Crane system and display device

Abstract

This crane system, in which a container is suspended by a crane and loaded on a conveyance carriage, comprises: a detection unit that detects a relative positional relationship between the crane and the conveyance carriage; and a display unit that displays a guidance image for guiding the conveyance carriage. The relative positional relationship between the crane and the conveyance carriage detected by the detection unit is expressed by modifying the guidance image.

Description

Crane system and display device

[0001] The present disclosure relates to a crane system and a display device.

[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, or loads a container suspended by the hoisting tool onto a transport vehicle.

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

[0004] In this case, it is necessary to accurately position the transport vehicle that transports the container relative to the crane. For this reason, the transport vehicle driver may be guided to the position using voice or lamps. However, these methods make it difficult to provide sufficient instructions to the driver.

[0005] An object of the present disclosure is to provide a crane system and a display device that can guide a transport vehicle to an accurate position relative to a crane.

[0006] The crane system of the present disclosure is a crane system that suspends a container with a crane and loads it onto a transport cart, and is equipped with a detection unit that detects the relative positional relationship between the crane and the transport cart, and a display unit that displays a guidance image for guiding the transport cart, and the relative positional relationship between the crane and the transport cart detected by the detection unit is expressed by changing the guidance image.

[0007] The crane system is equipped with a display unit. Therefore, when the transport vehicle approaches the crane to deliver a container, the driver of the transport vehicle can align it to a target position relative to the crane based on a guidance image displayed on the display unit. Here, the display unit displays a guidance image for guiding the transport vehicle. The crane system expresses the relative positional relationship between the crane and the transport vehicle detected by the detection unit by changing the guidance image. Therefore, the crane system can display a guidance image for guiding the transport vehicle so that the driver of the transport vehicle can easily visually understand the relative positional relationship between the crane and the transport vehicle. The driver is accurately guided by accurately grasping the relative positional relationship between the crane and the transport vehicle using the guidance image. As described above, the transport vehicle can be guided to an accurate position relative to the crane.

[0008] The display unit may be provided on the leg of the crane that is closer to the travel path of the platform. In this case, the driver of the platform can check the guidance image on the display unit while visually checking the leg on the closer side or while visually checking the leg on the closer side through a mirror.

[0009] The display unit may have a first display visible from the direction of travel of the crane and a second display visible from the inside in the width direction of the crane. In this case, when the driver of the transport vehicle is far from the target position, the driver can check the first display from the direction of travel, and when the transport vehicle approaches the target position, the driver can check the second display from the inside in the width direction.

[0010] The guidance image may include a first object that moves against the background of the display unit, and the movement speed of the first object may be adjusted according to the relative distance between the transport vehicle and the crane. In this case, the driver can intuitively grasp the relative distance between the transport vehicle and the crane from the movement speed of the first object. Furthermore, by making the first object prominent in the image, the driver can easily recognize it even from a distance.

[0011] The color of the first object may vary depending on the relative distance between the transport vehicle and the crane. In this case, the driver can intuitively grasp the relative distance between the transport vehicle and the crane based on the color. Furthermore, by making the color stand out in the image, the driver can easily recognize the first object from a distance.

[0012] The background color may vary depending on the relative distance between the transport vehicle and the crane. In this case, the driver can intuitively grasp the relative distance between the transport vehicle and the crane based on the background color. In addition, the background color stands out in the image, making it easy for the driver to see it from a distance.

[0013] The guidance image may include a second object representing the transport vehicle and a third object representing the target position of the transport vehicle, and the relative positional relationship between the second object and the third object in the image may be adjusted based on the relative distance between the transport vehicle and the crane. In this case, the driver can intuitively grasp the relative distance between the transport vehicle and the crane based on the relative positional relationship between the second object and the third object in the image. Furthermore, by making the second object and the third object prominent in the image, the driver can easily recognize them even from a distance.

[0014] The display device according to the present disclosure is a display device that displays an image related to a crane system in which a container is suspended by a crane and loaded onto a transport vehicle, and expresses the relative positional relationship between the crane and the transport vehicle by changing the image.

[0015] This display device can provide the same functions and effects as the crane system described above.

[0016] According to the present disclosure, it is possible to provide a crane system and a display device that can guide a transport vehicle to an accurate position relative to a crane.

[0017] FIG. 1 is a plan view showing an exemplary container terminal to which a 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 configuration of a truck in a loading lane and the vicinity of one leg of the RTG crane. FIG. 5 is a block diagram showing the functions of the 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 diagram showing an example of a guidance image. FIG. 8 is a diagram showing an example of an image on a display device. FIG. 9 is a diagram showing an example of an image on a display device. FIG. 10 is a flowchart showing the processing content of a crane control device. FIG. 11 is a diagram showing a guidance image according to a modified example. FIG. 12 is a diagram showing a guidance image according to a modified example.

[0018] Hereinafter, embodiments of a crane system and a display device 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 ratios 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 a 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 operation room 5 that can remotely operate 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 FIG. 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 via a wire. The direction in which the traveling device 13 travels is defined as a traveling direction D2. The horizontal direction perpendicular to the traveling direction D2 is defined as a width direction D1.

[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] The RTG crane 10 is equipped with a detection unit 40 that detects the relative positional relationship between the RTG crane 10 and the truck 30. The detection unit 40 is only required to be able to detect the truck 30 at a location where the truck 30 transfers the container 3 and to detect a part of the RTG crane 10. The detection unit 40 may be attached to, for example, the crane girder 27, or any other location where the relative positional relationship between the RTG crane 10 and the truck 30 can be detected. The sensor that constitutes the detection unit 40 is not particularly limited, and may be, for example, a distance sensor such as a ToF camera, a laser rangefinder such as a 2D scanner or a 3D scanner, or a ToF camera.

[0026] FIG. 4 is a perspective view showing the configuration of a truck 30 on 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 containers 3. The passenger section 32 is used by a driver to operate the truck 30. The RTG crane 10 includes 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 FIG. 4, the crane control device 20 is provided near the lower end of the leg 26, above the traveling unit 13. The crane control device 20 is also provided above the traveling unit 13 that is closer to the loading lane CR out of the pair of traveling units 13. The location of the loading lane CR adjacent to the traveling device 13 is a transfer location CP where the truck 30 stops and transfers the container 3. The transfer location CP is set at a predetermined position based on the RTG crane 10. In other words, of the relative positions of the truck 30 with respect to the RTG crane 10, the transfer location CP is the relative target position for the truck 30. Therefore, the relative distance between the truck 30 and the transfer location CP is included in the relative distance between the truck 30 and the RTG crane 10.

[0027] The crane system 100 includes a display device 50 (display unit). In this embodiment, the display device 50 is provided on the leg 26 of the RTG crane 10 that is closer to the loading lane CR. The display device 50 is a medium for visually displaying information, known as digital signage. The display device 50 may be, for example, a liquid crystal panel, an OLED panel, or an LED display. Specifically, the display device 50 is provided on both one end of the traveling device 13 in the traveling direction D2 and the other end of the traveling direction D2. The display device 50 includes a first display 51 visible from the traveling direction D2 and a second display 52 visible from the inside in the width direction D1. The first display 51 is provided so as to extend perpendicular to the traveling direction D2. The second display 52 is provided so as to extend, for example, approximately perpendicular to the width direction D1, so as to intersect with the width direction D1. The display device 50 on the other end of the width direction D1 also includes the same first display 51 and second display 52. The same image may be displayed on the first display 51 and the second display 52. ​​However, depending on the timing, different images may be displayed on the first display 51 and the second display 52.

[0028] When the truck 30 approaches the transfer location CP, the display device 50 displays a guidance image to guide the truck 30 to accurately stop at the transfer location CP. The guidance image is abstract visual information for guiding the truck 30 to the transfer location CP based on the detection results of the detection unit 40. Details of the display content of the display device 50 will be described later. Note that the abstract visual information is not simply an image captured by a camera or a numerical display of the distance to the transfer location CP, but is an image created with visibility for the driver of the truck 30 in mind. As described above, the display device 50 expresses the relative positional relationship between the RTG crane 10 and the truck 30 by changing the guidance image. Furthermore, the crane system 100 expresses the relative positional relationship between the RTG crane 10 and the truck 30 detected by the detection unit 40 by changing the guidance image.

[0029] Figure 5 is a block diagram showing the functions of a crane system 100 according to this embodiment. The crane system 100 is a system capable of controlling a plurality of RTG cranes 10. As shown in Figure 5, the crane system 100 includes 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 55. The block diagram of Figure 5 shows a crane controller 20 provided in the RTG crane 10.

[0030] The operation console 6, the crane control device 20, and the system control device 55 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 55 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 55 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 55 receives a loading / unloading operation request from a terminal operation system that comprehensively manages the loading / unloading operation process of the container terminal 1, and instructs each RTG crane 10 to perform loading / unloading. The system control device 55 includes a communication unit 56 and a calculation unit 57. The communication unit 56 transmits and receives various information by communicating with other devices. The calculation unit 57 performs various calculations related to the system control device 55. The calculation unit 57 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 operation by an operator among the multiple RTGs.

[0032] The crane control device 20 includes a communication unit 21, an information acquisition unit 22, a drive control unit 23, and a calculation unit 24. The crane control device 20 is also connected to a detection unit 40 and a display device 50. The communication unit 21 transmits and receives various information by communicating with other devices. 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 information acquisition unit 22 receives the detection results of the detection unit 40. The drive control unit 23 transmits control signals to drive units such as motors of the RTG crane 10 to perform drive control. Note that the drive control unit 23 can also operate in response to operation by an operator. During automatic operation, the drive control unit 23 performs drive control 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. Furthermore, the calculation unit 24 issues a command for an image to be displayed on the display device 50 based on the detection result detected by the detection unit 40. Note that the display device 50 may have its own calculation unit, and may display an image based on the detection result detected by the detection unit 40.

[0033] 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 truck 30 is approaching the transfer location CP when the process of FIG. 6 is executed. In the following description, "automatically" refers to a state in which each component of the RTG crane 10 operates autonomously without operation by an operator at the console. As shown in FIG. 6 , the crane control device 20 receives an instruction to transport the container 3 from the system control device 55 (step S5). The crane control device 20 displays a guidance image on the display device 50 to guide the truck 30 to the transfer location CP (step S10). The details of step S5 will be described later. In parallel with step S10, the crane control device 20 automatically moves the spreader 12 to grab 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 toward the transfer location CP via the spreader 12 (step S30). At this time, the container 3 and spreader 12 are positioned above the loading platform 31 of the truck 30 and wait in a safe position until the truck 30 arrives at the transfer location CP. Next, when the truck 30 arrives at the transfer location CP, the crane control device 20 automatically loads the container 3 onto the truck 30 by lowering the spreader 12 (step S40). The crane control device 20 then 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 its home position, or, if there is a next job item, operates according to the next job item (step S60). This completes the processing of FIG. 6. The order of steps S10 to S30 may be reversed depending on the status of the truck 30 and the spreader 12.

[0034] Next, with reference to FIG. 7 , the guidance image displayed on the display device 50 will be described. The guidance image displayed on the display device 50 is visual information designed to enable the driver of the truck 30 to intuitively understand the relative positional relationship between the RTG crane 10 and the truck 30, and the relative positional relationship between the RTG crane 10 and the truck 30 is primarily expressed by changing the position, speed, color, etc. of the objects constituting the visual information. When the display device 50 is viewed through a mirror from the truck 30, the image appears mirrored, so it is preferable that the objects constituting the visual information are symmetrical. Note that even when the display device 50 is displaying an image, the detection results of the detection unit 40 are constantly updated. Therefore, the guidance image displayed on the display device 50 is updated based on the updated detection results.

[0035] When the detection unit 40 detects the truck 30, the display device 50 displays a guidance image 60A as shown in FIG. 7( a). The guidance image 60A in FIG. 7( a) is an image when the transfer location CP is located far ahead of the truck 30. The guidance image 60A displays a moving arrow 61 (first object). The arrow 61 points upward and moves from bottom to top. When the arrow 61 reaches the top of the screen, a new arrow 61 appears from the bottom. The display device 50 adjusts the movement speed V of the displayed arrow 61 to indicate the relative distance between the truck 30 and the RTG crane. Specifically, the display device 50 displays the movement speed V of the arrow 61 (faster) the farther the truck 30 is from the target location, the transfer location CP. The display device 50 displays the movement speed V of the arrow 61 (slower) the closer the truck 30 is to the target location, the transfer location CP. 7A is displayed upside down when the delivery point CP is located far behind the truck 30. In this case, the arrow 61 moves from top to bottom, and when it reaches the bottom of the screen, a new arrow 61 appears from the top.

[0036] As shown in FIGS. 7( b), 7( c), and 7(d), when the distance between the truck 30 and the transfer location CP becomes equal to or less than the first threshold, the display device 50 may display a truck image 62 (second object) indicating the truck 30 and a reach area 63 (third object) indicating the target position of the truck 30, together with or instead of the arrow 61. The display device 50 adjusts the relative positional relationship between the truck image 62 and the reach area 63 in the image based on the relative distance between the truck 30 and the RTG crane 10. In the image, the position of the reach area 63 is fixed, and the truck image 62 moves. As shown in FIG. 7( b), the display device 50 displays the truck image 62 in the guidance image 60B so that it approaches the reach area 63 as the truck 30 approaches the transfer location CP. As shown in Fig. 7(c) , when the distance between the truck 30 and the delivery location CP is equal to or less than a second threshold value that is smaller than the first threshold value, the display device 50 displays a guidance image 60C in which a part of the truck image 62 is within a reachable area 63. As shown in Fig. 7(d) , when the distance between the truck 30 and the delivery location CP is sufficiently small and the truck 30 is deemed to have reached the delivery location CP, the display device 50 displays a guidance image 60D in which the truck image 62 is within the reachable area 63. Note that, taking into consideration the distance required for braking of the truck 30, a separate guidance image (such as the image in Fig. 8(c) ) urging the truck 30 to stop may be displayed on the display device 50 just before the truck 30 arrives at the delivery location CP.

[0037] The display device 50 may display a color based on the relative distance between the truck 30 and the RTG crane 10. The display device 50 may change the background color 64 depending on the relative distance between the truck 30 and the RTG crane 10. For example, the display device 50 displays the background 64 in "blue," "yellow," and "red" in order of distance from the truck 30 to the transfer location CP. As shown in FIGS. 7( a) and 7(b), when the truck 30 is away from the transfer location CP, the display device 50 displays the background 64 in "blue." As shown in FIG. 7(c), when the truck 30 is close to the transfer location CP, the display device 50 displays the background 64 in "yellow." As shown in FIG. 7(d), when the truck 30 has reached the transfer location CP, the display device 50 displays the background 64 in "red." In addition to or instead of the background color 64 , the display device 50 may change the color of at least one object depending on the relative distance between the truck 30 and the RTG crane 10 .

[0038] If the truck 30 passes the delivery point CP from the state shown in FIG. 7(d), the display device 50 displays the truck image 62 in FIG. 7(c) so that it extends beyond the upper end of the arrival area 63. At this time, the display device 50 changes the background 64 from "red" to "yellow." Also, in FIG. 7(c), the arrow 61 (first object) is displayed upside down. Furthermore, if the truck 30 passes the delivery point CP by a large amount, the arrow 61 (first object) is displayed upside down in FIG. 7(a). In this case, the arrow 61 (first object) moves from top to bottom.

[0039] The display device 50 may display other images at times other than when guiding the truck 30 with the guidance image. For example, when waiting for a container transport instruction, the display device 50 may display the image of FIG. 8( a) indicating a waiting state. Furthermore, before the truck 30 approaches the transfer point CP after receiving the container transport instruction, the display device 50 may display the image of FIG. 8( b) indicating that the RTG crane 10 is waiting for the arrival of the truck. When the detection unit 40 detects the truck 30, the display device 50 switches from the display of FIG. 8( b) to the guidance image 60A of FIG. 7( a). Furthermore, when the truck 30 arrives at the transfer point CP and is waiting to load the container, the display device 50 may display the image of FIG. 8( c) instructing the truck 30 to stop. During container loading, the display device 50 may display the image of FIG. 8( d) indicating that it is dangerous for the truck 30 to move forward and subsequently instructing the truck 30 to stop. When loading is completed, the display device 50 may display the image of FIG. 9( a) instructing the truck 30 to move. When guidance of the truck 30 is finished, the display device 50 may again display the image of FIG. 8( a). The display device 50 may display an image showing the operating status of the RTG crane 10 as necessary. For example, when the RTG crane 10 is manually performing loading and unloading, the display device 50 may display the image of FIG. 9( b). If an error occurs, the display device 50 may display the image of FIG. 9( c). When the RTG crane 10 is traveling, the display device 50 may display the image of FIG. 9( d).

[0040] Next, with reference to FIG. 10 , the image processing procedure for the guidance image displayed on the display device 50 will be described. FIG. 10 is a flowchart showing the image processing procedure for the guidance image displayed on the display device 50. As shown in FIG. 10 , the crane control device 20 determines whether the truck 30 has approached the transfer location CP based on the detection result of the detection unit 40 (step S110). In step S110, the crane control device 20 may determine whether the detection unit 40 has detected the truck 30 or whether the distance between the truck 30 and the transfer location CP is equal to or less than a predetermined threshold. If it is determined in step S110 that the truck 30 is not approaching the transfer location CP, the process of step S110 is repeated again. If it is determined in step S110 that the truck 30 has approached the transfer location CP, the crane control device 20 displays a moving arrow 61 as shown in FIG. 7( a) and starts guiding the truck 30 (step S120).

[0041] Next, the crane control device 20 determines whether the distance between the truck 30 and the transfer location CP is equal to or less than the first threshold (step S130). If it is determined in step S130 that the distance is not equal to or less than the threshold, the crane control device 20 repeats the process from step S120. At this time, if the truck 30 approaches the transfer location CP, the movement speed of the arrow 61 (first object) is slowed. If it is determined in step S130 that the distance is equal to or less than the second threshold, the crane control device 20 displays a truck image 62 (second object) and a reachable area 63 (third object) as shown in FIGS. 7(b), 7(c), and 7(d), and adjusts the color of the object (step S140). Immediately after proceeding to step S140, the guidance image 60B shown in FIG. 7(b) is displayed on the display device 50. Note that if the truck 30 has passed the transfer location CP, the object may be displayed upside down or the movement direction of the object may be reversed.

[0042] Next, the crane control device 20 determines whether the truck 30 has arrived at and stopped at the target location, the transfer location CP (step S150). If it is determined in step S150 that the truck 30 has not stopped at the target location, the crane control device 20 repeats the process from step S140. At this time, the crane control device 20 adjusts the speed of the arrow 61, the positional relationship between the truck image 62 and the arrival area 63, and the background 64 according to the positional relationship between the truck 30 and the transfer location CP. If it is determined in step S150 that the truck 30 has stopped at the target location, the crane control device 20 terminates the display of the guidance image on the display device 50 (step S160). After guiding the truck 30, the display device 50 may continue to display instructions for the truck 30, such as those shown in FIGS. 8(c) and 8(d). Stopping at the target location may be detected, for example, based on the truck 30 being stopped for a predetermined period of time.

[0043] Next, the functions and effects of the crane system 100 and the display device 50 according to this embodiment will be described.

[0044] In the crane system 100 of the RTG crane 10, automation is being promoted to automatically operate the RTG crane, aiming to reduce labor and improve cargo handling efficiency. Meanwhile, for trucks that transfer containers between the RTG crane and the crane, manual operation of the RTG crane 10 may still be employed. Therefore, various position guidance methods for the truck 30 driver have been conventionally used. However, conventional methods, such as voice guidance or instructions using rotating lights, have not easily achieved high-precision (e.g., ±30 mm) position adjustment for a truck 30 with a total length of, for example, approximately 20,000 mm. For example, voice guidance methods have the drawback of requiring a human instructor, making automation difficult. Furthermore, voice guidance methods have the drawback of making it difficult to provide fine-tuning instructions. Guidance methods using light sources, such as lamps and rotating lights, have the drawback of providing limited information.

[0045] In contrast, the crane system 100 according to this embodiment is equipped with a display device 50. Therefore, when the truck 30 approaches the RTG crane 10 to transfer the container 3, the driver of the truck 30 can align the truck 30 with a target position relative to the RTG crane 10 based on the visual information displayed on the display device 50. Here, the display device 50 displays abstract visual information for guiding the truck 30 based on the detection result of the relative positional relationship between the RTG crane 10 and the truck 30. Therefore, the display device 50 can display abstract visual information for guiding the truck 30 so that the driver of the truck 30 can easily visually understand the relative positional relationship between the RTG crane 10 and the truck 30. The driver can accurately grasp the relative positional relationship between the RTG crane 10 and the truck 30 using the visual information, and is thereby accurately guided. As described above, the truck 30 can be accurately guided to a position relative to the RTG crane 10. Furthermore, when the truck 30 is visually guided using the display device 50 in this manner, detailed information can be presented to the driver, making it easier to automate the crane system 100 compared to guidance using sound or light sources such as lamps.

[0046] That is, the crane system 100 is equipped with a display device 50. Therefore, when the truck 30 approaches the RTG crane 10 to transfer the container 3, the driver of the truck 30 can align the truck 30 with a target position relative to the RTG crane 10 based on the guidance image displayed on the display device 50. Here, the display device 50 displays a guidance image for guiding the truck 30. The crane system 100 expresses the relative positional relationship between the RTG crane 10 and the truck 30 detected by the detection unit 40 by changing the guidance image. Therefore, the crane system 100 can display a guidance image for guiding the truck 30 so that the driver of the truck 30 can easily visually understand the relative positional relationship between the RTG crane 10 and the truck 30. The driver is accurately guided by accurately grasping the relative positional relationship between the RTG crane 10 and the truck 30 using the guidance image. As described above, the truck 30 can be accurately guided to a position relative to the RTG crane 10.

[0047] The display device 50 may be provided on the leg 26 of the RTG crane 10 that is closer to the loading lane CR, which is the travel path of the truck 30. In this case, the driver of the truck 30 can check the guidance image (visual information) on the display device 50 while visually checking the leg 26 on the closer side or while visually checking the leg 26 on the closer side through a mirror.

[0048] The display device 50 may have a first display 51 visible from the traveling direction D2 of the RTG crane 10, and a second display 52 visible from inside in the width direction D1 of the RTG crane 10. In this case, when the driver of the truck 30 is far from the target position, the driver can check the first display 51 from the traveling direction D2, and when the driver approaches the target position, the driver can check the second display 52 from inside in the width direction D1.

[0049] The guidance image (visual information) includes an arrow 61 (first object) that moves against the background of the display device 50, and the movement speed of the arrow 61 may be adjusted according to the relative distance between the truck 30 and the RTG crane 10. In this case, the driver can intuitively grasp the relative distance between the truck 30 and the RTG crane 10 from the movement speed of the arrow 61. Furthermore, by making the arrow 61 stand out in the image, the driver can easily see it even from a distance.

[0050] The color of the arrow 61 (first object) may differ depending on the relative distance between the truck 30 and the RTG crane 10. In this case, the driver can intuitively grasp the relative distance between the truck 30 and the RTG crane 10 based on the color. Furthermore, by making the color stand out in the image, the driver can easily recognize the arrow 61 even from a distance.

[0051] The color of the background 64 may differ depending on the relative distance between the truck 30 and the RTG crane 10. In this case, the driver can intuitively grasp the relative distance between the truck 30 and the RTG crane 10 based on the background color. In addition, because the background color stands out in the image, the driver can easily see it even from a distance.

[0052] The guidance image (visual information) includes a truck image 62 (second object) indicating the truck 30 and a reach area 63 (third object) indicating the target position of the truck 30, and the relative positional relationship between the truck image 62 and the reach area 63 in the image may be adjusted based on the relative distance between the truck 30 and the RTG crane 10. In this case, the driver can intuitively grasp the relative distance between the truck 30 and the RTG crane 10 based on the relative positional relationship between the truck image 62 and the reach area 63 in the image. Furthermore, by making the truck image 62 and the reach area 63 stand out in the image, the driver can easily see them even from a distance.

[0053] The display device 50 of this embodiment is a display device 50 that displays an image (visual information) related to a crane system 100 that suspends a container 3 with an RTG crane 10 and loads it onto a truck 30, and expresses the relative positional relationship between the RTG crane 10 and the truck 30 by changing the image.

[0054] According to this display device 50, it is possible to obtain the same functions and effects as those of the crane system 100 described above.

[0055] The present disclosure is not limited to the above-described embodiments.

[0056] The guidance image shown in FIG. 7 is merely an example, and the specific content is not particularly limited as long as it displays visual information that has undergone image processing based on the detection result of the detection unit 40.

[0057] For example, the guidance image 70 shown in FIG. 11 may be adopted. The guidance image 70 shows the distance between the truck 30 and the target position using a bar graph 71 (first object). Furthermore, the distance is displayed numerically in a display area 72. Furthermore, the bar graph 71 displays instructions. The guidance image 60 in FIG. 7 makes the target position range easier to see than the guidance image 70 in FIG. 11. Furthermore, the characters may be difficult to read from a distance. In particular, when viewing the display device 50 through a mirror from the truck 30, the characters may be even more difficult to read, and the characters may be inverted. Therefore, the characters in the guidance image 70 may be displayed inverted. The guidance image 60 in FIG. 7 is easier for the driver to recognize than characters.

[0058] For example, a guidance image 80 shown in FIG. 12 may be employed. The guidance image 80 has an arrow 81 (first object) and an instruction content display area 82. The arrow 81 indicates the distance by changing the shape of its bottom end. The guidance image 80A in FIG. 12(a) indicates a state in which the truck 30 is far from the target position. The guidance image 80B in FIG. 12(b) indicates that the truck 30 is at a medium distance from the target position. The guidance image 80C in FIG. 12(c) indicates a state in which the truck 30 is close to the target position. The moving arrow 61 in the guidance image 60 in FIG. 7 is easier to recognize as an object change than the arrow 81 in FIG. 12. This makes it easier for the driver to intuitively recognize the distance.

[0059] For example, the arrow 61 (first object) in FIG. 7A indicates the distance by adjusting the moving speed in the vertical direction. Alternatively, the blinking cycle of the arrow 61 may be adjusted to indicate the distance. For example, the blinking cycle may be slower as the distance increases, and faster as the distance decreases. Note that the moving arrow 61 of the guidance image 60 in FIG. 7 is easier to recognize as an object change than the blinking arrow 61. This makes it easier for the driver to intuitively recognize the distance.

[0060] For example, a guidance image 90 shown in FIG. 13 may be employed. The guidance image 90 includes a truck image 91 (second object) and a reachable area 93 (third object). The guidance image 90 adjusts the color of a frame 94 according to the distance. The frame 94 of the guidance image 90A in FIG. 13(a) indicates "blue." The frame 94 of the guidance image 90B in FIG. 13(b) indicates "yellow." The frame 94 of the guidance image 90C in FIG. 13(c) indicates "red." Note that the color change of the background 64 in FIG. 7 is easier to recognize than that of the frame 94.

[0061] In the above embodiment, the display device 50 is provided at the lower end of the traveling device of the RTG crane, but there is no particular limitation on where on the RTG crane it is provided. Furthermore, the display device 50 does not have to be provided on the RTG crane. For example, a terminal in the operator's hand may be used as the display device, and a guidance image may be displayed on the terminal. Furthermore, the display device 50 does not have to be a display. For example, a projector may be used as the display device, and guidance images may be projected onto the legs of the RTG crane or the travel path of the transport vehicle.

[0062] 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.

[0063] The crane system with the display may be applied to an existing crane.

[0064] 10...RTG crane, 30...truck (transportation vehicle), 50...display device, 61...arrow (first object), 62...truck image (second object), 63...reachable area (third object), 100...crane system.

Claims

1. A crane system in which a container is suspended by a crane and loaded onto a transport cart, the crane system comprising: a detection unit which detects the relative positional relationship between the crane and the transport cart; and a display unit which displays a guidance image for guiding the transport cart, and the relative positional relationship between the crane and the transport cart detected by the detection unit is expressed by changing the guidance image.

2. A crane system as described in claim 1, wherein the display unit is provided on the leg of the crane closer to the running path of the transporting cart.

3. A crane system as described in claim 1, wherein the display unit has: a first display visible from the direction of travel of the crane; and a second display visible from the inside in the width direction of the crane.

4. A crane system as described in claim 1, wherein the guidance image includes a first object that moves against the background of the display unit, and the moving speed of the first object is adjusted according to the relative distance between the transport vehicle and the crane.

5. The crane system according to claim 4, wherein the color of the first object varies depending on the relative distance between the transport vehicle and the crane.

6. A crane system as described in claim 5, wherein the color of the background varies depending on the relative distance between the transport vehicle and the crane.

7. A crane system as described in claim 1, wherein the guidance image includes a second object indicating the transport vehicle and a third object indicating a target position of the transport vehicle, and the relative positional relationship between the second object and the third object in the image is adjusted based on the relative distance between the transport vehicle and the crane.

8. A display device that displays an image relating to a crane system in which a container is suspended by a crane and loaded onto a transport vehicle, and which expresses the relative positional relationship between the crane and the transport vehicle by changing the image.

Images