Crane control system and crane control method

Abstract

Provided is a crane control system for controlling a plurality of cranes, the crane control system comprising a first base station and a second base station that perform wireless communication using directional radio equipment, and a plurality of crane control units that control the respective cranes. The crane operating range includes an overlapping area where a first wireless communication area of the first base station and a second wireless communication area of the second base station overlap. Some of the plurality of crane control units located in the overlapping area are connected to the first base station and some others thereof are connected to the second base station.

Description

Crane control system and crane control method

[0001] The present disclosure relates to a crane control system and a crane control method.

[0002] A conventional crane control device for controlling a crane is disclosed in Patent Document 1. This crane control device includes a plurality of base stations that perform wireless communication using directional radios, and a crane control unit that controls the crane.

[0003] Japanese Patent Application Laid-Open No. 2000-86156

[0004] In the above-described crane control device, each position within the crane's operating range is covered by the wireless communication area of ​​one base station. However, wireless communication can become unstable due to the influence of external radio waves. If the wireless communication of the base station to which the crane is connected becomes unstable, the quality of the wireless communication will deteriorate.

[0005] The present disclosure has been made to solve such problems, and aims to provide a crane control system and a crane control method that can improve the quality of wireless communication.

[0006] The crane control system according to the present disclosure is a crane control system for controlling a plurality of cranes, and includes a first base station and a second base station that perform wireless communication using a directional radio, and a plurality of crane control units that control the respective cranes, wherein the operating range of the cranes includes an overlapping area where a first wireless communication area of ​​the first base station and a second wireless communication area of ​​the second base station overlap, and some of the multiple crane control units in the overlapping area are connected to the first base station, and others are connected to the second base station.

[0007] In the crane control system, an overlapping area exists within the operating range of a crane, where the first wireless communication area of ​​a first base station overlaps with the second wireless communication area of ​​a second base station. In the overlapping area, the crane control unit may be connected to either base station. Here, some of the multiple crane control units present in the overlapping area are connected to the first base station, and the other parts are connected to the second base station. In this way, by distributing the wireless connection destinations of the multiple cranes between the first base station and the second base station in the overlapping area, the load on each base station can be reduced. As a result, the quality of wireless communication can be improved.

[0008] A first crane control unit connected to a first base station may switch connection to a second base station when the communication quality of the first base station deteriorates. In this case, even if the communication quality of the first base station deteriorates, the first crane control unit can connect to the second base station as a backup base station.

[0009] When the communication quality of the first base station is restored, the first crane control unit may return the connection to the first base station, thereby reducing the burden on the second base station after the first base station returns to service.

[0010] Even when the first crane control unit is connected to one of the first and second base stations, the first crane control unit may monitor the communication quality of the other base station, thereby enabling the first crane control unit to quickly determine when the communication quality of the other base station has recovered.

[0011] The second base station may be connected to the second crane control unit before the first crane control unit is connected, and may have the capability to communicate with both the second crane control unit and the first crane control unit. In this way, the second base station has the capability to handle both the second crane control unit and the first crane control unit, but by connecting only to the second crane control unit in the normal state, the load on the second base station in the normal state can be reduced.

[0012] The system may further include a monitoring communication device that monitors one of the first and second base stations that is not connected to any of the crane control units, thereby enabling the monitoring communication device to quickly determine when communication quality at the base station has been restored.

[0013] The crane control unit may include an access module that communicates with the target radio via web access. In this case, the crane control unit can rewrite the settings of the target radio depending on the crane's status.

[0014] The crane control method according to the present disclosure is a crane control method for controlling a plurality of cranes, in which the operating range of the cranes includes an overlapping area where a first wireless communication area of ​​a first base station that performs wireless communication using a directional radio overlaps with a second wireless communication area of ​​a second base station that performs wireless communication using a directional radio, and some of the crane control units that exist in the overlapping area are connected to the first base station and others are connected to the second base station.

[0015] According to this crane control method, it is possible to obtain the same effects as those of the above-mentioned crane control device.

[0016] According to the present disclosure, it is possible to provide a crane control system and a crane control method that can appropriately switch the base station to which a wireless connection is made depending on the position of the crane.

[0017] FIG. 1 is a plan view showing a container terminal. FIG. 2 is a perspective view showing an example of a crane arranged in a container yard. FIG. 3 is a block diagram showing functions of a crane control device and a crane control system according to the present embodiment. FIG. 4 is a diagram showing an example of a display screen accessed via the web. FIG. 5 is a diagram for explaining first control. FIG. 6 is a flowchart showing first control. FIG. 7 is a flowchart showing first control. FIG. 8 is a flowchart showing first control. FIG. 9 is a flowchart showing first control. FIG. 10 is a diagram for explaining second control. FIG. 11 is a flowchart showing second control. FIG. 12 is a flowchart showing second control. FIG. 13 is a flowchart showing second control. FIG. 14 is a flowchart showing second control.

[0018] Hereinafter, embodiments of a crane control system and a crane control method according to the present disclosure will be described with reference to the drawings. In the description of the drawings, identical or corresponding elements are designated by the same reference numerals, and duplicate explanations will be omitted as appropriate. In addition, the drawings may be partially simplified or exaggerated for ease of understanding, and the dimensional proportions and the like are not limited to those shown in the drawings.

[0019] Fig. 1 is a plan view showing a container terminal 1. As shown in Fig. 1, the container terminal 1 is provided with a container yard 2 in which containers C (see Fig. 2) are placed, a plurality of cranes 10 that are placed in the container yard 2 and handle the containers C, and a host system 6 that exchanges information with the plurality of cranes 10. The host system 6 is provided, for example, in a management building of the container terminal 1.

[0020] For example, the container yard 2 includes a storage area for storing containers C and a transport vehicle travel path. Transport vehicles such as freight cars, trailers, or AGVs (Automated Guide Vehicles) travel on the transport vehicle travel path. The crane 10 acquires the container C transported by the transport vehicle and places the container C in a placement area indicated by a predetermined address in the container yard 2. For example, multiple cranes 10 are arranged for each container yard 2. The crane 10 transfers the container C placed in the container yard 2 to the transport vehicle, and the transport vehicle carries the container C outside. Conversely, the crane 10 transfers the container C loaded on the transport vehicle to a placement area in the container yard 2.

[0021] The host system 6 exchanges various information with each crane 10 in the container terminal 1 and manages each crane 10. The host system 6 includes a management server, a remote control console, and the like. The host system 6 has base stations 7A and 7B for communicating with antennas provided on each crane 10. Both the base station 7A (first base station) and the base station 7B (second base station) are base stations that perform wireless communication using directional radio equipment. In the example shown in FIG. 1 , the host system 6 has two base stations 7A and 7B that have predetermined radio wave irradiation angles. This enables the host system 6 to communicate with each crane 10 in the container yard 2 via the base stations 7A and 7B.

[0022] Fig. 2 is a perspective view showing an example of a crane 10 arranged in the container yard 2. As shown in Fig. 2, the crane 10 is a container handling crane that loads and unloads containers C. In this embodiment, a rubber-tired gantry crane (RTG) is shown as an example of the crane 10. The crane 10 automatically performs at least a portion of the loading and unloading of containers C arranged in the container yard 2 at the container terminal 1, for example.

[0023] The crane 10 includes, for example, a pair of legs 11, a crane girder 12 connecting the upper ends of the pair of legs 11, a trolley 13 that can travel laterally on the crane girder 12, a spreader 14 that grips the container C, and a pair of traveling sections 15A, 15B having wheels 23. The pair of legs 11 and the crane girder 12 are portal-shaped. The crane 10 includes, for example, two sets of portal-shaped pairs of legs 11 and crane girders 12, and the two sets are arranged side by side in the X direction.

[0024] The trolley 13 moves laterally along the Y direction, for example, by driving a traverse motor. In this embodiment, the Y direction coincides with the traverse direction of the trolley 13. The X direction coincides with the traveling direction of the traveling sections 15A and 15B. Therefore, the X direction and the Y direction are perpendicular to each other. As an example, the trolley 13 has a winding drive section 16 including a drum that rotates forward and backward by a drum drive motor, and suspends the spreader 14 via a suspension member 18 including a wire rope. The suspension members 18 extend from the trolley 13 at two positions aligned in the X direction. The spreader 14 is suspended from the suspension members 18 at two positions aligned in the X direction.

[0025] The spreader 14 is a hoisting device that suspends the container C. The spreader 14 has, for example, a rectangular shape extending in the X direction. The spreader 14 can hold the container C from above, and loads and unloads the container C by holding and lifting the container C. For example, the operation of the spreader 14 is controlled by the drive of the traverse motor and drum drive motor described above. The drive of the traverse motor and drum drive motor is controlled by the crane control device 30 according to this embodiment.

[0026] The travelling units 15A, 15B are mechanisms that travel along the linear crane travel path in the container yard 2. The crane 10 includes a pair of travelling units 15A, 15B provided below the legs 11 at both ends in the Y direction. Each of the travelling units 15A, 15B includes a connecting member 21 that connects the legs 11 spaced apart in the X direction, and a plurality of wheel units 22 provided below the connecting member 21. One wheel unit 22 is provided at each end of the connecting member 21 in the X direction. The wheel unit 22 includes a plurality of wheels 23 and a wheel support unit 24 that supports the wheels 23. The wheel support unit 24 supports the wheels of a pair of wheels 23 aligned in the Y direction, and supports two pairs of the wheels 23 aligned in the X direction. Note that the number of wheels 23 included in each wheel unit 22 and the number of wheel units 22 included in each of the travelling units 15A, 15B are not particularly limited.

[0027] The crane 10 receives a container C from a transport vehicle parked on a transport vehicle travel path located on one side in the Y direction and transfers the container C to a storage area located on the other side in the Y direction. The crane 10 also transfers the container C stored in the storage area to a transport vehicle parked in a loading lane. At least a portion of the loading and unloading operations of the crane 10 are performed by remote control or automatic operation. Therefore, the crane 10 has a sensor 25, a camera 26, and a wireless mobile station 27. The sensor 25 is a variety of sensors, such as a 3D lidar, that detects objects around the crane 10. The camera 26 is a device that acquires images of the surroundings of the crane 10. The mounting positions of the sensor 25 and the camera 26 are not particularly limited. The wireless mobile station 27 is a device that wirelessly transmits and receives various information to and from base stations 7A and 7B of the host system 6. The host system 6 may be provided with an operation console for remote operation. The antenna of the wireless mobile station 27 has directionality, and in order to communicate with the host system 6, it needs to be oriented toward the host system 6. For example, when a cardinal axis AX extending in one direction from the antenna of the wireless mobile station 27 is set, it is sufficient that the cardinal axis AX is oriented toward the host system 6.

[0028] 3 is a block diagram showing the functions of the crane control device 30 and crane control system 100 according to this embodiment. The crane control system 100 is a system that controls a plurality of cranes 10. As shown in FIG. 3, the crane control system 100 includes a plurality of cranes 10 each having a crane control device 30, and a host system 6.

[0029] The host system 6 is connected to the base stations 7A and 7B by wire via lines L1 and L2 of a local network such as a LAN, etc. This allows the host system 6 to communicate wirelessly with the crane control device 30 via the base stations 7A and 7B and the wireless mobile station 27.

[0030] The crane control device 30 is mounted on the crane 10. The crane control device 30 comprises the above-mentioned sensor 25, camera 26, and wireless mobile station 27 (communication unit, radio), as well as a crane control unit 40. Within the crane 10, the sensor 25, camera 26, and wireless mobile station 27 are connected by wire to the crane control unit 40 via lines L3, L4, and L5 of a local network such as a LAN. These sensors 25, cameras 26, and wireless mobile station 27 are target devices 41 for web access by the crane control unit 40. The target devices 41 are devices for which various settings can be made via web access.

[0031] The crane control unit 40 may be configured as a general computer, for example, including a processor, memory, storage, a communication interface, and a user interface. The processor is a computing device such as a CPU (Central Processing Unit). The memory is a storage unit such as a ROM (Read Only Memory) or RAM (Random Access Memory). The storage is a storage unit (storage medium) such as an HDD (Hard Disk Drive). The communication interface is a communication device that realizes data communication. The processor controls the memory, storage, communication interface, and user interface. The crane control unit 40 realizes various functions by, for example, loading a program stored in the ROM into the RAM and executing the program loaded into the RAM with the CPU.

[0032] The crane control unit 40 includes a crane control calculation unit 31, an access module 32, and a drive control unit 33. In this embodiment, the crane control unit 40 can exchange information with the target devices 41, which are the sensors 25, the cameras 26, and the wireless mobile station 27, using web access (HTTP access). The crane control unit 40 rewrites the information of the target devices 41 according to the status of the crane 10. The crane control unit 40 rewrites the information of the base station to which the wireless mobile station 27 is wirelessly connected. For example, the crane control unit 40 rewrites the base station to which the wireless mobile station 27 is wirelessly connected, switching from one of the base stations 7A and 7B to the other. Rewriting the information for the target devices 41 will be described in detail below.

[0033] The crane control calculation unit 31 performs various calculations in controlling the crane 10. The crane control calculation unit 31 is configured by a crane control application implemented in the crane control unit 40. The crane control calculation unit 31 acquires various information necessary for controlling the crane 10. For example, the crane control calculation unit 31 receives various information such as a travel command signal and a traverse command signal for the crane 10 wirelessly from the higher-level system 6. The crane control calculation unit 31 also transmits various signals based on the calculations to the access module 32 and the drive control unit 33.

[0034] The drive control unit 33 performs drive control by transmitting control signals to drive units such as the motors of the crane 10. When an operation is performed by an operator, the drive control unit 33 performs drive control in accordance with the operation. When the crane is in automatic operation, the drive control unit 33 performs drive control so as to realize the operation calculated by the crane control calculation unit 31 or the operation instructions received from the higher-level system 6.

[0035] Here, the crane control calculation unit 31 controls the content of information exchanged with the target device 41. The crane control calculation unit 31 exchanges information with the target device 41 via the access module 32. The crane control calculation unit 31 acquires setting information and telemetry information of the target device 41. Furthermore, when changing the setting of the target device 41 based on the acquired information, the crane control calculation unit 31 adjusts the content of the change.

[0036] The access module 32 performs web access to the target device 41. Based on a command signal from the crane control calculation unit 31, the access module 32 performs requested processing on the target device 41 and transmits information acquired from the target device 41 to the crane control calculation unit 31. The access module 32 has a correspondence table of codes for rewriting information on the target device 41. Each target device 41 has a code required to rewrite the information on that target device 41. To change the settings for a desired item, a code corresponding to that item is required. Therefore, when the access module 32 receives a command signal from the crane control calculation unit 31 to rewrite a specific item for a specific target device 41, the access module 32 acquires a code corresponding to that item in the target device 41 from the correspondence table. The access module 32 then uses the acquired code to rewrite the information on the target device 41.

[0037] Here, the functions of the crane control calculation unit 31 and the access module 32 will be described. Referring to FIG. 4 , a case where an operator changes the base station to which the wireless mobile station 27 is connected wirelessly via web access will be described. First, the operator uses an information terminal, such as a personal computer, constituting the crane control unit 40 to access a web page for referring to and changing the settings of the wireless mobile station 27. At this time, a login screen appears on the display, and the operator enters a user name and password. The operator accesses a page for setting information of the wireless connection destination. At this time, a setting screen such as that shown in FIG. 4 is displayed on the display. The operator can change the base station to which the wireless connection destination is connected wirelessly in the "Wireless Connection Destination" field on the screen. Such an operation was previously performed by the operator, who made a decision based on the setting information and performed the operation to rewrite the setting information. The crane control device 30 according to this embodiment can automatically perform the work previously performed by an operator using the crane control calculation unit 31 and the access module 32. The crane control calculation unit 31 has the function of referring to, deciding on, and rewriting the setting information, which were previously performed by the operator. The access module 32 has the function of accessing a desired web page and inputting and rewriting various information on the web page, which was previously performed by an information terminal based on the operator's operation. However, the processing of the crane control calculation unit 31 is performed inside the crane control unit 40, and there is no need to visually display the web page. Therefore, the access module 32 acquires the code of the target web page, and when inputting or rewriting information, it inputs or rewrites the code corresponding to the information.

[0038] [First Control] Next, the first control will be described with reference to Fig. 5. The first control is an example of control in which the crane control unit 40 switches the base station to which it is wirelessly connected from one of the base stations 7A and 7B to the other. Also, an example of processing in the first control in which the crane control unit 40 exchanges information with the wireless mobile station 27 will be described. Fig. 5 is a diagram showing the state of the container terminal 1 under the first control.

[0039] In Figure 5, the operating range ME of each crane 10 is shown with a virtual line. Neither the wireless communication area CEA (first wireless communication area) of base station 7A nor the wireless communication area CEB (second wireless communication area) of base station 7B can cover the entire operating range ME by itself. Therefore, by setting the wireless communication area CEA and the wireless communication area CEB to be offset from each other, the entire operating range ME is covered by either the wireless communication area CEA or CEB. In this case, an overlapping area LCE exists in the operating range ME of the crane 10, where the wireless communication area CEA and the second wireless communication area CEB overlap. In Figure 5, the overlapping area LCE is indicated by a gray scale.

[0040] When the crane 10 moves from the wireless communication area of ​​one of the base stations 7A and 7B to the wireless communication area of ​​the other base station, the crane control unit 40 switches the connection from one base station to the other base station in the overlapping area LCE. That is, when the crane 10 moves from the wireless communication area CEA of the base station 7A to the wireless communication area CEB of the base station 7B, the crane control unit 40 switches the connection from the base station 7A to the base station 7B in the overlapping area LCE. Also, when the crane 10 moves from the wireless communication area CEB of the base station 7B to the wireless communication area CEA of the base station 7A, the crane control unit 40 switches the connection from the base station 7B to the base station 7A in the overlapping area LCE. The crane control unit 40 mounted on the crane 10 switches the connection from one base station to the other base station in the overlapping area LCE.

[0041] The crane control unit 40 acquires data indicating the relationship between the wireless communication areas CEA and CEB and the position of the crane 10 in the operating range ME. The crane control unit 40 switches the connection from one base station to the other based on the data. For example, the crane control unit 40 may acquire data such as that shown in FIG. 6. The data shown in FIG. 6 is a table including information on positions in the container terminal 1 and information on whether each position belongs to the wireless communication areas CEA and CEB. Each position in the container terminal 1 is indicated by block bay coordinates. If each position is within the range of the wireless communication areas CEA and CEB, it is indicated as "YES," and if it does not belong, it is indicated as "NO."

[0042] When the crane 10 moves, the crane control unit 40 acquires the current position and destination position of the crane 10. Then, the crane control unit 40 determines whether or not it is necessary to switch base stations based on the current position and destination position. The crane control unit 40 slows down or stops the crane 10 in the overlap area LCE.

[0043] Specifically, assume that the crane control unit 40 receives an instruction from the host system 6 to move the crane 10A to the destination position P3. At this time, the crane control unit 40 acquires its own position information within the container terminal 1. By comparing the destination position P3 with the data shown in FIG. 6, the crane control unit 40 recognizes that the destination position P3 is covered only by the wireless communication area CEB of the base station 7B. Similarly, the crane control unit 40 recognizes that the current position P1 is covered only by the wireless communication area CEA of the base station 7A. If the base station connected to the destination position P3 is different from the base station connected to the current position P1, the crane control unit 40 determines that it is necessary to switch the destination base station while traveling. Note that both the current position P4 and the destination position P5 of the crane 10B are within the wireless communication area CEB of the base station 7B. Therefore, the crane control unit 40 recognizes that it is not necessary to switch the destination base station.

[0044] In the data shown in Figure 6, the overlap area LCE is a location where "YES" is registered in both the wireless communication area CEA and the wireless communication area CEB. Therefore, the crane control unit 40 searches to determine the extent of this overlap area LCE in the section between the current position P1 and the destination position P3. The crane control unit 40 then sets the intermediate position between multiple overlap areas LCE that exist within the travel section as the switching position P2. The crane control unit 40 performs switching by slowing down or stopping the crane 10 at the switching position P2 that has been set in this way.

[0045] The crane control unit 40 controls the drive unit so that the crane 10 moves from the current position P1 to the switching position P2. When the crane 10 arrives at the switching position P2, the crane control unit 40 communicates via web access with the wireless mobile station 27 (wireless device) that is the communication target. The access module 32 performs web access to the wireless mobile station 27 in response to a request from the crane control calculation unit 31. The crane control calculation unit 31 rewrites the base station to which the wireless connection is to be made via the web access by the access module 32. Once the base station to which the wireless connection is to be made has been rewritten, the crane control unit 40 controls the drive unit so that the crane 10 moves from the switching position P2 to the target position P3.

[0046] 3, one wireless mobile station 27 switches the wireless connection between base station 7A and base station 7B. Alternatively, two wireless mobile stations 27 may be provided, one wireless mobile station 27 always connected to base station 7A and the other wireless mobile station 27 always connected to base station 7B, and the crane control unit 40 may switch the wireless mobile station 27 to be used at an appropriate timing. According to this control method, the communication interruption time at the time of switching is shorter than when one wireless mobile station 27 is used, and therefore there is less need to temporarily stop the traveling of the crane 10.

[0047] Next, an example of the processing content of the crane control system 100 will be described with reference to Figures 7 to 10. Figures 7 to 10 are flowcharts showing an example of the processing content of the crane control system 100. Here, the description will be made in light of the operation of the crane 10A in Figure 5 moving from the current position P1 to the destination position P3. Note that in the following description, for the sake of convenience, it may be described that the access module 32 handles web pages and display screens by web accessing the wireless mobile station 27. This means that the access module 32 does not actually display a web page on the screen, but rather performs processing equivalent to displaying a web page within the calculation processing of the crane control unit 40.

[0048] The crane control calculation unit 31 starts movement control when a destination position is specified by the host system 6. As shown in Fig. 7, the crane control calculation unit 31 instructs the crane's access module 32 to check the wireless connection destination status of the wireless mobile station 27 (step S10). The access module 32 performs HTTP access to the wireless mobile station 27, and accesses and opens a top page for setting up the wireless mobile station 27 (step S20). The access module 32 automatically inputs a user name and password on the top page (step S30).

[0049] Next, the access module 32 acquires version information from the wireless mobile station 27 (step S40). The access module 32 compares the acquired version information of the wireless mobile station 27 with the version information that its own software handles, and determines whether they match (step S60). If they match, the process proceeds to the process in FIG. 8. On the other hand, if they do not match, the access module 32 issues a warning to the crane control calculation unit 31 that the versions do not match (step S70), and terminates the HTTP access (step S80).

[0050] After the predetermined time in step S10 has elapsed, the crane control calculation unit 31 determines whether or not a warning has been issued (step S90). If a warning has been issued in step S70, the process proceeds to "A" in Fig. 10, the switching process in this flowchart ends, and the process returns to step S10. On the other hand, if it is determined in step S90 that no warning has been issued, the crane control calculation unit 31 instructs the access module 32 to continue processing (step S110).

[0051] After step S110, as shown in FIG. 8, the access module 32 selects a display screen (e.g., the screen shown in FIG. 4) of the wireless connection destination of the wireless mobile station 27 (step S120). The access module 32 acquires information about the wireless connection destination from the selected display screen and transmits it to the crane control calculation unit 31 (step S130). The crane control calculation unit 31 acquires the wireless connection destination information (step S140). Next, the access module 32 switches to a display screen showing reception strength (step S160). The access module 32 acquires the reception strength of the wireless communication between the base station 7 and the wireless mobile station 27 from the switched display screen and transmits it to the crane control calculation unit 31 (step S170). The crane control calculation unit 31 acquires the reception strength information (step S180). For example, when the crane 10A in FIG. 5 is located at its current position P1, the base station 7A becomes the wireless connection destination, and the reception strength of the wireless communication with the base station 7A is acquired. If the reception strength is weaker than a predetermined threshold, the crane control calculation unit 31 issues a drive stop command to the drive control unit 33 .

[0052] Here, if the reception strength is equal to or greater than a predetermined threshold, the crane control calculation unit 31 receives an instruction for automatic travel of the crane 10 from the host system 6 (step S200). The crane control calculation unit 31 acquires the destination of the crane 10 from the instruction information from the host system 6 (step S210). In the case of the crane 10A shown in FIG. 5, the crane control calculation unit 31 acquires the destination position P3. Next, the crane control calculation unit 31 checks the attributes of the wireless communication area of ​​the travel section of the crane 10 (step S220). In the case of the crane 10A shown in FIG. 5, the crane control calculation unit 31 uses the data shown in FIG. 6 to determine that the travel section of the crane 10A includes, in order from the current position P1, a wireless communication area CEA, an overlap area LCE, and a wireless communication area CEB. The crane control calculation unit 31 also determines a switching position P2 at which the crane 10A switches its wireless connection destination by slowing down and stopping the crane. When the crane control calculation unit 31 identifies the switching position P2 of the wireless connection destination, the drive control unit 33 starts drive control so that the crane 10A moves toward the switching position P2. Note that, if the destination position is a destination position where switching of the wireless connection destination is not required, the drive control unit 33 starts drive control so that the crane 10A moves toward the destination position.

[0053] Next, as shown in FIG. 9 , the crane control calculation unit 31 determines whether deceleration and stopping of the crane 10 are necessary during travel (step S230). If it is determined that deceleration and stopping are necessary, the crane control calculation unit 31 performs automatic deceleration and stopping of the crane 10 at a position based on the results of the verification in step S220 (step S240). The crane control calculation unit 31 then determines whether a change in the wireless connection destination of the wireless mobile station 27 is necessary (step S260). If it is determined that a change is necessary, the crane control calculation unit 31 instructs the access module 32 to switch the wireless connection destination (step S270). In the case of the crane 10A shown in FIG. 5 , the crane control calculation unit 31 controls the crane 10A to decelerate and stop at switching position P2. The crane control calculation unit 31 also instructs the access module 32 to switch the wireless connection destination from base station 7A to the new base station 7B. On the other hand, if it is determined in step S230 that deceleration and stopping are not necessary, the process proceeds to step S260. In step S260, it is determined that there is no need to change the wireless connection destination, and the process proceeds to "A" in FIG.

[0054] After step S270, the access module 32 selects a display screen for the wireless connection destination of the wireless mobile station 27 (step S280). The access module 32 writes the new base station 7 as information on the wireless connection destination on the selected display screen (step S290). As a completion process, the access module 32 automatically presses the save / apply button with the written content and refreshes the display screen (step S310). The access module 32 reads the newly set wireless connection destination information and transmits it to the crane control calculation unit 31 (step S320). In the case of the crane 10A in FIG. 5, the crane control calculation unit 31 switches the wireless connection destination base station from base station 7A to base station 7B.

[0055] Next, as shown in FIG. 10 , the crane control calculation unit 31 acquires new wireless connection destination information (step S330). The crane control calculation unit 31 checks whether the wireless connection destination switching process is complete by determining whether the new wireless connection destination instructed in step S270 matches the new wireless connection destination acquired in step S330 (step S340). If they match, the switching process ends. On the other hand, if they do not match, the crane control calculation unit 31 performs abnormality processing (step S360) and terminates the switching process. Once the switching process by the crane control calculation unit 31 is complete, the drive control unit 33 initiates drive control to move the crane 10A from the switching position P2 toward the destination position P3. Once the crane 10A has completed its movement to the destination position P3, the movement control ends, and the crane control calculation unit 31 waits until it receives the next command from the host system. Note that the access module 32 maintains a connection with the wireless mobile station 27 at all times while the crane 10A is operating. Therefore, when the next target position is specified by the higher-level system 6, the crane control calculation unit 31 can omit steps S20 to S110.

[0056] [Second Control] Next, the second control will be described with reference to Fig. 11. The second control is another example of control in which the crane control unit 40 switches the base station to which it is wirelessly connected from one of the base stations 7A and 7B to the other. Also, an example of processing in the second control in which the crane control unit 40 exchanges information with the wireless mobile station 27 will be described. Fig. 11 is a diagram showing the state of the container terminal 1 under the second control.

[0057] In Figure 11, the operating range ME of each crane 10 is shown by a virtual line. The wireless communication area CEA (first wireless communication area) of base station 7A and the wireless communication area CEB (second wireless communication area) of base station 7B both cover the entire operating range ME. At this time, there is an overlapping area LCE where the wireless communication area CEA and the second wireless communication area CEB overlap so as to cover the entire operating range ME of the crane 10. In Figure 11, the overlapping area LCE is indicated by a gray scale.

[0058] Some of the multiple crane control units 40 present in the overlapping area LCE are connected to base station 7A, and others are connected to base station 7B. For example, the crane control units 40 of cranes 10A and 10B are connected to base station 7A, and the crane control units 40 of cranes 10C and 10D are connected to base station 7B. If the communication quality of base station 7A deteriorates, the crane control units 40 of cranes 10A and 10B connected to base station 7A switch their connections to base station 7B. If the communication quality of base station 7A recovers, the crane control units 40 of cranes 10A and 10B return their connections to base station 7A. If the communication quality of base station 7B deteriorates, the crane control units 40 of cranes 10C and 10D connected to base station 7B switch their connections to base station 7A. If the communication quality of base station 7B recovers, the crane control units 40 of cranes 10C and 10D return their connections to base station 7B.

[0059] Even when the crane control units 40 of the cranes 10A, 10B are connected to one of the base stations 7A and 7B, they monitor the communication quality of the other base station. By maintaining a wired connection between the base station 7A and the base station 7B so that they can communicate with each other, the crane control unit 40 can monitor the communication quality of the other base station via a wireless connection with one of the base stations 7A and 7B. Instead of this configuration, the crane control system 100 may further include a monitoring communicator 70 that monitors the base station 7A or 7B that is not connected to either of the crane control units 40. This makes it possible to know that the communication quality has recovered even if the communication quality of one of the base stations 7A, 7B deteriorates and the crane control unit 40 is no longer connected to either of the crane control units 40.

[0060] The base station 7B is connected to the crane control units 40 of the cranes 10C and 10D before the crane control units 40 of the cranes 10A and 10B are connected. The base station 7B has the capability to communicate with both the crane control units 40 of the cranes 10A and 10B and the crane control units 40 of the cranes 10C and 10D. The base station 7A is connected to the crane control units 40 of the cranes 10A and 10B before the crane control units 40 of the cranes 10C and 10D are connected. The base station 7A has the capability to communicate with both the crane control units 40 of the cranes 10C and 10D and the crane control units 40 of the cranes 10A and 10B. In other words, both base stations 7A and 7B have bandwidth capabilities sufficient to accommodate all crane control units 40 within the operating range ME. However, each of the base stations 7A and 7B is configured for normal use with a half load factor. This allows the crane control unit 40 to automatically switch connection to a healthy base station if one of the base stations malfunctions.

[0061] Next, an example of the processing content of the crane control system 100 will be described with reference to FIGS. 12 to 18. FIGS. 12 to 18 are flowcharts showing an example of the processing content of the crane control system 100. Here, the description will be made in light of the operation of the crane 10A in FIG. 11, in which the crane 10A wirelessly connects to base station 7A in a normal state, and switches to base station 7B when the communication quality of base station 7A deteriorates. The terms "primary" and "secondary" also appear in the flowchart. "Primary" refers to the base station 7 that the crane 10 wirelessly connects to in a normal state, and "secondary" refers to the base station that the crane 10 switches to when the communication quality of the primary base station 7 deteriorates. For the crane 10A in FIG. 11, base station 7A is the primary base station 7, and base station 7B is the secondary base station 7.

[0062] The crane control unit 40 acquires wireless communication quality information at predetermined intervals. That is, the processes shown in FIGS. 12 to 18 are processes that are started at predetermined intervals. The crane control calculation unit 31 instructs the access module 32 to check the wireless connection status between the currently connected base station and the wireless mobile station 27 at predetermined intervals (step S410). Note that the processes of steps S410 to S510 shown in FIG. 12 and steps S520 to S580 in FIG. 13 are similar to the processes of steps S10 to S110 in FIG. 7 and steps S120 to S180 in FIG. 8 for the first control, and therefore will not be described here.

[0063] After step S580, the crane control calculation unit 31 determines whether the base station to which the crane 10 is currently wirelessly connected is the primary base station 7 (step S590). If it is determined that it is not the primary, the process proceeds to "B" in FIG. 15 and proceeds to the processing of step S720, which will be described later. On the other hand, if it is determined that it is the primary, the crane control calculation unit 31 determines whether the communication quality of the primary base station 7 is insufficient (step S610). If it is determined that the quality is not insufficient, there is no need to switch the base station 7, so the process proceeds to "A" in FIG. 18 and ends the switching processing.

[0064] On the other hand, if it is determined that the quality is insufficient, as shown in Fig. 14, the crane control calculation unit 31 issues a switching instruction to the access module 32 to switch the wireless connection destination of the wireless mobile station 27 (step S620). In the case of the crane 10A in Fig. 11, the communication quality of the primary base station 7A is insufficient, so the crane control calculation unit 31 issues an instruction to switch the wireless connection destination to the secondary base station 7B.

[0065] The processing of steps S630 to S670 in FIG. 14 and steps S680 to S710 in FIG. 15 is similar to the processing of steps S280 to S320 in FIG. 9 and steps S330 to S360 in FIG. 10 for the first control, and therefore description thereof will be omitted.

[0066] If the new wireless connection destination specified in step S620 matches the new wireless connection destination acquired in step S680, the crane control calculation unit 31 determines whether the base station 7 currently connected to the crane 10 is the secondary base station 7 (step S720). If it is determined that the base station 7 is not the secondary base station, the process proceeds to "A" in FIG. 18 and ends the switching process. If it is determined that the base station 7 is the secondary base station, the crane control calculation unit 31 instructs the access module 32 to acquire information about the primary base station 7 in order to monitor whether the communication quality of the primary base station 7 has recovered (step S730). In the case of the crane 10A in FIG. 11, the crane control calculation unit 31, while connected to the secondary base station 7B, instructs the access module 32 to acquire information about the primary base station 7A. The access module 32 connects to the primary base station A via the wireless connection with the secondary base station 7B.

[0067] The processing of steps S740 to S810 in FIG. 16 is the same as the processing of steps S20 to S80 in FIG. 7 for the first control, and therefore a description thereof will be omitted.

[0068] If it is determined in step S780 that the versions match, the access module 32 selects a display screen for the status diagnosis of the primary base station 7 (step S820). The access module 32 acquires status diagnosis information of the primary base station 7 from the selected display screen (step S830). As shown in FIG. 17 , the crane control calculation unit 31 acquires the status diagnosis information of the primary base station 7 (step S840). As the status diagnosis, for example, reception strength information may be acquired using a procedure similar to steps S510 to S580. The crane control calculation unit 31 determines whether the primary base station 7 has recovered based on the status diagnosis information (step S860). The crane control calculation unit 31 may determine that the primary base station 7 has recovered if the reception strength, which is the status diagnosis information, is stronger than a predetermined threshold. The crane control calculation unit 31 may determine that the primary base station 7 has not recovered if the reception strength, which is the status diagnosis information, is weaker than a predetermined threshold. If it is determined that the primary base station 7 has not recovered, the process proceeds to "A" in FIG. 18 and the switching process ends. If it is determined that the primary base station 7 has recovered, the crane control calculation unit 31 instructs the access module 32 to switch the wireless connection destination so as to return the base station 7 to the primary base station 7 as the wireless connection destination of the wireless mobile station 27 (step S870). In the case of the crane 10A in Fig. 11 , when the primary base station 7A recovers, the crane control calculation unit 31 instructs the access module 32 to switch the wireless connection destination so as to return the base station 7 to the primary base station 7A.

[0069] The processing of steps S880 to S920 in Fig. 17 and steps S930 to S960 in Fig. 18 is the same as the processing of steps S280 to S320 in Fig. 9 and steps S330 to S360 in Fig. 10 for the first control, and therefore description thereof will be omitted. As described above, when the processing shown in Fig. 18 is completed, the crane control calculation unit 31 repeats the processing again from S510 in Fig. 12.

[0070] In the first and second controls described above, the wireless mobile station 27 was used as an example of the target device 41 for web access. If the target device 41 is a camera 26, the crane control unit 40 may obtain camera information, change the camera image quality, change the zoom, and so on, depending on the situation, via web access. In this case, it is possible to automate the parameter setting verification and health check of the camera 26. In addition to optimizing the image quality and angle of view, it is also possible to optimize the network load. If the health of the network deteriorates, it is also possible to automate emergency responses, such as reducing the image quality to transmit the minimum necessary video. Initial parameter settings can also be automated.

[0071] If the target device 41 for web access is a sensor 25, the crane control unit 40 may acquire sensor information and change the sensor's sensitivity, detection area, scan angle, etc., via web access depending on the situation. In this case, parameter setting verification and soundness check of the sensor 25 can be automated. Multiple sensors can be integrated into a single sensor 25. If interference occurs between sensors 25, it can be avoided by appropriately changing the time, frequency, etc. Initial parameter setting can also be automated.

[0072] When the target device 41 of web access is a network device, the crane control unit 40 may acquire network device information, change various settings, and the like, by web access depending on the situation. In this case, parameter setting verification and soundness check of the network device can be automated. Initial parameter settings can also be automated.

[0073] Next, the operation and effects of the crane control device 30 according to this embodiment will be described.

[0074] In the crane control device 301, the operating range of the crane 10 includes an overlapping area LCE where the wireless communication area CEA of base station 7A and the wireless communication area CEB of base station 7B overlap. This allows the wireless communication areas CEA and CEB to be set so that the wireless communication areas are not interrupted within the operating range of the crane 10. When the crane 10 moves from the wireless communication area of ​​one of base stations 7A and 7B to the wireless communication area of ​​the other base station, the crane control unit 40 switches the connection from one base station to the other in the overlapping area LCE. Because the overlapping area LCE is an area where communication with both base stations is possible, switching the wireless connection destination base station in the overlapping area LCE allows for the base station to be switched without interruption of communication. Furthermore, when the crane travels across the wireless communication areas of multiple base stations, the switching can be performed at an appropriate time by switching when the crane is in the overlapping area LCE. As described above, the wireless connection destination base station can be appropriately switched depending on the position of the crane 10.

[0075] The crane control unit 40 mounted on the crane 10 may switch the connection from one base station to another base station in the overlap area LCE. The base station to which the wireless connection is to be made can be appropriately switched depending on the position of the crane 10. In this case, since the crane control unit 40 is mounted on the crane 10, switching can be performed at an appropriate timing according to the situation of the crane 10.

[0076] The crane control unit 40 may acquire data indicating the relationship between the wireless communication areas CEA and CEB and the position within the operating range of the crane 10, and may switch the connection from one base station to the other base station based on the data 9. In this case, by using the data, the crane control unit 40 can easily determine the attributes of the wireless communication area in which the crane 10 is traveling.

[0077] The crane control unit 40 may slow down or stop the crane in the overlapping area LCE. In this case, the crane control unit can improve the reliability of switching the wireless connection destination in the overlapping area.

[0078] The crane control unit 40 may acquire the current position P1 and destination position P3 of the crane 10 and determine whether or not it is necessary to switch base stations. In this case, the crane control unit 40 can easily grasp the travel section of the crane 10 based on the current position P1 and destination position P3 of the crane 10, and therefore can easily determine whether or not it is necessary to switch base stations by taking into account the attributes of the wireless communication area at each position in the travel section.

[0079] The crane control unit 40 may include an access module 32 that communicates with the radio device with which it is to communicate via web access. In this case, the crane control unit 40 can rewrite the settings of the radio device with which it is to communicate depending on the status of the crane 10.

[0080] The crane control system 100 according to this embodiment is a crane control system 100 that controls a crane 10, and includes base stations 7A and 7B that perform wireless communication using directional radios, and a crane control unit 40 that controls the crane 10. Within the operating range of the crane 10, there is an overlapping area LCE where the wireless communication area CEA of base station 7A and the wireless communication area CEB of base station 7B overlap, and the crane control unit 40 sets the base station to communicate with in the overlapping area LCE to either base station 7A or base station 7B.

[0081] According to this crane control system 100, within the operating range of the crane 10, there is an overlapping area LCE where the wireless communication area CEA of base station 7A and the wireless communication area CEB of base station 7B overlap. This makes it possible to set the wireless communication area CEA and the wireless communication area CEB so that the wireless communication area is not interrupted within the operating range of the crane 10. Here, the crane control unit 40 switches the connection from one base station to the other base station in the overlapping area LCE. Because the overlapping area LCE is an area in which communication with both base stations is possible, by switching the base station to which the wireless connection is made in the overlapping area LCE, the base station can be switched without communication being interrupted. As described above, the base station to which the wireless connection is made can be appropriately switched depending on the position of the crane 10.

[0082] The crane control method according to this embodiment is a crane control method for controlling a crane 10, in which an overlapping area LCE exists within the operating range of the crane 10, in which a wireless communication area CEA of a base station 7A that performs wireless communication using a directional radio overlaps with a wireless communication area CEB of a base station 7B that performs wireless communication using a directional radio, and when the crane 10 moves from the wireless communication area of ​​one of the base stations 7A and 7B to the wireless communication area of ​​the other base station, the connection of the crane control unit 40 is switched from one base station to the other base station in the overlapping area LCE.

[0083] According to this crane control method, the same effects as those of the crane control device 30 described above can be obtained.

[0084] In the crane control system 100, the operating range of the crane 10 includes an overlapping area LCE where the wireless communication area CEA of base station 7A and the wireless communication area CEB of base station 7B overlap. In the overlapping area LCE, the crane control unit 40 may be connected to either base station. Some of the multiple crane control units 40 in the overlapping area LCE are connected to base station 7A, and others are connected to base station 7B. In this way, by distributing the wireless connection destinations of the multiple cranes 10 between base station 7A and base station 7B in the overlapping area LCE, the load on each base station can be reduced. As a result, the quality of wireless communication can be improved.

[0085] When the communication quality of base station 7A deteriorates, the crane control units 40 of the cranes 10A and 10B connected to base station 7A may switch the connection to base station 7B. In this case, even if the communication quality of base station 7A deteriorates, the crane control units 40 of the cranes 10A and 10B can connect to base station 7B as a backup base station.

[0086] When the communication quality of base station 7A is restored, the crane control units 40 of the cranes 10A and 10B may return the connection to base station 7A, thereby reducing the load on base station 7B after base station 7A returns to service.

[0087] Even when the crane control unit 40 is connected to one of the base stations 7A and 7B, it may monitor the communication quality of the other base station. This allows the crane control units 40 of the cranes 10A and 10B to quickly grasp that the communication quality of the other base station has been restored.

[0088] Base station 7B may be connected to the crane control units 40 of cranes 10C and 10D before the crane control units 40 of cranes 10A and 10B are connected, and base station 7B may have the capability to communicate with both the crane control units 40 of cranes 10C and 10D and the crane control units 40 of cranes 10A and 10B. In this way, while base station 7B has the capability to handle all of the crane control units 40 of cranes 10C and 10D and the crane control units 40 of cranes 10A and 10B, by connecting only to the crane control units 40 of cranes 10C and 10D in the normal state, the load on base station 7B in the normal state can be reduced.

[0089] The system may further include a monitoring communication device 70 that monitors one of the base stations 7A and 7B that is not connected to any of the crane control units 40. This allows the monitoring communication device 70 to quickly determine when the communication quality of the base station has been restored.

[0090] The crane control unit 40 may include an access module 32 that communicates with the wireless mobile station 27 (radio device) that is the communication target via web access. In this case, the crane control unit 40 can rewrite the settings of the wireless device that is the communication target according to the status of the crane 10.

[0091] The crane control method according to this embodiment is a crane control method for controlling a plurality of cranes 10, and within the operating range of the cranes 10 there is an overlapping area LCE where a wireless communication area CEA of a base station 7A which performs wireless communication using a directional radio overlaps with a wireless communication area CEB of a base station 7B which performs wireless communication using a directional radio, and some of the plurality of crane control units 40 present in the overlapping area LCE are connected to base station 7A and the other parts are connected to base station 7B.

[0092] According to this crane control method, the same effects as those of the crane control device 30 described above can be obtained.

[0093] In the crane control device 30, the crane control unit 40 uses web access to exchange information with the target device 41 mounted on the crane 10. By using web access in this way, the crane control unit 40 can easily exchange information with the target device 41. As described above, the settings of the target device 41 can be easily changed depending on the status of the crane 10.

[0094] The crane control unit 40 may rewrite the information of the target device 41 in accordance with the status of the crane 10. This allows the setting of the target device 41 to be performed in accordance with the status of the crane 10.

[0095] Specifically, the crane control unit 40 may include an access module 32 that performs web access to the target equipment 41 and a crane control calculation unit 31 that controls the content of information exchanged with the target equipment 41.

[0096] The access module 32 may have a code correspondence table for rewriting information of the target device 41. This allows the access module 32 to easily rewrite information of various target devices using the code correspondence table.

[0097] For example, the target device 41 may be selected from at least one of a wireless mobile station 27, a camera 26, a sensor 25, and a network device.

[0098] The target device 41 is the wireless mobile station 27, and the crane control unit 40 may rewrite the information of the base station to which the wireless mobile station 27 is wirelessly connected. This allows the crane control unit 40 to easily switch the base station to which the wireless mobile station 27 is wirelessly connected, depending on the status of the crane 10.

[0099] The crane control method according to this embodiment is a crane control method in which a crane 10 is controlled by a crane control device 30 mounted on the crane 10, and information is exchanged with a target device 41 mounted on the crane 10 using web access.

[0100] According to this crane control method, the same effects as those of the crane control device 30 described above can be obtained.

[0101] The present disclosure is not limited to the above-described embodiments.

[0102] For example, in the above embodiment, the crane control unit has web access to the wireless mobile station, but web access is not required.

[0103] [First Disclosure] [Mode 1] A crane control device for controlling a crane, comprising: a communication unit that communicates with a first base station and a second base station that communicate wirelessly using a directional radio; and a crane control unit that controls the crane, wherein an overlapping area exists in an operation range of the crane where a first wireless communication area of ​​the first base station and a second wireless communication area of ​​the second base station overlap, and when the crane moves from the wireless communication area of ​​one of the first base station and the second base station to the wireless communication area of ​​the other base station, the crane control unit switches the connection from the one base station to the other base station in the overlapping area. [Mode 2] The crane control device according to claim 1, wherein the crane control unit mounted on the crane switches the connection from the one base station to the other base station in the overlapping area. [Mode 3] The crane control device according to Mode 1 or 2, wherein the crane control unit acquires data indicating a relationship between the first wireless communication area and the second wireless communication area and a position of the crane in the operation range, and switches the connection from the one base station to the other base station based on the data. [Mode 4] The crane control device according to any one of modes 1 to 3, wherein the crane control unit slows down or stops the crane in the overlapping area. [Mode 5] The crane control device according to any one of modes 1 to 4, wherein the crane control unit acquires a current position and a destination position of the crane and determines whether or not switching of base stations is necessary. [Mode 6] The crane control device according to any one of modes 1 to 5, wherein the crane control unit is provided with an access module that communicates with a radio device to be a communication target by web access.[Form 7] A crane control system for controlling a crane, comprising: a first base station and a second base station that communicate wirelessly using a directional radio; and a crane control unit that controls the crane, wherein an overlapping area exists within the operating range of the crane where a first wireless communication area of ​​the first base station and a second wireless communication area of ​​the second base station overlap, and the crane control unit sets either the first base station or the second base station as the base station to communicate with in the overlapping area. [Form 8] A crane control method for controlling a crane, wherein an overlapping area exists within the operating range of the crane where a first wireless communication area of ​​a first base station that communicates wirelessly using a directional radio overlaps with a second wireless communication area of ​​a second base station that communicates wirelessly using a directional radio, and when the crane moves from the wireless communication area of ​​one of the first base station and the second base station to the wireless communication area of ​​the other base station, the crane control unit switches connection from the one base station to the other base station in the overlapping area.

[0104] [Actions and Effects of the First Disclosure] In the first embodiment of the first disclosure, the crane's operating range includes an overlapping area where the first wireless communication area of ​​the first base station and the second wireless communication area of ​​the second base station overlap. This allows the first wireless communication area and the second wireless communication area to be set so that the wireless communication area is not interrupted within the crane's operating range. When the crane moves from the wireless communication area of ​​one of the first and second base stations to the wireless communication area of ​​the other base station, the crane control unit switches the connection from one base station to the other base station in the overlapping area. Because the overlapping area is an area in which communication with both base stations is possible, switching the wirelessly connected base station in the overlapping area allows the base station to be switched without interrupting communication. Furthermore, when the crane travels across the wireless communication areas of multiple base stations, the switching can be performed at an appropriate time by switching when the crane is in the overlapping area. As described above, the wirelessly connected base station can be appropriately switched depending on the crane's position.

[0105] According to the second aspect, the base station to which the wireless connection is made can be appropriately switched depending on the position of the crane. In this case, since the crane control unit is mounted on the crane, the switching can be performed at an appropriate timing according to the situation of the crane.

[0106] According to the third aspect, the crane control unit can easily determine the attributes of the wireless communication area in which the crane is traveling by using the data.

[0107] According to the fourth aspect, the crane control unit can improve the reliability of switching the wireless connection destination in an overlapping area.

[0108] According to form 5, the crane control unit can easily grasp the travel section of the crane based on the current position and destination position of the crane, and can therefore easily determine whether or not it is necessary to switch base stations by taking into account the attributes of the wireless communication area at each position in the travel section.

[0109] According to the sixth aspect, the crane control unit can rewrite the settings of the radio device with which communication is to be performed, depending on the state of the crane.

[0110] According to the seventh aspect, an overlapping area exists within the operating range of the crane, where the first wireless communication area of ​​the first base station and the second wireless communication area of ​​the second base station overlap. This allows the first wireless communication area and the second wireless communication area to be set so that the wireless communication area is not interrupted within the operating range of the crane. Here, the crane control unit switches the connection from one base station to the other base station in the overlapping area. Because the overlapping area is an area in which communication with both base stations is possible, switching the wirelessly connected base station in the overlapping area allows the base station to be switched without interrupting communication. As described above, the wirelessly connected base station can be appropriately switched depending on the position of the crane.

[0111] According to the eighth aspect, the same effect as that of the first aspect can be obtained.

[0112] [Second Disclosure] [Mode 1] A crane control system for controlling multiple cranes, comprising: a first base station and a second base station that communicate wirelessly using directional radios; and multiple crane control units that control the respective cranes, wherein an overlapping area exists within the operating range of the cranes where a first wireless communication area of ​​the first base station and a second wireless communication area of ​​the second base station overlap, and some of the multiple crane control units in the overlapping area are connected to the first base station, and others are connected to the second base station. [Mode 2] The crane control system according to Mode 1, wherein a first crane control unit connected to the first base station switches connection to the second base station when communication quality of the first base station deteriorates. [Mode 3] The crane control system according to Mode 2, wherein when communication quality of the first base station is restored, the first crane control unit returns connection to the first base station. [Mode 4] The crane control system according to Mode 2 or 3, wherein even when the first crane control unit is connected to one of the first base station and the second base station, it monitors communication quality of the other base station. [Mode 5] The crane control system according to any one of Modes 2 to 4, wherein the second base station is connected to the second crane control unit before the first crane control unit is connected, and the second base station has the capability to communicate with both the second crane control unit and the first crane control unit. [Mode 6] The crane control system according to any one of Modes 1 to 5, further comprising a monitoring communication device that monitors one of the first base station and the second base station that is not connected to either of the crane control units. [Mode 7] The crane control system according to any one of Modes 1 to 6, wherein the crane control unit comprises an access module that communicates with a radio unit to be a communication target by web access.[Mode 8] A crane control method for controlling a plurality of cranes, wherein an overlapping area exists within the operating range of the cranes, where a first wireless communication area of ​​a first base station that performs wireless communication using a directional wireless device overlaps with a second wireless communication area of ​​a second base station that performs wireless communication using a directional wireless device, and some of the plurality of crane control units that exist in the overlapping area are connected to the first base station, and other parts are connected to the second base station.

[0113] [Actions and Effects of the Second Disclosure] According to the first embodiment of the second disclosure, an overlapping area exists within the operating range of a crane, where the first wireless communication area of ​​a first base station overlaps with the second wireless communication area of ​​a second base station. In the overlapping area, the crane control unit may be connected to either base station. Here, some of the multiple crane control units present in the overlapping area are connected to the first base station, and the other parts are connected to the second base station. In this way, by distributing the wireless connection destinations of multiple cranes between the first base station and the second base station in the overlapping area, the load on each base station can be reduced. As a result, the quality of wireless communication can be improved.

[0114] According to the second aspect, even if the quality of communication of the first base station deteriorates, the first crane control unit can connect to the second base station as a backup base station.

[0115] According to the third aspect, after the first base station has recovered, the load on the second base station can be reduced.

[0116] According to the fourth aspect, the first crane control unit can quickly grasp that the communication quality of the other base station has been restored.

[0117] According to form 5, the second base station has the capability to handle both the second crane control unit and the first crane control unit, but by connecting only to the second crane control unit under normal conditions, the load under normal conditions can be reduced.

[0118] According to the sixth aspect, the monitoring communication device can quickly detect that the communication quality of the base station has recovered.

[0119] According to the seventh aspect, the crane control unit can rewrite the settings of the radio device with which communication is to be performed, depending on the state of the crane.

[0120] According to the eighth aspect, the same effect as that of the first aspect can be obtained.

[0121] [Third Disclosure] [Mode 1] A crane control device mounted on a crane to control the crane, comprising: a target device mounted on the crane; and a crane control unit that exchanges information with the target device using web access. [Mode 2] The crane control device according to Mode 1, wherein the crane control unit rewrites information of the target device according to the status of the crane. [Mode 3] The crane control device according to Mode 1 or 2, wherein the crane control unit comprises: an access module that performs web access to the target device; and a crane control calculation unit that controls the content of the information exchanged with the target device. [Mode 4] The crane control device according to Mode 3, wherein the access module has a code correspondence table for rewriting the information of the target device. [Mode 5] The crane control device according to any one of Modes 1 to 4, wherein the target device is selected from at least one of a wireless mobile station, a camera, a sensor, and a network device. [Mode 6] The crane control device according to any one of Modes 1 to 5, wherein the target device is a wireless mobile station, and the crane control unit rewrites information of a base station to which the wireless mobile station is wirelessly connected. [Mode 7] A crane control method for controlling a crane by a crane control device mounted on the crane, the method comprising exchanging information with a target device mounted on the crane using web access.

[0122] [Actions and Effects of the Third Disclosure] In the third disclosure, the crane control unit exchanges information with the target equipment mounted on the crane using web access. By using web access in this way, the crane control unit can easily exchange information with the target equipment. As a result, it is possible to easily change the settings of the target equipment depending on the status of the crane.

[0123] According to the second aspect, the target device can be set according to the state of the crane.

[0124] Specifically, the crane control unit may employ the third embodiment.

[0125] According to the fourth aspect, the access module can easily rewrite the information of various target devices using the code correspondence table.

[0126] For example, the target device may be selected from at least one of a wireless mobile station, a camera, a sensor, and a network device.

[0127] According to the sixth aspect, the crane control unit can easily switch the base station to which the wireless mobile station is wirelessly connected, depending on the state of the crane.

[0128] According to the seventh aspect, the same effect as that of the first aspect can be obtained.

[0129] 10...Crane, 7A...Base station (first base station), 7B...Base station (second base station), 25...Sensor, 26...Camera, 27...Wireless mobile station, 30...Crane control device, 31...Crane control calculation unit, 32...Access module, 70...Monitoring communication device, 100...Crane control system.

Claims

1. A crane control system for controlling a plurality of cranes, comprising: a first base station and a second base station that perform wireless communication using a directional radio; and a plurality of crane control units that control the respective cranes, wherein in the operating range of the crane, there is an overlapping area where a first wireless communication area of the first base station and a second wireless communication area of the second base station overlap; the plurality of cranes operate within the overlapping area; a crane control system, wherein a part of the plurality of crane control units existing in the overlapping area is connected to the first base station, and another part is connected to the second base station.

2. The crane control system according to claim 1, wherein the first wireless communication area and the second wireless communication area are directed in the same direction.

3. The crane control system according to claim 1, wherein the overlapping area covers the entire operating range of the crane.

4. The crane control system according to any one of claims 1 to 3, wherein when the communication quality of the first base station deteriorates, the first crane control unit connected to the first base station switches the connection to the second base station.

5. The crane control system according to claim 4, wherein when the communication quality of the first base station recovers, the first crane control unit returns the connection to the first base station.

6. The crane control system according to claim 4, wherein the first crane control unit monitors the communication quality of the other base station even when connected to one of the first base station and the second base station.

7. The crane control system according to claim 4, wherein the second base station is connected to a second crane control unit before the first crane control unit is connected, and the second base station has a performance capable of communicating with both the second crane control unit and the first crane control unit.

8. The crane control system according to any one of claims 1 to 3, further comprising a monitoring communication device that monitors a base station that is not connected to any of the crane control units among the first base station and the second base station.

9. The crane control system according to any one of claims 1 to 3, wherein the crane control unit includes an access module that communicates with a radio to be a communication target through web access.

10. A crane control method for controlling a plurality of cranes, in the operating range of the crane, there is an overlapping area where a first wireless communication area of a first base station that performs wireless communication using a directional radio and a second wireless communication area of a second base station that performs wireless communication using a directional radio overlap, the plurality of cranes operate within the overlapping area, A crane control method in which a part of a plurality of crane control units existing in the overlapping area is connected to the first base station and the other part is connected to the second base station.

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