CN1179765A - Container loading and unloading device and management system - Google Patents

Abstract

A mobile container handling device handles containers in a container yard. The handling device reads a container identification code attached to a container so as to detect the location of the container to be handled. The stock data on containers kept in the container yard is updated based on the container identification code so read and the container location so detected.

Description

Container loading and unloading device and management system

technical field

The invention relates to a container loading and unloading device and a management system for loading and unloading in a container yard.

Background technique

Storage of large quantities of containers in and out of trucks or ships in a container yard. Each container is generally marked with a container identification code composed of English letters and numbers. The identification codes and storage locations of the containers stored in the container yard are stored as inventory data in the computer in the general management office of the container yard.

In order to load and unload the containers scheduled to be transported into and out of the container yard, a loading and unloading operation plan including its identification code and loading and unloading location is formulated. Based on this loading and unloading work plan, an operator of the self-propelled container handling device is given a loading and unloading work instruction. The operator of the container handling apparatus performs loading and unloading after confirming the identification code of the instructed container. For example, either move the container brought in by truck to the storage location of the container yard, or load the container on the truck in the storage location of the container yard, or move the container brought in by the ship to the storage location of the container yard, or place the container in the container yard Containers stored in the yard are moved to the loading and unloading position of the ship's loading and unloading device. The above inventory data is updated based on the loading and unloading completion reports from the container handler operators.

When a ship transports a plurality of containers into the container yard, each transported container is placed in a messy position due to the short docking time of the ship. The positions and identification codes of the imported containers are confirmed by the operator of the container yard. Afterwards, by organizing the container handling equipment, the containers transported in the disordered position are moved to the set storage position so that the containers can be efficiently transported out by truck according to the dispatch plan.

In addition, when the container is transported out of the container yard by the ship, in order to arrange and position the container according to the loading and unloading sequence of loading and unloading on the ship, a marshalling operation is performed with a container handling device.

Since the containers are stacked in multiple layers in the container yard, when the lower container is moved out before the upper container, the upper container must be moved to another place. In this case, this work is generally handled by the operator of the handling device in the free movement mode of the container. In order to avoid loss of the freely moved upper layer container, the operator of the loading and unloading device must confirm the position and identification code of the moved container.

Containers are transported in and out by trucks from the gate of the container yard, and the operator confirms the scheduled in and out containers at the gate according to the identification code.

Conventionally, an operator of a container handling device or an operator of a container yard visually checks the container identification code. Therefore, there is a possibility of misreading the container identification code. If the container identification code is misunderstood, the inventory data will be deviated, and the whereabouts of the container may be unknown in a very large container yard. If the whereabouts of the containers are unknown, then the location and identification numbers of a large number of containers must be reconfirmed. Therefore, a lot of labor is required, and the arrival time of the container at the destination will be delayed. If there is a mistake in the visual confirmation, it will also lead to the shipping of the wrong container to the destination.

In addition, when the container is transported into the container yard by the ship, the position and identification code of the container transported in a messy place can be confirmed visually by the operator. Such confirmation work is often a hard work to be done late at night when the work of the container handling device is completed.

For container loading and unloading operations in the container yard, verbal instructions are issued from the general management office by wireless communication. After the loading and unloading operation of the loading and unloading unit is completed, the inventory data of the container yard is updated according to the verbal report made by the operator by wireless communication. In order to carry out this kind of language and voice communication, work instructions, and update of inventory data, it is necessary to deploy many staff members for information processing in the general management room of the container yard.

Also, in order to securely manage inventory data, management personnel may unilaterally issue loading and unloading instructions to container handling equipment, and as a result, excessively severe instructions may be given to operators of the loading and unloading equipment.

In order to solve the above problems, a container position detection device has been proposed (JP-A-5-201504). The device is equipped with: a self-propelled container handling device; an identifier configured at the entrance of the container storage lane in the container yard to identify each lane; a reading device for reading the identifier information on the container handling device device; the self-propelled distance detection device of the container handling device; the container lifting height detection device of the container handling device; and the container position is calculated by the reading signal of the identifier, the self-propelled distance detection signal of the container handling device and the container lifting height detection signal control device. Accumulate and update inventory data, or issue work instructions to the operator of the container handling device through data communication between the measured container position and the visually confirmed container identification code by the computer between the loading and unloading device and the general management office . However, in this device, although the position of the container can be detected, it is still necessary to visually confirm the identification code of the container. Therefore, if the container identification code is misunderstood, the inventory data will deviate, so the container cannot be managed, and there is a possibility that the whereabouts of the container are unknown in a very large container yard. In addition, in this device, the identifier information of the entrance of the container storage lane must also be read, so the container handling device must pass through the entrance of the container storage lane. Therefore, the free movement of the container handling device is restricted, and the work efficiency is reduced. In addition, when the arrangement of the lanes needs to be changed due to changes in the number of containers handled by the container yard, the work of changing the identifier configuration must be performed on a very large container yard. In addition, by obtaining the position of the self-propelled container handling device using satellite signals, the position of the container to be loaded and unloaded can be detected. However, even if the location of the container can be detected, the container ID must still be confirmed visually. Therefore, when the container identification code is misunderstood, the inventory data will deviate, and there is a possibility that the whereabouts of the container are unknown in the huge container yard.

In addition, a search device for searching for an unknown container has also been proposed (JP-A-6-24527). The device is equipped with: a self-propelled container handling device; an identifier attached to each container in order to separately identify multiple containers; a reading device for reading the identifier information on the container handling device; storage means for storing identification information of the container to be searched; means for comparing the stored identification information of the container with the read information of the identifier; and means for outputting the result of the comparison. However, in this device, the position of the container cannot be detected. Therefore, it is impossible to prevent the disappearance of the container, to confirm the position of the container transported to the messy place, and to manage the inventory data in real time during loading and unloading.

In addition, an image processing technique for reading container identification codes is also proposed. However, only the container identification code can be read, but the whereabouts of the container in the container yard cannot be prevented, the location of the container cannot be confirmed, and the inventory data cannot be managed in real time during loading and unloading.

An object of the present invention is to provide a container handling device and a management system capable of solving the above-mentioned technical problems.

disclosure of invention

The self-propelled container loading and unloading device of the present invention is used for loading and unloading containers in a container yard. It is equipped with a device for reading the container identification code marked on the container and a device for detecting the position of the container being loaded and unloaded. According to this configuration, when loading and unloading the container by the loading and unloading device, the position of the container can be detected and the container identification code can be read. Therefore, it is possible to prevent misinterpretation of container identification codes, deviations in inventory data, and unknown whereabouts of containers. In addition, when the container is transported into the container yard by the ship, it is not necessary to confirm the position and the identification code of the container transported in a messy place, so labor can be reduced.

As the loading and unloading device for the container of the present invention, a structure in which a lifting device for lifting and lowering is provided so as to stack containers in multiple layers can be adopted. In this case, it is preferable to have a horizontal position detection device for detecting the two-dimensional position of the container in the horizontal direction based on the position detection of the container loading and unloading device using artificial satellite signals; The height detects the position of the container in the up and down direction. According to this configuration, the position of the container can be detected without restricting the free movement of the container handling device and without being affected by the arrangement of the containers in the container yard.

In addition, as the container loading and unloading device of the present invention, such a structure can be adopted, that is, there are: a lifting device, which is used for lifting and lowering operations so that the containers can be stacked in multiple layers; Down makes the container move in the horizontal direction. In this case, it is better to have: a horizontal position detection device that detects the two-dimensional position of the container in the horizontal direction based on the position detection of the container handling device using artificial satellite signals; an additional horizontal position detection device that moves the container according to the moving device The two-dimensional position of the horizontal direction of the container is detected by the distance; and the up and down position detection device detects the position of the container in the up and down direction according to the height of the lifting device lifting the container. According to this configuration, the position of the container can be detected without restricting the free movement of the container handling device and without being affected by the arrangement of the containers in the container yard.

The horizontal position detection device is preferably a so-called DGPS (Differential Global Positioning System). That is, it is preferable to have a reference station installed at a known reference position and a mobile station installed on a container handling device, and the error components obtained based on signals transmitted from a plurality of artificial satellites to the reference station are paired based on the error components obtained from a plurality of people. The horizontal two-dimensional position of the container handling device obtained from the signal sent by the satellite to the mobile station is corrected. This error component can be obtained from virtual distances obtained based on signals transmitted from a plurality of artificial satellites to the reference station, time information, orbit data, and the like. According to this principle of DGPS, the position detection accuracy of the container can be improved.

It is also preferable to have: a device for judging whether the detection accuracy of the horizontal position detection device is good; and another horizontal position detection device, which detects the two-dimensional position of the container in the horizontal direction based on the position detection of the container handling device; When the detection accuracy of the position detection device is poor, another horizontal position detection device can be used to detect the position of the container handling device. Whether the detection accuracy of the horizontal position detection device is good or not can be judged based on, for example, the number of satellites that can receive signals from it, the degree of dispersion of a plurality of satellites, and the presence or absence of error correction signals sent from reference stations when DGPS is used. Therefore, the detection of the horizontal position of the container is mainly carried out based on the position detection of the container handling device using satellite signals, and even if the position detection accuracy of the container handling device using satellite signals is poor, another method can be used. The horizontal position detecting device detects the position of the container handling device. In this case, the horizontal position detection of the container by the horizontal position detection device is supplemented by another horizontal position detection device.

Alternatively, it is preferable to have: another horizontal position detection device for detecting the two-dimensional position of the container in the horizontal direction based on the position detection of the container handling device; and a device for judging whether the detection accuracy of the another horizontal position detection device is good, When the detection accuracy of the other horizontal position detection device is poor, the horizontal position detection device can be used to detect the position of the container handling device. Therefore, the detection of the horizontal position of the container is mainly carried out based on the position detection of the container handling device by another horizontal position detection device, and even if the position detection accuracy of the container handling device by the other horizontal position detection device is poor, It is also possible to detect the position of the container handler using signals from artificial satellites. In this case, the horizontal position detection of the container by another horizontal position detection device is supplemented by the horizontal position detection device.

This further horizontal position detection means may take a well known form. For example, from a number of known positions to the position of the container handling device, or from the position of the container handling device to a number of known positions, transmit signals for distance measurement such as ultrasonic waves, radio waves, and lasers, and based on each position and the container handling device The distance to detect the horizontal position of the container. An external image recognition device can also be installed in the container handling device, and the horizontal position of the container can be detected according to the recognized image. In addition, line marks, point marks, ID marks, etc. are set at known positions in the container yard, and a detection device for the mark or ID mark is installed in the container handling device, and the container is detected according to the detected mark or ID mark. horizontal position.

The other horizontal position detecting device preferably detects the position of the container handling device by an azimuth sensor and a self-propelled distance detecting device arranged in the container handling device. This azimuth sensor can be constituted by, for example, a gyro compass. The self-propelled distance detecting device can be composed of, for example, a distance measuring wheel that rotates with the movement of the loading and unloading device, and an encoder for detecting the rotation. Therefore, even when the position of the container is detected by another horizontal position detection device, the free movement of the container handling device is not restricted, and it is not affected by the arrangement of the containers in the container yard. In addition, it is preferable to also be provided with a device for judging whether the position detection accuracy of the other horizontal position detection device is good or not according to whether the position detection time exceeds the set time, when both the horizontal position detection device and the other horizontal position detection device When the accuracy of position detection is not normal, the other horizontal position detection device can use the reference position information that can be read in the known reference position as an initial value to detect the position of the container handling device. Therefore, by performing position detection using the known reference position information as an initial value, the error accumulation caused by the poor position detection accuracy of another horizontal position detection device can be eliminated, and thus the position detection accuracy of another horizontal position detection device can be restored. .

The device for reading the container identification code preferably has an imaging device capable of capturing an image of the container identification code and an image processing device capable of recognizing the container identification code based on the image signal sent by the imaging device. Therefore, the container identification code can be confirmed without visual observation. The device for reading the container identification code preferably has a sensor capable of detecting the container and a control device for outputting an imaging instruction signal to the imaging device based on a container detection signal input from the sensor. Therefore, the identification code of the detected container can be confirmed automatically.

The container management system of the present invention is equipped with: the container loading and unloading device of the present invention; a device for storing the container identification code and storage location stored in the container yard as inventory data; The device for updating the inventory data by reading the container identification code and the detected container position by the container handling device. According to such a structure, when a container handling apparatus loads and unloads a container, the inventory data of a container can be updated correctly and automatically. That is, reliable real-time management of container inventory data in container yards is possible. In addition, it is possible to efficiently issue loading and unloading instructions to the operator of the container handling device, reducing the number of personnel engaged in management work such as wireless language communication operations and inventory data communications. In addition, since the inventory data can be updated based on the container identification code read by the loading and unloading equipment and the detected container position, the inventory data can be managed without unilaterally issuing instructions from the manager to the loading and unloading operations of the container handling equipment. . It is also possible to display a plurality of instructions for loading and unloading operations on the display device provided on the loading and unloading device, and the operator of the loading and unloading device can choose from them, so that operator-led loading and unloading operations can be realized. Therefore, it is possible to prevent the operator of the loading and unloading device from giving an excessively severe loading and unloading work instruction.

Preferably, the container management system of the present invention is equipped with: a device for inputting the identification code and the loading and unloading position of the container loaded and unloaded by the container handling device; A device for comparing the detected container positions; and a device for outputting the result of the comparison. Therefore, it is possible to prevent erroneous loading and unloading by comparing the identification code and loading/unloading position of the container actually loaded/unloaded by the container handling device with the inputted container identification code and loading/unloading position, and issuing an alarm if they do not match.

The container management system of the present invention is preferably equipped with: a device for storing the identification codes of containers scheduled to be transported into and out of the container yard; A device for reading; a device for reading the identification code of a container shipped out of a container yard after being read by a container handling device; A device for comparing the identification codes of containers obtained; and a device for outputting the comparison results. The identification code of the container brought into the container yard or the identification code of the container transported out of the container yard can be read at the gate of the container yard when the container is brought in or out by a truck or the like, for example. Therefore, it is possible to reliably prevent the loading and unloading of containers other than those scheduled for loading and unloading.

Fig. 1 is an explanatory diagram of the arrangement of a container yard according to an embodiment of the present invention.

Fig. 2 is an explanatory diagram showing the structure of the container yard of the embodiment.

Fig. 3 is a side view of the container handling device of the embodiment.

Fig. 4 is a front view of the container handling device of the embodiment.

Fig. 5 is a perspective view of a part of the container.

Fig. 6 is an explanatory diagram showing the structure of the management room of the embodiment.

Fig. 7 is an arrangement diagram of the container of the embodiment.

FIG. 8 is an explanatory diagram of a method of measuring the position detection accuracy of DGPS.

Fig. 9 is a flowchart showing a loading and unloading information processing program of the container yard according to the embodiment.

10 to 12 are flow charts showing the flow of information at the time of container loading and unloading according to the embodiment.

Fig. 13 is a flowchart showing a position detection program of the embodiment.

Fig. 14 is a flowchart showing a position detection program of the embodiment.

FIG. 15 is an explanatory diagram showing the layout of a container yard according to a modified example.

Fig. 16 is a configuration explanatory diagram of a container yard according to a modified example.

Optimum Form for Carrying Out the Invention

The container yard 1 shown in FIG. 1 has a plurality of rows of storage lanes L1, L2, ... Ln-1, Ln. Each lane has a plurality of container storage places C1, C2, ... Cm-1, Cm arranged in a row. As shown in FIG. 2 , in each container placement site, containers 2 are stacked in multiple layers. The container 2 placed in the container yard 1 is transported in and out by the truck 4 coming in and out from the gate 3 and the ship 5 docked at the wharf. The containers 2 stored in the container yard 1 are loaded and unloaded by a plurality of self-propelled container handling devices 6 . Trucks 4 entering container yard 1 from its gate 3 move within truck lanes T1, T2, ... Tp. In the truck lanes T1 , T2 , . As a loading and unloading device for the ship 5, a plurality of gantry cranes 7 for unloading or loading the container 2 from the ship 5 are provided. In addition, a container loading and unloading site corresponding to the ship 5 is defined for each gantry crane 7 , and the loading and unloading of the container 2 in the loading and unloading site is performed by the loading and unloading device 6 . In the container yard 1, there are a general management room 46, a gate entrance management room 8a for managing trucks 4 entering from the gate 3, and a gate exit management room 8b for managing trucks 4 leaving from the gate 3.

The self-propelled container handling device 6 is equipped with a lifting device for lifting and lowering the stored container 2 . As shown in Fig. 3 and Fig. 4, the loading and unloading device 6 of the present embodiment is a container straddle carrier type, and is provided with: a car body 10 with a plurality of uprights 12, a moving wheel 11 supporting the car body 10, and an oil pressure Cylinders 18 and chains 13 are lifted and suspended on the balance frame 14 of the vehicle body 10 , and the driver's cab 16 installed on the vehicle body 10 through pillars 15 . Each chain 13 rolls are hung on the sprocket wheel 17 that is installed on the car body 10 and the sprocket wheel 19 of hydraulic cylinder 18 front ends, and one end is installed on the gimbal 14, and the other end is installed on the car body 10. Therefore, the balance frame 14 can be raised and lowered by means of expansion and contraction of the hydraulic cylinder 18 . The gimbal 14 can expand and contract according to the size of the container 2, and is mainly composed of a rectangular frame viewed from a top view. Holding claws 21 are provided at the four corners of the frame. After each holding claw 21 is inserted in the upper hole of container 2, if turn 90 degrees around the longitudinal axis, then each holding claw 21 will be hooked on the inner surface of container 2. Therefore, by arranging the container 2 between the left and right columns 12, hooking the holding claws 21 of the gimbal 14 on the container 2, and raising the gimbal 14, the container 2 can be moved while being held. The operating device 21 a of the holding claw 21 is connected to a control device 40 provided in the cab 16 of the loading and unloading device 6 . The control device 40 can be constituted by a digital computer with a storage device. An input device 41 including keyboard switches, a display device 42 including a CRT monitor and the like, and a wireless device 43 for data communication are connected to the control device 40 .

A container detection sensor 60 , an imaging device 61 , and a lighting device 63 are attached to the gimbal 14 . The sensor 60 can be constituted by, for example, a proximity sensor, and outputs a container detection signal when the front end of the vehicle body 10 of the loading and unloading device 6 approaches the container 2 . The imaging device 61 , for example, can be composed of a CCD camera, and can be used to take an image of the identification code 62 marked on the container 2 . The illuminating device 63 is used to illuminate the photographed portion of the container 2 .

As shown in Figure 5, as the identification code 62, it is the owner code and manufacturing serial number marked on the two ends of the container 2 according to regulations according to the ISO standard (ISO/TC104). It is composed of English letters and numbers and can be photographed. . In addition, country codes, size codes, type codes, etc. can be photographed and used as attribute information to improve reliability when checking containers.

As shown in FIG. 3 , the sensor 60 for container detection, the imaging device 61 , and the lighting device 63 are connected to the control device 40 of the loading and unloading device 6 . The camera device 61 is connected to the control device 40 via an image processing device 65 . The control device 40 outputs an image pickup instruction signal to the image pickup device 61 based on the detection signal of the container 2 input from the container detection sensor 60 . The imaging device 61 photographs the identification code 62 of the container 2 held by the container handling device 6 based on the imaging instruction signal. When this imaging is performed, the control device 40 outputs an illumination instruction signal to the lighting device 63 to illuminate the imaging site of the container 2 . The image processing device 65 recognizes the container identification code 62 based on the image signal sent from the imaging device 61 , and outputs the identification signal of the container identification code 62 to the control device 40 .

DGPS is installed as a horizontal position detecting device that detects the horizontal two-dimensional position of the container 2 to be loaded and unloaded based on position detection of the loading and unloading device 6 using artificial satellite signals. That is, as shown in FIG. 6 , the above-mentioned general management room 46 is used as a known reference position, and a reference station 70 is installed in the general management room 46 . As shown in FIG. 3 , the mobile platform 71 is installed in the driver's cab 16 of each loading and unloading device 6 . The reference station 70 receives signals from a plurality of artificial satellites through an antenna 70a, and a transmitter 70c transmits a DGPS correction signal based on the signals through an antenna 70b. The mobile station 71 receives signals sent by a plurality of artificial satellites through the antenna 71a, and the receiver 71c receives the correction signal sent from the reference station 70 through the antenna 71b, and obtains its own two-dimensional horizontal direction according to the signals sent by the artificial satellites. position, and correct the calculated position according to the correction signal. The corrected position signal is transmitted to the control device 40 of the loading and unloading device 6 .

A vertical position detection device is also provided to detect the vertical position of the loaded and unloaded container 2 based on the lifting height of the container 2 by the lifting device of the loading and unloading device 6 . That is, as shown in FIG. 3 , an encoder 35 is installed on the sprocket 17 of the chain 13 of the balance frame 14 that supports the loading and unloading device 6 , and the signal of the encoder 35 is transmitted to the control device of the loading and unloading device 6 . 40. The control device 40 calculates the lifting height of the container 2 according to the signal.

As shown in FIG. 6 , a control device 44 connected to the above-mentioned reference station 70 is provided in the general management room 46 . The control device 44 can be constituted by a digital computer with a storage device. An input device 49 composed of keyboard switches, a display device 51 composed of a CRT display, etc., a wireless device 43 for data communication, and a transmitting and receiving antenna 47b are connected to the control device 44 .

The control device 40 of the loading and unloading device 6 judges the detection accuracy of the two-dimensional position of the loading and unloading device 6 by DGPS based on the signal sent from the reference station 70 . The signal transmitted from the mobile station 71 to the control device 40 includes the number of satellites from which signals can be received, the degree of dispersion of a plurality of satellites, the inclination of the satellites, the position after DGPS error correction, and the like. For example, if the number of artificial satellites from which signals can be received is small, or if the artificial satellites from which signals can be received are not scattered but concentrated, or if no DGPS error correction signal is transmitted from the reference station 70, the two-dimensional position of its loading and unloading device 6 The detection accuracy is reduced.

The detection accuracy of the DGPS for the horizontal two-dimensional position of the loading and unloading device 6 is set so that the mutual positions of the containers 2 can be recognized according to the size and layout of the containers 2 in the container yard 1 . For example, as shown in Figure 7, when a 20-foot-long container 2a and a 40-foot-long container 2b are mixed in each lane, the width of each container 2a, 2b is 8 feet, and the distance between each lane is about 1.5m. At this time, even if the center of the circle 59 with a diameter of 10 feet shown by a dotted line is arranged at the center of each container 2, the circles 59 will not intersect each other. In this case, the detection accuracy of the two-dimensional position of the loading and unloading device 6 in the horizontal direction is at least allowed to have an error of ±5 feet or less. The detection accuracy of the DGPS to the two-dimensional position of the horizontal direction of the loading and unloading device 6 can be obtained experimentally. For example, as shown in FIG. The difference between the locus 75' of the plot point and the road 75 is obtained. This accuracy judgment is performed by the control device 40 of the loading and unloading device 6 .

In addition to the above-mentioned DGPS, another horizontal position detection device is provided to detect the two-dimensional position of the container 2 in the horizontal direction based on the position detection of the loading and unloading device 6 . That is, as shown in FIG. 3 , this other horizontal position detection device has an azimuth sensor 73 and a self-propelled distance detection device. The azimuth sensor 73 may be constituted by, for example, a gyro compass, and transmits an azimuth signal detected by the azimuth sensor 73 to the control device 40 of the loading and unloading device 6 . This self-propelled distance detection device, for example, has a distance measuring wheel 33 installed on the vehicle body 10 and an encoder 34 installed on the measuring wheel 33 for detecting the number of revolutions, and the encoder 34 is connected with the control of the loading and unloading device 6. The device 40 is connected.

When the detection accuracy of the horizontal position detection device, that is, DGPS, to the two-dimensional position of the loading and unloading device 6 in the horizontal direction is not good, the control device 40 can use another horizontal position detection device, that is, according to the signal from the azimuth sensor 73 and the signal from the encoder. 34 to detect the two-dimensional position of the loading and unloading device 6 in the horizontal direction. In this case, the control device 40 mainly detects the position of the loading and unloading device 6 by DGPS, and when the position detection accuracy is poor, it is supplemented by another horizontal position detection device.

Conversely, when another horizontal position detection device has poor detection accuracy for the two-dimensional position of the loading and unloading device 6 in the horizontal direction, the control device 40 can use DGPS to detect the two-dimensional position of the loading and unloading device 6 in the horizontal direction. The position detection accuracy of this other horizontal position detection device is degraded by the accumulation of errors. Therefore, the control device 40 determines whether the position detection accuracy of the other horizontal position detection device is good or not according to whether its position detection time exceeds a set time. In this case, the control device 40 mainly uses the other horizontal position detection device to detect the position of the loading and unloading device 6, and when the position detection accuracy is poor, it is supplemented by the DGPS. This supplementary operation is realized by using the position detected by DGPS as an initial value to perform position detection by another horizontal position detection device.

In addition, means for restoring the position detection accuracy of the other horizontal position detection device when the position detection accuracy of both the DGPS and the other horizontal position detection device is abnormal is provided. Therefore, by performing position detection using known reference position information as an initial value, error accumulation caused by poor position detection accuracy of another horizontal position detection device can be eliminated. That is, a known position in the container yard 1 is used as a reference position, and if the position detection by another horizontal position detection device exceeds a set time, the loading and unloading device 6 is moved to the reference position. At this reference position, reference position information is input to the control device 40 . The reference position information is used as an initial value, and the position is detected by another horizontal position detection device. For example, the lane number corresponding to the lane of the container, the number of rows of each lane, and the number of overlapping layers are input from the input device 41 . It is also possible to input the reference position information by providing a mark for writing information at the reference position and providing a reading device for the information on the loading and unloading device 6 . Therefore, even if the position detection by another horizontal position detection means takes a long time, the detection accuracy can be prevented from being lowered.

As shown in FIG. 6, imaging devices 76a, 76b and lighting devices 77a, 77b are provided in the gate management rooms 8a, 8b. The imaging devices 76a, 76b and the lighting devices 77a, 77b are connected to the control devices 45a, 45b in the gate management rooms 8a, 8b. In addition, the imaging devices 76a, 76b are connected to the control devices 45a, 45b via image processing devices 78a, 78b. Each control device 45a, 45b can be constituted by a digital computer having a storage device, and it is connected to the control device 44 of the general management room 46 so that it can receive or transmit data. Input devices 79a and 79b made of keyboard switches and display devices 80a and 80b made of CRT monitors and the like are connected to the control devices 45a and 45b. The control devices 45a, 45b output imaging instruction signals to the imaging devices 76a, 76b based on container detection signals from the container detection sensors 98a, 98b. The imaging devices 76a, 76b image the identification code 62 of the container 2 held on the truck 4 based on the imaging instruction signal. When this imaging is performed, the control devices 45a, 45b output lighting instruction signals to the lighting devices 77a, 77b to illuminate the imaging site of the container 2 . The image processing devices 78a, 78b recognize the container identification code 62 based on the image signals sent from the imaging devices 76a, 76b, and output the identification signal of the container identification code 62 to the control devices 45a, 45b. Therefore, at the gate entrance management room 8a, the identification code 62 of the container 2 transported into the container yard 1 is read before being read by the container handling device 6 . On the other hand, at the gate exit management room 8b, the identification code 62 of the container 2 shipped out from the container yard 1 is read after being read by the container handling device 6 .

As shown in FIG. 2 , an imaging device 81 and an illuminating device 82 are provided on each gantry crane 7 . The imaging device 81 and the lighting device 82 are connected to the control device 83 in the management room 7 a of the gantry crane 7 . The camera device 81 is connected to a control device 83 via an image processing device 84 . The control device 83 may be constituted by a digital computer having a storage device, and is connected to an input device 85 constituted by keyboard switches, a display device 86 constituted by a CRT display, etc., and a wireless device 87 for data communication. The control unit 83 outputs an imaging instruction signal to the imaging unit 81 based on the container detection signal from the container detection sensor 99 . The imaging device 81 photographs the identification code 62 of the container 2 loaded and unloaded by the gantry crane 7 based on the imaging instruction signal. When this imaging is performed, the control device 83 outputs an illumination instruction signal to the lighting device 82 to illuminate the imaging site of the container 2 . The image processing device 84 recognizes the container identification code 62 based on the image signal sent from the imaging device 81 , and outputs the identification signal of the container identification code 62 to the control device 83 . Therefore, at the management room 7 a of the gantry crane 7 , the identification code 62 of the container 2 carried into the container yard 1 is read before being read by the container handling device 6 . On the other hand, the identification code 62 of the container 2 shipped out from the container yard 1 is read after being read by the container handling device 6 .

As shown in FIG. 6 , the host machine 88 is connected to the control device 44 of the above-mentioned general management room 46 . The identification codes 62 and storage locations of the containers 2 stored in the container yard 1 are stored in the host machine 88 as inventory data. The storage position of this container 2 can be comprised by the lane number corresponding to a container lane, the number of rows of each lane, and the number of overlapping floors, for example.

The inventory data stored in the host computer 88 can be transmitted from the control device 44 of the general management room 46 to the control device 40 of each loading and unloading device 6 through the wireless devices 47 and 43 . When loading and unloading the container 2 stored in the container yard 1, the control device 40 of each loading and unloading device 6 can update the inventory data according to the container identification code 62 read during loading and unloading and the detected container position. The update result of the inventory data can be transmitted from the control device 40 of each loading and unloading device 6 to the control device 44 of the general management room 46 through the wireless devices 47 and 43 . The control device 44 of the general management office 46 can update the inventory data stored in the host computer 88 .

The control device 40 of the container loading and unloading device 6 can compare the identification code 62 and the loading and unloading position of the container 2 stored during the operation selection described later with the identification code 62 of the container 2 read during loading and unloading and the detected container position. Control, and output the control results.

This host computer 88 communicates with the information processing control device 90 possessed by the shipper, the information processing control device 91 possessed by the land transportation company that transports the container 2 with the truck 4, and the control device 91 that transports the container 2 with the ship 5 through a terminal computer 89 for connection. It is connected to an information processing control device 92 owned by a marine carrier to transmit and receive data. That is, the container yard 1, the shipper, the land carrier, and the sea carrier are connected by a so-called WAN (Wide Area Network). Each information processing control device 90, 91, 92 can be made of a digital computer with a storage device, and is connected with an input device 90a, 91a, 92a made of a keyboard switch, a display device 90b, 91b, 92b made of a CRT display, etc. Printers 90c, 91c, 92c, and IC card reader/writer 90d, 91d, 92d, etc.

Cargo owners entrust land transport operators and sea transport operators to deliver their goods through WAN. The land carrier or sea carrier prepares containers 2 suitable for the quantity and type of the cargo. The truck 4 used by the land carrier transports the container 2 loaded with the cargo between the owner of the cargo and the container yard 1 . The marine carrier uses a ship 5 to transport the container 2 loaded with cargo between the container yard 1 and another container yard. The land carrier or sea carrier issues an IC card in which the name of the carrier and the name of the truck driver who transport the container 2 are written. The IC card, the password for reading the IC card, and the work instruction information are handed over to the driver of the truck 4 . The work instruction information includes, for example, information on the owner of the cargo, the arrival destination of the cargo, and the like. This work instruction information can also be provided by a ticket, and when the IC card writer 4a is installed in the truck 4, it can also be written into the IC card. In addition, it is also possible to write work instruction information for a plurality of containers 2 on the IC card. The owner's information processing control device 90 can confirm the carrier and the driver of the truck 4 based on the IC card. In addition, the information processing control device 90 possessed by the consignor can also store the attributes of the container 2 such as the identification code 62 of the container 2, the size of the container 2, container specifications such as whether it is for freezing, the contents of the cargo, and the serial number of the seal that seals the door of the container 2. The information is written into the IC card.

The identification code 62 of the container 2 scheduled to be carried in and out, the name of the carrier who transported the container 2, and the name of the truck driver are transmitted and stored in the host computer 88 of the container yard 1 through the WAN. In addition, the attribute information of the container 2 such as the size of the container 2 and the serial number of the seal can also be transmitted and stored in the host computer 88 . According to the scheduled incoming and outgoing containers 2 , the loading and unloading operation plan of the container yard 1 is worked out, and the loading and unloading operation plan is stored in the host computer 88 . In addition, from the attribute information of the container 2 scheduled to be carried in and out transmitted through the WAN in advance, the container 2 can be checked at the time of the container 2 being carried in and out of the container yard 1 based only on the identification code 62 of the container 2 . If the attribute information of the container 2 is added in addition to the identification code 62 for verification, the reliability of the verification of the container 2 can be improved.

As shown in FIG. 6, control devices 93a, 93b for gate management are installed in each gate management room 8a, 8b. Each door management control device 93a, 93b can be made of a digital computer with a storage device, and is connected with an input device 94a, 94b made of a keyboard switch, a display device 95a, 95b made of a CRT display, etc., a printer 96c, 96b, and IC card reader/writer 97a, 97b, etc. By this read-write device 97a, 97b, the name of the carrier, the name of the truck driver, and other attribute information (if any) of the container 2 written into the IC card of the driver of the truck 4 are read into each door for management. Inside the control device 93a, 93b. From the host 88, the identification code 62, the name of the transporter, the name of the truck driver, and other attribute information (if any) of the container 2 of the container 2 that is scheduled to be transported into the container yard 1 and shipped out from the container yard 1 are sent to each container. Control devices 93a, 93b for gate management. In addition, the identification code 62 of the container 2 read by the imaging devices 76a and 76b is transmitted to the control devices 93a and 93b for each gate management. The control devices 93a, 93b for each gate management use the identification code 62 of the container 2 scheduled to be shipped in and out, the name of the transporter, the name of the truck driver, and other attribute information (if any) of the container 2 with the actual incoming and outgoing container 2. The identification code 62 of the outgoing container 2, the name of the carrier of the container 2, the name of the truck driver, and other attribute information (if any) of the container 2 are compared. If the results of the comparison do not match, for example, a warning message is output to the display devices 95a, 95b. If the result of the comparison is consistent, the ticket is sent to the driver of the truck 4 by the printer 96a when the container 2 is loaded. The numbers of the truck lanes T1, T2, . . . Tp to which the truck 4 is to go are printed on this ticket. In addition, signals 100a, 100b and roadblock mechanisms 101a, 101b can also be installed at each gate management room 8a, 8b, and controlled by the control devices 93a, 93b according to the comparison results. Image recording devices 102a, 102b for recording the damaged state of the container 2 can also be set at each gate management room 8a, 8b, so that when the container 2 is damaged, it can be clearly defined which party should be responsible. In addition, when transporting into the container 2, not only the numbers of the truck passages T1, T2, ... Tp are indicated, but also the number plate 103 for identification of the truck 4 as shown in FIG. 2 can be placed on the top of the cab of the truck 4, etc. . A weight gauge 104 for measuring the weight of the container 2 and a size measuring device 105 can also be provided at the entrance door management room 8a, and can be used when checking the container 2. At the same time, the loading and unloading operations for loading the container 2 onto the ship 5 can be formulated. Used when planning.

The identification code 62 of the container 2 scheduled to be transported into and out of the container yard 1 is transmitted from the host computer 88 to the control device 83 of the gantry crane 7 . The control device 83 compares the identification code 62 of the container 2 scheduled to be transported in and out of the container yard 1 by the ship 5 with the identification code 62 of the container 2 read by the camera 81 when each gantry crane 7 is loading and unloading. If the results of the comparison do not match, a warning message is output to the display device 86 .

The flow chart of FIG. 9 shows the processing procedure of the loading and unloading information of the container handling device 6 . First, the loading and unloading operation plan is read from the control device 44 of the general management room 46 into the control device 40 of the container handling device 6 (step 1). This reading can also be performed by the wireless devices 47, 43, and can also be performed in a batch process using a medium such as an IC card. In addition, the control device 44 of the general management room 46 reads the master file of the inventory data from the host computer 88 in advance. Based on this loading and unloading work plan, the loading and unloading work pattern is displayed on the display device 42 of the control device 40 of the loading and unloading device 6 . The operator of the loading and unloading device 6 selects one mode from the displayed loading and unloading work modes (step 2). As the mode of this loading and unloading work, there are, for example, a mode of transporting the container 2 from the truck 4 to the storage position, a mode of moving the container 2 from the storage position to the truck 4, and a mode of transporting the container 2 from the loading and unloading position of the gantry crane 7 to the storage position. mode, mode for moving the container 2 from the storage position to the loading and unloading position of the gantry crane 7, marshalling mode, free movement mode, etc. The operator of the loading and unloading device 6 selects one kind of work from the list of loading and unloading operations displayed in the selected mode.

Next, the control device 44 of the general management room 46 judges whether or not to allow the selected loading and unloading work (step 3). For example, when there is a possibility of a collision with another loading and unloading device 6 , or when another loading and unloading device 6 has selected the same job just before that, its execution is not allowed. If it is not allowed to execute, return to step 2 and make a new selection. If it is allowed to execute, the loading and unloading operation is carried out, and the operation completion information and new inventory information are sent to the control device 44 of the general management room 46 through the wireless devices 43 and 47 . After that, the control device 40 receives the update confirmation of the master file of the inventory data and the selection permission information of the next job from the control device 44 of the general management room 46 via the wireless devices 43 and 47 (step 4). Next, it is judged whether the loading and unloading work is completed (step 5). If not finished, the operator of the loading and unloading device 6 checks whether the selection of a new loading and unloading operation is permitted (step 6). If it is allowed to select a new loading and unloading operation, return to step 2. For example, when there is an error in the previous loading and unloading operation, in step 4, the control device 44 of the general management room 46 does not allow a new loading and unloading operation selection. When it is not allowed to select a new loading and unloading operation, a supplementary operation should be performed, that is, re-doing the previous loading and unloading operation, or performing operations to eliminate its errors, etc. (step 7). Then, judge whether to continue loading and unloading operation (step 8), if continue, then return to step 2. When not continuing the loading and unloading operation, or when the loading and unloading operation has ended in step 5, update the master file of the inventory data of the host computer 88 (step 9).

The flow charts of FIGS. 10 to 12 show the subroutines of the loading and unloading operations in the flow chart of FIG. 9 . In addition, the flow charts are subroutines for the initial moving position and the moving target position of the container 2 respectively. Therefore, when the loading and unloading operation is performed at the initial moving position according to the subroutine, and then the loading and unloading operation is performed at the moving target position according to the subroutine, in the loading and unloading operation, the loading and unloading operation information that allows selection is input to the control of the loading and unloading device 6. device 40 and simultaneously displayed on display device 42 . In addition, on the display device 42, a map around the entire container yard or the current position of the container handling device 6 is simultaneously displayed as guidance information (step 1). When loading and unloading between the truck 4 and the loading and unloading device 6 , the truck lane where the truck 4 stops and waits, the identification code 62 of the container 2 , and the storage location of the container yard 1 constitute the loading and unloading operation information. In addition, if the identification number plate 103 of the truck 4 is placed on the top of the cab of the truck 4, the identification number is also input to the control device 40 as loading and unloading work information. When loading and unloading between the ship 5 and the loading and unloading device 6, the loading and unloading position with the gantry crane 7, the identification code 62 of the container 2, and the set storage position of the container yard 1 constitute loading and unloading operation information. When marshalling work is performed, the position where the container 2 is loaded and unloaded on the ship 5 by the gantry crane 7 constitutes the loading and unloading work information.

Next, as the loading and unloading device 6 moves, the two-dimensional position in the horizontal direction is detected sequentially in real time. The detected two-dimensional position is additionally displayed on the guidance screen of the display device 42 (step 2). The loading and unloading device 6 moves to the input loading and unloading position, that is, the truck waiting passage, the container loading and unloading position, or the position where the gantry crane 7 is used for loading and unloading, referring to the guide information. The detected two-dimensional position may also be transmitted to the control device 44 of the general management office 46 .

Next, the control device 40 judges whether or not an interrupt input is present (step 3). This interruption can be input to the control device 40, for example, via a switch for starting the lifting of the gimbal 14 . If there is an interruption input, the control device 40 judges whether the container 2 is detected by the sensor 60 (step 4). If the container 2 is detected by the sensor 60, the container identification code 62 is read into the control device 40 by the camera device 61 (step 5). Then, the control device 40 judges whether it is necessary to check the read container identification code 62 (step 6). Except for the free movement situation, it is compared with the identification code 62 of the container 2 scheduled to be carried in and out (step 7). If the comparison results match, the control device 40 determines whether to hold or release the container 2 based on the input of the container 2 holding signal or holding release signal from the operating device 21a of the holding claw 21 (step 8). In addition, when the detection of the container 2 is not carried out because the loading and unloading device 6 has held the container 2 in step 4, and when the check operation is not carried out because it is freely moving in step 6, the control device 40 also determines whether to carry out the detection of the container 2. 2 hold or release hold. If the container 2 is not held or released, it is assumed that some kind of abnormality has occurred, and an error message is input (step 9). Based on the error information, it is judged whether to allow the selection of a new loading and unloading operation in the flow chart of FIG. 9, and an instruction for supplementary operation is issued.

When the comparison result is inconsistent in step 7, report to the police (step 10), and judge whether to carry out loading and unloading operation (step 11) again. To redo, return to step 1. If the loading and unloading operation is not carried out again, it is judged whether to revise the inputted container identification code 62 (step 12). When an error occurs in the container identification code 62 due to an error in the inventory data or loading and unloading operation plan, the input container identification code 62 is corrected (step 13), and returns to step 8. If the inputted container identification code 62 is not to be corrected, it will be changed to the free movement mode (step 14), and the process returns to step 8.

If the container 2 is held or released in step 8, the loading and unloading position for holding or releasing the holding is detected based on the two-dimensional position in the horizontal direction of the loading and unloading device 6 and the lifting height of the container 2 (step 15). Then, it is judged whether it is necessary to check the detected loading and unloading positions (step 16). Except for the case of free movement and the case of transporting the container 2 to a messy storage position, it is compared with the loading and unloading position of the container 2 scheduled to be carried in and out (step 17). When the comparison results are consistent, and when no verification is performed, the control device 40 of each loading and unloading device 6 updates the inventory data according to the read container identification code 62 and the detected position of the container 2 (step 18). The update result of the inventory data is transmitted to the control device 44 of the general management room 46 through the wireless devices 43 and 47 .

When the comparison result is inconsistent in step 17, report to the police (step 19), and judge whether to carry out loading and unloading operation (step 20) again. To redo, return to step 1. If the loading and unloading operation is not to be performed again, it is judged whether to correct the input loading and unloading position (step 21). When an error occurs in the loading and unloading position due to an error in the inventory data or the loading and unloading operation plan, the input loading and unloading position is corrected (step 22). If the input loading and unloading position is not corrected, an alarm is issued (step 23). Based on this alarm, it is judged whether or not to allow the selection of a new loading and unloading operation as shown in the flow chart of FIG. 9, and an instruction for supplementary operation is issued.

In the flow charts of Figures 10 to 12, the detection of the two-dimensional position in the horizontal direction of the loading and unloading device 6 can be performed according to the subroutine shown in the flow chart of Figure 13 or the subroutine shown in the flow chart of Figure 13 .

The flowchart in FIG. 13 shows a subroutine for detecting the two-dimensional position in the horizontal direction of the loading and unloading device 6 . The flowchart in FIG. 13 corresponds to the case where the position of the loading and unloading device 6 is mainly detected by DGPS, which is a horizontal position detection device, and another horizontal position detection device supplements it when the position detection accuracy is poor.

First, the main two-dimensional position information obtained by DGPS is read into the control device 40 of the loading and unloading device 6 (step 1). Next, the two-dimensional position information as supplementary information obtained by another horizontal position detection device is read into the control device 40 of the loading and unloading device 6 (step 2). Next, the judgment signal of the two-dimensional position detection accuracy of DGPS is read into the control device 40 of the loading and unloading device 6 (step 3). The determination signal is, for example, a signal corresponding to the number of satellites from which signals can be received, the degree of dispersion of a plurality of satellites, the presence or absence of an error correction signal sent from a reference station when DGPS is used, and the like.

Next, the control device 40 judges whether or not the two-dimensional position in the horizontal direction of the loading and unloading device 6 was detected by another horizontal position detecting device the previous time (step 4). If the position detection was performed by another horizontal position detection device last time, then read in the judgment signal of whether the two-dimensional position detection accuracy of DGPS is restored (step 5). The determination signal is, for example, a signal corresponding to the number of satellites from which signals can be received, the degree of dispersion of a plurality of satellites, the presence or absence of an error correction signal sent from a reference station when DGPS is used, and the like.

Then, it is judged whether the position detection accuracy of DGPS has been restored (step 6). Based on this determination signal, if the possibility that the detection accuracy of DGPS deteriorates is low, it is determined that the accuracy has been restored. On the other hand, when the possibility that the detection accuracy of DGPS deteriorates is high, it is determined that the accuracy has not been restored. If the possibility of deterioration of the detection accuracy of DGPS is neither high nor low, it can be judged that the accuracy is restored, but at the same time an alarm is issued to urge attention. If the position detection accuracy of the DGPS has not recovered, it is judged whether the position detection by another horizontal position detection device exceeds the set time (step 7). If the set time has not been exceeded, another horizontal position detection device detects the two-dimensional position of the loading and unloading device 6 in the horizontal direction (step 8).

In step 4, if the previous position detection has not been performed by another horizontal position detection device, it is judged whether the detection accuracy of DGPS has deteriorated (step 9). Based on the accuracy judging signal read in step 3, if the possibility that the detection accuracy of DGPS deteriorates is low, it is judged that the accuracy is normal. When there is a high possibility that the detection accuracy of DGPS will deteriorate, or when it is obvious that the correct two-dimensional position cannot be obtained because the number of artificial satellites that can receive signals from it is two or less, etc., it is determined that the accuracy has deteriorated based on the signal. And when the possibility of deterioration of the detection accuracy of DGPS is neither high nor low, the previous two-dimensional position obtained by DGPS can be taken as a reference, and another two-dimensional position can be obtained by another horizontal position detection device, and the The difference between the two-dimensional position obtained by another horizontal position detection device and the current two-dimensional position obtained by DGPS. If the difference exceeds a preset value, it is determined that the accuracy is deteriorated, and if it does not exceed a preset value, it can be determined that the accuracy is normal. The possibility of deterioration of DGPS detection accuracy can also be determined based on the two-dimensional position data of DGPS obtained by experiments, the number of artificial satellites that can receive signals from it, the degree of dispersion of multiple artificial satellites, and the presence or absence of reference data when using DGPS. The relationship between the error correction signal sent by the station and so on is judged.

In step 9, if the detection accuracy of DGPS deteriorates, in step 8, another horizontal position detection device detects the two-dimensional position of the loading and unloading device 6 in the horizontal direction. If the detection accuracy of DGPS is recovered in step 6 and the detection accuracy of DGPS is not deteriorated in step 9, the two-dimensional position of the loading and unloading device 6 in the horizontal direction is detected by DGPS (step 10). In step 7, if the position detection by the other horizontal position detection device exceeds the set time, the position detection accuracy of both the DGPS and the other horizontal position detection device is abnormal. In this case, as described above, the reference position information is read (step 11), and the position detection accuracy of another horizontal position detection device is restored. Then, it is judged whether the detection accuracy of DGPS has deteriorated (step 12). If it deteriorates, the reference position information is used as an initial value, and another horizontal position detection device detects the two-dimensional position of the loading and unloading device 6 in the horizontal direction. In step 12, if the detection accuracy of DGPS does not deteriorate, in step 10, the two-dimensional position of the handling device 6 in the horizontal direction is detected by DGPS.

The flowchart in FIG. 14 shows a subroutine for detecting the two-dimensional position of the loading and unloading device 6 in the horizontal direction. The flowchart in FIG. 14 corresponds to the case where the position of the loading and unloading device 6 is mainly detected by another horizontal position detection device, and when the position detection accuracy is poor, the DGPS, which is the horizontal position detection device, supplements it.

First, the main two-dimensional position information obtained by another horizontal position detection device is read into the control device 40 of the loading and unloading device 6 (step 1). Next, the two-dimensional position information obtained by DGPS as supplementary information is read into the control device 40 of the loading and unloading device 6 (step 2). Next, the determination signal of the two-dimensional position detection accuracy of another horizontal position detection device and the determination signal of the two-dimensional position detection accuracy of DGPS are read into the control device 40 of the loading and unloading device 6 (step 3). The determination signal of the two-dimensional position detection accuracy of the other horizontal position detection device is, for example, a signal corresponding to the difference between the two-dimensional position obtained by the other horizontal position detection device and the two-dimensional position obtained by DGPS. If the difference exceeds a predetermined set value, it can be judged that the accuracy has deteriorated, and if it is below the set value, it can be judged that the accuracy has not deteriorated. The judgment signal of the two-dimensional position detection accuracy of the DGPS corresponds to, for example, the number of artificial satellites from which signals can be received, the degree of dispersion of a plurality of artificial satellites, the presence or absence of an error correction signal sent from a reference station when DGPS is used, and the like. Signal.

Next, the control device 40 judges whether or not the two-dimensional position in the horizontal direction of the loading and unloading device 6 was detected by DGPS the previous time (step 4). As in the previous position detection by DGPS, read in the judgment signal of whether the two-dimensional position detection accuracy of another horizontal position detection device is restored (step 5). This determination signal is, for example, a signal corresponding to the difference between the two-dimensional position obtained by another horizontal position detection device and the two-dimensional position obtained by DGPS. If the difference exceeds a predetermined set value, it can be judged that the accuracy has not been restored, and if it is below the set value, it can be judged that the accuracy has been restored.

Then, it is judged whether the position detection accuracy of the other horizontal position detection means has been recovered (step 6). If the position detection accuracy of the other horizontal position detection device has not recovered, it is judged whether the position detection accuracy of the DGPS has deteriorated (step 7). If the position detection accuracy of DGPS does not deteriorate, the two-dimensional position of the handling device 6 in the horizontal direction is detected by DGPS (step 8). Using the position detected by the DGPS as an initial value, another horizontal position detection device detects the two-dimensional position of the loading and unloading device 6 in the horizontal direction (step 9).

In step 4, if the previous position detection was not performed by DGPS, it is judged whether the position detection by another horizontal position detection device exceeds the set time (step 10). If the set time is not exceeded, another horizontal position detection device detects the two-dimensional position of the loading and unloading device 6 in the horizontal direction (step 11).

In step 10, if the position detection by another horizontal position detection device exceeds the set time, then in step 7 it is judged whether the position detection accuracy of the DGPS has deteriorated. If the position detection accuracy of DGPS deteriorates, read the reference position information (step 12), restore the position detection accuracy of another horizontal position detection device, and return to step 11.

15 and 16 show modified examples. The difference from the above-mentioned embodiment is that first, in the above-mentioned embodiment, the container yard 1 has a plurality of storage lanes, and the containers 2 are arranged in a row in each storage lane for storage, but in this modified example, the container yard 1' There are a plurality of storage areas 120 , and containers 2 are stored in rows in each storage area 120 . Instead of the container straddle carrier type loading and unloading device 6 of the above embodiment, a transfer crane type self-propelled loading and unloading device 6' is used. The distance between the columns 12' of the vehicle body 10' constituting the loading and unloading device 6' is larger than the storage width of the containers 2 in each storage area 120. As shown in FIG. In addition, this loading and unloading device 6' is equipped with a moving device, which has a movable frame 10" that can be driven along the vehicle width direction on its vehicle body 10', so that the loading and unloading device 6' can be moved without moving the loading and unloading device 6' itself. The container 2 is moved horizontally. A lifting device capable of raising and lowering the container 2 is provided on the moving frame 10 ″. The two-dimensional position in the horizontal direction of the container 2 loaded and unloaded by the loading and unloading device 6' can be obtained by the control device 40 by the position and The two-dimensional position of the container 2 calculated by an additional horizontal position detecting device according to the distance of the moving device moving the container 2 is synthesized and obtained. The method for obtaining the two-dimensional position of the container 2 by the additional horizontal position detection device is, for example, determining the origin of the moving frame 10 " relative to the car body 10 ', and installing an encoder for outputting the moving frame 10 " The signal corresponding to the rotation of the driving motor is calculated from the moving distance of the origin of the moving frame 10 " by the control device 40 according to the signal of the encoder. In the container yard 1 of the above-mentioned embodiment, a truck passage is provided as a link between the truck 4 and the The loading and unloading site between the loading and unloading devices 6, but in this modified example, the space between the column 12' of the loading and unloading device 6' and the container 2 is the loading and unloading device between the truck 4 and the loading and unloading device 6. In the container of the above-mentioned embodiment In the field 1, the movement of the container 2 between the container storage site and the gantry crane 7 is carried out by the loading and unloading device 6, but in this modified example, a moving truck-type transport vehicle 110 is used in the container field 1'. Loading and unloading operations are performed between the vehicle 110 and the loading and unloading device 6'. Others are the same as the above-mentioned embodiment, and the same parts are marked with the same symbols.

The present invention is not limited to the above-described embodiments and modifications. For example, in the above embodiment, the identification code marked on the end surface of the container 2 is read, but it is also possible to read the identification code marked on other positions such as the top surface. In addition, the loading and unloading operation procedure of the container 2 was shown as an example in the said embodiment, and it does not restrict|limit in particular. In addition, as a container loading and unloading device, for example, a forklift type or a radio-operated unmanned vehicle can also be used.

Industrial Applicability

The container loading and unloading device and management system of the present invention are suitable for loading, unloading and management of containers in a container yard.

Claims (13)

1. A self-propelled container handling device for loading and unloading containers at a container yard, which is equipped with a device for reading the container identification code marked on the container and a device for detecting the position of the container being loaded and unloaded. 2. A self-propelled container handling device for loading and unloading containers in a container yard, which is equipped with: a device for reading the container identification code marked on the container; a lifting device for performing lifting operations so that the containers can be stacked in multiple layers Stacking; the horizontal position detection device, based on the position detection of the container loading and unloading device using satellite signals, detects the two-dimensional position of the container in the horizontal direction; and the up and down position detection device, detects the position of the container in the up and down direction according to the height of the container lifted by the lifting device . 3. A self-propelled container loading and unloading device for loading and unloading containers in a container yard. It is equipped with: a lifting device for performing lifting operations so as to stack containers in multiple layers; Under normal circumstances, the container is moved in the horizontal direction; the horizontal position detection device detects the two-dimensional position of the container in the horizontal direction based on the position detection of the container handling device using artificial satellite signals; the additional horizontal position detection device moves the container according to the moving device The two-dimensional position of the horizontal direction of the container is detected by the distance; and the up and down position detection device detects the position of the container in the up and down direction according to the height of the lifting device lifting the container. 4. The container handling device according to claim 2 or 3, characterized in that it is equipped with: a device for judging whether the position detection accuracy of the horizontal position detection device is good; Position detection is to detect the two-dimensional position of the container in the horizontal direction; when the position detection accuracy of the horizontal position detection device is poor, another horizontal position detection device can be used to detect the position of the container handling device. 5. The container handling device according to claim 4, characterized in that: the other horizontal position detection device detects the position of the container handling device by an azimuth sensor and a self-propelled distance detection device arranged in the container handling device, and is provided with A device that determines whether the position detection accuracy of the other horizontal position detection device is good based on whether its position detection time exceeds the set time, when the position detection accuracy of the horizontal position detection device and the other horizontal position detection device are not normal When , the other horizontal position detection device can use the reference position information that can be read in the known reference position as an initial value to detect the position of the container handling device. 6. The container handling device according to claim 2 or 3, characterized in that it is equipped with: another horizontal position detection device, based on the position detection of the container handling device, the horizontal two-dimensional position of the container is detected; and judging A device for determining whether the position detection accuracy of the other horizontal position detection device is good; when the position detection accuracy of the other horizontal position detection device is poor, the horizontal position detection device can be used to detect the position of the container handling device. 7. The container handling device according to claim 6, characterized in that: the other horizontal position detection device detects the position of the container handling device by an azimuth sensor and a self-propelled distance detection device arranged in the container handling device, and is provided with A device for judging whether the position detection accuracy of the other horizontal position detection device is good or not and a device for judging whether the position detection accuracy of the horizontal position detection device is good or not according to whether the position detection time exceeds a set time, when the horizontal position detection device and When the position detection accuracy of the other horizontal position detecting device is not normal, the other horizontal position detecting device can detect the position of the container handling device by using the reference position information which can be read in the known reference position as an initial value. 8. The container handling device according to claim 2 or 3, characterized in that the horizontal position detection device is DGPS. 9. The container handling device according to any one of claims 1-3, characterized in that: the device for reading the container identification code has an imaging device that can take pictures of the container identification code and can An image processing device for identifying a container identification code from an image signal sent by the camera device. 10. The container loading and unloading device according to claim 9, characterized in that: the device for reading the container identification code has a sensor capable of detecting the container and outputs an image to the camera according to the container detection signal input from the sensor. A control device indicating a signal. 11. A container management system comprising: the container loading and unloading device according to any one of claims 1 to 3; a device for storing the container identification code and the storage location stored in the container yard as inventory data; and When the container loading and unloading device loads and unloads the container, the above-mentioned inventory data is updated based on the container identification code read by the container handling device and the detected container position. 12. The container management system according to claim 11, characterized in that it is equipped with: a device for inputting the identification code and loading and unloading position of the container loaded and unloaded by the container handling device; A device for comparing the container identification code read by the loading and unloading device with the detected container position; and a device for outputting the comparison result. 13. The container management system according to claim 11, characterized in that it is equipped with: a device for storing the identification codes of containers scheduled to be transported into and out of the container yard; A device for reading the identification code of the container in the container yard; a device for reading the identification code of the container shipped from the container yard after being read by the container handling device; the identification code of the container that is scheduled to be transported in and out A device for collation with the container identification code read at the time of import and export; and a device for outputting the result of the collation.

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