JP2003146579A - Crane control device and control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a damage of a container from occurring by certainly avoiding a collision of a conveyed container with a heaped container in a crane control device and a control method. SOLUTION: Heap detection sensors 39a to 39g are provided on a girder part 13 of a body frame 11 corresponding to heaps of the containers C. A heaped area is set based on a detection result of the heap detection sensors 39a to 39g and a lateral movement restriction area, a descending restriction area and an ascending restriction area of the containers C are set. During conveying of the containers C retained by a spreader 19, when the containers C are advanced into the lateral movement restriction area, the descending restriction area and the ascending restriction area, a conveying speed of the container C is reduced.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane control device and a control method for controlling the operation of a crane used as a transfer crane for port cargo handling equipment.

[0002]

2. Description of the Related Art FIG. 5 schematically shows a conventional transfer crane. Fig. 5 shows a conventional transfer crane.
As shown in FIG. 3, the main body stand 101 having a gate shape can run along the road surface G by the plurality of running wheels 102.
A trolley 103 is movable in the transverse direction on the upper part of the main body stand 101, and a take-up drum (not shown) that can be driven and rotated is mounted on the trolley 103. A hanger 105 is attached to a lower end portion of a wire rope 104 for use with a cable. Therefore, the operator is
The container C can be traversed by moving the trolley 103 on the main body stand 101 while the container C is being held, and the winding drum is driven and rotated at a predetermined stop position of the trolley 103. The container C can be moved up and down by performing the winding operation or the unwinding operation of the wire rope 104.

[0003]

In such a conventional transfer crane, piles of containers C are lined up in the transverse direction on the road surface G below the main body stand 101,
The end portion is the traveling line of the carrier truck 106. When the container C at one end is transferred to the transfer carriage 106 with the main body stand 101 stopped at a predetermined position, the operator lowers the suspending tool 105 from the trolley 103 located above the container C to move the container C to the container C. By holding the container C and performing an ascending operation, a traverse operation, and a descending operation, the held container C is transferred to the top of the transfer carriage 106.

In this case, the operator manually operates the lifting device 10
The container C held by 5 is carried up, traverse, and lower to carry the container C to the carriage 106, and the lifting device 105 (container 105 is provided so as not to collide with the containers C piled up on the road surface G. C) needs to be moved. However, the operator will perform a moving operation while visually observing the lower hanger 105, the container C, and the like from the driver's seat provided in the lower portion of the trolley 103, and the operator will be suspended from the trolley 103 from this driver's seat. In addition, there is a problem that it is difficult to visually recognize the piled containers C due to the hanger 105 and the containers C being an obstacle, and it is difficult to avoid a collision, resulting in poor operability.

Therefore, it has been proposed to provide an interlock which cannot traverse unless the lifting device 105 is raised to the uppermost position. However, if this interlock is used, regardless of the height of the containers C piled up on the road surface G, the suspending tool 105 (container C) starts to traverse after rising to the uppermost position and reaches a predetermined traverse position. At this point, the container C is stopped and then lowered, and the held container C is lowered onto the transport carriage 106, which causes a problem that the transport time becomes long and the cargo handling efficiency is significantly reduced.

Incidentally, Japanese Patent Laid-Open No. 7-117981 discloses that
A technique is disclosed in which a girder of a crane is provided with a distance detection sensor that detects the distance to the top of the container, and the stack height of all the containers is known to enable efficient cargo handling. However, the technology disclosed in this publication is
Only by grasping the pile heights of all the containers, the operator has to perform collision avoidance between the suspended container C and the piled container C by his / her own manual operation, resulting in a large burden on the operator. However, the collision of the container C cannot be reliably avoided.

The present invention solves such a problem, and provides a crane control device and a control method for surely avoiding a collision between a container being transported and a pile of containers to prevent the container from being damaged. The purpose is to

[0008]

In order to achieve the above-mentioned object, a crane control device according to the invention of claim 1 is a gate-shaped main body mount, a container-removable suspender, and a main body mount. Lifting device traverse means for traversing the lifting device, lifting device lifting means for lifting the lifting device with respect to the main frame, and cargo handling position detection device for detecting the position of the container held by the lifting device, Pile height detecting means for detecting the height of the containers stacked below the main frame, traverse limiting area setting means for setting a traverse limiting area based on the detection result of the pile height detecting means, and the cargo handling Control means for reducing the traverse speed of the lifting device by the lifting device traversing device when the position of the hanging container detected by the position detection device is in the lateral travel restriction region set by the lateral travel restriction region setting device. It is an feature.

The crane control device according to a second aspect of the present invention comprises a gate-shaped main body mount, a suspender to which the container is detachably attached, and a suspender traverse means for traversing the suspender with respect to the main body mount. A lifting device elevating means for elevating and lowering the hanging device with respect to the main body mount, a cargo handling position detecting means for detecting a position of a container held by the hanging device, and a height of a container stacked below the main body mount. The pile height detecting means for detecting the height, the descending limit area setting means for setting the descending limit area based on the detection result of the pile height detecting means, and the position of the hanging container detected by the cargo handling position detecting means. And a control means for reducing the descending speed of the lifting device by the lifting device elevating means when in the falling restriction region set by the descending restriction region setting device.

The crane control device according to a third aspect of the present invention includes a gate-shaped main body mount, a suspender to which the container is detachably attached, and a suspender traverse means for traversing the suspender with respect to the main body mount. A lifting device elevating means for elevating and lowering the hanging device with respect to the main body mount, a cargo handling position detecting means for detecting a position of a container held by the hanging device, and a height of a container stacked below the main body mount. Pile height detecting means for detecting the height, climbing limit area setting means for setting a climbing limit area based on the detection result of the pile height detecting means, and the position of the hanging container detected by the cargo handling position detecting means And a control means for reducing the lifting speed of the lifting tool by the lifting tool lifting means when in the lifting restriction area set by the lifting restriction area setting means.

Further, the crane control apparatus according to the invention of claim 4 is characterized by further comprising area entry display means for turning on a lamp when the position of the container is in the restricted area.

Further, the crane control apparatus according to the invention of claim 5 is characterized in that normal detection display means for displaying the normal detection of the pile height of the container by the pile height detecting means is provided.

Further, the crane control method according to the invention of claim 6 includes a main body frame having a gate shape, a suspender for detachably attaching the container, and a suspender traverse means for traversing the suspender with respect to the main frame. In a crane device equipped with a lifting tool lifting means for lifting and lowering the lifting tool with respect to the main body stand, while detecting the position of the container held by the lifting tool, it is possible to detect a container stacked below the main stand. When the height is detected and a movement restriction area is set based on the detection result, and the position of the hanging container enters the movement restriction area, movement of the lifting equipment by the lifting equipment traverse means or the lifting equipment lifting means. It is characterized by reducing the speed.

Further, in the crane control method according to the invention of claim 7, when the position of the hanging container enters the movement restricted area, a lamp for notifying an operator of entering the movement restricted area is turned on. There is.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings.

FIG. 1 is a block diagram showing a crane controller according to an embodiment of the present invention, FIG. 2 is a schematic diagram of the crane controller according to the present embodiment, and FIG. 3 is a diagram showing a restricted area in the crane controller according to the present embodiment. Explanation showing the setting method, Fig. 4
The operation explanation of the crane control device of the present embodiment is shown in FIG.

First, the structure of the crane apparatus of this embodiment will be described. As shown in FIGS. 1 and 2, the crane device according to the present embodiment is a transfer crane, and the main body frame 11 has a gate shape, and a plurality of traveling units are rotatably driven by traveling motors (not shown) at lower portions on both sides. Wheels 12 are mounted. A trolley 14 is movably supported on the garter portion 13 of the main frame 11 along the longitudinal direction (transverse direction) thereof, and a traverse motor (suspension device traverse means) 1
It is possible to move by 5. A rotating drum 16 is mounted on the trolley 14, and the rotating drum 16 can be driven and rotated by a winding motor (lifting means elevating means) 18.

On the other hand, the spreader 19 as a suspending device can hold the container C, and a pair of left and right rope pulleys 20 and 21 are mounted on the upper part thereof. And the rotating drum 1
The left and right wire ropes 22 and 23 fed from 6 are wound around the rope pulleys 20 and 21 via sheaves 24 and 25, and then connected to the trolley 14. A cab 26 is provided below the trolley 14 on the main frame 11.

Therefore, the container C held by the spreader 19 can be raised by rotating the rotating drum 16 in the forward direction by the winding motor 18 and winding the wire ropes 22 and 23, and rotating by the winding motor 18. By rotating the drum 16 in the reverse direction and feeding out the wire ropes 22 and 23,
The container C held by the spreader 19 can be lowered. In addition, the traverse motor 15 is rotated to move the trolley 14
The spreader 1 is moved by moving the
The container C held in 9 can be traversed.

Next, the traverse control and elevating control of the spreader 19 (container C) by the crane controller of this embodiment will be described. As shown in FIG. 1, the control device 31
The take-up motor 18 is connected via a driver 32, and the traverse motor 15 is connected via a driver 33. The take-up motor 18 and the traverse motor 15 are equipped with speed detectors 34 and 35, respectively, and the detection results are input to the control device 31. Therefore, the control device 3
When the speed command from No. 1 is input to each driver 32, 33, the drivers 32, 33 drive the take-up motor 18 and the traverse motor 15 based on each speed command, while rotating the take-up motor 18 and the traverse motor 15. The speed is input from the speed detectors 34 and 35 to the control device 31, where feedback control is performed.

Further, a winding position detecting sensor (cargo handling position detecting means) 36 is attached to the rotary drum 16, and the winding positions of the wire ropes 22 and 23 are input to the control device 31, which then controls the winding device. Spreader 19 based on position
The elevation position of (container C) can be calculated. On the other hand, a traverse position detection sensor (cargo handling position detection means) 37 is attached to the trolley 14, and the traverse position of the trolley 14 is input to the control device 31.

Further, on the road surface G below the main frame 11, there are six piles of containers C arranged in the transverse direction, and the ends of the piles are the running line of the carriage 38 (see FIG. 4). ing. In the garter section 13 of the main body stand 11, a pile detection sensor (stack height detection means) using a laser range finder, an ultrasonic range finder, or the like corresponding to each pile of the container C and the carriage 38 (travel line). ) 39a to 39g are mounted, the detection result is input to the control device 31, and the control device 31 can calculate each pile height of the container C based on the detection result.

An operation panel 40 and a display panel 41 provided in the cab 26 are connected to the control device 31. The operation panel 40 is provided with a main switch 42 and a movement restriction control switch 43, and is also provided with master control levers 44 and 45 for performing a traverse operation and a lifting operation of the spreader 19. On the other hand, the display board 41
Is provided with a main lamp 46 that is turned on by the input of the main switch 42, and that the container C held by the spreader 19 has entered a movement restriction area (a traverse restriction area, a descending restriction area, an ascending restriction area) described later. Restricted area entry lamp (area entry display means) 47,
48 and 49 are provided. The restricted area entry lamps 47, 48, 49 are also provided on the spreader 19 so that the operator can confirm the entry into the restricted area without changing the viewpoint. In this case, the restricted area entry ramp 47,
In addition to 48 and 49, a restricted area entry buzzer may be provided.

On the display board 41, a normal detection lamp (normal detection display means) 50 that lights up when the pile detection sensors 39a to 39g are operating normally, and the pile detection sensors 39a to 39g. And a pile height display lamp 51 that displays the pile height of each container C calculated based on the detection result of 1. The normality detection lamp 50 has a shortage of light quantity when the laser emitted by the pile detection sensors 39a to 39g is not reflected and returned.
When the pile detection sensors 39a to 39g are out of order and the output is 0, the light is turned off to notify, and when the pile detection sensors 39a to 39g cannot detect and the normal detection lamp 50 is turned off. , Pile detection sensor 39
a to 39 g output the pile height of the container C as the maximum value. Further, since the pile detection sensors 39a to 39g cannot detect the pile height of the container C when the spreader 19 is positioned in the laser irradiation direction, the control device 31 detects the winding position detection sensor 36 and the transverse position detection. The position information of the trolley 14 detected by the sensor 37 is not detected at this time.

Here, a method for setting the movement restriction area (the transverse restriction area, the descending restriction area, the ascending restriction area) will be described with reference to FIGS. 3 and 4. As shown in FIGS. 3 and 4, when the pile detection sensors 39a to 39g detect the distances of the piles to the upper surface of the container C, the controller 31 inputs the mounting heights of the pile detection sensors 39a to 39g that are input in advance. Then, the detection distance is subtracted from this to calculate the height of the pile. Further, the control device 31 sets the pile area of the container C by calculating the width of the pile based on the width and the gap of the container C (the mounting gap of the pile detection sensors 39a to 39g) which are input in advance. be able to.

Then, based on the piled-up area of the container C, a transverse restriction area, a downward restriction area, and an upward restriction area are set as movement restriction areas. That is, as shown in detail in FIG. 3, in the transverse restriction area, the clear height H _T is added to the pile area of the container C to set the restriction area height, and the clear distance L _T is added. To set the restricted area length. This clear height H _T is the pile height detection sensor 39a.
It is set in consideration of the detection error due to 39 g, the traverse / elevation control error of the spreader 19 (container C), the height of the lock pin of the container C, and the like. Also, clear distance L _T
Is the above-mentioned traverse / lift control error and one container C
, The amount of swing of the hanging container C, the amount of change in the stacking position, and the like are set. The traveling line of the carriage 38 provided inside the main frame 11 is provided in one of the traverse directions of the trolley 14, and the stacking position of the containers C is deviated depending on the installation position of this traveling line. The amount of change in the stacking position is taken into consideration.

In the descending limit area, the clear height _HL is added to the pile area of the container C to set the limit area height, and the clear distance _LL is added to set the limit area length. Set. The clear height H _L is set in consideration of the detection error and the traverse / elevation control error.
Set smaller than _T. Also, the clear distance L _L is
It is set in consideration of the traverse / lift control error, the shake amount of the hanging container C, the stacking position change amount, and the like, and is set smaller than the clear distance L _T.

On the other hand, as shown in detail in FIG. 4, the climb restriction area has a clear height H relative to the pile area of the container C.
Add _H to set the restricted area height. This clear height H _H is the detection error by the pile detection sensors 39a to 39g, the traverse / elevation control error of the spreader 19 (container C), the height of the lock pin of the container C, and the height of one container C. , Margin allowance, etc. are taken into consideration.

Then, with respect to the transverse direction of the container C,
When the center position of the container C enters the transverse limitation area, the control device 31 outputs a deceleration command to the driver 33 regardless of the speed command from the master control lever 44 of the operator. Further, when the central position of the lower surface of the container C enters the lowering limit region in the descending direction of the container C, the control device 31 instructs the driver 32 to decelerate regardless of the speed command from the master control lever 45 of the operator. Is output. Furthermore, with respect to the rising direction of the container C,
When the upper surface of the container C enters the ascending restriction area, the control device 31 controls the master control lever 45 of the operator.
A deceleration command is output to the driver 32 regardless of the speed command by.

The traverse control and elevating control of the container C by the crane controller of this embodiment will be specifically described below. As shown in FIGS. 1 and 4, when the main body stand 11 stops at a predetermined position, each pile detection sensor 39a ...
39g detects the distance to the upper surface of container C of piles,
The control device 31 sets the pile area of the container C based on the detected distance, and subsequently sets the transverse limitation area, the downward limitation area, and the upward limitation area. The pile pile detection sensor 39f cannot irradiate the container C with a laser because the spreader 19 is stopped, and cannot detect the pile height of the container C. Therefore, after the spreader 19 traverses from this position, the pile-up detection sensor 39f performs detection.

When the traverse restriction area, the descending restriction area, and the ascending restriction area of the container C are set in this manner, the operator carries out the container C. For example, when the container C ₁ placed at the end in the transverse direction is conveyed to the top of the conveyance carriage 38, the operator operates the master control levers 44 and 45 to first traverse and lower the empty spreader 19 to move the container C _1. holding the C _1, then, transverse with increasing container C ₁ in which the spreader 19 is held, that is, raising the right obliquely in FIG.

This container C₁The rise of the
NA C₁If the center of the
The area entry lamp 47 is turned on and the control device 31 is a container.
C₁By reducing the traverse speed of the vehicle to 10%,
The collision with the antenna C can be avoided. Meanwhile, the operation
The person can limit the traverse by turning on the traverse limitation area entry lamp 47.
Recognizing entry into the area, master control lever 4
Container C with 4,45₁Stop the traverse operation of. Well
This container C₁Rises to some extent and the upper surface rises
When entering the limit area, the climb limit area entry ramp 49 will turn on.
Light and control device 31 is container C₁Rise rate of 10%
Slow down. The operator points at the climbing limit area entry lamp 49.
The light is used to recognize the entry into the climbing restriction area and
Container C with trawl levers 44 and 45₁Ascending maneuver
By stopping the work, this container C ₁Prevents unnecessary movement
You can stop.

When the container C ₁ reaches the upper part of the carriage 38, the operator controls the master control lever 4
4 and 45 are operated to lower the container C ₁ . The falling into the container C _1, the lower surface of the container C ₁ enters the descending restriction area, the control device 31 descending restriction region enters the lamp 48 is lit to slow the lowering speed of the container C ₁ to 20%. The operator recognizes that the container C ₁ has approached the transport carriage 38 by turning on the descending limit area entry lamp 48, and operates the master control levers 44 and 45 appropriately to move the container C ₁ onto the transport carriage 38. It can be placed properly.

When the container C ₁ is conveyed onto the container C ₂ , the operator holds the container C ₁ by the spreader 19 by operating the master control levers 44 and 45, as described above. _{It is} conveyed to the upper part of ₂ and the container C ₁ is lowered. When the container C ₁ is displaced from the predetermined position (container C ₂ ) in one of the transverse directions when the container C ₁ is descending, the container C ₁
The center position of the lower surface of ₁ enters the lowering limit region, the lowering limit region entry lamp 48 is turned on, and the control device 31 reduces the lowering speed of the container C ₁ to 10%. Here, when the operator manipulates the master control levers 44 and 45 to slightly traverse the container C ₁ to correct the position, the descending restriction area entry lamp 48 is turned off, so that the container C ₁ is moved out of the descending restriction area. Confirm the escape.

Then, the container C₁Further down
Then, since the descending restriction area entry lamp 48 is turned on again,
Operator is Container C₁Is container C₂To approach
Recognize and accurately adjust the master control levers 44 and 45.
By operating the container C ₂Container C on top₁Suitable for
It can be placed exactly.

As described above, in the crane controller of this embodiment, the container C is attached to the garter section 13 of the main body stand 11.
Piled-up detection sensors 39a to 39g are provided corresponding to the piled-up piles, and the piled-up area is set based on the detection result of the piled-up detection sensors 39a to 39g. Set the climb limit area,
While the container C held by the spreader 19 is being conveyed, when the container C enters the traverse restriction region, the descending restriction region, or the ascending restriction region, the conveyance speed of the container C is decelerated.

Therefore, by preventing the hanging container C being transported from colliding with the piled container C at a high speed,
It is possible to prevent damage to the container C and improve safety. Further, the hanging container C can be traversed and lifted at the same time, and the container C can be prevented from moving to an unnecessary area. The shortest route can be transported in a short time, and the transport efficiency of the container C can be improved.

In this case, the descending restriction area is set smaller than the transverse restriction area. The traverse restriction area is for preventing the hanging container C from colliding with the container C of a pile located below when the hanging container C is traversing,
The size of the area is sufficient to ensure the operator's sense of security. On the other hand, the descending restriction area is the hanging container C.
This is for preventing the container C from colliding with the container C of the piles adjacent to the periphery before the robot descends and is placed at a predetermined position. Has secured the size of. That is, if the descending restriction area is set to be large, when the hanging container C descends, it will be decelerated from a position far away from the predetermined position, and it will take a long time before the container C is placed. The transport efficiency of the container C will be reduced. Therefore, when lowering the hanging container C, the transport efficiency of the container C is improved by decelerating immediately before the mounting position.

Further, there are provided restricted area entry lamps 47, 48 and 49 for informing that the hanging container C has entered the traverse restricted area, the descending restricted area and the ascended restricted area, so that the operator can be sure of the position of the hanging container C. Can be notified to prompt the next operation, and the transport efficiency of the container C can be improved. In this case, the restricted area approach ramps 47, 48,
By providing the spreader 19 with 49, the operator can confirm the entry into the restricted area without changing the viewpoint, and the safety can be improved.

Further, since the normal detection lamp 50 of the pile detection sensors 39a to 39g is provided, the operator can recognize the detection state of the pile height of the container C by the pile detection sensors 39a to 39g. . Then, when the normality detection lamp 50 is turned off, the height detection by the pile detection sensors 39a to 39g is disabled, and the pile height of the container C is output as the maximum value. Therefore, the operator operates the master control levers 44 and 45 on the assumption that the pile height of the container C is the maximum, and selects the transport path of the container C, thereby causing a collision between the hanging container C and the pile container C. It can be surely prevented.

Although the crane control device and control method according to the present invention have been applied to the transfer crane in the above embodiment, the crane type is not limited to this. In addition, the trolley 14 is allowed to traverse to the garter portion 13 of the main body frame 11, and the wire ropes 22, 23
The spreader 19 was suspended and supported by pulling out the supporter. However, the support part is fixed to the main body mount 11, and the supporter 1 is supported from this support part.
Wire rope 2 through sheaves attached to both ends of 1
2 and 23 are pulled out to suspend and support the spreader 19,
The spreader 19 may be traversed and raised and lowered according to the winding and unwinding directions of the wire ropes 22 and 23.

[0042]

As described above in detail in the embodiments, according to the crane control device of the invention of claim 1, the container can be attached to and detached from the main body stand in the form of a gate by the hoisting tool traverse means and the hoisting tool elevating means. A lifting device that can be traversed up and down freely, a cargo handling position detection device that detects the position of the container held by the lifting device, a pile height detection device that detects the height of the container stacked below the main frame, and a container Since the traverse restriction area setting means for setting the traverse restriction area based on the pile height of and the control means for reducing the traverse speed of the lifting device when the position of the hanging container is in the traverse restriction area are provided, By preventing the hanging container from colliding with the pile at high speed, damage to the container can be prevented and safety can be improved, and by simultaneously traversing and lifting the hanging container, Containers can be conveyed in a short time, it is possible to improve the efficiency of transporting container.

According to the crane control device of the second aspect of the present invention, the container is detachably attachable to and detachable from the container by means of the suspender traverse means and the suspender lifting means, and is held by the suspender. The cargo handling position detecting means for detecting the position of the stored container, the pile height detecting means for detecting the height of the containers stacked below the main frame, and the descending limit area is set based on the pile height of the containers. Since the descending restriction area setting means and the control means for reducing the descending speed of the lifting device when the position of the hanging container is in the descending restriction area are provided, it is possible to prevent the hanging container being transported from colliding with the pile at a high speed. By preventing it, damage to the container can be prevented and safety can be improved, and by simultaneously traversing and lifting the hanging container, the container can be transported in a short time. It is possible to improve the transfer efficiency.

According to the crane controller of the third aspect of the present invention, the container is detachably attachable to and detachable from the main body stand in the form of a gate by the hoisting tool traversing means and the hoisting tool elevating means, and is held by the hoisting tool. The cargo handling position detecting means for detecting the position of the stored container, the pile height detecting means for detecting the height of the containers stacked below the main frame, and the climbing limit area is set based on the pile height of the containers. Since the lifting limit area setting means and the control means for reducing the lifting speed of the lifting device when the position of the container is in the lifting restriction area are provided, it is possible to prevent the hanging container being transported from colliding with the pile at a high speed. By doing so, it is possible to prevent damage to the container and improve safety.At the same time, the hanging container can be traversed and raised and lowered at the same time, and the hanging container can be prevented from moving to unnecessary areas. The can be conveyed in a short time at the shortest route, it is possible to improve the efficiency of transporting container.

According to the crane control apparatus of the invention of claim 4, since the area entry display means for turning on the lamp is provided when the position of the hanging container is in the restricted area, the position of the hanging container is surely confirmed to the operator. It is possible to notify the user and prompt the next operation, so that it is possible to improve the transportation efficiency of the container and improve the safety.

According to the crane controller of the fifth aspect of the present invention, since the normal detection display means for displaying the normal detection of the height of the container by the pile height detection means is provided, the operator uses the pile height detection means. It is possible to recognize whether the pile height of the container is normal or abnormal, and it is possible to perform an operation that prevents a collision between the hanging container and the pile, thereby improving safety.

According to the crane control method of the invention of claim 6, the container can be detachably attached to the main body stand in the form of a gate by means of the hoisting tool traversing means and the hoisting tool elevating means and held by the hoisting tool. While detecting the position of the container
The height of the containers stacked below the main frame is detected, the movement restriction area is set based on the detection result, and when the position of the hanging container enters the movement restriction area, the lifting means traverse means or lifting equipment lifting means is used. Since the moving speed of the lifting device is reduced, it is possible to prevent the hanging container during transportation from colliding with the pile at a high speed, thereby preventing damage to the container and improving safety. In addition, the hanging container can be traversed and moved up and down at the same time, and the hanging container can be transported to the unnecessary area in a short time by a shortest route to improve the transportation efficiency of the container. it can.

According to the crane control method of the invention of claim 7, when the position of the hanging container enters the movement restriction area,
Since the lamp that lights the operator to enter the movement restricted area is turned on, it is possible to reliably inform the operator of the position of the hanging container and prompt the next operation, and it is possible to improve the transportation efficiency of the container. It is possible to improve safety.

[Brief description of drawings]

FIG. 1 is a block diagram showing a crane controller according to an embodiment of the present invention.

FIG. 2 is a schematic configuration diagram of a crane control device of the present embodiment.

FIG. 3 is an explanatory diagram showing a method of setting a restricted area in the crane control device of the present embodiment.

FIG. 4 is an operation explanatory view of the crane control device of the present embodiment.

FIG. 5 is a schematic view of a conventional transfer crane.

[Explanation of symbols]

11 Main body frame 14 Trolley 15 Traverse motor (Lifting means traversing means) 18 Winding motor (Lifting means elevating means) 19 Spreader (Hanging equipment) 22,23 Wire rope 31 Control device 34,35 Speed detector 36 Winding position detection sensor (Cargo handling position detection means) 37 Traverse position detection sensor (cargo handling position detection means) 38 Conveyor carts 39a to 39g Stack pile detection sensor (stack height detection means) 40 Operation panel 41 Display panel 43 Movement restriction control switch 47, 48, 49 Restricted area entry lamp (area entry display means) 50 Normal detection lamp (normal detection display means) C container

Claims (7)

[Claims] 1. A gate-shaped main body mount, a suspender to which a container is detachably attached, a suspender traverse means for traversing the suspender with respect to the main body mount, and the suspender with respect to the main body mount. Lifting means raising and lowering means for raising and lowering, cargo handling position detecting means for detecting the position of the container held by the hanging means, pile height detecting means for detecting the height of the containers stacked below the main frame, A transverse limitation area setting means for setting a transverse limitation area based on the detection result of the pile height detecting means, and a transverse limitation set by the transverse limitation area setting means for the position of the hanging container detected by the cargo handling position detecting means. A crane control device, comprising: a control means for reducing the traverse speed of the hoisting tool by the hoisting tool traversing means when in a region. 2. A gate-shaped main body mount, a suspender to which a container is detachably attached, a suspender traverse means for traversing the suspender with respect to the main body mount, and the suspender with respect to the main body mount. Lifting means raising and lowering means for raising and lowering, cargo handling position detecting means for detecting the position of the container held by the hanging means, pile height detecting means for detecting the height of the containers stacked below the main frame, A descent restriction region setting means for setting a descent restriction region based on the detection result of the pile height detection device, and a position of the hanging container detected by the cargo handling position detection device is a descent restriction set by the descent restriction region setting device. A crane control device, comprising: a control means for reducing the descending speed of the hoisting tool by the hoisting tool lifting means when in the area. 3. A gate-shaped main body mount, a suspender to which a container is detachably attached, a suspender traverse means for traversing the suspender with respect to the main body mount, and the suspender with respect to the main body mount. Lifting means raising and lowering means for raising and lowering, cargo handling position detecting means for detecting the position of the container held by the hanging means, pile height detecting means for detecting the height of the containers stacked below the main frame, Ascending limit area setting means for setting an ascending restriction area based on the detection result of the pile height detecting means and the ascending limit set by the ascending restriction area setting means for the position of the hanging container detected by the cargo handling position detecting means. A crane control device comprising: control means for reducing the lifting speed of the lifting device by the lifting device lifting means when in the area. 4. The crane control device according to claim 1, further comprising area entry display means for turning on a lamp when the position of the container is in the restricted area. 5. The crane control according to claim 1, further comprising normal detection display means for displaying a normal detection of the pile height of the container by the pile height detecting means. apparatus. 6. A gate-shaped main body mount, a suspender to which a container is detachably attached, a suspender traverse means for traversing the suspender with respect to the main body mount, and the suspender with respect to the main body mount. In a crane device equipped with a lifting tool lifting means for lifting and lowering, while detecting the position of the container held by the lifting tool, it detects the height of the container stacked below the main frame, and based on the detection result. To set the movement restriction area,
The crane control method, wherein when the position of the suspension container enters the movement restriction region, the moving speed of the suspension by the suspension traverse means or the suspension elevating means is reduced. 7. The crane control method according to claim 6, wherein when the position of the hanging container enters the movement restriction area, a lamp for notifying an operator of entering the movement restriction area is turned on.