulsed laser beam onto a collision object and detects scattered light reflected from the collision object; a controller that calculates the distance from the 3D sensor to the collision object based on measurement data of the scattered light detected by the 3D sensor that changes from moment to moment, and calculates the relative movement speed of the collision object and the boom based on the distance and time; a display that displays the relative positional relationship between the collision object and the boom based on the moving speed calculated by the controller so that the relative positional relationship between the collision object and the boom can be recognized; A boom collision prevention device for a cargo handling machine, comprising: The controller is a boom collision prevention device for a loading machine that arranges multiple virtual mesh filters at required intervals in the direction of laser light irradiation from the 3D sensor, and determines the direction and speed of movement of the object to be hit based on changes over time in the cloud of points indicating the object to be hit that are measured within the mesh of the virtual mesh filters.

2. 2. The boom collision prevention device for a cargo handling machine according to claim 1, further comprising an alarm that issues an alarm when the distance from the 3D sensor to an object to be hit becomes equal to or less than a first set value.

3. 3. A boom collision prevention device for a loading machine according to claim 2, wherein when the distance from the 3D sensor to the object to be hit becomes equal to or less than a second set value which is smaller than the first set value, the controller outputs a travel signal to a stopped loading machine to move the boom in a collision avoidance direction, and outputs a travel stop signal to a loading machine that is traveling and approaching the object to be hit.

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