RTG crane and control device

Abstract

An RTG crane (10) that travels on a linear traveling path (RDA, RDB), includes a traveling part (15A, 15B) that travels on the traveling path (RDA, RDB) in a traveling direction (D1), a detection unit (30, 30A, 30B, 30C, 30D) that is mounted to the RTG crane (10) and detects an object that is present on an advancing side of the traveling part (15A, 15B) in the traveling direction (D1), and a correction unit (115) that corrects a detection range (DS) of the detection unit (30, 30A, 30B, 30C, 30D), in which the correction unit (115) corrects the detection range (DS) of the detection unit (30, 30A, 30B, 30C, 30D), based on at least one of a deviation angle (θ1) of the traveling direction (D1) with respect to the traveling path (RDA, RDB) and an amount of deviation of the traveling part (15A, 15B) with respect to the traveling path (RDA, RDB) in a direction perpendicular to a direction in which the traveling path (RDA, RDB) extends. The most suitable drawing: FIG. 6.

Description

RTG crane and control device

[0001] The present disclosure relates to an RTG crane and a control device.

[0002] Patent Document 1 describes the automation of part of the container transport work in a container yard. A crane that transports a container travels on a linear travel path.

[0003] Japanese Patent Application Laid-Open No. 2004-123367

[0004] In some cranes, sensors are provided to detect objects in the travel path to prevent contact between the object and the crane's running parts when the object is in the travel path. In the case of an RTG crane, the direction of travel may shift relative to the travel path, causing the position of the running parts to shift relative to the travel path. In such cases, the detection range of the sensor may also shift, resulting in problems such as not being able to detect objects in the travel path or falsely detecting objects outside the travel path.

[0005] An object of the present disclosure is to provide an RTG crane and a control device that can improve the accuracy of detecting objects in a travel path.

[0006] An RTG crane according to one aspect of the present disclosure is an RTG crane that travels on a linear travel path and comprises: a travel section that travels on the travel path in a travel direction; a detection section attached to the RTG crane that detects objects present on the forward side of the travel section in the travel direction; and a correction section that corrects the detection range of the detection section, wherein the correction section corrects the detection range of the detection section based on at least one of the deviation angle of the travel direction from the travel path and the deviation amount of the travel section from the travel path in a direction perpendicular to the extension direction of the travel path.

[0007] The RTG crane includes a detection unit attached to the RTG crane that detects an object present on the traveling side of the traveling unit in the traveling direction. Therefore, when the detection unit detects an object, measures such as stopping the traveling unit can be taken to avoid contact with the object. The RTG crane also includes a correction unit that corrects the detection range of the detection unit. The correction unit corrects the detection range of the detection unit based on at least one of the deviation angle of the traveling direction from the traveling path and the deviation amount of the traveling unit from the traveling path in a direction perpendicular to the traveling path. Therefore, even if an angle of deviation of the traveling direction from the traveling path occurs or if a deviation amount of the traveling unit from the traveling path in a direction perpendicular to the traveling path occurs, the correction unit can correct the detection range of the detection unit in accordance with the deviation angle and deviation amount. This allows the correction unit to set an appropriate detection range for the traveling path, thereby improving the detection accuracy of objects in the traveling path.

[0008] The correction unit sets a correction angle based on at least the deviation angle and rotates the detection range around the detection unit by the correction angle, thereby reducing the deviation of the detection range from the roadway caused by the deviation angle.

[0009] The correction unit sets a correction amount based on at least the amount of deviation, and rotates the detection range around the detection unit so that the end of the detection range approaches the traveling unit by the amount of the correction amount. In this way, the correction unit can reduce the deviation of the detection range from the traveling road caused by the amount of deviation.

[0010] A control device according to one aspect of the present disclosure is a control device for an RTG crane that travels on a linear travel path, and includes an acquisition unit that acquires the detection results of a detection unit that detects objects present on the traveling side of the RTG crane's travel path in the travel direction, and a correction unit that corrects the detection range of the detection unit, and the correction unit corrects the detection range of the detection unit based on at least one of the deviation angle of the travel direction from the travel path and the deviation amount of the travel path from the travel path in a direction perpendicular to the extension direction of the travel path.

[0011] This control device can provide the same functions and effects as the RTG crane described above.

[0012] According to the present disclosure, it is possible to improve the accuracy of detecting objects in a travel path.

[0013] FIG. 1 is a plan view showing an exemplary container terminal to which an RTG crane and a control device according to an embodiment are applied. FIG. 2 is a perspective view showing an example of a group of containers to be handled and a group of adjacent containers lined up along the traveling direction of a transporting vehicle. FIG. 3 is a perspective view showing an RTG crane according to an embodiment. FIG. 4 is a schematic plan view for explaining the relationship between an RTG crane and a traveling path of the RTG crane. FIG. 5 is a view showing the detection range of a detection unit as seen from above. FIG. 6 is a block diagram showing the configuration and functions of a crane control system including a control device according to the present embodiment. FIG. 7 is a conceptual diagram for explaining the correction content of a correction unit based on a deviation amount. FIG. 8 is a conceptual diagram for explaining the correction content of a correction unit based on a deviation angle.

[0014] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same or corresponding elements are designated by the same reference numerals, and redundant explanations will be omitted as appropriate. Furthermore, for ease of explanation, the drawings may be partially simplified or exaggerated, and the dimensional ratios and the like are not limited to those shown in the drawings.

[0015] Fig. 1 is a plan view showing an exemplary container terminal 1 to which the present invention is applied. As shown in Fig. 1, the container terminal 1 is provided with a container yard 2 in which containers C are placed, a plurality of gantry cranes 3 that transfer the containers C to and from a berthed container ship, a plurality of RTG cranes 10 that are placed in the container yard 2 and that load and unload the containers C, and a remote control room 5 that can remotely control the plurality of RTG cranes 10.

[0016] FIG. 2 is a perspective view showing a container C and an exemplary transport vehicle 20 in the container yard 2. The transport vehicle 20 is, for example, a truck, a freight car, a trailer, or an AGV (Automated Guide Vehicle). As shown in FIGS. 1 and 2 , the container yard 2 is provided with a storage area where a plurality of containers are stored and a track (track lane) for the transport vehicle 20. The RTG crane 10 retrieves a container C from the transport vehicle 20 stopped at a predetermined position and places the container C at a predetermined address in the container yard 2. The RTG crane 10 also retrieves a container C placed in the container yard 2 and transfers the container C to the transport vehicle 20, which then carries the container C out.

[0017] As an example, the container C is an ISO standard container. The container C has a long rectangular parallelepiped shape, and for example, the longitudinal length of the container C is 20 feet or more and 45 feet or less. The height of the container C is, for example, 8.5 feet or more and 9.5 feet or less. The containers C are stacked one or more levels high in the container yard 2. The number of levels in which the containers C are arranged is sometimes called a tier.

[0018] As shown in Fig. 1, the container yard 2 includes a plurality of lanes L on which containers C are placed, and a plurality of RTG cranes 10 are arranged. For example, one RTG crane 10 is arranged for each lane L. The number of RTG cranes 10 arranged in each lane L may be one or more.

[0019] 2, containers C are stacked one or more levels in the container yard 2 to form a plurality of rows R. Each row R is aligned so that the longitudinal direction of the containers C constituting that row R (i.e., the containers C placed on that row R) is parallel to the longitudinal directions of the containers C constituting the other rows R.

[0020] If the longitudinal direction of the containers C aligned in the container yard 2 is defined as the X direction, the lateral direction of the containers C as the Y direction, and the height direction of the containers C as the Z direction, the container yard 2 extends on an XY plane, and the containers C are stacked in the Z direction at any position on the XY plane. The X direction coincides with the traveling direction of the RTG crane 10 in lane L. The Y direction coincides with the lateral movement direction of the RTG crane 10 in lane L.

[0021] The containers C form bays B, which are groups of multiple containers lined up in the Y direction and stacked in the Z direction. A plurality of bays B lined up in the X direction are provided in the container yard 2. The bays B include, for example, a group of containers to be handled B1, which is a target bay for handling the containers C, and adjacent groups of containers B2 located on both sides of the group of containers to be handled B1 in the X direction.

[0022] In the container yard 2, the position where the container C is to be loaded is virtually set in three-dimensional space, and this virtual loading position of the container C is defined as an address (X, Y, Z). That is, the container yard 2 has a plurality of addresses (X, Y, Z) that are predetermined as areas where the container C can be loaded. In the addresses (X, Y, Z), "X" indicates the bay number, "Y" indicates the row number, and "Z" indicates the tier number.

[0023] Fig. 3 is a perspective view showing an example of an RTG crane 10 according to this embodiment that is arranged in a container yard 2. As shown in Fig. 3, the RTG crane 10 is a container handling crane that handles containers C. The RTG crane 10 is a type of crane called a rubber-tired gantry crane (RTG). The RTG crane 10 automatically handles containers C that are arranged in the container yard 2 at the container terminal 1, for example.

[0024] The RTG 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 loads and unloads containers 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 RTG 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.

[0025] The trolley 13 moves laterally in the Y direction by, for example, driving a traverse motor. In this embodiment, the Y direction coincides with the traverse direction of the trolley 13. As an example, the trolley 13 has a winding drive unit 16 including a drum that rotates forward and backward by a drum drive motor, and suspends the spreader 14 via suspension members 18 including wires. The suspension members 18 extend from the trolley 13 at two positions aligned in the X direction, and the spreader 14 is suspended from the suspension members 18 at two positions aligned in the X direction.

[0026] 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, and the drive of the traverse motor and drum drive motor is controlled by the crane control system 100.

[0027] The travelling units 15A, 15B are mechanisms that travel along the linear travel path of the RTG crane 10. The RTG crane 10 includes a pair of travelling units 15A, 15B provided below the legs 11 at both ends in the Y direction. Each travelling unit 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, supporting two pairs of 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 travelling unit 15A, 15B are not particularly limited.

[0028] The RTG crane 10 is equipped with a travel position detection unit 26 so that it can automatically travel straight along the travel path. The travel position detection unit 26 detects the travel position of the RTG crane 10 in the Y direction relative to the travel path. The travel position detection unit 26 is provided on the underside of the travel section 15A so as to detect guidelines 27 that are provided on the ground of the travel path in a straight line in the X direction. For example, the guidelines 27 include magnets, and the travel position detection unit 26 is configured with a sensor that detects magnetic force. For example, when the travel section 15A is traveling straight in the X direction without any deviation in the Y direction relative to the travel path, the magnetic force detected by the travel position detection unit 26 is constant. In contrast, if the travel section 15A deviates in the Y direction relative to the travel path or if its traveling direction is tilted relative to the travel path, the magnetic force detected by the travel position detection unit 26 will fluctuate. This makes it possible to detect deviations in the travel position of the RTG crane 10 based on the detection results of the travel position detection unit 26.

[0029] FIG. 4 is a schematic plan view illustrating the relationship between the RTG crane 10 and its travel paths RDA and RDB. As shown in FIG. 4 , the travel path 15A on one side in the Y direction travels on the travel path RDA. The travel path 15B on the other side in the Y direction travels on the travel path RDB. As a result, the RTG crane 10 travels in a direction parallel to the X direction, with the travel path 15A traveling linearly on the travel path RDA and the travel path 15B traveling linearly on the travel path RDB. In the following description, directions in absolute coordinates based on the travel paths RDA and RDB will be described using the X and Y directions, and the direction in which the RTG crane travels will sometimes be referred to as the "travel direction D1." Furthermore, the horizontal direction perpendicular to the travel direction D1 will sometimes be referred to as the "width direction D2" of the travel paths 15A and 15B.

[0030] The travel path RDA extends linearly in the X direction at one end of the RTG crane 10 in the Y direction, adjacent to one side of the bay B for the container C in the Y direction. The RDB extends linearly in the X direction at the other end of the RTG crane 10 in the Y direction, adjacent to the other side of the bay B for the container C in the Y direction. Each travel path RDA is set slightly wider in the Y direction than the width direction D2 of the travel sections 15A and 15B. Here, as shown in FIG. 4 , the direction toward one side in the travel direction D1 is referred to as "direction A1," and the direction toward the other side is referred to as "direction A2." At this time, the travel sections 15A and 15B can travel toward direction A1. In this case, direction A1 corresponds to the forward direction of the travel sections 15A and 15B in the travel direction D1. Furthermore, the travel sections 15A and 15B can travel toward direction A2. In this case, the direction A2 corresponds to the forward direction of the traveling sections 15A and 15B in the traveling direction D1.

[0031] The RTG crane 10 includes detection units 30A, 30B, 30C, and 30D attached to the RTG crane 10. When the traveling units 15A and 15B are traveling with the direction A1 as their travel direction, the detection units 30A and 30B detect objects present on the travel side of the traveling units 15A and 15B in the traveling direction D1. The detection units 30A and 30B are attached to the traveling units 15A and 15B on the direction A1 side relative to the crane girder 12. The detection units 30A and 30B detect objects present in detection target areas DEA and DEB extending on the travel side (direction A1 side) in the traveling direction D1. The detection target areas DEA and DEB are set so that objects present on the travel paths RDA and RDB within a predetermined distance on the direction A1 side as viewed from the traveling units 15A and 15B are detected.

[0032] When the traveling units 15A, 15B are traveling with the direction A2 as their travel direction, the detection units 30C, 30D detect objects present on the travel side of the traveling units 15A, 15B in the traveling direction D1. The detection units 30C, 30D are attached to the crane girder 12 on the direction A2 side of the traveling units 15A, 15B. The detection units 30C, 30D detect objects present in detection target areas DEC, DED extending on the travel side (direction A2 side) in the traveling direction D1. The detection target areas DEC, DED are set so that objects present on the traveling paths RDA, RDB within a predetermined distance on the direction A2 side as seen from the traveling units 15A, 15B can be detected where the traveling units 15A, 15B are expected to pass.

[0033] The detection range DS within which the detector 30A detects an object will be described with reference to FIG. 5 . FIG. 5 is a top view of the detection range DS of the detector 30A. FIG. 5 illustrates a state in which the traveling unit 15A is not misaligned in the Y direction relative to the traveling path RDA and the traveling direction D1 is not inclined relative to the traveling path RDA. When the traveling direction D1 is inclined relative to the traveling path RDA, the angle between the traveling direction D1 and the direction in which the traveling path RDA extends, i.e., the X direction, may be referred to as the "misalignment angle θ1" (see FIG. 8 ). When the traveling unit 15A is misaligned in the Y direction relative to the traveling path RDA, the magnitude of the misalignment in the Y direction of the center line of the traveling unit 15A relative to the center line CL of the traveling path RDA may be referred to as the "misalignment amount L1" (see FIG. 7 ).

[0034] In the example shown in FIG. 5 , the detection unit 30A is provided on the traveling section 15A so that the reference line SL of the detection unit 30A coincides with the center line of the traveling section 15A. Therefore, as shown in FIG. 5 , when the "deviation angle θ1 = 0" and the "deviation amount L1 = 0," the reference line SL of the detection unit 30A coincides with the center line CL of the traveling path RDA when viewed from above. This state may be referred to as the "steady state." In the following description, unless otherwise specified, the configuration in the steady state will be described. Using the concept of the steady state, when the detection unit 30A deviates in the Y direction from the position of the detection unit 30A in the steady state, the amount of movement in the Y direction is equal to the deviation amount L1. Furthermore, when the reference line SL of the detection unit 30A deviates in an inclined manner from the reference line SL of the detection unit 30A in the steady state, the inclination angle is equal to the deviation angle θ1. It should be noted that there are no particular limitations on how the information processing unit 111 (described later) calculates the deviation angle θ1 and deviation amount L1 using the detection results of the traveling position detection unit 26, and the calculations may be performed by any method.

[0035] To facilitate understanding of the description, the position and orientation of the detection unit 30A in the steady state are configured as described above, but the mounting position and orientation of the detection unit 30A are not particularly limited. Furthermore, the type and number of sensors constituting the detection unit 30A are not particularly limited. The sensors constituting the detection unit 30A may be radar, lidar, or the like, or a combination of both.

[0036] The detection range DS of the detection unit 30A has a fan-shaped configuration that spreads from the detection unit 30A toward the traveling side in the traveling direction D1. The detection range DS has a shape that is symmetrical with respect to the reference line SL. The position of the end of the detection range DS on the traveling side may be referred to as the end DSa of the detection range DS. In this case, the size of the detection range DS in the width direction D2 is not particularly limited, but may be set so that the end DSa covers substantially the entire area of ​​the traveling path RDA in the Y direction. The detection unit 30A also has a detectable range PDS, indicated by a dashed line, within which the detection range DS can be set. The detection unit 30A can set the detection range DS anywhere within the detectable range PDS. In the example shown in FIG. 5, the detectable range PDS extends beyond the traveling path RDA in the Y direction, but the detection range DS is within the traveling path RDA. Therefore, even if an object is within the detectable range PDS, the detection unit 30A will not detect the object unless the object is within the detection range DS, thereby preventing erroneous detection of an object outside the road RDA.

[0037] Next, with reference to FIG. 6 , a block configuration of a crane control system 100 including a control device 110 according to this embodiment will be described. FIG. 6 is a block diagram showing the configuration and functions of a crane control system 100 including a control device 110 according to this embodiment. As shown in FIG. 6 , the crane control system 100 includes a control device 110. The control device 110 receives detection results from the detection unit 30. The control device 110 also receives detection results from the travel position detection unit 26. The control device 110 outputs control signals to the drive unit 50 and output unit 51 of the RTG crane 10. The location where the control device 110 is disposed is not particularly limited, and the control device 110 may be disposed at any position on the RTG crane 10 or at a position remote from the RTG crane 10.

[0038] The drive unit 50 is a device that generates a drive force for moving the spreader 14 along a set conveying path and a device that generates a drive force for moving the traveling units 15A and 15B according to set operations. The drive unit 50 includes, for example, a hoisting device for the spreader 14, a motor for traversing the trolley 13, and a motor for traveling the traveling units 15A and 15B. The output unit 51 is a device that outputs various information. The output unit 51 is composed of, for example, a monitor, a speaker, a warning light, etc.

[0039] The control device 110 may be configured as a computer (also referred to as an on-board automatic control PC) including, for example, a processor, a memory, a storage, and a communication 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 a RAM (Random Access Memory). The storage is a storage unit (storage medium) such as an HDD (Hard Disk Drive). The communication interface is a communication device that realizes data communication. The processor controls the memory, storage, and communication interface, and realizes the functions of the control device 110 described below. The control device 110 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. The number of computers constituting the control device 110 may be one or more.

[0040] The control device 110 includes an information processing unit 111 , a path setting unit 112 , a drive control unit 113 , a warning control unit 114 , and a correction unit 115 .

[0041] The information processing unit 111 acquires information related to the detection results detected by the detection unit 30, and detects objects within the detection range DS based on the results. The information processing unit 111 also acquires information related to the detection results detected by the travel position detection unit 26, and detects the traveling state of the RTG crane 10 based on the results. This allows the information processing unit 111 to acquire the deviation amount L1 (see FIG. 7) and deviation angle θ1 (see FIG. 8) of the RTG crane. The route setting unit 112 sets a transfer route for the container C by the spreader 14 of the RTG crane 10.

[0042] The drive control unit 113 controls the drive unit 50 so that the spreader 14 moves according to the conveying path set by the path setting unit 112. The drive control unit 113 also controls the travel of the travel units 15A and 15B based on the detection results by the detection unit 30. The drive control unit 113 controls the spreader 14 to move according to the predetermined conveying path and controls the travel units 15A and 15B to perform the desired operation by transmitting control signals to each device, such as a motor, that constitutes the drive unit 50. For example, when the drive control unit 113 detects the presence of an object within the detection range DS of the detection unit 30, it stops the travel of the travel units 15A and 15B.

[0043] When it is necessary to perform a safety response process, the warning control unit 114 issues a warning to the user by controlling the output unit 51. For example, when the warning control unit 114 detects that an object is present within the detection range DS of the detection unit 30, the warning control unit 114 issues a warning.

[0044] The correction unit 115 corrects the detection range DS of the detection unit 30. That is, when the RTG crane 10 deviates from the steady state relative to the travel paths RDA, RDB, the detection range DS may deviate relative to the travel paths RDA, RDB. In this case, part of the detection range DS may extend outside the travel paths RDA, RDB, or a blind spot of the detection range DS may be created on the travel paths RDA, RDB. In such cases, the correction unit 115 corrects the detection range DS to reduce or eliminate the deviation of the detection range DS relative to the travel paths RDA, RDB.

[0045] Specifically, the correction unit 115 corrects the detection range DS of the detection unit 30 based on at least one of the deviation angle θ1 (see FIG. 8 ) of the traveling direction D1 with respect to the traveling paths RDA, RDB and the deviation amount L1 (see FIG. 7 ) of the traveling units 15A, 15B with respect to the traveling paths RDA, RDB in the Y direction (the direction perpendicular to the direction in which the traveling paths RDA, RDB extend). The correction unit 115 may acquire the deviation angle θ1 and deviation amount L1 calculated by the information processing unit 111, and perform correction when at least one of the deviation angle θ1 and deviation amount L1 exceeds a threshold value.

[0046] The correction made by the correction unit 115 based on the deviation amount L1 will be described with reference to FIG. 7 . FIG. 7 is a conceptual diagram for explaining the correction made by the correction unit 115 based on the deviation amount L1. FIG. 7( a) shows a state in which the reference line SL of the detection unit 30A, i.e., the center line of the traveling unit 15A, is shifted outward in the Y direction by the deviation amount L1 from the center line CL of the traveling path RDA (the reference line SL of the detection unit 30A in a normal state). At this time, the detection range DS is entirely shifted outward in the Y direction by the deviation amount L1. As a result, near the end DSa of the detection range DS, a portion E1 where the detection range DS extends beyond the traveling path RDA is formed outside in the Y direction, and a blind spot E2 in the traveling path RDA that is not detected by the detection range DS is formed inside in the Y direction.

[0047] FIG. 7B shows the state after the correction unit 115 corrects the detection range DS. In FIG. 7B, the detection area DSB before correction is indicated by a virtual line. The correction unit 115 sets a correction amount L2 based on the deviation amount L1. The correction unit 115 also rotates the detection range DS around the detection unit 30A so that the end DSa of the detection range DS approaches the roadway RDA side (here, the inner side in the Y direction) by the correction amount L2. The correction unit 115 corrects the detection range DS to reduce or eliminate the portion E1 of the detection range DS that extends beyond the roadway RDA and the blind spot E2 that is not detected by the detection range DS. The correction unit 115 corrects the detection range DS within the detectable range PDS. In the example shown in FIG. 7, the correction unit 115 sets the correction amount L2 to the same value as the deviation amount L1. The correction unit 115 then rotates the detection range DS so that the center point CP of the end portion DSa of the detection range DS moves inward in the Y direction by the amount of correction amount L2. However, there are no particular limitations on how the correction amount L2 is set, and it does not have to be the same value as the deviation amount L1. Furthermore, although the correction unit 115 corrects the detection range DS using the center point CP of the end portion DSa as a reference, there are no particular limitations on which part to use as a reference.

[0048] The correction content of the correction unit 115 based on the deviation angle θ1 will be described with reference to FIG. 8 . FIG. 8 is a conceptual diagram for explaining the correction content of the correction unit 115 based on the deviation angle θ1. FIG. 8( a) shows a state in which the reference line SL of the detection unit 30A, i.e., the center line of the traveling unit 15A, is shifted inward in the Y direction by the deviation angle θ1 from the center line CL of the traveling path RDA (the reference line SL of the detection unit 30A in the normal state). At this time, the detection range DS is shifted inward in the Y direction by the deviation angle θ1 as a whole. As a result, near the end DSa of the detection range DS, a portion E1 where the detection range DS protrudes from the traveling path RDA is formed on the inside in the Y direction, and a blind spot E2 on the traveling path RDA that is not detected by the detection range DS is formed on the outside in the Y direction.

[0049] FIG. 8B shows the state after the correction unit 115 corrects the detection range DS. In FIG. 8B, the detection area DSB before correction is shown by a virtual line. The correction unit 115 sets a correction angle θ2 based on the deviation angle θ1. The correction unit 115 also rotates the detection range DS around the detection unit 30A by the correction angle θ2. The correction unit 115 corrects the detection range DS to reduce or eliminate the portion E1 where the detection range DS extends beyond the driving path RDA and the blind spot E2 that is not detected in the detection range DS. The correction unit 115 corrects the detection range DS within the detectable range PDS. When the center line CL2 of the detection range DS is set, the center line CL2 coincides with the reference line SL before correction, as shown in FIG. 7A. The correction unit 115 rotates the detection range DS so as to rotate the center line CL2 around the detection unit 30A by the correction angle θ2. As a result, as shown in FIG. 7B, the center line CL2 of the detection range DS coincides with the center line CL of the roadway RDA. However, there are no particular limitations on how the correction angle θ2 is set, and it does not have to be the same value as the deviation angle θ1. Furthermore, although the correction unit 115 corrects the detection range DS using the center line CL2 of the detection range DS as a reference, there are no particular limitations on which part to use as a reference.

[0050] The correction unit 115 may correct the detection range DS even when the deviation angle θ1 and the deviation amount L1 exist simultaneously. In this case, there are no particular limitations on how the correction unit 115 corrects the detection range DS. For example, the correction unit 115 may correct the deviation angle θ1 to make the center line CL2 of the detection range DS parallel to the Y direction, and then correct the deviation amount L1. Alternatively, the correction unit 115 may comprehensively evaluate the deviation angle θ1 and the deviation amount L1 to determine the amount by which the detection range DS should rotate around the detection unit 30A.

[0051] Furthermore, when the deviation of the RTG crane 10 from the travel paths RDA, RDB is eliminated, the correction unit 115 may cancel the correction and return the detection range DS to the steady state. Alternatively, when the deviation angle θ1 and deviation amount L1 become even larger, the correction unit 115 may further increase the correction amount and correct the detection range DS.

[0052] Next, the functions and effects of the RTG crane 10 and the control device 110 according to this embodiment will be described.

[0053] The RTG crane 10 is equipped with a detection unit 30 that is attached to the RTG crane 10 and detects objects present on the traveling side of the traveling units 15A, 15B in the traveling direction D1. Therefore, when the detection unit 30 detects an object, measures such as stopping the traveling units 15A, 15B can be taken to avoid contact with the object. The RTG crane 10 is equipped with a correction unit 115 that corrects the detection range DS of the detection unit 30. The correction unit 115 corrects the detection range DS of the detection unit 30 based on at least one of the deviation angle θ1 of the traveling direction D1 with respect to the traveling paths RDA, RDB and the deviation amount L1 of the traveling units 15A, 15B with respect to the traveling paths RDA, RDB in the Y direction perpendicular to the extension direction of the traveling paths RDA, RDB. Therefore, even when a deviation angle θ1 occurs in the traveling direction D1 with respect to the traveling paths RDA, RDB, and when a deviation amount L1 occurs in the traveling sections 15A, 15B with respect to the traveling paths RDA, RDB in the Y direction perpendicular to the direction in which the traveling paths RDA, RDB extend, the correction unit 115 can correct the detection range DS of the detection unit 30 in accordance with the deviation angle θ1 and the deviation amount L1. This allows the correction unit 115 to set an appropriate detection range DS with respect to the traveling paths RDA, RDB, thereby improving the accuracy of detecting objects on the traveling paths RDA, RDB.

[0054] The correction unit 115 sets a correction angle θ2 based on at least the deviation angle θ1, and rotates the detection range DS by the correction angle θ2 around the detection unit 30. In this way, the correction unit 115 can reduce the deviation of the detection range DS from the driving paths RDA and RDB caused by the deviation angle θ1.

[0055] The correction unit 115 sets a correction amount L2 based on at least the deviation amount L1, and rotates the detection range DS around the detection unit 30 so that the end DSa of the detection range DS approaches the driving paths RDA and RDB by the correction amount L2. In this way, the correction unit 115 can reduce the deviation of the detection range DS from the driving paths RDA and RDB caused by the deviation amount L1.

[0056] The control device 110 is a control device 110 for the RTG crane 10 traveling on linear traveling paths RDA, RDB, and is equipped with an information processing unit 111 (acquisition unit) that acquires the detection results of the detection unit 30 that detects objects present on the traveling side of the traveling paths RDA, RDB of the RTG crane 10 in the traveling direction D1, and a correction unit 115 that corrects the detection range DS of the detection unit 30, and the correction unit 115 corrects the detection range DS of the detection unit 30 based on at least one of the deviation angle θ1 of the traveling direction D1 with respect to the traveling paths RDA, RDB and the deviation amount L1 of the traveling parts 15A, 15B with respect to the traveling paths RDA, RDB in the Y direction perpendicular to the direction in which the traveling paths RDA, RDB extend.

[0057] According to this control device 110, it is possible to obtain the same functions and effects as those of the RTG crane 10 described above.

[0058] The present invention is not limited to the above-described embodiments.

[0059] The calculation method by which the correction unit 115 corrects the detection range DS based on the deviation angle θ1 and the deviation amount L1 is not limited to the above embodiment, and any calculation method may be adopted within the scope of the spirit of the present invention.

[0060] 10...RTG crane, 15A, 15B...traveling unit, 30, 30A, 30B, 30C, 30D...detection unit, 110...control device, 111...information processing unit (acquisition unit), 115...correction unit.

Claims

1. An RTG crane that travels on a linear travel path, comprising: a travel section that travels on the travel path in a travel direction; a detection section attached to the RTG crane that detects objects present on the traveling side of the travel section in the travel direction; and a correction section that corrects the detection range of the detection section, wherein the correction section corrects the detection range of the detection section based on at least one of the deviation angle of the travel direction from the travel path and the deviation amount of the travel section from the travel path in a direction perpendicular to the extension direction of the travel path.

2. An RTG crane as described in claim 1, wherein the correction unit sets a correction angle based on at least the deviation angle and rotates the detection range around the detection unit by the amount of the correction angle.

3. An RTG crane as described in claim 1, wherein the correction unit sets a correction amount based on at least the amount of deviation and rotates the detection range around the detection unit so that the end of the detection range approaches the traveling unit by the amount of the correction amount.

4. A control device for an RTG crane that travels on a linear travel path, comprising: an acquisition unit that acquires the detection results of a detection unit that detects objects present on the traveling side of the travel section of the RTG crane in the travel direction; and a correction unit that corrects the detection range of the detection unit, wherein the correction unit corrects the detection range of the detection unit based on at least one of the deviation angle of the travel direction from the travel path and the deviation amount of the travel section from the travel path in a direction perpendicular to the extension direction of the travel path.