Automatic crane system and automatic cargo handling method

Abstract

This automatic crane system is one in which a container is suspended by a crane and loaded onto a conveyance carriage, the automatic crane system comprising a wireless communication unit that is provided to the conveyance carriage and that transmits a stop request signal for requesting the crane to stop, and a wireless reception unit for receiving the stop request signal.

Description

Automatic crane system and automatic cargo handling method

[0001] The present disclosure relates to an automated crane system and an automated material handling method.

[0002] A conventional crane is known, as described in Patent Document 1. The crane lifts a container with a hoisting tool while moving the hoisting tool horizontally. This crane lifts a container placed on a transport vehicle with the hoisting tool, and then loads the container suspended by the hoisting tool onto the transport vehicle.

[0003] Japanese Patent Application Laid-Open No. 2005-239343

[0004] The automation of loading and unloading operations of cranes on transport vehicles is being promoted. However, there are cases where an operator is present on the transport vehicle side. Therefore, as the automation of cranes progresses, it is necessary to improve the safety of the operator of the transport vehicle.

[0005] An object of the present disclosure is to provide an automatic crane system and an automatic cargo handling method that can improve the safety of the operator of a transport vehicle.

[0006] The automatic crane system of the present disclosure is an automatic crane system that suspends a container with a crane and loads it onto a transport cart, and is equipped with a wireless communication unit provided on the transport cart that transmits a stop request signal requesting the crane to stop, and a wireless receiving unit that receives the stop request signal.

[0007] The automated crane system is provided with a wireless communication unit that is installed on the transport vehicle and transmits a stop request signal to the crane, requesting it to stop. Therefore, when the crane is automatically performing cargo handling operations, the driver of the transport vehicle can operate the wireless communication unit according to the situation. Here, the wireless communication unit can transmit a stop request signal to the crane, requesting it to stop. That is, in the event of an emergency, the driver can request the crane to stop via the wireless communication unit. In response to this, the automated crane system is provided with a wireless receiving unit that receives the stop request signal. This allows the crane to perform operations such as stopping the crane's operation based on the stop request signal. Therefore, the crane can quickly stop its operation according to the driver's intention, even while it is performing automatic operations. As a result, the safety of the driver of the transport vehicle can be improved.

[0008] The automated crane system may further include a crane control unit that controls the crane, and when the wireless receiving unit receives the stop request signal, the crane control unit may stop the operation of the crane based on the stop request signal, thereby enabling the crane control unit to perform control in accordance with the operator's intentions.

[0009] The wireless communication unit may transmit a linking request signal requesting that the operator console be linked to a crane that is performing work on the transport vehicle. In this case, when the operator does not want to stop the crane but wants to request remote operation by an operator at the operator console, the operator can request that the operator console be linked to the crane by operating the wireless communication unit.

[0010] The crane that is the target of the pegging request signal may be given a high pegging priority, in which case the operator's request can be quickly met to peg the console to the crane.

[0011] The wireless communication unit may include identification information of the transport vehicle in the signal to the crane, which makes it possible for the crane to easily identify the transport vehicle that is the source of the signal as the transport vehicle that is the target of the operation.

[0012] The crane control unit may receive only signals from the wireless communication unit of the transporting vehicle that is the target of the operation, which can prevent erroneous reception of signals from the wireless communication unit of another transporting vehicle.

[0013] The crane control unit may receive signals from the wireless communication unit only when the operation of loading a container onto a transport vehicle is being performed. In this case, by regarding signals that are not received at the timing of loading as not being from the transport vehicle that is the target of the operation, it is possible to prevent erroneous reception of signals from the wireless communication of other transport vehicles.

[0014] The automatic loading and unloading method according to the present disclosure is an automatic loading and unloading method in which a container is suspended by a crane and loaded onto a transport vehicle, and the driver of the transport vehicle can operate a wireless communication unit from the time the transport vehicle arrives at a container transfer location until it leaves the transfer location, and the crane performs container loading and unloading operations in a state in which it can be stopped in an emergency by the driver operating the wireless communication unit.

[0015] According to the automatic loading and unloading method, the driver of the transport vehicle can operate the wireless communication unit from the time the transport vehicle arrives at the container transfer location until it leaves the transfer location. Therefore, when the crane automatically performs loading and unloading work on the transport vehicle, the driver of the transport vehicle can operate the wireless communication unit according to the situation. Here, the wireless communication unit can be operated to perform an emergency stop of the crane. In other words, the crane performs loading and unloading work on containers in a state where it can be stopped in an emergency by the driver's operation of the wireless communication unit. Therefore, even while the crane is performing automatic work, it can quickly stop its operation according to the driver's intention. As described above, the safety of the driver of the transport vehicle can be improved.

[0016] According to the present disclosure, it is possible to provide an automatic crane system and an automatic cargo handling method that can improve the safety of the operator of the transporting vehicle.

[0017] 1 is a plan view showing an exemplary container terminal to which an automated crane system according to an embodiment of the present disclosure is applied; FIG. 2 is a perspective view schematically showing an RTG crane arranged in a container yard; FIG. 3 is a front view of the RTG crane; FIG. 4 is a perspective view showing a truck in a loading lane and the configuration near one leg of the RTG crane; FIG. 5 is a block diagram showing the functions of the automated crane system according to the present embodiment; FIG. 6 is a flowchart showing the content of automatic operation of the RTG crane; FIG. 7 is a schematic configuration diagram showing the configuration of a wireless communication device; FIG. 8 is a flowchart showing the processing content of a crane control device that has received a signal from a wireless communication device; FIG. 9 is a process diagram showing the work process of a truck driver; FIG. 10 is a diagram showing an example of the configuration of a signal in a wireless communication device; FIG. 11 is a flowchart showing the processing content of a crane control device when target limitation is performed; FIG. 12 is a flowchart showing the processing content of a crane control device when scene limitation is performed.

[0018] Hereinafter, an embodiment of an automated crane system and an automated material handling 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 an exemplary container terminal 1 to which an automated crane system 100 according to this embodiment is applied. As shown in FIG. 1 , the container terminal 1 is provided with a container yard 2 in which containers 3 (see FIG. 2 ) are placed, multiple gantry cranes 4 that transfer the containers 3 onto and from berthed ships, multiple RTG cranes 10 (cranes) that are placed in the container yard 2 and perform loading and unloading of the containers 3, and a remote control room 5 that can remotely control the multiple RTG cranes 10. Note that, although the present embodiment illustrates an RTG crane 10 as an example of the crane, the type of crane is not particularly limited. For example, a crane for transferring containers from a ship to a transport vehicle may be used. For example, a gantry crane may be used as the crane.

[0020] For example, a travel path for transport vehicles such as freight cars, trucks, or AGVs (Automated Guide Vehicles) is laid in the container yard 2. The RTG crane 10 acquires the container 3 transported by the transport vehicle and places the container 3 at a position indicated by a predetermined address in the container yard 2. For example, a plurality of RTG cranes 10 are arranged for each container yard 2. The RTG crane 10 acquires the container 3 placed in the container yard 2, transfers the container 3 to the transport vehicle, and has the transport vehicle carry the container 3 outside.

[0021] Fig. 2 is a perspective view that schematically shows an RTG crane 10 arranged in the container yard 2. As shown in Fig. 2, the RTG crane 10 is a container handling crane that handles containers 3, and is a rubber-tired gantry crane (RTG). The RTG crane 10 automatically handles containers 3 arranged in the container yard 2 at the container terminal 1.

[0022] As shown in Figure 3, the RTG crane 10 includes, for example, a main body 15, a trolley 11 that can travel laterally on a crane girder 27 of the main body 15, a spreader 12 that loads and unloads containers 3, and a traveling device 13 with wheels. The main body 15 has a gate shape and includes a pair of legs 26 that are erected on the pair of traveling devices 13 and a crane girder 27 that connects the upper ends of the pair of legs. The trolley 11 travels laterally, for example, by driving a traveling motor. As an example, the trolley 11 includes a drum that rotates forward and backward by a drum drive motor, and the spreader 12 is suspended from the trolley 11 via a wire.

[0023] The spreader 12 is a lifting device that suspends the container 3. The spreader 12 is capable of latching the container 3 from above, and loads and unloads the container 3 by latching and lifting the container 3.

[0024] The RTG crane 10 is a crane device that handles loading and unloading of containers 3 in, for example, a container yard CY of a container terminal where containers 3 are transferred onto and from a berthed container ship. A loading lane CR, which is a travel path for trucks 30 (transportation vehicles) onto which containers C are transferred, is laid in the container yard CY. The RTG crane 10 automatically transfers a container 3 onto, for example, a truck 30 stopped on the loading lane CR. The RTG crane 10 retrieves a container 3 that has been delivered by the truck 30, from the truck 30, and places the container 3 at a predetermined position in the container yard CY. The RTG crane 10 also retrieves a container 3 that has been placed in the container yard CY, places the container 3 onto a truck 30 stopped on the loading lane CR, and transports the container 3 to the outside.

[0025] FIG. 4 is a perspective view showing the configuration of a truck 30 in the loading lane CR and the vicinity of one leg 26 of the RTG crane 10. As shown in FIG. 4 , the truck 30 includes a loading platform 31 and a passenger section 32. The loading platform 31 extends in the fore-and-aft direction of the vehicle and is used to load a container 3. The passenger section 32 is used by a driver to operate the truck 30. The trucks 30 include in-yard trucks that repeatedly circulate within the container terminal 1, and out-of-yard trucks that arrive from outside the container terminal 1 and depart the container terminal 1 after loading a container 3. The automated crane system 100 according to this embodiment is applicable to both in-yard trucks and out-of-yard trucks. Furthermore, as shown in FIG. 4 , the trucks 30 include manned trucks with a driver and unmanned trucks that operate fully automatically without a driver. The automated crane system 100 according to this embodiment is particularly effective when the truck is manned, regardless of whether it is an in-yard truck or an out-of-yard truck.

[0026] As shown in Figure 4, the RTG crane 10 is equipped with a crane control device 20 that controls the RTG crane 10. The crane control device 20 is attached to a predetermined position on the RTG crane 10 and moves as the RTG crane 10 moves. In the example shown in Figure 4, the crane control device 20 is provided near the lower end of the leg 26, above the traveling device 13. The crane control device 20 is also provided above the traveling device 13 of the pair of traveling devices 13 that is closer to the loading lane CR. A location on the loading lane CR adjacent to the traveling device 13 is a transfer location CP where trucks 30 stop to transfer containers 3.

[0027] A wireless communication device 40 is provided in the passenger section 32 of the truck 30. The wireless communication device 40 transmits various signals to the crane control device 20 based on the driver's operation. The wireless communication device 40 transmits at least a stop request signal to the RTG crane 10 to request that the RTG crane 10 stop. The content of the signals transmitted by the wireless communication device 40 will be described later. There are no limitations on how the wireless communication device 40 is provided on the truck 30, but it is preferable that the wireless communication device 40 be provided in a position where the driver can quickly operate the wireless communication device 40 in an emergency. For example, the wireless communication device 40 may be detachably attached to the driver's seat of the passenger section 32. Note that the state in which the wireless communication device 40 is provided on the truck 30 does not only include a state in which the wireless communication device 40 is attached to the wireless communication device 40 by a fixture or the like, but also includes a state in which the wireless communication device 40 is placed on the driver's seat or carried by the driver, such as in the driver's pocket, as long as it is located within the passenger section 32.

[0028] The signal SG transmitted by the wireless communication device 40 is received by a receiving device 55 (wireless receiving unit) connected to the crane control device 20. The receiving device 55 functions as a wireless receiving unit that receives a stop request signal from the wireless communication device 40. There are no particular limitations on the location where the receiving device 55 is installed, and it may be installed at any position on the RTG crane 10. However, it is preferable that it be installed in a position close to the driver who parks the truck 30 at the transfer point CP. Therefore, if the crane control device 20 is installed next to the transfer point CP, the receiving device 55 may be installed on the outer wall of the crane control device 20, for example.

[0029] Fig. 5 is a block diagram showing the functions of an automated crane system 100 according to this embodiment. The automated crane system 100 is a system capable of controlling a plurality of RTG cranes 10. As shown in Fig. 4, the automated crane system 100 includes a truck 30, a plurality of RTG cranes 10, a plurality of operation consoles 6 capable of operating each of the RTG cranes 10, and a system controller 50. Note that the block diagram of Fig. 3 shows the crane controller 20 provided in the RTG crane 10 and the wireless communication device 40 provided in the truck 30.

[0030] The operation console 6, the crane control device 20, and the system control device 50 may be configured as a general computer, including, for example, 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 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, communication interface, and user interface. The operation console 6, the crane control device 20, and the system control device 50 realize 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 user interface of the operation console 6 and the crane control device 20 includes output devices such as a display for visual output and a speaker for audio output, as well as input devices such as a control lever, buttons, a keyboard, a touch panel, and a microphone. The system control device 50 may be configured by a single computer installed in one location, or may be configured by multiple computers, or may be installed in a distributed state at multiple locations.

[0031] The system control device 50 includes a communication unit 51 and a calculation unit 52. The communication unit 51 transmits and receives various information by communicating with other devices. The calculation unit 52 performs various calculations related to the system control device 50. The calculation unit 52 links an operator console 6 that is not linked to any of the RTG cranes 10 among the multiple operator consoles to an RTG crane 10 that is issuing an operation request requiring an operator to operate the RTG crane 10 among the multiple RTGs.

[0032] Here, an example of how the system control device 50 links multiple RTG cranes 10 with multiple operation consoles 6 will be described. The calculation unit 52 of the system control device 50 acquires information related to the availability of each operation console 6 via the communication unit 51. A state in which the operation console 6 is available means that the operation console 6 is not linked to any RTG crane 10 and cannot operate any of the RTG cranes 10. A state in which the operation console 6 is not available means that the operation console 6 is linked to one of the RTG crane 10 and can operate that RTG crane 10. The calculation unit 52 can acquire operation requests from each RTG crane 10 via the communication unit 51.

[0033] When the calculation unit 52 acquires an operation request for any RTG crane 10 while there is an available operator console 6, it links the RTG crane 10 that issued the operation request to any available operator console 6. When the calculation unit 53 acquires an operation request for any RTG crane 10 while there is no available operator console 6, it places the RTG crane 10 that issued the operation request in a standby state until the operator console 6 becomes available. Furthermore, when multiple RTG cranes 10 are in a standby state, the calculation unit 52 adjusts the order in which the operator consoles 6 are linked based on the conditions of each RTG crane 10. For example, the calculation unit 52 may link an available operator console 6 based on the order of the operation requests. In other words, the calculation unit 52 links an RTG crane 10 that has received an earlier operation request, among the standby RTG cranes 10, to the operator console 6 that became available earlier. Furthermore, the calculation unit 52 may link an available operator console 6 based on the urgency of the operation request. For example, if there is a request from the driver of the truck 30, the priority may be increased.

[0034] The crane control device 20 includes a communication unit 21 (wireless receiving unit), an information acquisition unit 22, a drive control unit 23, and a calculation unit 24. The communication unit 21 transmits and receives various information by communicating with other devices. The aforementioned receiving device 55 (see FIG. 4) may be included in the communication unit 21. The information acquisition unit 22 acquires information indicating various states for the RTG crane 10 to perform automatic operation. The information acquisition unit 22 acquires information from various sensors provided on the RTG crane 10. The drive control unit 23 controls the drive by transmitting control signals to drive units such as motors of the RTG crane 10. When an operation is performed by an operator, the drive control unit 23 controls the drive in accordance with the operation. During automatic operation, the drive control unit 23 controls the drive so as to realize the operation calculated by the calculation unit 24. The calculation unit 24 performs various calculations related to the RTG crane 10. During automatic operation, the calculation unit 24 calculates the operation details of the RTG crane 10.

[0035] During automatic operation, the crane control device 20 can receive a request from the driver of the truck 30 via the wireless communication device 40 and transmit an operation request via the operation console 6. The communication unit 21 also transmits the operation request to the system control device 50.

[0036] Here, the basic operation when the crane control device 20 automatically operates the RTG crane 10 will be described with reference to FIG. 6 . FIG. 6 is a flowchart showing the details of the automatic operation of the RTG crane 10. It is assumed that the process of FIG. 6 is executed when the truck 30 has arrived at the transfer location CP and is in a standby state. In the following description, "automatically" means that each component of the RTG crane 10 operates autonomously without operation by an operator at the control console. As shown in FIG. 6 , the crane control device 20 receives an instruction to transport a container 3 from the control console 6 (step S10). Next, the crane control device 20 automatically moves the spreader 12 and grabs the container 3 in the container yard CY with the spreader 12 (step S20). Next, the crane control device 20 automatically transports the container 3 to the transfer location CP via the spreader 12 (step S30). At this time, the container 3 and the spreader 12 are positioned above the loading platform 31 of the truck 30. Next, the crane control device 20 lowers the spreader 12 downward, automatically loading the container 3 onto the truck 30 (step S40). The crane control device 20 releases the spreader 12 from the position where the container 3 was placed on the truck 30 and automatically hoists it up (step S50). Next, the crane control device 20 automatically moves the spreader 12 to the home position, or, if there is a next job item, operates in accordance with the next job item (step S60). With this, the processing in Figure 6 is completed.

[0037] Next, the wireless communication device 40 provided in the truck 30 will be described in detail with reference to Figures 5 and 7. As shown in Figure 5, the wireless communication device 40 includes a communication unit 41, an information input unit 42, and a signal generation unit 43.

[0038] The communication unit 41 transmits and receives various information by communicating with other devices. As shown in Fig. 7, a signal transmission / reception unit 46 of the communication unit 41 is provided in a part of a case 44 of the wireless communication device 40.

[0039] The information input unit 42 acquires various pieces of information input based on the driver's operation. The information input unit 42 acquires information indicating the driver's request. As shown in Fig. 7 , a plurality of buttons 47 are provided on the case 44. The information input unit 42 acquires the driver's request based on which of the plurality of buttons 47 is pressed.

[0040] The information input unit 42 acquires, as a request from the operator, a stop request that requests the RTG crane 10 to stop its cargo handling operation. The information input unit 42 also acquires a linking request that requests that the operation console 6 be linked to the RTG crane 10 that is performing work on the truck 30. The information input unit 42 also acquires a request to notify the truck 30 that it has arrived at the delivery location, along with its identification information. Each button 47 is assigned in a one-to-one relationship to these requests. Therefore, when the driver wants to make a request, he or she presses the button 47 that corresponds to the request.

[0041] The signal generating unit 43 generates a request signal based on the information input by the information input unit 42. For example, the signal generating unit 43 generates a stop request signal requesting the RTG crane 10 to stop its cargo handling operation. After generating the stop request signal, the wireless communication device 40 transmits the stop request signal to the target RTG crane. The crane control device 20 receives the stop request signal from the wireless communication device 40. The crane control device 20 stops the operation of the RTG crane 10 based on the stop request signal. For example, the automatic operation in steps S40 and S50 in FIG. 6 is performed when the spreader 12 approaches the truck 30. Therefore, when the RTG crane 10 is performing automatic operation near the truck 30, if the operator determines that an emergency stop should be made to ensure safety, the stop request button 47 (see FIG. 7) is pressed. In this case, the crane control device 20 issues a command to the drive system of the RTG crane 10 to perform an emergency stop of the automatic operation.

[0042] For example, the signal generating unit 43 generates a pegging request signal requesting that the operation console 6 be pegged to the RTG crane 10 that will perform work on the truck 30. After generating the pegging request signal, the wireless communication device 40 transmits the pegging request signal to the target RTG crane 10 to peg it. The crane control device 20 receives the pegging request signal from the wireless communication device 40. For example, the pegging request button 47 (see FIG. 7) is pressed in cases where, for example, the truck 30 has arrived at the transfer location CP but the automatic work of step S40 in FIG. 6 does not start, or in other cases where it is desired to request the operator of the operation console 6 to remotely operate the truck 30 but not to perform an emergency stop.

[0043] Based on the pegging request signal, the crane controller 20 issues a command to the system controller 50 to peg one of the operator consoles 6 to the RTG crane 10. The RTG crane 10 that is the target of the pegging request signal is given a higher pegging priority. In other words, even if another RTG crane 10 is pegged first in the pegging queue, the system controller 50 advances the order of the RTG crane 10 of the crane controller 20 that issued the pegging request signal. Note that the operator console 6 may output information such as voice or text so that the operator can notice the remote control request from the truck 30.

[0044] For example, the signal generating unit 43 generates a signal indicating that the truck 30 has reached the transfer location and a signal indicating the identification information. When the driver of the truck 30 reaches the transfer location, he or she presses a button 47 (see FIG. 7) to notify the driver that the truck 30 has reached the transfer location. The wireless communication device 40 transmits these signals to the crane control device 20. When the crane control device 20 receives these signals, it starts the operation of loading the container 3 onto the truck 30 (step S40 in FIG. 6).

[0045] Referring to FIG. 8 , an exemplary process of the crane control device 20 when a signal is received from the wireless communication device 40 will be described. FIG. 8 is a flowchart showing the process of the crane control device 20 when it receives a signal from the wireless communication device 40. As shown in FIG. 8 , the crane control device 20 identifies the content of the received signal (step S100). Next, the crane control device 20 determines whether the received signal indicates the arrival of the truck 30 at the transfer point CP (step S110). If the signal indicates arrival (NO in step S110), the crane control device 20 starts the operation of loading the container 3 onto the truck 30 (step S120). When step S120 is completed, the process of FIG. 8 ends. On the other hand, if step S110 is YES, the crane control device 20 determines whether the signal is a stop request signal (step S130). If the signal is a stop request signal (YES in step S130), the crane control device 20 stops the RTG crane 10 (step S140). When step S140 is completed, the process of FIG. 8 ends. If step S130 is NO, it is determined whether the signal is a pegging request signal (step S150). If the signal is a pegging request signal (YES in step S150), the crane controller 20 requests pegging from the system controller 50 (step S160). When step S160 is completed, the processing in FIG. 8 ends. If the signal is not a pegging request signal (NO in step S150), no request for pegging is made and the processing in FIG. 8 ends.

[0046] Next, with reference to FIG. 9 , an exemplary process of the work of the driver of the truck 30 will be described. FIG. 9 is a process diagram showing the work process of the driver of the truck 30. Here, the process when an external truck 30 arrives at the container terminal 1 is illustrated. As shown in FIG. 9 , the driver acquires the wireless communication device 40 at the entrance of the premises or the like (step S400). Next, the driver moves to the target transfer location CP (step S410). Upon arrival, the driver operates the wireless communication device 40 to notify the crane control device 20 of his arrival at the transfer location CP along with his identification information (step S420). During the RTG crane 10's cargo handling operation, the driver uses the wireless communication device 40 to make requests to the crane control device 20 as needed (step S430). However, if no request is made, step S430 is omitted. After the RTG crane 10 has completed its cargo handling operation, the driver moves from the transfer location CP (step S440). When leaving the premises, the driver returns the wireless communication device 40 (step S450). As described above, the driver of the truck 30 has the wireless communication device 40 from the time the truck 30 arrives at the transfer location CP for the container 3 until it leaves the transfer location CP. The RTG crane 10 performs container loading and unloading operations in a state in which it can be brought to an emergency stop by the driver operating the wireless communication device 40. Note that if the driver has his or her own wireless communication device 40 or if the truck 30 is on-site and is equipped with a wireless communication device 40, steps S400 and S450 are omitted.

[0047] Here, the communication methods adopted by the wireless communication device 40 will be described. The first communication method is a method for implementing a total wireless system. This communication method utilizes, for example, 5G / LTE, mesh Wi-Fi, etc. to comprehensively wirelessize the entire area, integrate the management of terminals accommodated within the wireless area, and use a system configuration for information sharing. While the first communication method has the advantage of enabling advanced information sharing, it has the disadvantages of delays, complexity, cost, and low wireless quality. The second communication method is a direct wireless connection between targets. This communication method is based on the premise that targets that wish to exchange signals directly connect wirelessly and use a configuration for sending and receiving signals. The second communication method has the advantages of being fast, simple, inexpensive, and having high wireless quality, but is not good at advanced information sharing and has the problem that signals can reach other nearby RTG cranes 10. The communication method adopted by the wireless communication device 40 is not particularly limited. However, the second "direct wireless connection between targets" method may be adopted, focusing on wireless quality, which is considered the most important factor for safety devices. However, the first method may be adopted.

[0048] As described above, when the "direct wireless connection method between targets" is adopted, there is a problem in that the signal reaches not only the RTG crane 10 performing work on the truck 30, but also other nearby RTG cranes 10. In other words, the targets for container transfer between the truck 30 and the RTG crane 10 change in an "N to M" manner depending on the flow of cargo handling time. Therefore, in a direct wireless connection between targets that wish to exchange signals, the targets to be wirelessly connected are different at each time, and wireless connections must be made with nearby targets at the appropriate time. Therefore, when a wireless signal is sent from the truck 30, a problem arises in that all RTG cranes 10 in the vicinity receive the signal.

[0049] To address this issue, the information sent from the wireless communication device 40 corresponding to each truck 30 can be made unique, and the crane control device 20 can receive a signal with "target limitation" that matches the identification information (ID) of the truck 30 to which the container 3 is to be transferred. Furthermore, if it is difficult to respond by target limitation, or in addition to responding by target limitation, the crane control device 20 can also respond by receiving a signal with "scene limitation" where a container is to be transferred between the RTG crane 10 and the truck 30.

[0050] The above-mentioned "target limitation" response will be described in detail with reference to FIGS. 10 and 11 . FIG. 10 is a diagram showing an example of the signal configuration of the wireless communication device 40. FIG. 11 is a flowchart showing the processing content of the crane control device 20 when target limitation is performed. As shown in FIG. 10 , the wireless communication device 40 may include the identification information (ID) of the truck 30 in the signal to the RTG crane 10. The signal shown in FIG. 10 includes combined information of the identification information of the truck 30 and the information to be notified. The signal is composed of a multi-digit number. The three digits on the left side indicate the truck ID of the truck 30. The digits on the right side indicate the information the driver wants to notify the RTG crane 10. The first digit from the right indicates a stop request, the second digit indicates a pegging request, and the third digit indicates a notification of arrival at the transfer location. A "1" is entered when a request or notification is made, and a "0" is entered when not made. The remaining digits are reserved as spares.

[0051] The crane control device 20 receives only signals from the wireless communication device 40 of the truck 30 that is the target of the work. Specifically, when the signal of FIG. 10 is received, the crane control device 20 performs the processing of FIG. 11. The crane control device 20 determines the content of the identification information contained in the signal (step S200). Next, the crane control device 20 determines whether the identification information determined in step S200 is for the truck 30 that is the target of the work (step S210). If the identification information is for the target truck 30, the crane control device 20 accepts the signal (step S220). On the other hand, if the determined identification information is not for the truck 30 that is the target of the work, the crane control device 20 does not accept the signal (step S230).

[0052] The above-mentioned "scene limitation" response will be described in detail with reference to FIG. 12 . FIG. 12 is a flowchart showing the processing contents of the crane control device 20 when scene limitation is performed. At this time, the crane control device 20 receives signals from the wireless communication device 40 only when the work of loading the container 3 onto the truck 30 is being performed. Specifically, the processing of FIG. 12 is executed. The processing of FIG. 12 is the processing contents of steps S10 to S60 of FIG. 6 with processing contents for scene limitation added. As shown in FIG. 12 , immediately before loading the container 3 onto the truck 30 in step S40, the crane control device 20 starts allowing signal reception (step S300). Prior to this, in steps S10 to S30, the crane control device 20 does not receive signals from any of the wireless communication devices 40. From this state, from step S300 onwards, the crane control device 20 accepts signals from all nearby wireless communication devices 40. When the hoisting of the spreader 12 is completed in step S50, the crane control device 20 prohibits the reception of signals (step S310). After this, the crane control device 20 does not receive signals from any of the wireless communication devices 40.

[0053] Next, the functions and effects of the automatic crane system 100 and the automatic cargo handling method according to this embodiment will be described.

[0054] First, an automatic crane system according to Comparative Example 1 will be described. In the automatic crane system 100 according to this embodiment, all of the processing shown in Fig. 6 is performed automatically, whereas in Comparative Example 1, steps S40 and S50 in which the spreader 12 approaches the truck 30 are remotely controlled by an operator at the control console 6. In the automatic crane system 100 according to this embodiment, as shown in Fig. 3, the automatic operation area AE is set to cover substantially the entire area inside the RTG crane 10, including the truck 30. In contrast, in Comparative Example 1, the vicinity area CE of the truck 30 is excluded from the automatic operation area AE.

[0055] In contrast to Comparative Example 1 described above, Comparative Example 2 simply automates steps S40 and S50, and includes the vicinity area CE in the automated driving area AE. In Comparative Example 2, the container transfer to and from the truck 30 is fully automated, which results in the loss of the important function of safety monitoring by a remote operator, which was ensured in Comparative Example 1. Furthermore, in Comparative Example 2, the container transfer to and from the truck 30 is fully automated, so remote operation by a remote operator is no longer performed. This results in the loss of the audio and video communication between the remote operator and the driver of the truck 30, which was provided in Comparative Example 1. Therefore, Comparative Example 2 requires a means for the driver of the truck 30 at the site to notify the driver of the truck 30 of any unforeseen events. Furthermore, in Comparative Example 1, the truck ID of the truck about to transfer the container was verified by visually checking the truck number on the remote control console monitor. In contrast, in Comparative Example 2, this function is also lost due to the full automation, and an alternative means must be provided.

[0056] To address the above-described issues, the automated crane system 100 according to this embodiment includes a wireless communication device 40 (wireless communication unit) that is provided on the truck 30 (transport vehicle) and transmits a stop request signal to the RTG crane 10, requesting that the crane 10 stop. Therefore, when the RTG crane 10 is automatically performing a loading / unloading operation, the driver of the truck 30 can operate the wireless communication device 40 according to the situation. The wireless communication device 40 can transmit a stop request signal to the RTG crane 10, requesting that the crane 10 stop the loading / unloading operation. That is, in the event of an emergency, the driver can request the RTG crane 10 to stop via the wireless communication device 40. In response to this, the automated crane system 100 includes a receiving device 55 (wireless receiving unit) that receives the stop request signal. This allows the RTG crane 10 to perform operations such as stopping the operation of the RTG crane 10 based on the stop request signal. Therefore, the RTG crane 10 can quickly stop its operation according to the driver's intention, even during automatic operation. As a result, the safety of the transport vehicle driver can be improved. Furthermore, safety can be ensured from the perspective of the work site.

[0057] The automated crane system 100 further includes a crane control device 20 (crane control unit) that controls the RTG crane 10. When the receiving device 55 receives a stop request signal, the crane control device 20 may stop the operation of the RTG crane 10 based on the stop request signal. This enables the crane control device 20 to perform control in accordance with the operator's intentions.

[0058] The wireless communication device 40 may transmit a pegging request signal requesting that the control console 6 be pegged to the RTG crane 10 performing work on the truck 30. In this case, if the driver does not want to stop the RTG crane 10 but wants to request remote operation by the operator at the control console 6, the driver can request that the control console 6 be pegged to the RTG crane 10 by operating the wireless communication device 40.

[0059] The RTG crane 10 that is the target of the pegging request signal may be given a high pegging priority. In this case, the operator console can be quickly pegged to the RTG crane 10 in response to a request from the operator.

[0060] The wireless communication device 40 may include identification information of the truck 30 in the signal sent to the RTG crane 10. In this case, it becomes possible for the RTG crane 10 to easily recognize that the truck 30 that is the source of the signal is the truck 30 that is the target of work. In this case, visual confirmation by the operator of the control console 6 can be eliminated.

[0061] The crane control device 20 may receive only signals from the wireless communication device 40 of the truck 30 that is the target of the work. In this case, it is possible to prevent erroneous reception of signals from the wireless communication of other trucks 30.

[0062] The crane control device 20 may receive signals from the wireless communication device 40 only when the work of loading the container 3 onto the truck 30 is being performed. In this case, by regarding signals that are not received at the timing of loading work as not being from the truck 30 that is the target of the work, it is possible to prevent erroneous reception of signals from the wireless communication of other trucks 30.

[0063] The automatic loading and unloading method according to this embodiment is an automatic loading and unloading method in which a container 3 is suspended by an RTG crane 10 and loaded onto a truck 30, and the driver of the truck 30 can operate the wireless communication device 40 from the time the truck 30 arrives at the container 3 transfer location CP until it leaves the transfer location CP, and the RTG crane 10 performs loading and unloading work on the container C in a state in which it can be stopped in an emergency by the driver operating the wireless communication device 40.

[0064] According to the automatic loading and unloading method, the driver of the truck 30 can operate the wireless communication device 40 from the time the truck 30 arrives at the container 3 transfer location CP until it leaves the transfer location CP. Therefore, when the RTG crane 10 automatically performs loading and unloading work on the truck 30, the driver of the truck 30 can operate the wireless communication device 40 according to the situation. Here, the wireless communication device 40 can be operated to perform an emergency stop of the RTG crane 10. In other words, the RTG crane 10 performs loading and unloading work on the container 3 in a state in which it can be stopped in an emergency by the driver's operation of the wireless communication device 40. Therefore, the RTG crane 10 can quickly stop its operation according to the driver's intention, even while performing automatic work. As described above, the safety of the truck driver can be improved.

[0065] The present disclosure is not limited to the above-described embodiments.

[0066] The diagrams of the overall system shown in Figures 1, 2, and 5 are examples and may be modified as appropriate. The configurations of the RTG crane and truck shown in Figures 3 and 4 may also be modified as appropriate. For example, in the above-described embodiment, the wireless receiving unit was provided in the RTG crane, but there is no particular limitation on where the wireless receiving unit is provided.

[0067] In the above embodiment, an example has been described in which the wireless communication device 40 is capable of generating a plurality of request signals, but since signals other than the stop request are not essential, they may be omitted as appropriate.

[0068] Although an example in which step S300 is executed between step S30 and step S40 has been described with reference to FIG. 12, step S300 may be executed at any timing between steps S10 and S40.

[0069] The automated crane system having the wireless communication device 40 and the receiving device 55 may be applied to an existing crane.

[0070] 10...RTG crane, 20...crane control device (crane control unit), 21...communication unit (wireless receiving unit), 30...truck (transport vehicle), 40...wireless communication device (wireless communication unit), 55...receiving device (wireless receiving unit), 100...automated crane system

Claims

1. An automated crane system which suspends a container with a crane and loads it onto a transport vehicle, comprising: a wireless communication unit provided on the transport vehicle which transmits a stop request signal to the crane to request that the crane stop; and a wireless receiving unit which receives the stop request signal.

2. An automatic crane system as described in claim 1, further comprising a crane control unit that controls the crane, wherein when the wireless receiving unit receives a stop request signal, the crane control unit stops operation of the crane based on the stop request signal.

3. An automatic crane system as described in claim 1, wherein the wireless communication unit transmits a pegging request signal requesting that the operator console be pegged to the crane performing work on the transport cart.

4. The automated crane system according to claim 3, wherein the crane that is the target of the pegging request signal is given a high pegging priority.

5. The automatic crane system according to claim 1, wherein said wireless communication unit includes identification information of said transport vehicle in a signal to said crane.

6. An automated crane system as described in claim 2, wherein the crane control unit receives signals only from the wireless communication unit of the transport vehicle that is the subject of work.

7. An automated crane system as described in claim 2, wherein the crane control unit receives signals from the wireless communication unit only when the task of loading the container onto the transport cart is being performed.

8. An automatic loading and unloading method for suspending a container by a crane and loading it onto a transport vehicle, wherein a driver of the transport vehicle can operate a wireless communication unit from the time the transport vehicle arrives at a location where the container can be delivered until the transport vehicle leaves the location, and the crane automatically performs loading and unloading of the container in a state where it can be stopped in an emergency by the driver operating the wireless communication unit.

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