CN111776941B - Overall arrangement and loading and unloading process of three-dimensional automatic container wharf - Google Patents
Overall arrangement and loading and unloading process of three-dimensional automatic container wharf Download PDFInfo
- Publication number
- CN111776941B CN111776941B CN202010669149.4A CN202010669149A CN111776941B CN 111776941 B CN111776941 B CN 111776941B CN 202010669149 A CN202010669149 A CN 202010669149A CN 111776941 B CN111776941 B CN 111776941B
- Authority
- CN
- China
- Prior art keywords
- container
- central control
- loading
- control unit
- stacking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/60—Loading or unloading ships
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Automation & Control Theory (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to a general arrangement and loading and unloading process of a three-dimensional automatic container terminal, which comprises the following steps: the central control unit divides the stacking area according to the size of the stacking area; a loading and unloading unit is arranged in the stacking area; the container to be stacked is conveyed to a loading and unloading area by using the conveying unit, and the central control unit detects the container and controls the loading and unloading unit to stack the container to a designated area; the central control unit establishes a container storage position matrix and stores matrix information in a memory; the central control unit retrieves the position information of the container, and the loading and unloading unit is arranged on the conveying unit according to the position information of the container. The invention can rapidly find the stacking position of the container to finish the efficient loading and unloading of the container by recording the position of each container by recording the position of the container by using the central control unit to record the stacking position information of the container to be stacked so as to establish the container storage position matrix, thereby further improving the loading and unloading efficiency of the process.
Description
Technical Field
The invention relates to the technical field of container loading and unloading, in particular to a general arrangement and loading and unloading process of a three-dimensional automatic container terminal.
Background
The vigorous demand of container transportation and the throughput of container ports in the world are continuously increased, the requirements for container loading and unloading technical equipment and technology are more updated, and the development and design of efficient container loading and unloading equipment are urgently needed to meet the requirements of container transportation on scale, high speed and automation on loading and unloading productivity of a wharf.
Since 90 s, with the increase of global economy and trade, the container transportation volume has been increased rapidly, and under the promotion of strong transportation requirements and good technical and economic benefits, the high and new technology of the shore crane machinery, in particular the automation control technology, has been developed comprehensively, however, the following problems exist in the loading and unloading system of the container terminal used at present.
In the prior art, the following problems are brought about in the process of transporting the container:
1) the existing conveying mechanism freely runs on the road surface and cannot carry out accurate transportation, which brings certain difficulty to the loading and unloading of a loading and unloading mechanism and influences the loading and unloading speed;
2) the loading and unloading process needs to be driven by a person, and the automation of the loading and unloading can not be realized;
3) the existing loading and unloading mechanism can not stack the containers efficiently, and can not quickly select the appointed containers from the stacked containers for transportation when the containers are loaded and unloaded.
Disclosure of Invention
Therefore, the invention provides a total arrangement and loading and unloading process of a three-dimensional automatic container terminal, which is used for solving the problem of low loading and unloading efficiency caused by the fact that containers cannot be efficiently stacked and selected in the prior art.
In order to achieve the above object, the present invention provides a general arrangement and loading and unloading process of a three-dimensional automatic container terminal, comprising:
step 1: before the stacking area is used, the central control unit measures the size of the stacking area, divides the stacking area according to the measurement result, and sets a loading and unloading area in the stacking area;
step 2: after the division is finished, arranging a loading and unloading unit at a designated position in the stacking area so that the loading and unloading unit can stack the containers to each divided area or convey the containers in each divided area to the loading and unloading area;
and step 3: when containers are stacked, the containers to be stacked are conveyed to the loading and unloading area by using the conveying unit, the central control unit can sequentially detect the containers conveyed by the conveying unit and control the loading and unloading unit to sequentially stack the containers to a designated area according to a detection result;
and 4, step 4: when the loading and unloading unit stacks the containers in the step 3, the central control unit records stacking position information of the containers to be stacked to establish a container stacking position matrix, and stores the matrix information in a memory in the central control unit;
and 5: when the container is conveyed, the conveying unit stops in the loading and unloading area, the central control unit retrieves the position information of the specified container from the memory, and the loading and unloading unit installs the container to the conveying unit from the specified position in the specified area according to the position information.
Further, when the central control unit divides the stacking area, the divided areas include:
a first stacking area A for stacking grocery containers;
a second stacking area B for stacking bulk containers;
a third stacking area C for stacking liquid cargo containers;
and a fourth stacking area D for stacking the refrigerated container.
Further, when the central control unit completes the division of each stacking area, a stacking coordinate matrix G (a, B, C, D) is respectively established, where a is a first coordinate system applied to the first stacking area, B is a second coordinate system applied to the second stacking area, C is a third coordinate system applied to the third stacking area, and D is a fourth coordinate system applied to the fourth stacking area, the coordinate systems are independent from each other, and the positions of the origin points of the coordinate systems are different;
when the loading and unloading unit stacks the container to the stacking area, the central control unit identifies the container to judge the type of goods stored in the container:
when the central control unit judges that the container is a grocery container, the loading and unloading unit conveys the container to a first stacking area and establishes a container coordinate matrix An according to the stacking position;
when the central control unit judges that the container is a bulk container, the loading and unloading unit conveys the container to a second stacking area and establishes a container coordinate matrix Bn according to the stacking position;
when the central control unit judges that the container is a liquid cargo container, the loading and unloading unit conveys the container to a third stacking area and establishes a container coordinate matrix Cn according to the stacking position;
when the central control unit judges that the container is a refrigerated container, the loading and unloading unit conveys the container to a fourth stacking area, and a container coordinate matrix Dn is established according to the stacking position.
Further, a preset shape matrix S0 is provided in the memory (S1, S2, S3, S4), wherein S1 is a first preset shape of the container, S2 is a second preset shape of the container, S3 is a third preset shape of the container, and S4 is a fourth preset shape of the container; when the central control unit determines the container, the central control unit detects the outer contour shape S of the container and compares the outer contour shape S with each preset shape in the S0 matrix:
when the coincidence degree of the S and the S1 is highest, the central control unit judges that the container is a grocery container;
when the coincidence degree of the S and the S2 is highest, the central control unit judges that the container is a bulk container;
when the coincidence degree of the S and the S3 is highest, the central control unit judges that the container is a liquid cargo container;
when the coincidence degree of the S and the S4 is highest, the central control unit judges that the container is a refrigerated container.
Further, for the first coordinate system a, the origin coordinate matrix is a 0; for the second coordinate system B, the origin coordinate matrix is B0; for the third coordinate system C, the origin coordinate matrix is C0; for the fourth coordinate system D, the origin coordinate matrix is D0; when the loading and unloading unit stacks the containers, the loading and unloading unit firstly moves the containers to the original point of the corresponding coordinate system, and then stacks the containers according to the preset stacking position coordinates of the central control unit on the containers.
Further, for a container coordinate matrix An, An (Xan, Yan, Zan), where Xan is the abscissa of the container in the first coordinate system, Yan is the ordinate of the container in the first coordinate system, Zan is the vertical coordinate of the container in the first coordinate system;
for the container coordinate matrix Bn, Bn (Xbn, Ybn, Zbn), where Xbn is the abscissa of the container in the second coordinate system, Ybn is the ordinate of the container in the second coordinate system, Zbn is the vertical coordinate of the container in the second coordinate system;
for container coordinate matrices Cn, Cn (Xcn, Ycn, Zcn), wherein Xcn is the abscissa of the container in the third coordinate system, Ybn is the ordinate of the container in the third coordinate system, and Zcn is the vertical coordinate of the container in the third coordinate system;
for the container coordinate matrix Dn, Dn (Xdn, Ydn, Zdn), wherein Xdn is the abscissa of the container in the fourth coordinate system, Ybn is the ordinate of the container in the fourth coordinate system, Zcn is the vertical coordinate of the container in the fourth coordinate system;
when the loading and unloading unit selects the container from the designated stacking area, the loading and unloading unit conveys the container from the designated position to the loading and unloading area according to the coordinates of the container to be loaded and unloaded recorded by the central control unit.
Further, when the central control unit sets the coordinates of the container, the method includes:
step a: the central control unit establishes a container coordinate matrix In (Xin, Yin, Zin), I ═ a, B, C, D, and after the establishment is completed, the central control unit adjusts the coordinates so that Xin is 1, Yin is 1, and Zin is 1;
step b: the central control unit detects whether the container is stacked in the coordinate point from the memory, if so, the central control unit adjusts the coordinate to enable Xin +1 and detects the container stacking condition of the adjusted coordinate after the adjustment is finished;
step c: when the container is still stacked in the adjusted coordinates, the central control unit repeats the step b until the value of Xin reaches the maximum value Nix of the horizontal coordinates of the stacking area;
step d: when the step c is finished and the container is still stacked in the adjusted coordinates, the central control unit adjusts the coordinates to enable Xin to be 1 and Yin +1, and the step b is repeated until Yin reaches the maximum value Niy of the vertical coordinate of the stacking area;
step e: when the step d is completed and the container is still stacked in the coordinates after adjustment, the central control unit adjusts the coordinates to make Xin equal to 1 and Yin equal to 1 and Zin +1, and the steps b and d are repeated until Xin equal to Nix and Yin equal to Niy and Zin reaches the maximum value Niz of the vertical coordinates of the stacking area;
step f: when Xin is Nix, Yin is Niy, Zin is Niz and the container is stacked at the position corresponding to the coordinate, the central control unit gives an alarm to indicate that the stacking area is full.
Further, the transport unit includes a first transport unit for marine transport using a carrier and a second transport unit for land transport using a truck;
the loading and unloading area comprises a first loading and unloading area for the first conveying unit and a second loading and unloading area for the second conveying unit.
Compared with the prior art, the container handling system has the advantages that the stack area is divided into a plurality of different areas by measuring the stack area through the central control unit, containers can be classified and different types of containers can be stacked in the corresponding stack area according to the types of the containers when the containers are stacked, the containers can be effectively classified and stacked, the containers can be rapidly extracted from the designated stack area when the containers are loaded and unloaded, and the loading and unloading efficiency of the process is improved. Meanwhile, the central control unit can record the stacking position information of the containers to be stacked to establish a container storage position matrix, and the loading and unloading units can quickly find the stacking positions of the containers during loading and unloading to finish efficient loading and unloading of the containers by recording the positions of the containers, so that the loading and unloading efficiency of the process is further improved.
Furthermore, the loading and unloading area is arranged in the stacking area, when the conveying unit conveys the container, the container is stopped in the loading and unloading area, and the container can be extracted or loaded and unloaded by the loading and unloading unit at the appointed position through positioning the conveying unit, so that the problem of low loading and unloading efficiency caused by errors in position is solved, and the loading and unloading efficiency of the process is further improved.
Furthermore, the central control unit can respectively establish independent coordinate systems for the stacking areas, when the loading and unloading unit stacks or loads and unloads the container, the container can enter the designated stacking area firstly, then the corresponding operation is carried out on the container according to the coordinates of the stacking area, and through the arrangement of the areas, the calculation amount of the loading and unloading unit can be effectively reduced, so that the loading and unloading efficiency of the process is further improved.
Furthermore, the memory is provided with a preset shape matrix S0(S1, S2, S3, S4), and the central control unit can quickly complete the classification of the containers by comparing the shapes of the containers with preset properties, thereby further improving the loading and unloading efficiency of the process.
Furthermore, when the central control unit records the stacking position of the container, the three axial coordinates of x, y and z are used, and the container is positioned by using a three-dimensional coordinate system, so that the loading and unloading unit can complete the rapid search of the position of the container in space, and the loading and unloading efficiency of the process is further improved.
Further, when stacking container models, whether a container exists in the preset stacking position or not can be detected firstly, if the container exists, the preset stacking position of the container is adjusted to the adjacent position of the existing container, and the container is adjusted step by step according to the sequence of the X axis, the Y axis and the Z axis, so that the space resources of each stacking area can be fully utilized, and the loading and unloading efficiency of the process is further improved.
Further, the conveying unit comprises a first conveying unit for sea transportation by using a transport ship and a second conveying unit for land transportation by using a truck; the loading and unloading area comprises a first loading and unloading area for the first conveying unit and a second loading and unloading area for the second conveying unit; by arranging two conveying units and two loading and unloading areas, the process can be simultaneously applied to land transportation and sea transportation, and the application range of the process is enlarged.
Drawings
Fig. 1 is a process flow diagram of the overall arrangement and loading and unloading process of the stereoscopic automated container terminal of the present invention.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Fig. 1 is a process flow diagram of the overall arrangement and loading and unloading process of the three-dimensional automatic container terminal according to the present invention. The process comprises the following steps:
step 1: before the stacking area is used, the central control unit measures the size of the stacking area, divides the stacking area according to the measurement result, and sets a loading and unloading area in the stacking area;
step 2: after the division is finished, arranging a loading and unloading unit at a designated position in the stacking area so that the loading and unloading unit can stack the containers to each divided area or convey the containers in each divided area to the loading and unloading area;
and step 3: when containers are stacked, the containers to be stacked are conveyed to the loading and unloading area by using the conveying unit, the central control unit can sequentially detect the containers conveyed by the conveying unit and control the loading and unloading unit to sequentially stack the containers to a designated area according to a detection result;
and 4, step 4: when the loading and unloading unit stacks the containers in the step 3, the central control unit records stacking position information of the containers to be stacked to establish a container stacking position matrix, and stores the matrix information in a memory in the central control unit;
and 5: when the container is conveyed, the conveying unit stops in the loading and unloading area, the central control unit retrieves the position information of the specified container from the memory, and the loading and unloading unit installs the container to the conveying unit from the specified position in the specified area according to the position information.
Specifically, when the central control unit divides the stacking area, the divided areas include:
a first stacking area A for stacking grocery containers;
a second stacking area B for stacking bulk containers;
a third stacking area C for stacking liquid cargo containers;
and a fourth stacking area D for stacking the refrigerated container.
Specifically, when the central control unit completes the division of each stacking area, a stacking coordinate matrix G (a, B, C, D) is respectively established, where a is a first coordinate system applied to a first stacking area, B is a second coordinate system applied to a second stacking area, C is a third coordinate system applied to a third stacking area, and D is a fourth coordinate system applied to a fourth stacking area, the coordinate systems are independent from each other, and the positions of the origin points of the coordinate systems are different;
when the loading and unloading unit stacks the container to the stacking area, the central control unit identifies the container to judge the type of goods stored in the container:
when the central control unit judges that the container is a grocery container, the loading and unloading unit conveys the container to a first stacking area and establishes a container coordinate matrix An according to the stacking position;
when the central control unit judges that the container is a bulk container, the loading and unloading unit conveys the container to a second stacking area and establishes a container coordinate matrix Bn according to the stacking position;
when the central control unit judges that the container is a liquid cargo container, the loading and unloading unit conveys the container to a third stacking area and establishes a container coordinate matrix Cn according to the stacking position;
when the central control unit judges that the container is a refrigerated container, the loading and unloading unit conveys the container to a fourth stacking area, and a container coordinate matrix Dn is established according to the stacking position.
Specifically, the memory is provided with a preset shape matrix S0(S1, S2, S3, S4), wherein S1 is a first preset shape of the container, S2 is a second preset shape of the container, S3 is a third preset shape of the container, and S4 is a fourth preset shape of the container; when the central control unit determines the container, the central control unit detects the outer contour shape S of the container and compares the outer contour shape S with each preset shape in the S0 matrix:
when the coincidence degree of the S and the S1 is highest, the central control unit judges that the container is a grocery container;
when the coincidence degree of the S and the S2 is highest, the central control unit judges that the container is a bulk container;
when the coincidence degree of the S and the S3 is highest, the central control unit judges that the container is a liquid cargo container;
when the coincidence degree of the S and the S4 is highest, the central control unit judges that the container is a refrigerated container.
Specifically, for the first coordinate system a, the origin coordinate matrix is a 0; for the second coordinate system B, the origin coordinate matrix is B0; for the third coordinate system C, the origin coordinate matrix is C0; for the fourth coordinate system D, the origin coordinate matrix is D0; when the loading and unloading unit stacks the containers, the loading and unloading unit firstly moves the containers to the original point of the corresponding coordinate system, and then stacks the containers according to the preset stacking position coordinates of the central control unit on the containers.
Specifically, for the container coordinate matrix An, An (Xan, Yan, Zan), where Xan is the abscissa of the container in the first coordinate system, Yan is the ordinate of the container in the first coordinate system, and Zan is the vertical coordinate of the container in the first coordinate system;
for the container coordinate matrix Bn, Bn (Xbn, Ybn, Zbn), where Xbn is the abscissa of the container in the second coordinate system, Ybn is the ordinate of the container in the second coordinate system, Zbn is the vertical coordinate of the container in the second coordinate system;
for container coordinate matrices Cn, Cn (Xcn, Ycn, Zcn), wherein Xcn is the abscissa of the container in the third coordinate system, Ybn is the ordinate of the container in the third coordinate system, and Zcn is the vertical coordinate of the container in the third coordinate system;
for the container coordinate matrix Dn, Dn (Xdn, Ydn, Zdn), wherein Xdn is the abscissa of the container in the fourth coordinate system, Ybn is the ordinate of the container in the fourth coordinate system, Zcn is the vertical coordinate of the container in the fourth coordinate system;
when the loading and unloading unit selects the container from the designated stacking area, the loading and unloading unit conveys the container from the designated position to the loading and unloading area according to the coordinates of the container to be loaded and unloaded recorded by the central control unit.
Specifically, when the central control unit sets the container coordinates, the method includes:
step a: the central control unit establishes a container coordinate matrix In (Xin, Yin, Zin), I ═ a, B, C, D, and after the establishment is completed, the central control unit adjusts the coordinates so that Xin is 1, Yin is 1, and Zin is 1;
step b: the central control unit detects whether the container is stacked in the coordinate point from the memory, if so, the central control unit adjusts the coordinate to enable Xin +1 and detects the container stacking condition of the adjusted coordinate after the adjustment is finished;
step c: when the container is still stacked in the adjusted coordinates, the central control unit repeats the step b until the value of Xin reaches the maximum value Nix of the horizontal coordinates of the stacking area;
step d: when the step c is finished and the container is still stacked in the adjusted coordinates, the central control unit adjusts the coordinates to enable Xin to be 1 and Yin +1, and the step b is repeated until Yin reaches the maximum value Niy of the vertical coordinate of the stacking area;
step e: when the step d is completed and the container is still stacked in the coordinates after adjustment, the central control unit adjusts the coordinates to make Xin equal to 1 and Yin equal to 1 and Zin +1, and the steps b and d are repeated until Xin equal to Nix and Yin equal to Niy and Zin reaches the maximum value Niz of the vertical coordinates of the stacking area;
step f: when Xin is Nix, Yin is Niy, Zin is Niz and the container is stacked at the position corresponding to the coordinate, the central control unit gives an alarm to indicate that the stacking area is full.
Specifically, the conveying unit comprises a first conveying unit for sea transportation by using a transport ship and a second conveying unit for land transportation by using a truck;
the loading and unloading area comprises a first loading and unloading area for the first conveying unit and a second loading and unloading area for the second conveying unit.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A process for the overall arrangement and handling of a three-dimensional automated container terminal, comprising:
step 1: before the stacking area is used, the central control unit measures the size of the stacking area, divides the stacking area according to the measurement result, and sets a loading and unloading area in the stacking area;
step 2: after the division is finished, arranging a loading and unloading unit at a designated position in the stacking area so that the loading and unloading unit can stack the containers to each divided area or convey the containers in each divided area to the loading and unloading area;
and step 3: when containers are stacked, the containers to be stacked are conveyed to the loading and unloading area by using the conveying unit, the central control unit can sequentially detect the containers conveyed by the conveying unit and control the loading and unloading unit to sequentially stack the containers to a designated area according to a detection result;
and 4, step 4: when the loading and unloading unit stacks the containers in the step 3, the central control unit records stacking position information of the containers to be stacked to establish a container stacking position matrix, and stores the matrix information in a memory in the central control unit;
and 5: when the container is conveyed, the conveying unit stops in the loading and unloading area, the central control unit retrieves the position information of the specified container from the memory, and the loading and unloading unit installs the container to the conveying unit from the specified position in the specified area according to the position information.
2. The process of claim 1, wherein the central control unit divides the stacking area into the following sections:
a first stacking area for stacking grocery containers;
a second stacking area for stacking bulk containers;
a third stacking area for stacking liquid cargo containers;
a fourth stacking area for stacking the refrigerated container.
3. The process of claim 2, wherein the central control unit establishes stacking coordinate matrices G (a, B, C, D) when the central control unit completes the division of the stacking areas, wherein a is a first coordinate system applied to the first stacking area, B is a second coordinate system applied to the second stacking area, C is a third coordinate system applied to the third stacking area, and D is a fourth coordinate system applied to the fourth stacking area, and the coordinate systems are independent from each other and have different origin positions;
when the loading and unloading unit stacks the container to the stacking area, the central control unit identifies the container to judge the type of goods stored in the container:
when the central control unit judges that the container is a grocery container, the loading and unloading unit conveys the container to a first stacking area and establishes a container coordinate matrix An according to the stacking position;
when the central control unit judges that the container is a bulk container, the loading and unloading unit conveys the container to a second stacking area and establishes a container coordinate matrix Bn according to the stacking position;
when the central control unit judges that the container is a liquid cargo container, the loading and unloading unit conveys the container to a third stacking area and establishes a container coordinate matrix Cn according to the stacking position;
when the central control unit judges that the container is a refrigerated container, the loading and unloading unit conveys the container to a fourth stacking area, and a container coordinate matrix Dn is established according to the stacking position.
4. The process for the overall arrangement and handling of a stereoscopic automated container terminal as claimed in claim 3, wherein the memory is provided with a preset shape matrix S0(S1, S2, S3, S4), wherein S1 is a container first preset shape, S2 is a container second preset shape, S3 is a container third preset shape, and S4 is a container fourth preset shape; when the central control unit determines the container, the central control unit detects the outer contour shape S of the container and compares the outer contour shape S with each preset shape in the S0 matrix:
when the coincidence degree of the S and the S1 is highest, the central control unit judges that the container is a grocery container;
when the coincidence degree of the S and the S2 is highest, the central control unit judges that the container is a bulk container;
when the coincidence degree of the S and the S3 is highest, the central control unit judges that the container is a liquid cargo container;
when the coincidence degree of the S and the S4 is highest, the central control unit judges that the container is a refrigerated container.
5. The process for the overall placement and handling of a stereoscopic automated container terminal as claimed in claim 3, wherein for the first coordinate system A, its origin coordinate matrix is A0; for the second coordinate system B, the origin coordinate matrix is B0; for the third coordinate system C, the origin coordinate matrix is C0; for the fourth coordinate system D, the origin coordinate matrix is D0; when the loading and unloading unit stacks the containers, the loading and unloading unit firstly moves the containers to the original point of the corresponding coordinate system, and then stacks the containers according to the preset stacking position coordinates of the central control unit on the containers.
6. The process for the overall placement and handling of a stereoscopic automated container terminal of claim 5, wherein for a container coordinate matrix An, An (Xan, Yan, Zan), where Xan is the abscissa of the container in the first coordinate system, Yan is the ordinate of the container in the first coordinate system, Zan is the vertical coordinate of the container in the first coordinate system;
for the container coordinate matrix Bn, Bn (Xbn, Ybn, Zbn), where Xbn is the abscissa of the container in the second coordinate system, Ybn is the ordinate of the container in the second coordinate system, Zbn is the vertical coordinate of the container in the second coordinate system;
for container coordinate matrices Cn, Cn (Xcn, Ycn, Zcn), wherein Xcn is the abscissa of the container in the third coordinate system, Ybn is the ordinate of the container in the third coordinate system, and Zcn is the vertical coordinate of the container in the third coordinate system;
for the container coordinate matrix Dn, Dn (Xdn, Ydn, Zdn), wherein Xdn is the abscissa of the container in the fourth coordinate system, Ybn is the ordinate of the container in the fourth coordinate system, Zcn is the vertical coordinate of the container in the fourth coordinate system;
when the loading and unloading unit selects the container from the designated stacking area, the loading and unloading unit conveys the container from the designated position to the loading and unloading area according to the coordinates of the container to be loaded and unloaded recorded by the central control unit.
7. The process of stereoscopic automated container terminal overall arrangement and handling of claim 6, when the central control unit sets container coordinates, comprising:
step a: the central control unit establishes a container coordinate matrix In (Xin, Yin, Zin), I = A, B, C, D, I = a, B, C, D, and after the establishment is completed, the central control unit adjusts the coordinates to enable Xin =1, Yin =1 and Zin = 1;
step b: the central control unit detects whether containers are stacked in the coordinate point from the memory, if so, the central control unit adjusts the coordinate to ensure that Xin +1 and detects the container stacking condition of the adjusted coordinate after the adjustment is finished, wherein the coordinate point is Xin =1, Yin =1 and Zin = 1;
step c: when the container is still stacked in the adjusted coordinates, the central control unit repeats the step b until the value of Xin reaches the maximum value Nix of the horizontal coordinates of the stacking area;
step d: when the step c is finished and the container is still stacked in the adjusted coordinates, the central control unit adjusts the coordinates to ensure that Xin =1 and YIn +1, and the step b is repeated until the YIn reaches the maximum value Niy of the vertical coordinate of the stacking area;
step e: when the step d is completed and the container is still stacked in the adjusted coordinates, the central control unit adjusts the coordinates to ensure that Xin =1 and Yin =1 and Zin +1, and the steps b-d are repeated until Xin = Nix, Yin = Niy and Zin reaches the maximum value Niz of the vertical coordinates of the stacking area;
step f: when Xin = Nix, Yin = Niy, Zin = Niz and the position corresponding to the coordinate is full, the central control unit will send out an alarm to indicate that the stacking area is full.
8. The process for the overall arrangement and handling of a stereoscopic automated container terminal according to claim 7, wherein the transport units comprise a first transport unit for sea transport using a transport vessel and a second transport unit for land transport using a truck;
the loading and unloading area comprises a first loading and unloading area for the first conveying unit and a second loading and unloading area for the second conveying unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010669149.4A CN111776941B (en) | 2020-07-13 | 2020-07-13 | Overall arrangement and loading and unloading process of three-dimensional automatic container wharf |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010669149.4A CN111776941B (en) | 2020-07-13 | 2020-07-13 | Overall arrangement and loading and unloading process of three-dimensional automatic container wharf |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111776941A CN111776941A (en) | 2020-10-16 |
| CN111776941B true CN111776941B (en) | 2021-12-21 |
Family
ID=72768406
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010669149.4A Active CN111776941B (en) | 2020-07-13 | 2020-07-13 | Overall arrangement and loading and unloading process of three-dimensional automatic container wharf |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111776941B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1702652A (en) * | 2004-09-09 | 2005-11-30 | 上海浦东国际集装箱码头有限公司 | Automatic coordination method for intelligent yard |
| CN106115283A (en) * | 2016-07-06 | 2016-11-16 | 武汉理工大学 | A kind of automated container terminal handling system and method |
| CN108750694A (en) * | 2018-06-08 | 2018-11-06 | 中交第四航务工程勘察设计院有限公司 | The general layout of three-dimensional automated container terminal and loading and unloading capacity and its system |
| CN109523213A (en) * | 2018-11-16 | 2019-03-26 | 大连大学 | The automatic stacking method of the container of harbour informationization |
| CN110239967A (en) * | 2019-07-01 | 2019-09-17 | 机科（山东）重工科技股份有限公司 | A kind of automatic cabinet stockyard |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DK179085B1 (en) * | 2016-03-21 | 2017-10-16 | Apm Terminals Man Bv | Container handling equipment controller arrangement |
-
2020
- 2020-07-13 CN CN202010669149.4A patent/CN111776941B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1702652A (en) * | 2004-09-09 | 2005-11-30 | 上海浦东国际集装箱码头有限公司 | Automatic coordination method for intelligent yard |
| CN106115283A (en) * | 2016-07-06 | 2016-11-16 | 武汉理工大学 | A kind of automated container terminal handling system and method |
| CN108750694A (en) * | 2018-06-08 | 2018-11-06 | 中交第四航务工程勘察设计院有限公司 | The general layout of three-dimensional automated container terminal and loading and unloading capacity and its system |
| CN109523213A (en) * | 2018-11-16 | 2019-03-26 | 大连大学 | The automatic stacking method of the container of harbour informationization |
| CN110239967A (en) * | 2019-07-01 | 2019-09-17 | 机科（山东）重工科技股份有限公司 | A kind of automatic cabinet stockyard |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111776941A (en) | 2020-10-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10265871B2 (en) | Collaborative inventory monitoring | |
| US10671088B2 (en) | Communication of information regarding a robot using an optical identifier | |
| AU2017330339B2 (en) | Identification information for warehouse navigation | |
| CA2967321C (en) | Position-controlled robotic fleet with visual handshakes | |
| AU2017301538B2 (en) | Inventory management | |
| US10122995B2 (en) | Systems and methods for generating and displaying a 3D model of items in a warehouse | |
| US20170308096A1 (en) | Heterogeneous Fleet of Robots for Collaborative Object Processing | |
| CA2314495C (en) | Process and arrangement for the automated conveying, sorting and loading of baggage items | |
| CN107272686A (en) | Processing method, device and the logistic storage system of logistics information | |
| US20210237987A1 (en) | System and method for processing logistic object, and sorting apparatus | |
| CN211495520U (en) | Logistics system | |
| WO2020252878A1 (en) | Cargo sorting system and method | |
| JP6926269B2 (en) | Automatic logistics sorting system and automatic logistics sorting method | |
| CN111776941B (en) | Overall arrangement and loading and unloading process of three-dimensional automatic container wharf | |
| CN114455024B (en) | Air route cargo loading method for improving navigation safety of cargo-carrying ship | |
| EP4052810A1 (en) | Sorting control method, apparatus, platform and system, and unmanned sorting device | |
| CN111932203B (en) | Automatic position selection and distribution method, terminal and medium for turning containers in container area | |
| El Yaagoubi et al. | A heuristic approach for solving container-on-barge stowage planning problem based on bin-packing first-fit algorithm | |
| Wilhelm et al. | Evaluation of performance and cargo-shock of an autonomous handling system for container unloading | |
| CN111137693A (en) | Automatic port container handling vehicle and using method thereof | |
| CN115271616A (en) | Inland river harbor navigation smart item type list system and method based on big data | |
| CN116873443B (en) | Goods loading and unloading management method and system | |
| WO2021161334A1 (en) | E-port | |
| KR20220098232A (en) | Logistics systems and logistics control methods | |
| KR101269130B1 (en) | Method for transfering multi tray |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210702 Address after: No.102, liangjiazhuang village, Tonghe sub district office, Pingdu City, Qingdao City, Shandong Province 266700 Applicant after: Liang Baolong Address before: 350002 no.283, Yangqiao Middle Road, Gulou District, Fuzhou City, Fujian Province Applicant before: Fujian port and Waterway Survey and Design Institute Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210902 Address after: 350002 no.283, Yangqiao Middle Road, Gulou District, Fuzhou City, Fujian Province Applicant after: Fujian port and Waterway Survey and Design Institute Co.,Ltd. Address before: No.102, liangjiazhuang village, Tonghe sub district office, Pingdu City, Qingdao City, Shandong Province 266700 Applicant before: Liang Baolong |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |