JP2003252448A - Cargo handling system and control method for cargo handling system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a cargo handling system and a control method therefor capable of positioning a device for conveying a container such as AGV at a predetermined position in a container yard. <P>SOLUTION: Encoders for detecting respective traveling distances are provided on a moving type crane and AGV 10. Further, an in-yard position detection means for determining a position of the moving type crane from an output of the encoder provided on the moving type crane is provided. A conveying truck control device travels the AGV 10 toward the moving type crane based on a position information of the moving type crane determined by the in-yard position detection means and the output of the encoder provided on the AGV 10. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cargo handling system used in a container terminal for cargo handling, storage, reception and delivery of marine containers and a control method for the cargo handling system.

[0002]

2. Description of the Related Art A container terminal is used to store and store a quay facility for loading and unloading containers on a container ship of a maritime container and handing over the unloading container to the shipper, or storing a container received from the shipper for shipping. It is composed of facilities to store. Figure 11
Shows an example of arrangement of a general container terminal. Only major facilities directly related to container handling and transportation are shown, and other facilities are omitted. In the figure, reference numeral 1 is a range of container terminals, 1A is a quay, and 2 is a container ship moored to the quay. Also, 1
Reference numeral B denotes an area where containers are stacked and stored in a predetermined position (hereinafter referred to as storage), that is, a container yard. The container terminal 1 has a quay crane 3 facing the quay 1A.
Is installed. The quay crane 3 carries in the container C between the container ship 2 moored on the quay 1A and the ground.
It is a crane for carrying out. This quay crane 3
Are movably provided in parallel to the quay 1A so that they can be positioned with respect to the container ship 2. Reference numeral 9 is a trailer, which is used when the unloading container transported from the quayside crane 3 is transported to the container yard 1B or when the container stored in the container yard 1B is transported to the quayside crane 3.

[0003]

The quay crane 3
In order to load and unload the container with the container ship 2, it is necessary to align the container with a position on the container ship 2 (or a container loading position).
That is, the quay crane 3 must be moved along the quay 1A to align the container and the quay crane 3 at the same position in the quay direction. When the trailer 9 receives a container from the quay crane 3 or when the container on the trailer 9 is delivered to the quay crane 3, the trailer 9 is moved below the quay crane 3 and the loaded container is transferred to the quay crane 3. Need to be positioned accurately. By the way, in recent years, an AGV (Automated Guided Vehicle) capable of automatically transporting a container instead of the trailer 9 in the yard has been developed. As described above, the quayside crane 3 needs to be moved along the quayside 1A. The AGV can be positioned with respect to the quay crane 3 if it is known in advance that the quay crane 3 is in a fixed position or located at a particular location. However, since the quayside crane 3 is moved according to the position of the container ship, it is not determined in which position it is located. Therefore, it is difficult to automatically and accurately position the AGV with respect to the quay crane 3. Similarly, the quay crane 3 needs to be positioned in accordance with the position of the container on the ship as a reference in order to transfer the container to and from the container ship 2, but it is manually operated each time it is moved along the quay. Since the quay crane 3 was moved and positioned at the position, it was complicated. As described above, it was difficult to position the AGV and the quayside crane 3 in the container yard at a position where the container can be transferred.

The present invention has been made in view of the above circumstances, and provides a cargo handling system and a control method thereof capable of positioning a container transporting device such as an AGV at a predetermined position in a container yard. With the goal.

[0005]

According to a first aspect of the present invention, there is provided a cargo handling system between a mobile crane that conveys a container and a mobile crane that can travel on a path that enters the mobile crane. A transport carriage for transferring containers is provided, the mobile crane and the transport carriage are provided with encoders for detecting respective traveling distances, and the position of the mobile crane is determined from the output of the encoder provided in the mobile crane. The required yard position detection means is provided,
A carriage control device for positioning and stopping the carriage on the mobile crane based on position information of the mobile crane obtained by the in-yard position detecting means and an output of the encoder of the carriage. It is characterized by having.

According to the present invention, even if the mobile crane moves, the position of the transport carriage with respect to the mobile crane can be detected by the encoder. Therefore, the transport carriage can be positioned based on the detection result.
The carrier control device may be incorporated in the carrier, or may be provided in, for example, a central controller provided separately from the carrier and the mobile crane.

The cargo handling system according to a second aspect of the present invention is a mobile crane that transports a container, and a carrier truck that can travel on a route that enters the mobile crane and that transfers the container to and from the mobile crane. And at least one of the mobile crane and the carrier is provided with a relative position detecting means for directly detecting the relative position of the other, and the mobile type detected by the relative position detecting means. A transport carriage control device is provided for positioning and stopping the transport carriage on the mobile crane based on a relative position between the crane and the transport carriage.

According to the present invention, even if the mobile crane moves, the position of the carrier with respect to the mobile crane can be detected by the relative position detecting means, and therefore the carrier controller controls the carrier based on the detection result. By stopping the carriage, the transport carriage can be accurately positioned and stopped with respect to the mobile crane. The relative position detecting means may be provided on either one of the mobile crane side and the carrier truck, or may be provided on both sides to detect the positional relationship in cooperation with each other. Further, the carrier control device for controlling the positioning of the carrier may be provided on the carrier, or on the mobile crane side or separately from the carrier and the mobile crane.

According to a third aspect of the invention, in the cargo handling system according to the second aspect, the mobile crane and the carrier are provided with encoders for detecting respective traveling distances, and the mobile crane is further provided. In-yard position detection means for determining the position of the mobile crane from the output of the encoder is provided, the carrier control device, the mobile crane position information obtained by the in-yard position detection means and the It is characterized in that the transport vehicle is caused to travel toward the mobile crane based on the output of the encoder provided in the transport vehicle.

The position detecting device detects the positions of the mobile crane and the carrier by an encoder. Since there are errors in the encoder due to aging of tires and road surface conditions, there are cases where the positions of the mobile crane and the carrier cannot be calculated accurately. For this reason, in order to perform more accurate positioning, the rough position by the encoder is obtained by the in-yard position detecting means, the transport carriage is caused to travel toward the mobile crane, and the final positioning is performed by the relative position detecting means. Further, according to this configuration, when the transport carriage is far from the mobile crane, it can be moved at a high speed, and when approaching to a certain extent, the transport carriage can be run at a low speed so that it can be easily stopped, which is efficient. In addition, the in-yard position detecting means may be provided in the carrier truck or the mobile crane, or may be provided separately from the carrier truck and the mobile crane. It may be integrated with the carrier control device. In addition, the carrier
The mobile crane may be configured to be self-propelled by being given the position of the mobile crane, or a separately provided control device may remotely control the transport carriage one by one.

According to a fourth aspect of the present invention, in the cargo handling system according to the second or third aspect, as the relative position detecting means, a laser light source is provided on one of the mobile crane and the carrier truck. A laser light receiving element is provided on the other side, and the laser light receiving element receives the laser light of the laser light source when the transport carriage enters the mobile crane, whereby the transport carriage and the mobile crane are relatively opposed to each other. It is characterized in that the position is fixed.

In the present invention, the laser light receiving element receives the laser light when the carrier truck enters the mobile crane, so that the accurate positional relationship between the mobile crane and the carrier truck can be detected. .

According to a fifth aspect of the present invention, in the cargo handling system according to the second or third aspect, as the relative position detecting means, a beacon transmitter is provided on either the mobile crane or the carrier vehicle. , A beacon receiver is provided on the other side, and when the carrier truck enters the mobile crane, the beacon receiver receives the beacon wave transmitted from the beacon transmitter to thereby convey the carrier truck and the carrier truck. It is characterized in that the relative position with respect to the mobile crane is fixed.

In the present invention, the beacon receiver receives the beacon wave when the carrier truck enters the mobile crane, so that the accurate positional relationship between the mobile crane and the carrier truck can be detected. .

According to a sixth aspect of the present invention, in the cargo handling system according to the second or third aspect, as the relative position detecting means, a laser range finder that irradiates a laser beam to detect a linear distance of a measuring object is provided. Provided in the mobile crane, when the transport carriage enters the quay, the passage of the transport carriage is detected by the laser rangefinder, so that the relative position of the transport carriage and the mobile crane. Is determined.

According to the present invention, when the carrier truck moves into the mobile crane, the carrier truck traverses the laser beam of the laser range finder to detect the passage of the carrier truck, that is, the position of the carrier truck with respect to the mobile crane. can do.

According to a seventh aspect of the present invention, in the cargo handling system according to the second or third aspect, the relative position detecting means scans a laser beam to detect the position of a measuring object. Is provided in the mobile crane, when the carrier truck enters the quay,
The relative position between the transport carriage and the mobile crane is determined by detecting the position of the transport carriage by the scanning laser range finder.

According to the present invention, the position of the carrier truck is detected by the scanning laser range finder when the carrier truck enters the mobile crane, so that an accurate positional relationship between the mobile crane and the carrier truck can be obtained. Can be detected.

According to a eighth aspect of the present invention, there is provided a method for controlling a cargo handling system, wherein a container is transferred between a mobile crane that conveys a container and a path that allows the container to enter the mobile crane. The mobile crane and the transport carriage are provided with encoders for detecting respective traveling distances, and the position of the mobile crane is obtained from the output of the encoder provided in the mobile crane, It is characterized in that the transport carriage is positioned and stopped on the mobile crane based on position information of the mobile crane and an output of the encoder provided in the transport carriage.

According to the present invention, even if the mobile crane moves, the position of the carriage with respect to the mobile crane can be detected by the encoder. Therefore, the carriage can be positioned based on the detection result.

According to a ninth aspect of the present invention, there is provided a control method for a cargo handling system, wherein a container is transferred between a mobile crane that conveys a container and a path that can enter the mobile crane and that can travel. And a mobile carriage, and at least one of the mobile crane and the mobile carriage is provided with relative position detection means for directly detecting a relative position to the other, and the mobile carriage is provided with the relative position detection means. When the vehicle is approached, the relative position detecting means determines the relative position of the carrier to the mobile crane, and then the carrier is positioned on the mobile crane and stopped.

In the present invention, even if the mobile crane moves along the quay, the position of the carrier truck with respect to the mobile crane can be detected by the relative position detecting means. Therefore, the control carriage is based on the detection result. By stopping the carriage, the carriage can be accurately positioned and stopped with respect to the mobile crane. The relative position detecting means may be provided on either one of the mobile crane side and the carrier truck, or may be provided on both sides to detect the positional relationship in cooperation with each other.

According to a tenth aspect of the present invention, in the method of controlling the cargo handling system according to the ninth aspect, the mobile crane and the carrier are provided with encoders for detecting respective traveling distances of the mobile crane and the carrier. By determining the positions of the crane and the carrier by each of the encoders, the carrier is run toward the mobile crane, and further, the carrier is the mobile crane based on the relative position detection means. It is characterized by positioning and stopping it.

When the positions of the quay crane and the carrier are detected by the encoder, the positions of the quay crane and the carrier may not always be accurately calculated because there are errors due to changes over time in tires and road surface conditions. is there. For this reason, in order to perform more accurate positioning, the rough position is obtained by the encoder, the transport carriage is made to travel toward the quay crane, and final positioning is performed by the relative position detection means. When the carriage is far from the quay crane, it can be moved at a high speed, and when approaching to a certain extent, the carriage can be driven at a low speed so that the carriage can be easily stopped. The transport vehicle may be configured to be self-propelled by being given the position of the quayside crane, or a separately provided control device may remotely control the transport vehicle one by one.

The invention described in claim 11 is a mobile crane for transferring containers to and from a container ship, a carrier truck for transferring containers to and from the mobile crane, and container storage information of the container ship. And a container coordinate calculation means for calculating the container coordinates on the container ship with respect to the container yard based on the above, and further positioning and stopping the transport carriage at a position based on the container coordinates calculated by the container coordinate calculation means. It is characterized in that it is provided with a carriage control device.

According to the present invention, when the container on the container ship is unloaded to the yard, the position of the container on the container ship with respect to the yard is calculated based on the container storage information of the moored container ship. . Then, for example, the carrier is positioned at the same position as the container in the quay direction so that the container can be received from the mobile crane. On the contrary, when loading a container from a yard to a container ship, the container coordinate calculation means obtains the container coordinates on the ship which is the loading destination and positions the carrier truck. The carrier control device may be incorporated in the carrier, or may be provided in, for example, a central controller provided separately from the carrier and the mobile crane.

According to a twelfth aspect of the present invention, in the cargo handling system according to the eleventh aspect, the container coordinates calculated by the container coordinate calculating means are corrected based on the position of the mobile crane. And

According to the present invention, when the mooring position of the container ship is misaligned or the like, the container coordinates are corrected and the carriage is positioned so that the container can be transferred to and from the mobile crane. For example, the carrier truck is positioned at a correct position with the position of the mobile crane as a reference, and the difference between the position and the container coordinate obtained by the container coordinate calculating means is used as a correction amount to correct subsequent container coordinates.

According to a thirteenth aspect of the present invention, in the cargo handling system according to the twelfth aspect, at least one of the mobile crane and the carrier is provided with a relative position for directly detecting a relative position of the other. Position detection means is provided, the transport carriage control device positions the transport carriage on the mobile crane based on the relative position between the mobile crane and the transport carriage detected by the relative position detecting means. It is characterized by stopping.

According to the present invention, the carriage can be correctly positioned with respect to the mobile crane. That is, since the position of the transport carriage with respect to the mobile crane can be detected by the relative position detection means, the transport carriage control device stops the transport carriage based on the detection result, so that the transport carriage is moved to the mobile crane. Can be accurately positioned and stopped. The relative position detecting means may be provided on either one of the mobile crane side and the carrier truck, or may be provided on both sides to detect the positional relationship in cooperation with each other.

According to a fourteenth aspect of the present invention, a mobile crane for exchanging containers with a container ship and a container for calculating container coordinates on the container ship with respect to a container yard based on container storage information of the container ship. And a coordinate control means, and a travel control device for positioning and stopping the mobile crane at a position based on the container coordinate calculated by the container coordinate calculation means.

In the present invention, when the container on the container ship is unloaded to the yard, the position of the container on the container ship with respect to the yard is calculated based on the container storage information of the moored container ship. . Then, for example, the mobile crane is positioned at the same position as the container in the quay direction so that the container can be received. On the contrary, when loading a container from a yard to a container ship, the container coordinate calculation means obtains the container coordinates on the ship which is the loading destination and positions the mobile crane. The travel control device
It may be built into a mobile crane, for example
It may be provided in a central control unit or the like that is provided separately from the transport carriage and the mobile crane.

According to a fifteenth aspect of the present invention, in the control method of the cargo handling system, the container coordinates on the container ship with respect to the container yard are calculated based on the container storage information of the container ship, and the container is transported to a position based on the container coordinates. It is characterized in that the carriage for carrying is positioned.

In the present invention, when a container on a container ship is unloaded to the yard, the position of the container on the container ship with respect to the yard is calculated based on the container storage information of the moored container ship. . Then, for example, the carrier is positioned at the same position as the container in the quay direction so that the container can be received. On the contrary, when loading a container from a yard onto a container ship, the container coordinates on the ship to be loaded are obtained, and the carrier is positioned at a position based on these coordinates.

According to a sixteenth aspect of the present invention, in the method of controlling the cargo handling system according to the fifteenth aspect, the position of the carrier truck is set when the first container is transferred between the container ship and the carrier truck. Is corrected according to the position of the mobile crane that moves the container between the carrier and the container ship, and then the coordinates of the second and subsequent containers are corrected based on the correction amount of the carrier. And

According to the present invention, when the mooring position of the container ship is deviated, the container coordinates are corrected to position the carriage so that the container can be transferred to and from the mobile crane. For example, when transporting the first container, the transport carriage is positioned at a correct position with the position of the mobile crane as a reference, and the difference between that position and the container coordinates obtained by the container coordinate calculation means is used as a correction amount, and the subsequent containers are used. Correct the coordinates.

According to a seventeenth aspect of the present invention, in the method for controlling the cargo handling system according to the fifteenth aspect, when a container is transferred between a container ship and a carrier, the position of the carrier is set to It is characterized in that it is appropriately corrected according to the position of the mobile crane that moves the container between the carriage and the container ship, and then the other container coordinates are corrected based on the correction amount of the transport carriage.

In the present invention, when the moored container ship moves, the container coordinates are appropriately corrected to ensure the accurate positioning of the carrier truck.

In the eighteenth aspect of the present invention, the container coordinates on the container ship with respect to the container yard are calculated based on the container storage information of the container ship, and the container coordinates are set at a position based on the container coordinates. It is characterized by positioning a mobile crane that transfers and receives containers.

In the present invention, when the container on the container ship is unloaded to the yard, the position of the container on the container ship with respect to the yard is calculated based on the container storage information of the moored container ship. . Then, for example, the mobile crane is positioned at the same position as the container in the quay direction so that the container can be received. Conversely, when loading a container from a yard onto a container ship, the mobile crane is positioned by obtaining the container coordinates on the ship that is the loading destination.

[0041]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, embodiments of the present invention will be described with reference to the drawings. Figure 1 shows the overall structure of a container yard. The figure shows an example of the layout of a general container terminal. Only the main equipment directly related to container handling and transportation is shown, and other equipment is omitted. In FIG. 1, reference numeral 1 is the range of a container terminal, 1A is a quay, and 2 is a container ship moored to the quay. Further, 1B is an area for storing and storing containers at a predetermined position (hereinafter referred to as a storage), that is, a container yard. A quay crane (mobile crane) 3 is installed in the container terminal 1 so as to face the quay 1A. The quay crane 3 is a crane for loading and unloading the container C between the container ship 2 moored on the quay 1A and the ground. As shown in FIG. 1, the quay crane 3 is provided so as to be movable in parallel to the quay 1A so that it can be positioned with respect to the container ship 2. FIG. 2 is a schematic view of the quay crane 3 as seen from the side. The quay crane 3 is provided with a traveling device 5,
The traveling device 5 is provided with an encoder 6. The encoder 6 is adapted to perform position correction by detecting dog plates (not shown) provided at various places in the traveling area of the quay crane 3. The detection output of the encoder 6 is given to a central controller 15 described later.

In the container yard 1B, in order to carry the container C into the quay crane 3 or to carry the container C out of the quay crane 3, an automatic carrier device (carrying vehicle) 10 (hereinafter, AGV; Automated Guided Ve
Call it hicle. ) Is used. The AGV 10 is configured to travel by being guided by a track 11 on the container yard 1B, and as shown in FIG. 1, a plurality of tracks 11 are provided so as to cross the quay crane 3 in parallel with the quay. The track 11 is composed of a magnet or the like embedded in the road so that it can be detected by the AGV 10. As shown in FIG. 3, the AGV 10 is provided with an encoder 12, and the encoder 12 is adapted to perform position correction by detecting calibration marks provided at various places on the track 11. The AGV 10 is equipped with a carriage control device 13. Transport vehicle controller 13
When the destination is given by the central control unit 15 described later, the output of the encoder 12 causes the container yard 1 to
It is configured to perform traveling control while determining the absolute position at B.

The quayside crane 3 and the AGV 10 are controlled by a central controller (in-yard position detecting means) 15 as shown in FIG. The output of the encoder 6 of the quay crane 3 is given to the central control unit 15, and the central control unit 15 is based on this detection output.
Calculate the position of. Then, the position of the quay crane 3 is given to the AGV 10.

As shown in FIG. 2, the horizontal beam 17 of the quay crane 3 corresponds to the orbit of each AGV 10,
A laser light source 18 is provided above the traveling position of the AGV 10. On the other hand, as shown in FIG.
Is provided with a laser light receiving element 19.

Next, the operation of the AGV 10 will be described. First, the quay crane 3 is moved along the quay 1A in accordance with the position of the container ship 2 moored to the quay 1A. The position of the quay crane 3 in the container yard 1B is managed by the central controller 15. Further, when the quay crane 3 is moved, the encoder 6 is calibrated every time the quay crane 3 detects the dog plate, thereby ensuring the position control accuracy of the quay crane 3.

Next, in order to carry out the container C from the container ship 2 (or to carry the container C into the container ship 2), the central control unit 15 sets the target position with respect to the AGV 10, that is, the position of the quay crane 3. give. AGV
The carriage control 10 is controlled by the carriage control 13, and travels toward the quay crane 3 while determining the absolute position in the yard by the value of the encoder 12. At that time, the orbit 11
Encoder 1 each time it detects a mark provided in each part of
The position control accuracy is secured by performing the calibration of 2.

In the position management by the encoders 6 and 12 of the quayside crane 3 and the AGV 10, there is an error due to aged deterioration of tires and road surface conditions, and therefore the positions of the mobile crane and the carrier truck cannot always be accurately calculated. Sometimes you can't. Therefore, in order to more accurately position the AGV 10 on the quayside crane 3, the carrier vehicle control device 13 performs the following processing. Before the AGV 10 enters the quay crane 3, the speed of the AGV 10 is reduced to allow it to travel slowly. As shown in FIG. 5, the AGV 10 is slowly moved to enter the quay crane 3 (reference A). The encoder 12 of the AGV 10 is calibrated with reference to the time point (reference numeral B) when the laser light 25 of the laser light source 18 enters the laser light receiving element 19 of the AGV 10 while the AGV 10 continues to travel. Then, the AGV 10 is caused to travel to a stop position (reference C) that is a predetermined distance away from the time point of incidence, and is stopped. AG
Since the distance from the calibration of the V10 encoder 12 to the stop is a short distance, no error occurs.

In this way, the AG for the quay crane 3
Since the position of V10 can be calibrated, the AGV 10 can be accurately positioned with respect to the quay crane 3. The laser light 2 emitted from the laser light source 18
5 does not need to be vertically downward. The AGV 10 may be stopped when the laser light 25 enters the laser light receiving element 19.

Next, the second embodiment will be described. The same components as those in the first embodiment are designated by the same reference numerals, and the description thereof will be omitted. As shown in FIG. 6, the laser light source 1 according to the first embodiment is attached to the beam 17 of the quay crane 3.
Instead of 8, a beacon transmitter 30 is provided. A
A beacon receiver 31 is provided at the front end of the GV10 instead of the laser light receiving element 19 of the first embodiment.

In the present example, the traveling of the AGV 10 is controlled by the carriage control device 13 as in the first embodiment. When the AGV 10 enters the quay crane 3,
Before entering, slow down the AGV 10 to slow it down. Figure 6
As shown in Fig. 3, the quayside crane 3 is operated by slowing down the AGV 10.
To drive between the legs of the quay crane 3 at a low speed (reference A). A when the beacon wave 32 transmitted from the beacon transmitter 30 provided on the quay crane 3 is received by the beacon receiver 31 provided at the front end of the AGV 10.
Stop GV10. (Or, it may be moved for a predetermined distance and then stopped after it is received.) As described above, in the present embodiment, since the position of the AGV 10 with respect to the quay crane 3 can be calibrated,
The AGV 10 can be accurately positioned with respect to the quay crane 3.

Next, a third embodiment will be described. The same components as those in the first embodiment are designated by the same reference numerals, and the description thereof will be omitted. As shown in FIG. 7, the quayside crane 3 is provided with a laser range finder 35 for measuring a downward distance instead of the laser light source 18 of the first embodiment. The AGV 10 is not provided with the laser light receiving element 19 of the first embodiment.

In this example, the traveling of the AGV 10 is controlled by the carrier control device 13 as in the first embodiment. When the AGV 10 enters the quay crane 3,
Before entering the vehicle, slow down the AGV 10 to slow it down. Figure 7
As shown in (a), the AGV 10 is slowly moved to enter the quayside crane 3 (reference A). When the AGV 10 enters below the laser rangefinder 35 provided on the quay crane 3, the detection value of the laser rangefinder 35 indicates a shorter distance. As shown in FIG. 7B, when the AGV 10 further progresses and the detection value of the laser rangefinder 35 suddenly changes to indicate a long distance, it is determined that the AGV 10 has passed, and the AGV 1
A relative position of 0 is established. The position information of the AGV 10 is given to the central controller 15, the central controller 15 gives the detection result to the carrier vehicle controller 13 of the AGV 10, and the carrier vehicle controller 13 uses the encoder 1 based on this information.
Calibrate 2. Then, the AGV 10 is stopped when the predetermined distance AGV 10 moves after the detection value of the laser range finder 35 rapidly increases. Since it is a short distance from the calibration of the encoder 12 of the AGV 10 to the stop,
There is no error.

As described above, in this embodiment, since the position of the AGV 10 with respect to the quay crane 3 can be calibrated, the AGV 10 can be accurately positioned with respect to the quay crane 3. The laser rangefinder 35
The laser light emitted from does not have to be vertically downward. Further, the AGV 10 may be stopped at the time when the detection value of the laser range finder 35 suddenly changes to indicate a long distance.

Next, a fourth embodiment will be described. The same components as those in the first embodiment are designated by the same reference numerals, and the description thereof will be omitted. As shown in FIG. 8, instead of the laser light source 18 of the first embodiment, the quay crane 3 is provided with a scan type laser range finder 38 that scans a laser beam to measure the distance from the AGV 10. The AGV 10 includes the laser light receiving element 19 of the first embodiment.
Is not provided.

In the present example, the AGV 10 is travel-controlled by the carrier control device 13 as in the first embodiment. When the AGV 10 enters the quay crane 3,
Before entering the vehicle, slow down the AGV 10 to slow it down. Figure 8
As shown in, the rangefinder 38 provided on the quay crane 3
When the AGV 10 enters below, the AGV 10 is irradiated with the laser light 39 emitted from the rangefinder 38, and the reflected light is detected by the rangefinder 39, whereby the position of the AGV 10 is detected. The position information of the AGV 10 is given to the central control unit 15, and the central control unit 15 uses this detection result as A
It is given to the transport vehicle control device 13 of the GV10, and the transport vehicle control device 13 calibrates the encoder 12 based on this information. Then, the AGV 10 is stopped at a predetermined position.

As described above, in this embodiment, the AGV can be accurately positioned with respect to the quay crane.

Next explained is the fifth embodiment of the invention. In FIG. 9, reference numeral 15 is a central control device (container coordinate calculating means), to which container storage information is given.
The container storage information is position information indicating how the containers are loaded on the container ship 2 (or how the containers can be loaded). This container storage information is different for each container ship 2, and is input prior to entering the ship. The central control unit 15 is configured to calculate the container coordinates on the container ship with respect to the container yard (the container loading position on the container ship in the coordinate system of the container yard) based on this container storage information. In this case, the mooring position of the container ship should be fixed to the terminal. The calculated container coordinates are transmitted to the carrier control device 13 of the AGV 10. The carrier control device 13 can position the AGV 10 at a position based on the given container coordinates by automatically controlling the traveling of the AGV 10.

The operation of the cargo handling system of this embodiment configured as described above will be described. First, when the container on the container ship is unloaded to the container yard, the position of the target container in the coordinate system of the container yard is calculated by the central controller 15. The central controller 15 is calculated based on the container storage information. Container coordinates are AGV
10, the AGV 10 uses the container coordinates as a reference for positioning, and performs positioning so that the container coordinates are at the same position in the quay direction. While the AGV 10 is advanced and positioned at the target stop position, the quay crane 3 is also moved so as to be at the same position as the target container in the quay direction. After the positioning of the AGV 10 and the quayside crane 3, the AGV 10 is located below the quayside crane 3, and the container, the AGV 10 and the quayside crane 3 are aligned in the vertical direction with respect to the quayside. Quay crane 3 in this state
The target container is transferred from the container ship to the AGV 10, and the AGV 10 moves the container to the loading / unloading destination. When loading the containers in the container yard on the container ship, the target container loading position in the coordinate system of the container yard is calculated by the central controller 15. The central controller 15 is calculated based on the container storage information. The container coordinates are sent to AGV10 and AGV
10 uses the container coordinates as a reference for positioning, and performs positioning so as to be the same position in the quay direction with respect to the container loading position. AGV10 advances to the target stop position
While being positioned, the quayside crane 3 is also moved so as to be at the same position in the berth direction as the intended loading position. After positioning the AGV 10 and the quay crane 3, A
The GV10 is located below the quay crane 3,
The AGV 10 and the quayside crane 3 are aligned vertically with respect to the quayside. In this state, the quay crane 3 moves the container on the AGV 10 to a predetermined loading position on the container ship.

As described above, by positioning the container on the AGV10 container ship as a reference, the container can be positioned regardless of the position of the quay crane 3. Therefore, the movement of the AGV 10 and the movement of the quayside crane 3 can be performed at the same time, and a quick work can be realized. Further, it is not necessary to provide a new device for performing positioning between the quay crane 3 and the AGV 10.

The following modified examples can also be adopted.
If the mooring position of the container ship is not correct, the position of the AGV 10 is corrected correctly when the first container is transported, and the subsequent container coordinates are corrected using the correction amount.
For the correction, a method in which the operator manually corrects the position of the AGV 10 and a method in which the AGV 10 is positioned with respect to the quay crane 3 as in the first to fourth embodiments are considered. That is, when transporting the first container,
The AGV 10 is positioned with respect to the quay crane 3 as in the above embodiments, and the difference between the position and the container coordinate is set as the correction amount of the container coordinate. At the time of transporting the second and subsequent containers, the transport carriage control device 13 corrects the container coordinates sent to the AGV 10 with the above correction amount.

When the moored container ship moves, the container coordinates are appropriately corrected to ensure the accurate positioning of the carrier truck. That is, the AGV 10 is positioned with respect to the quay crane 3 as described above, and the difference between the position and the container coordinate is used as the correction amount for the subsequent container coordinate. As the correction method, the operator manually sets the AG
A method of correcting the position of V10 and a method of positioning the AGV 10 with respect to the quay crane 3 as in the first to fourth embodiments are considered.

Next, a sixth embodiment of the present invention will be described. In FIG. 10, reference numeral 15 is a central control device (container coordinate calculation means), to which container storage information is given. The container storage information is position information indicating how the containers are loaded on the container ship 2 (or how the containers can be loaded). This container storage information is different for each container ship 2, and is input prior to entering the ship. The central control unit 15 is adapted to calculate the container coordinates on the container ship for the container yard based on this container storage information. In this case, the mooring position of the container ship should be fixed to the terminal. The calculated container coordinates are transmitted to the travel control device 3a of the quay crane 3.
The traveling control device 3a can position the quay crane 3 at a position based on the container coordinates given by automatic traveling control.

The operation of the cargo handling system of this embodiment having the above-described configuration will be described. First, when the container on the container ship is unloaded to the container yard, the position of the target container in the coordinate system of the container yard is calculated by the central controller 15. The central controller 15 is calculated based on the container storage information. The container coordinates are sent to the traveling control device 3a of the quay crane 3, and the traveling control device 3
In a, the container coordinates are used as a positioning reference, and the quay crane 3 is positioned so that the container coordinates are at the same position in the quay direction. When both the quayside crane 3 and the AGV 10 are positioned, the AGV 10 is located below the quayside crane 3, and the container, the AGV 10, and the quayside crane 3 are aligned in the vertical direction with respect to the quayside. In this state, the target container is transferred from the container ship to the AGV 10 by the quay crane 3, and the AGV 10
Moves the container to the loading / unloading destination. When loading the containers in the container yard on the container ship, the target container loading position in the coordinate system of the container yard is calculated by the central controller 15. The central controller 15 is calculated based on the container storage information. The container coordinates are sent to the travel control device 3a, and the travel control device 3a uses the container coordinates as a positioning reference and performs positioning so that they are at the same position in the berth direction with respect to the container loading position. When both the quayside crane 3 and the AGV 10 are positioned, the AGV 10 is located below the quayside crane 3, and the container, the AGV 10, and the quayside crane 3 are aligned in the vertical direction with respect to the quayside. In this state, the quay crane 3 moves the container on the AGV 10 to a predetermined loading position on the container ship.

As described above, since the quayside crane 3 can be automatically positioned on the container on the container ship,
Positioning work is easy.

The following modified examples can also be adopted.
When the mooring position of the container ship is not correct, the position of the quay crane 3 is correctly corrected when the first container is transported, and the subsequent container coordinates are corrected by the correction amount. To make a correction, first, when transporting the first container,
The quayside crane 3 is positioned with the container on the container ship as a reference, and the difference between the position and the container coordinate is used as the correction amount of the container coordinate. When transporting the second and subsequent containers,
The container coordinates sent to the quay crane 3 are corrected by the above correction amount.

When the moored container ship moves, the container coordinates are corrected as appropriate to ensure the accurate positioning of the carriage. That is, the quayside crane 3 is positioned with respect to the container on the container ship as described above, and the difference between the position and the container coordinate is used as the correction amount of the subsequent container coordinate.

In the fifth and sixth portable phones, the container coordinates are corrected by positioning the AGV 10 with respect to the quay crane 3 when the container ship is not moored at the correct position with respect to the quay. However, the position of the container ship may be obtained by using GPS (Global Positioning System). Thereby, the container coordinates on the container ship in the container yard can be obtained without correction. Further, in each of the above-described embodiments, the quayside crane is described as the mobile crane, but it goes without saying that the mobile crane is not limited to this. Further, the carriage control device 13
The carriages may be aligned with the quay crane 3 by the encoders 6 and 12 and stopped. Further, in this example, the AGV 10 and the quayside crane 3 exchange information via the central control device 15, but they may communicate directly.

[0068]

As described above, the following effects can be obtained in the present invention. According to the invention described in claim 1, even if the mobile crane moves, the position of the transport carriage with respect to the mobile crane can be detected by the encoder. Therefore, the transport carriage is positioned based on the detection result. You can According to the second aspect of the present invention, even if the mobile crane moves, the relative position detection means can detect the position of the transport carriage with respect to the mobile crane. Therefore, the transport carriage control is performed based on the detection result. The device stops the transport carriage so that the transport carriage can be accurately positioned and stopped with respect to the mobile crane.

According to the third aspect of the present invention, the rough position by the encoder is obtained by the in-yard position detecting means, the transport carriage is made to travel toward the mobile crane, and the final positioning is made by the relative position detecting means. It can be carried out. Therefore, the carrier can be accurately positioned and stopped with respect to the mobile crane. Claim 4
According to the invention described in (1), when the carrier truck enters the mobile crane, the laser light receiving element receives the laser light, so that the accurate positional relationship between the mobile crane and the carrier truck can be detected. . According to the invention of claim 5,
When the carrier truck enters the mobile crane, the beacon wave is received by the beacon receiver, so that the accurate positional relationship between the mobile crane and the carrier truck can be detected.
According to the invention of claim 6, when the carrier truck enters the mobile crane, the carrier truck traverses the laser beam of the laser rangefinder, so that the carrier truck passes, that is, the carrier truck with respect to the mobile crane. The position can be detected. According to the invention as set forth in claim 7, when the carrier truck enters the mobile crane, the position of the carrier truck is detected by the scanning laser range finder, so that the mobile crane and the carrier truck can be accurately positioned. The positional relationship can be detected.

According to the invention described in claim 8, even if the mobile crane moves, the position of the carrier truck with respect to the mobile crane can be detected by the encoder. Therefore, the carrier truck can be detected based on the detection result. Can be positioned. According to the invention of claim 9, even if the mobile crane moves, the relative position detecting means can detect the position of the carrier truck with respect to the mobile crane. By stopping the transport carriage, the transport carriage can be accurately positioned and stopped with respect to the mobile crane. Claim 1
According to the invention described in 0, the transport carriage is run toward the quayside crane by obtaining a rough position by the encoder, and the final positioning is performed by the relative position detecting means.
Therefore, the carrier can be accurately positioned and stopped with respect to the mobile crane.

According to the eleventh aspect of the present invention, it is possible to easily position the carrier truck at the position based on the container coordinates on the container ship. According to the twelfth aspect of the present invention, since it is possible to correct the transport carriage according to the position of the mobile crane and correct the other container coordinates based on the correction amount, the correction work can be performed only once. It is possible to accurately position the carriage when carrying another container. According to the thirteenth aspect of the present invention, the transport carriage can be accurately and automatically positioned with respect to the mobile crane when the transport carriage is adjusted to the position of the mobile crane. According to the invention as set forth in claim 14, the mobile crane can be easily positioned at the position based on the container coordinates on the container ship. According to the fifteenth aspect of the present invention, it is possible to easily position the transport carriage at a position based on the container coordinates on the container ship. According to the sixteenth aspect of the invention, the carrier vehicle can be corrected in accordance with the position of the mobile crane, and the other container coordinates can be corrected based on the correction amount, so that the first correction work is performed. Thus, the carrier truck can be accurately positioned when the container is transported for the second time and thereafter. According to the seventeenth aspect of the present invention, when the moored container ship moves, the container coordinates can be appropriately corrected to ensure the accurate positioning of the carrier truck. According to the eighteenth aspect of the invention, the mobile crane can be easily positioned at the position on the container ship with the container coordinates as a reference.

[Brief description of drawings]

FIG. 1 is a diagram showing an example of an arrangement of container terminals using an AGV.

FIG. 2 is a schematic side view of a quay crane used in the first embodiment of the present invention.

FIG. 3 is a schematic side view of an AGV used in the first embodiment of the present invention.

FIG. 4 is a block diagram showing an outline of the cargo handling system shown as the first embodiment of the present invention.

FIG. 5 is a diagram showing an operation of the cargo handling system shown as the first embodiment of the present invention.

FIG. 6 is a diagram showing an operation of the cargo handling system shown as the second embodiment of the present invention.

FIG. 7 is a diagram showing an operation of the cargo handling system shown as the third embodiment of the present invention.

FIG. 8 is a diagram showing an operation of the cargo handling system shown as the fourth embodiment of the present invention.

FIG. 9 is a diagram showing a schematic configuration of a cargo handling system shown as a fifth embodiment of the present invention.

FIG. 10 is a diagram showing a schematic configuration of a cargo handling system shown as a sixth embodiment of the present invention.

FIG. 11 is a diagram showing an example of an arrangement of general container terminals using a trailer.

[Explanation of symbols]

3 Quay crane (mobile crane) 6 encoder 10 Automatic transport device (AGV) 12 encoder 13 Transport vehicle controller 15 Central control device (in-yard position detection means) 18 Laser light source 19 Laser receiver 30 beacon transmitter 31 beacon receiver 35 laser rangefinder 38 Scan type laser range finder

Front page continuation (51) Int.Cl. ⁷ Identification code FI theme code (reference) B66C 19/00 B66C 19/00 A G05D 1/02 G05D 1/02 T (72) Inventor Hirofumi Yoshikawa Nishi Ward, Hiroshima City Hiroshima Prefecture Kannon Shinmachi 4-6-22 Mitsubishi Heavy Industries Hiroshima Research Institute F-term (reference) 3F022 EE10 JJ01 LL07 LL12 NN02 NN13 NN32 QQ03 QQ11 3F077 AA02 BA03 BA07 BB07 BB08 EA04 EA19 3F204 AA03 BA04 CA01 DA02 DA10 DB02 DB02 DB08 DB02 DB06 DBHDB06A06 CC03 CC06 FF05 FF11 FF21 GG08 GG12 GG19

Claims (18)

[Claims] 1. A mobile crane for transporting a container,
A transport carriage that can travel along a path that enters the mobile crane and that transfers a container to and from the mobile crane; the mobile crane and the transport carriage each have an encoder that detects a travel distance Is provided, in-yard position detecting means for obtaining the position of the mobile crane from the output of the encoder provided in the mobile crane is provided, and position information of the mobile crane obtained by the in-yard position detecting means, A cargo handling system including: a carriage control device that positions and stops the carriage on the mobile crane based on an output of the encoder of the carriage. 2. A mobile crane for transporting a container,
A mobile carriage that can travel on a route that enters the mobile crane and that transfers containers to and from the mobile crane, and at least one of the mobile crane and the mobile carriage is the same as the other. Relative position detection means for directly detecting the relative position is provided, and the transport carriage is positioned on the mobile crane with reference to the relative position between the mobile crane and the transport carriage detected by the relative position detection means. The cargo handling system is provided with a carrier control device for stopping the transportation. 3. The cargo handling system according to claim 2, wherein the mobile crane and the carrier are provided with encoders for detecting respective traveling distances, and the position of the mobile crane is set to the mobile crane. In-yard position detecting means to be obtained from the output of the encoder is provided, the transport carriage control device, the position information of the mobile crane obtained by the in-yard position detecting means and the encoder provided in the transport carriage A cargo handling system, characterized in that the carrier is caused to travel toward the mobile crane based on the output. 4. The cargo handling system according to claim 2, wherein as the relative position detecting means, a laser light source is provided on one of the mobile crane and the carriage, and a laser light receiving element is provided on the other. The laser receiving element receives the laser light of the laser light source when the carrier vehicle enters the mobile crane, whereby the relative position between the carrier vehicle and the mobile crane is determined. Characteristic cargo handling system. 5. The cargo handling system according to claim 2, wherein, as the relative position detecting means, a beacon transmitter is provided on one of the mobile crane and the carrier truck, and a beacon receiver is provided on the other side. Is provided, by receiving a beacon wave transmitted from the beacon transmitter by the beacon receiver when the carrier vehicle enters the mobile crane, the relative position of the carrier vehicle and the mobile crane. A cargo handling system characterized in that 6. The cargo handling system according to claim 2, wherein, as the relative position detecting means, a laser range finder that irradiates a laser beam to detect a linear distance of an object to be measured is provided in the mobile crane. When the transport vehicle enters the quay, the laser distance meter detects the passage of the transport vehicle, whereby the relative position between the transport vehicle and the mobile crane is determined. Cargo handling system. 7. The cargo handling system according to claim 2, wherein a scanning laser rangefinder that scans a laser beam to detect a position of an object to be measured is provided in the mobile crane as the relative position detecting means. The position of the carrier vehicle is detected by the scanning laser rangefinder when the carrier vehicle enters the quay, whereby the relative position between the carrier vehicle and the mobile crane is determined. A cargo handling system characterized by that. 8. A mobile crane for transporting the container,
A transport carriage that can travel along a path that enters the mobile crane and that transfers a container to and from the mobile crane; the mobile crane and the transport carriage each have an encoder that detects a travel distance Is provided, the position of the mobile crane is obtained from the output of the encoder provided in the mobile crane, based on the position information of the mobile crane and the output of the encoder provided in the transport carriage, A method for controlling a cargo handling system, which comprises positioning the mobile crane and stopping it. 9. A mobile crane for transporting the container,
A mobile carriage that can travel on a path that enters the mobile crane and that transfers containers to and from the mobile crane, and at least one of the mobile crane and the mobile carriage has the same other Relative position detection means for directly detecting the relative position of the, is provided, when entering the transport carriage into the mobile crane,
A method of controlling a cargo handling system, comprising: positioning the transport vehicle on the mobile crane and stopping the transport vehicle after the relative position of the transport vehicle with respect to the mobile crane is determined by the relative position detection means. 10. The control method for the cargo handling system according to claim 9, wherein the mobile crane and the carriage are provided with encoders for detecting respective traveling distances, and the positions of the mobile crane and the carriage are provided. Is calculated by each of the encoders, the transport carriage is caused to travel toward the mobile crane, and further, the transport carriage is positioned and stopped with respect to the mobile crane based on the relative position detection means. A method for controlling a cargo handling system, which is characterized by the above. 11. A mobile crane for transferring containers to and from a container ship, a carrier truck for transferring containers to and from the mobile crane, and the container yard based on container storage information of the container ship. A container coordinate calculation means for calculating the container coordinates on the container ship, and further a transport carriage control device for positioning and stopping the transport carriage at a position based on the container coordinates calculated by the container coordinate calculation means. The cargo handling system characterized by 12. The cargo handling system according to claim 11, wherein the container coordinates calculated by the container coordinate calculation means are corrected based on the position of the mobile crane. 13. The cargo handling system according to claim 12, wherein at least one of the mobile crane and the carriage is provided with relative position detection means for directly detecting a relative position of the other. The transport carriage control device positions and stops the transport carriage on the mobile crane based on the relative position between the mobile crane and the transport carriage detected by the relative position detecting means. Cargo handling system. 14. A mobile crane for transferring containers to and from a container ship, and container coordinate calculation means for calculating container coordinates on the container ship with respect to a container yard based on container storage information of the container ship, The cargo handling system further includes a travel control device for positioning and stopping the mobile crane at a position based on the container coordinates calculated by the container coordinate calculating means. 15. The container coordinates on the container ship relative to the container yard are calculated based on the container storage information of the container ship, and a carrier truck for carrying the container is positioned at a position based on the container coordinates. Control method for cargo handling system. 16. The control method for the cargo handling system according to claim 15, wherein when the first container is transferred between the container ship and the carrier, the position of the carrier is set to the carrier and the container. A method for controlling a cargo handling system, comprising: correcting a container according to the position of a mobile crane that moves a container between ships, and then correcting the second and subsequent container coordinates based on the correction amount of the carrier. . 17. The control method for the cargo handling system according to claim 15, wherein when a container is transferred between the container ship and the carrier, the position of the carrier is set between the carrier and the container ship. A method of controlling a cargo handling system, which comprises appropriately correcting a position of a mobile crane that moves a container, and then correcting other container coordinates based on a correction amount of the carrier. 18. The container coordinates on the container ship with respect to the container yard are calculated based on the container storage information of the container ship, and the position is based on the container coordinates.
A method for controlling a cargo handling system, which comprises positioning a mobile crane that transfers a container to and from a container ship.