JP2001322720A - Container loading and unloading method and its sytem - Google Patents

Abstract

PROBLEM TO BE SOLVED: To remarkably improve the loading and unloading efficiency of containers in a container yard without largely increasing the cost and to improve the safety in the loading and unloading work. SOLUTION: A container 4 stored in a container storage area S1 and a second container loading and unloading device 3 moving along the longitudinal direction of the container in a container transporting area S2 can be laterally arranged between left and right parts 21a and 21b of a portal car body 21 of a first container loading and unloading device 2 moving along the longitudinal direction in a container loading and unloading area S of the container yard 1. The container 4 is loaded and unloaded between a container storage area S1 and the container transporting area S2 by a loading and unloading part 22 of the first container loading and unloading device 2. The second container loading and unloading device 3 loads and unloads the container 4 placed in the container storage area S1 by the loading and unloading part between left and right parts 31a and 31b of a portal car body 31.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and a system for handling a container placed in a container yard.

[0002]

2. Description of the Related Art As shown in a conventional example in FIG. 8, a container yard 101 has a large number of containers 102 loaded and unloaded by trucks and ships, and the containers 102 are transported by carriers such as trucks and unmanned transport vehicles. A container cargo handling device 105 is used to deliver the cargo to the ship 103 and the ship crane 104. The container cargo handling device 105 is a self-propelled type and has a gate-shaped body 105a as viewed from the front.
And a cargo handling portion 105b capable of holding a container 104 disposed between the left and right portions of the vehicle body 105a, and the cargo handling portion 105b is driven vertically and horizontally. On the container yard 101, a container storage area 110a capable of storing a plurality of containers 102 whose longitudinal direction is the longitudinal movement direction of the container loading / unloading device 105 so as to be stacked vertically and horizontally and vertically. Apparatus 1
A container handling area 110 having a container transport area 110b in which the carrier 103 can move back and forth along the back and forth movement direction 05 is provided. The container 102 stored in the container storage area 110a is located between the left and right portions of the body 105a of the container loading and unloading device 110 that moves along the front and rear direction in the container storage area 110.
And the carrier 103 moving along the front-rear direction in the container transport area 110b can be arranged side by side.

In the above-mentioned conventional configuration, the container 102 is stored in the container storage area 110a, and when the container 102 stored in the container storage area 110a is unloaded, the container loading / unloading device 105 transfers the container 102 to the container transport area 110b. A cargo handling operation of storing the containers 102 loaded on the arranged carrier 103 in the container storage area 110a and loading the containers 102 stored in the container storage area 110a on the carrier 103 is performed.

[0004]

In the above-mentioned conventional configuration,
The container loading / unloading device 110 performs a container loading / unloading operation directly on the carrier 103. Therefore, it is necessary for the carrier 103 and the container handling apparatus 105 to simultaneously cooperate in carrying out a cargo handling operation. In the container transport area 110b, the next cargo handling operation cannot be performed until one cargo handling operation is completed. As a result, the time required for individual cargo handling work is lengthened, and improvement in cargo handling efficiency is hindered. In addition, carrier 103 is used for automation.
However, even if an automatic guided vehicle is used, the time required for each cargo handling operation cannot be reduced, and the cost increases because many automatic guided vehicles are required to improve the cargo handling efficiency. Further, when a manned transport vehicle such as a truck is used as the carrier 103, there is a possibility that the container 102 held by the container cargo handling device 110 falls on the carrier 103 or the carrier 103 is lifted together with the container 102. In order to prevent such an accident, the operator of the container handling apparatus 110 requires excessive attention, and the degree of fatigue is large, and it is difficult to make the container handling apparatus 110 unmanned. Needs to take measures such as getting off the carrier 103 and waiting, which hinders improvement of cargo handling efficiency.

An object of the present invention is to provide a container cargo handling method and a container cargo handling system which can solve the above problems.

[0006]

SUMMARY OF THE INVENTION The present invention relates to a method of loading and unloading a container in a container yard using a self-propelled first container handling device and a self-propelled second container handling device. The first container handling apparatus has a front view portal-shaped vehicle body and a cargo handling section capable of holding a container disposed between left and right portions of the vehicle body. The second container handling apparatus has a front view portal type. And a cargo handling portion capable of holding a container disposed between the left and right portions of the vehicle body, and a container cargo handling area in which the first container cargo handling device can move back and forth in the container yard. The cargo handling area is a container storage area capable of storing a plurality of containers in a longitudinal direction in the longitudinal movement direction of the first container cargo handling device so as to be vertically and horizontally stacked and stacked vertically.
The second container handling device has a container transport area that can move back and forth along the forward and backward movement direction of the first container handling device, and the first container handling device moves along the front and rear direction in the container handling area. A container stored in the container storage area between the left and right portions of the vehicle body,
The second moving along the front-back direction in the container transport area
The container can be arranged side by side with the container handling equipment. When the container stored in the container storage area is carried out of the container handling area, the container stored in the container storage area is transported by the first container handling equipment. The container placed in the container transport area, and then holding the container placed in the container transport area by the second container handling apparatus, and then moving the second container handling apparatus that holds the container to move the container. When the container is carried out of the container handling area and the container is stored in the container storage area, the container to be stored is held outside the container handling area by the second container handling apparatus, and then the second container handling apparatus is held. Into the container transport area, and then transport the container held by the second container Placed in the region, thereafter, characterized by storing the containers placed on the container transfer area to the container storage area by the first container handling device.

[0007] The present invention uses a first container handling device and a second container handling device for loading and unloading containers between the left and right portions of a front-portion-shaped vehicle body. This is based on an unconventional idea of performing cargo handling between the left and right portions by the second container handling device. That is, according to the present invention, when unloading a container stored in the container storage area, the container is temporarily placed in the container transport area by the first container handling apparatus, and then the container is held by the second container handling apparatus. Can be carried out. When storing the container in the container storage area, the container is first placed in the container transport area by the second container handling apparatus, and then the container is held by the first container handling apparatus and stored in the container storage area. Can be. Thereby, when the container is stored in the container storage area and the container stored in the container storage area is unloaded, the first container handling device and the second
Without cooperating with the container cargo handling device, it is possible to carry out cargo handling work independently with a time lag. Therefore, individual cargo handling time can be reduced. Further, the second container handling apparatus can pass through the container transport area without being hindered by the container even if there is a container that is not to be handled in the container transport area.
Therefore, the second container handling device can be efficiently used in the container transport area, and the time required for each individual cargo handling operation can be shortened, so that the cargo handling efficiency can be greatly improved. Such a significant increase in the cargo handling efficiency can reduce the number of the second container handling devices as much as possible and reduce the cost. Also, since the first container handling device does not need to directly handle the container to the second container handling device, the container may drop onto the second container handling device or the second container handling device may be connected to the first container handling device. There will be no accidents such as lifting. As a result, the operator of the first container handling device is not required to be excessively careful, and can reduce the degree of fatigue due to work, and can contribute to the unmanned operation of the first container handling device, thereby improving the handling efficiency. it can.

When a container enters and leaves a container yard by a ship, it is preferable that the container is transported by the second container handling device between the vessel handling area in the container yard and the container transport area. As a result, it is possible to improve the cargo handling efficiency for loading and unloading containers to and from the container yard by the ship.

[0009] When the container is put into and taken out of the container yard by the transporting vehicle, it is preferable that the container is transported by the second container loading / unloading device between the vehicle handling area in the container yard and the container transport area. . As a result, it is possible to improve the cargo handling efficiency for loading and unloading containers to and from the container yard by the transport vehicle.

In the vehicle cargo handling area, a first container cargo handling device can be moved back and forth, and the vehicle cargo handling device is provided with a plurality of containers whose longitudinal direction is the longitudinal movement direction of the first container handling device. A container temporary storage area that can be stored in parallel with the first container handling apparatus, and a first container transport area in which the second container handling apparatus can move back and forth along the front and rear movement direction of the first container handling apparatus; A second container transport area in which the transport vehicle can move back and forth in the front-rear direction of the first container handling apparatus, and a vehicle body of the first container handling apparatus that moves in the vehicle handling area in the front-rear direction Between the left and right sides of the container, a container stored in the container temporary storage area and a second container moving along the front-rear direction in the first container transport area. The cargo handling device and the transport vehicle moving along the front-rear direction in the second container transport area can be arranged side by side, and when the transport vehicle unloads the container from the container yard, the container is out of the container loading area. The second container-handling device that has carried out the container is allowed to enter the first container-transporting area, and then the container held by the second container-handling device is placed in the first container-transporting area, and then the first container The container placed in the transport area is stored in the container temporary storage area by the first container handling apparatus, and then the container stored in the container temporary storage area is located in the second container transport area by the first container handling apparatus. After that, the container is taken out of the container yard by the transport vehicle, and the container yard is moved by the transport vehicle. When the container is loaded into the container, the transport vehicle loaded with the container is made to enter the second container transport area, and then the container loaded on the transport vehicle is moved to the container temporary storage area by the first container handling device. Storage, and then the container stored in the container temporary storage area is placed in the first container transport area by the first container handling device, and then the container placed in the first container transport area is placed in the first container transport area. It is preferable that the container is held by the two-container handling apparatus, and thereafter, the second container-handling apparatus holding the container is entered into the container transport area of the container handling area in order to store the container in the container storage area. According to this configuration, since the containers stored in the container temporary storage area are moved into and out of the container yard by the transport vehicle, cargo handling for loading and unloading the container into and out of the container yard by the transport vehicle, and And cargo handling for loading and unloading containers into and out of the container yard, thereby improving cargo handling efficiency. Moreover, when containers stored in the container storage area are stored in the container temporary storage area, and when containers stored in the container temporary storage area are stored in the container storage area,
In the vehicle cargo handling area, the cargo handling efficiency can be improved as in the container cargo handling area.

[0011] When the container is unloaded from the container yard, the container is loaded into the transporting vehicle by the second container loading device in the vehicle handling area. In the cargo handling area, it is preferable that the container loaded on the transport vehicle is held by the second container handling device. Thus, the container can be directly delivered to the transport vehicle by the second container handling device.

A container handling system according to the present invention includes a self-propelled first container handling device and a self-propelled second container handling device. A cargo handling portion capable of holding a container disposed between the left and right portions of the vehicle body, wherein the second container handling device comprises a gate-shaped vehicle body in front view and a container disposed between the left and right portions of the vehicle body. The container yard is provided with a container handling area in which the first container handling device can move back and forth, and the container handling area has a forward and backward moving direction of the first container handling device. A container storage area capable of storing a plurality of containers having a longitudinal direction in parallel in the front-rear and left-right directions and stacking the containers vertically, and the second container-handling apparatus along a direction in which the first container-handling device moves in the front-rear direction. A container storage area having a container transport area capable of moving forward and backward, and a container stored in the container storage area between the left and right portions of the vehicle body of the first container handling apparatus moving in the front-rear direction in the container loading area. And a second container handling device that moves along the front-rear direction in the container transport area, and is capable of being arranged side by side. With this system configuration, the method of the present invention can be implemented.

In the container handling area, the first
A guiding device that guides the container handling device to move in the front-rear direction and a positioning device that positions the first container handling device to stop at a predetermined position are provided, and in the container transport area, The second
It is preferable that a guiding device for guiding the container handling device to move in the front-rear direction and a positioning device for positioning the second container handling device so as to stop at a predetermined position are provided. Thereby, at least a part of the cargo handling operation by the first container handling device and the second container handling device can be automated, and the cargo handling efficiency can be improved.

It is preferable that the width and height of the vehicle body of the second container handling apparatus are set so that a single container can be arranged between the left and right portions. Thereby, the stability can be increased by lowering the center of gravity of the second container handling apparatus.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In a container yard 1 shown in FIGS. 1 and 2, a plurality of self-propelled first container handling devices 2, a plurality of self-propelled second container handling devices 3, a plurality of ships The container 4 is loaded and unloaded using the crane K and the plurality of transport vehicles V.

In the container yard 1, there are provided six container handling areas S, a ship handling area B provided on the pier of the container yard 1, and one vehicle handling area C. Each container handling area S and vehicle handling area C
Are rectangular in plan view, and their respective longitudinal directions are parallel to each other, and are juxtaposed along a direction perpendicular to the longitudinal direction.

Container 4 placed in container yard 1
Is moved into and out of the container yard 1 by a transport vehicle V such as a truck or a trailer entering and exiting from the entrance gate G1 and the exit gate G2 of the container yard 1 and a ship (not shown) berthing at the wharf. In FIG. 1, a dashed arrow indicates a moving path of the second container handling apparatus 3, and a solid arrow indicates a moving path of the transport vehicle V. When the container is moved in and out of the container 4 by the ship, the container 4 is loaded and unloaded by the ship crane K between the ship and the ship loading area B, and the container 4 is moved between the ship loading area B and the container transport area S2. The container 4 is transported by the second container handling device 3. When the container 4 is loaded and unloaded by the transport vehicle V, the container 4 is transported by the transport vehicle V between the gates G1 and G2 and the vehicle loading area C, and the vehicle loading area C and the container transport area S2. The container 4 is transported by the second container cargo handling device 3 between the containers.

As shown in FIG. 3, in this embodiment, the first container unloading device 2 is a wheel 2 equipped with a rubber tire.
And a gantry crane having
1, a loading / unloading unit 22 that is driven up and down, and an operator cab 24 on which an operator boards. Known gantry cranes can be employed. The vehicle body 21 has a gate shape as viewed from the front, and includes left and right portions 21a and 21b and left and right portions 21a and 21b.
a and a connecting portion 21c for connecting the upper ends of 21b.
Driving and steering of the wheels 23 are performed by an unillustrated traveling system drive device and a steering device provided on the vehicle body 21. The loading / unloading portion 22 has a slide portion 22a attached to the connecting portion 21c so as to be movable left and right, and a spreader 22b having a rectangular shape in a plan view, which can be vertically extended and retracted attached to the slide portion 22a so as to be movable up and down. Part 22a
Is connected to the operator cab 24. The cargo handling portion 22 is provided with a container 4 disposed between left and right portions 21a and 21b of the vehicle body 21 by claws provided at four corners of the spreader 22b.
It is possible to hold. The slide part 2
A non-illustrated loading / unloading system drive mechanism is provided to perform left / right drive of 2a, up / down drive of the spreader 22b, and holding and release operations of the container 4 by the spreader 22b. According to the first container handling device 2, the spreader 22b is disposed above the container 4 to be unloaded, the spreader 22b is lowered, the container 4 is held by the claw of the spreader 22b, and then the spreader 22b is moved. Lifting the container 4 by raising it, and then positioning the spreader 22b above the target position, and then lowering the spreader 22b to release the holding of the container 4, thereby placing the container 4 at the target position. Can be.

As shown in FIGS. 4A and 4B, the second container handling device 3 comprises a vehicle body 31, a cargo handling portion 32 driven up, down, left and right, and wheels 33 mounted with rubber tires.
And an operator's cab 34 on which an operator rides, and the operator's cab 34 is attached to the vehicle body 31. Its body 3
Reference numeral 1 denotes a front view portal type, and a connecting portion 31c for connecting left and right portions 31a and 31b and upper ends of the left and right portions 31a and 31b.
And Driving and steering of the wheels 33 are performed by an unillustrated traveling system drive device and a steering device provided on the vehicle body 31. The cargo handling portion 32 has a rectangular spreader 32b which is attached to the vehicle body 31 so as to be able to move up and down and which can be extended and retracted in a plan view. The cargo handling unit 32 includes the spreader 3
The right and left portions 3 of the vehicle body 31
It is possible to hold the container 4 arranged between 1a and 31b. The left and right width and height of the vehicle body 31 of the second container handling device 3 are set so that a single container 4 can be disposed between the left and right portions, thereby lowering the center of gravity of the second container handling device 3 and ensuring stability. Can be increased. In order to drive the spreader 32b up and down,
2 is provided with a drive mechanism. That is, the body 3
The end of a chain 36 wound around a sprocket at the tip of a vertically extendable hydraulic cylinder 35 attached to 1 and a spreader attached to the vehicle body 31 is connected to a spreader 32b. The spreader 32b moves up and down. In addition, a loading / unloading system drive mechanism (not shown) is provided in the loading / unloading section 32 in order to perform the holding and releasing operations of the container 4 by the spreader 32b. According to the second container handling device 3, the spreader 32b is arranged above the container 4 to be unloaded, the spreader 32b is lowered, the container 4 is held by the claw of the spreader 32b, and then the spreader 32b is moved. Lift container 4 by raising it,
Next, the spreader 32b is positioned above the target position, and then the spreader 32b is lowered to release the holding of the container 4, whereby the container 4 can be placed at the target position.

In each container handling area S in the container yard 1, the first container handling apparatus 2 can move back and forth, and the container storage area S1 and the container transport area S2
And In the container storage area S1, a plurality of containers 4 whose longitudinal direction is the longitudinal movement direction of the first container handling device 2 are stored so as to be vertically and horizontally parallel and stacked up and down. Can be stored in seven rows and four rows. In the container transport area S2, the second container handling device 3 can be moved back and forth along the front and rear movement direction of the first container handling device 2. In the present embodiment, one end of each container transport area S2 in the longitudinal direction is an entrance, and the other end is an exit.

Between the left and right portions 21a and 21b of the first container cargo handling device 2 traveling back and forth in the container handling area S, the container storage area S1 and the container transport area S2 are arranged side by side. As a result, the right and left portions 21 of the vehicle body 21 of the first container handling device 2 moving in the front-rear direction in the container handling region S
Between the containers a and 21b, the container 4 stored in the container storage area S1 and the second container handling device 3 moving in the front-rear direction in the container transport area S2 can be arranged side by side.

When the container 4 stored in the container storage area S1 is carried out of the container loading area S, the container 4 stored in the container storage area S1 is transferred to the container transport area S2 by the first container loading apparatus 2. Then, the container 4 placed in the container transport area S2 is held by the second container handling device 3, and then the second container handling device 3 holding the container 4 is moved. Then, the container 4 is carried out of the container handling area S.

When the container 4 is stored in the container handling area S, the container 4 to be stored is held outside the container handling area S by the second container handling apparatus 3, and then the second container handling apparatus 3 Into the container transport area S2, and then move the container 4 held by the second container unloading device 3 to the container transport area S2.
After that, the container 4 placed in the container transport area S2 is stored in the container storage area S1 by the first container loading / unloading device 2.

The vehicle cargo handling area C has a first container handling apparatus 2 which can be moved back and forth, and has a container temporary storage area C3, a first container transport area C1, and a second container transport area C2. The container temporary storage area C3
In this embodiment, a plurality of containers 4 whose longitudinal direction is the longitudinal movement direction of the first container unloading device 2 can be stored in parallel in the front-rear, left-right direction, and vertically stacked. , Can be stored in upper and lower four tiers. In the first container transport area C1, the second container handling device 3 is movable in the front-rear direction along the direction in which the first container handling device 2 moves in the front-rear direction. In the second container transport area C2, the transport vehicle V can be moved back and forth in a plurality of left and right rows (two rows in the present embodiment) along the front and rear movement direction of the first container handling device 2. One end of each of the container transport areas C1 and C2 in the longitudinal direction is an entrance, and the other end is an exit.

In this embodiment, a temporary container storage area C3 is arranged between the first container transport area C1 and the second container transport area C2. Thereby, the container 4 stored in the container temporary storage area C3 between the left and right portions 21a and 21b of the vehicle body 21 of the first container loading and unloading device 2 moving along the front-rear direction in the vehicle loading area C, The second container handling device 3 moving in the front-rear direction in the first container transfer area C1 and the transport vehicle V moving in the front-rear direction in the second container transfer area C2 can be arranged side by side. I have.

When the transport vehicle V unloads the container 4 from the container yard 1, the container 4 stored in the container storage area S1 as described above is carried out of the container loading area S by the second container loading device 3. . Next, the second container handling device 3 is moved to the first container transport area C1.
And the container 4 held by the second container handling device 3 is placed in the first container transport area C1. Next, the container 4 placed in the first container transport area C1 is stored in the container temporary storage area C3 by the first container handling apparatus 2 in the vehicle loading area C. Next, the container 4 stored in the container temporary storage area C3 is loaded on the transport vehicle V located in the second container transport area C2 by the first container handling device 2. Thereafter, the transport vehicle V unloads the container 4 from the container yard 1.

When the transport vehicle V enters the container 4 into the container yard 1, the transport vehicle V loaded with the container 4 is made to enter the second container transport area C2. Next, the container 4 loaded on the transport vehicle V is stored in the container temporary storage area C3 by the first container handling device 2. Next, the container 4 stored in the container temporary storage area C3 by the first container
It is placed in the container transport area C1. Next, the container 4 placed in the first container transport area C1 is held by the second container handling device 3. Thereafter, the second container handling device 3 holding the container 4 is made to enter the container transport area S2 to be stored in the container storage area S1 as described above.

In the container cargo handling area S and the vehicle cargo handling area C, there is provided a guiding device for guiding the first container handling device 2 to move in the front-rear direction.
That is, as shown in (1) of FIG. 5, as the guiding device, the magnetic lines 41 are provided along the forward and backward movement directions of the first container handling device 2 in the container handling region S and the vehicle handling region C.
The first container cargo handling device 2 is provided with a plurality of inductive magnetic detection sensors 42 and a control device 43 to be described later. As shown in (1) of FIG. 6, each of the induction magnetic detection sensors 42 is attached to the vehicle body 21 of the first container cargo handling device 2 by an arm 44.
And is disposed at a position facing the magnetic line 41 with a slight gap in front of and behind the left and right wheels 23. Each of the induction magnetism detection sensors 42 detects the generated magnetism of the magnetic line 41, and outputs a displacement signal corresponding to the amount of displacement of the first container cargo handling device 2 from the installation position of the magnetic line 41 in the left-right direction to the control device 43. Output to The control device 43 controls the traveling system driving device for the wheels 23, and also controls the wheels 2 according to the displacement signal.
By controlling the third steering device 46, the first container handling device 2 can be guided to automatically move in the front-rear direction.

In the container handling area S and the vehicle handling area C, there is provided a positioning device for positioning the first container handling apparatus 2 so as to stop at a predetermined position. That is, as shown in (1) of FIG. 5, as the positioning device, a plurality of magnetic markers 47 and a plurality of IDs are provided in the container handling area S and the first container transport area C1.
A tag 48 is provided, and a positioning magnetic detection sensor 49, an ID reader 50, an encoder 51, and the control device 43 are provided in the first container unloading device 2. The magnetic marker 47 and the ID tag 48 are arranged at an interval in the front-rear movement direction of the first container handling apparatus 2, and the arrangement interval is the arrangement of the container 4 in the container storage area S1 and the container temporary storage area C3 in the front-rear direction. Each ID tag 48 stores magnetic information corresponding to the pitch and corresponding to each arrangement position. The ID reader 5
0 reads the magnetic information stored in each ID tag 48 and outputs the read information to the control device 43. The encoder 51 operates in conjunction with the wheels 23 to output a signal corresponding to the traveling distance of the first container handling device 2 to the control device 43. The positioning magnetism detecting sensor 49 detects the generated magnetism of the magnetic marker 47, thereby detecting the magnetic marker 4
A displacement signal corresponding to the amount of displacement of the first container unloading device 2 in the front-rear direction from the installation position of 7 is output to the control device 43. The control device 43 compares the cargo handling position indicated by the cargo handling instruction information to be described later with the storage position of the container 4 corresponding to the magnetic information stored in the ID tag 48. Stop control of the system drive device can be performed. That is, when the designated cargo handling position matches the storage position of the container 4, the displacement distance from the installation position of the magnetic marker 47 being detected becomes zero based on the displacement signal from the positioning magnetic detection sensor 49. By moving the first container handling device 2 in this way and then braking the first container handling device 2, the first container handling device 2 can be stopped at the designated loading position.

In the container transport area S2 and the first container transport area C1, a guide device is provided for guiding the second container handling device 3 to move in the front-rear direction. That is, as shown in (2) of FIG. 5, as the guiding device, a magnetic line 61 is provided in the container transport area S2 and the first container transport area C1 along the forward and backward movement direction of the first container cargo handling device 2, The second container cargo handling device 3 is provided with a plurality of induction magnetic detection sensors 62 and a control device 63 described later. As shown in FIG. 6 (2), each induction magnetic detection sensor 62 is attached to the vehicle body 31 of the first container cargo handling device 2 via an arm 64, and is slightly different from the magnetic line 61 in front of and behind the left and right wheels 33. It is arranged in the position which opposes via a suitable gap. Each of the induction magnetism detection sensors 62 detects the generated magnetism of the magnetic line 61, and detects the second magnetism from the installation position of the magnetic line 61.
A displacement signal corresponding to the amount of displacement of the container cargo handling device 3 in the left-right direction is output to the control device 63. The control device 63
By controlling the traveling system drive device of the wheels 33 and controlling the steering device 66 of the wheels 33 according to the displacement signal, the second container handling device 3 is automatically moved in the front-rear direction. Can be guided.

In the container transport area S2 and the first container transport area C1, there is provided a positioning device for positioning the second container handling device 3 so as to stop at a predetermined position. That is, as shown in FIG. 5 (2), the container transport area S2 is used as the positioning device.
And a plurality of magnetic markers 67 in the first container transport area C1.
And a plurality of ID tags 68 are provided.
0, an encoder 71, and the control device 63 are provided. The magnetic marker 67 and the ID tag 68 are arranged at an interval in the front-rear movement direction of the first container handling device 2, and the arrangement interval is the arrangement of the container 4 in the container storage area S1 and the container temporary storage area C3 in the front-rear direction. The ID tag 68 stores magnetic information corresponding to the pitch and corresponding to each arrangement position. Its ID
The reader 70 reads the magnetic information stored in each ID tag 68 and outputs the read information to the control device 63. The encoder 71 operates in conjunction with the wheels 33 to output a signal corresponding to the traveling distance of the second container handling device 3 to the control device 6.
Output to 3. The positioning magnetism detection sensor 69 detects the generated magnetism of the magnetic marker 67, and outputs a displacement signal corresponding to the amount of displacement of the second container handling device 3 in the front-rear direction from the installation position of the magnetic marker 67 to the control device 63. Output to The control device 63 compares the cargo handling position indicated by the cargo handling work instruction information described later with the storage position of the container 4 corresponding to the magnetic information stored in the ID tag 68, and if they match, the traveling of the wheel 33 is performed. Stop control of the system drive device can be performed. That is, when the designated cargo handling position matches the storage position of the container 4, the displacement distance from the installation position of the magnetic marker 67 that is being detected becomes zero based on the displacement signal from the positioning magnetic detection sensor 69. Then, by moving the second container handling device 3 and then braking the second container handling device 3, the second container handling device 3 can be stopped at the designated loading position.

FIG. 7 shows a control system of each of the container handling devices 2 and 3. The management control device 81 includes identification information of the container 4 in the container yard 1, a current storage position, and a storage location of the container 4. Container yard 1
The storage date and time, the identification information of the container 4 to be stored in the container yard 1, the storage time and the storage position, etc. are stored as an information database, and the previously prepared cargo handling for each first container handling device 2 is stored. Work instruction information and second
It stores the cargo handling instruction information created in advance for each container handling device 3.

The cargo handling work instruction information for each first container cargo handling device 2 is transmitted from the management control device 81 to the operation management control device 83 of the first container cargo handling device 2 via the operation management control device 82, and a communication device (not shown). Is transmitted via The cargo handling instruction information for each second container handling device 3 is transmitted from the management control device 81 via the operation management control device 82 to the operation management control device 84 of the second container handling device 3 via a communication device (not shown). Transmitted.

The operation management control device 83 of the first container cargo handling device 2 transmits the cargo handling instruction information for each first container handling device 2 to the corresponding control device 43 of the first container cargo handling device 2 (not shown). Transmit via device. The operation management control device 84 of the second container unloading device 3
The cargo handling instruction information for the container handling device 3 is transmitted to the corresponding control device 63 of the second container handling device 3 via a communication device (not shown).

In each of the first container cargo handling devices 2, the cargo handling instruction information transmitted to the display device 43a connected to the control device 43 is displayed. The operator of each first container handling device 2 causes the first container handling device 2 to enter the container handling region S or the vehicle handling region C at the loading position specified by the handling instruction information. First in the container handling area S or the vehicle handling area C
After the container cargo handling device 2 has been entered, the operator switches the control device 43 to the automatic traveling mode by the input device 43b, thereby the first container handling device 2 as described above.
Can be automatically guided to move in the front-rear direction, and can be automatically stopped at the cargo handling position.

In each of the second container handling devices 3, the information of the handling instruction transmitted to the display device 63a connected to the control device 63 is displayed. The operator of each second container handling device 3 causes the second container handling device 3 to enter the container handling area S, the vehicle handling area C, or the ship handling area B at the loading position indicated by the cargo handling instruction information. . After the second container handling device 3 has entered the container handling region S or the vehicle handling region C, the operator switches the control device 63 to the automatic traveling mode using the input device 63b, thereby allowing the second container handling device to operate as described above. The device 3 can be automatically guided to move in the front-rear direction, and can be automatically stopped at the cargo handling position.

Each of the container handling devices 2 and 3 stores the container 4 to be handled by the cargo handling instruction information.
At the designated cargo handling position, cargo handling for entry into or exit from the container yard 1 is performed as described above. When the cargo handling of the container 4 is completed, the cargo handling completion information input by the operator from the input devices 43b and 63b is transmitted to the control devices 43 and 63 of the container cargo handling devices 2 and 3 via the communication device. Devices 82, 8
The information database is transmitted from the management control device 81 to the management control device 81, and the information database is updated in the management control device 81.

In the above-described embodiment, each ID for storing magnetic information corresponding to identification information of each container handling area S and vehicle handling area C is provided at the entrance of each container handling area S and vehicle handling area C. A tag is installed, and its magnetic information is read by the ID readers 50 and 70 of the container handling devices 2 and 3 and transmitted from the control devices 43 and 63 to the operation management control devices 83 and 84. Also,
The moving distance of each container handling device 2, 3 from the entrance of each container handling area S and the vehicle handling area C is measured by the encoders 51, 71, and the measurement results are transmitted from the control devices 43, 63 to the respective operation management. Control devices 83, 84
Is transmitted to Thereby, each operation management control device 8
3 and 84 can recognize the positions of the container handling devices 2 and 3 in each container handling area S and the vehicle handling area C, and display the recognition results on the monitors 83a and 84a.
In addition, each of the operation management control devices 83 and 84 outputs a signal for preventing the container cargo handling devices 2 and 3 from colliding with each other based on the recognized position of each container handling device 2 and 3. For example, each of the container handling areas S and the vehicle handling areas C has a plurality of container handling devices 2, 3 respectively.
Is located, an alarm signal is output to each of the control devices 43 and 63 to issue an alarm to the operator using a buzzer, a lamp, or the like, or a braking signal is output to stop each of the container handling devices 2 and 3.

According to the above configuration, the container storage area S1
When the container 4 stored in the container 4 is carried out, the container 4 can be once placed in the container transport area S2 by the first container handling device 2, and then the container 4 can be held and carried out by the second container handling device 3. When the container 4 is stored in the container storage area S1, the container 4 is temporarily placed in the container transport area S2 by the second container handling device 3, and then the container 4 is held by the first container handling device 2. It can be stored in the container storage area S1. Thus, when the container 4 is stored in the container storage area S1 and the container 4 stored in the container storage area S1 is unloaded, the first container handling device 2
And the second container cargo handling device 3 can perform cargo handling independently independently of each other without coordination. Therefore, individual cargo handling time can be reduced. Further, even if a container 4 not to be unloaded is present in the container transport area S2, the second container unloading device 3 does not interfere with the container transport area S2.
Can pass through. Therefore, in the container transport area S2, the second container handling device 3 can be efficiently used, and the time required for each cargo handling operation can be shortened, so that the cargo handling efficiency can be greatly improved. Such a significant increase in the cargo handling efficiency can reduce the number of the second container handling devices 3 as much as possible and reduce the cost. Also, the first container handling device 2 transfers the container 4 to the second
Since it is not necessary to directly handle the container handling equipment 3,
An accident such as the container 4 falling on the second container handling device 3 or the lifting of the second container handling device 3 by the first container handling device 2 does not occur. Therefore, the operator of the first container handling apparatus 2 is not required to be excessively careful, and can reduce the degree of fatigue caused by the work, and can contribute to the unmanned operation of the first container handling apparatus 2, thereby also improving the handling efficiency. Can be improved.

The container 4 is transported by the second container handling device 3 between the cargo handling area B and the container transport area S2 and between the vehicle handling area C and the container transport area S2. Container yard 1 by
Loading and unloading of the container 4 to and from the container yard 1 by the transport vehicle V can improve cargo handling efficiency.

In the vehicle cargo handling area C, since the containers 4 stored in the container temporary storage area C3 are to be moved into and out of the container yard 1 by the transport vehicle V, the containers 4 are transferred to the container yard 1 by the transport vehicle V. Cargo handling for loading and unloading containers 4 from the container and cargo handling for loading and unloading containers 4 to and from the container yard 1 by the ship are separated.
Loading efficiency can be improved. Moreover, the container storage area S1
When the container 4 stored in the container storage area C3 is stored in the container temporary storage area C3, and the container 4 stored in the container temporary storage area C3 is stored in the container storage area S1, the container handling area S is also stored in the vehicle loading area C. The cargo handling efficiency can be improved in the same manner as described above.

Further, according to the above configuration, a part of the cargo handling work by the first container handling device 2 and the second container handling device 3 can be automated to improve the cargo handling efficiency.

The present invention is not limited to the above embodiment. For example, without using the first container handling apparatus 2 in the vehicle handling area C, and in the container temporary storage area C3
The cargo handling may be directly performed between the second container handling device 3 and the transport vehicle V without providing the cargo handling device. That is, when the container 4 is unloaded from the container yard 1, the container 4 is loaded on the transport vehicle V by the second container handling device 3 in the vehicle handling area C, and when the container 4 is stored in the container yard 1, In the vehicle handling area C, the container 4 loaded on the transport vehicle V is held by the second container handling device 3. Thereby, the container 4 can be directly transferred to the transport vehicle V by the second container handling device 3. In addition, not only the container transport area S2 and the first container transport area C1, but also the second
A guiding device for guiding the container handling device 3 to travel along a predetermined route is provided, and an ID tag that stores magnetic information corresponding to the cargo handling position and the traveling direction conversion position in the marine vessel handling area B is set in the container yard 1. And the second container handling apparatus 3 may be guided so as to be able to automatically travel in the entire moving range, and may be controlled to be able to automatically stop at the cargo handling position in the vessel handling area B. In this case, the container transport area S2 and the first container transport area C1
It is preferable to adopt an autonomous guidance system in which the gyro detects the moving direction and the encoder 71 detects the traveling distance. The magnetic information of the ID tag and the measurement result of the traveling distance of the second container handling device 3 between the ID tags by the encoder 71 are transmitted from the control device 63 to the operation management control device 84, and each container handling area is transmitted. The position of the second container handling device 3 can be recognized not only in the S and the vehicle cargo handling area but also in the entire area of the container yard 1, the recognition result is displayed on the monitor 84a, and the recognized second container handling device 3 is displayed. 3, the moving route of the second container handling device 3 is determined to control the traveling system drive device of the wheels 33 and the steering device 66, and the plurality of second container handling devices 3 are mutually moved at the direction change position or the like. A signal for preventing collision may be output. Furthermore, each container handling device 2,
The cargo handling operation of the container 4 may be automated by controlling the cargo handling system driving mechanism in 3 by the control devices 43 and 63, thereby achieving complete automation. In order to automate the cargo handling operation, a sensor is provided for detecting the number of stacked stages of containers 4 stored in the container storage area S1, and the detected number of stacked stages is compared with the number of stacked stages in the information database. It is preferable to output a signal to generate an alarm.

[0044]

According to the present invention, the cargo handling efficiency of a container in a container yard can be greatly improved without a large increase in cost, the safety at the time of cargo handling can be improved, and further, the automation of the cargo handling of the container can be contributed. A method and system for a possible container handling can be provided.

[Brief description of the drawings]

FIG. 1 is a plan view of a container handling system according to an embodiment of the present invention.

FIG. 2 is a front view of the container cargo handling system according to the embodiment of the present invention.

FIG. 3 is a front view of a first container handling device and a second container handling device in the container handling system according to the embodiment of the present invention.

FIG. 4 is a front view and (2) is a side view of a second container handling device in the container handling system according to the embodiment of the present invention.

FIG. 5 is a plan view for explaining the configuration of a guiding device and a positioning device of a first container handling device in a container handling system according to an embodiment of the present invention, and (2) is a guiding device and positioning of a second container handling device. Plan view for explaining the configuration of the device

FIG. 6 is a partial front view of the first container handling apparatus in the container handling system according to the embodiment of the present invention;
(2) is a partial side view of the first container handling device, (3) is a partial front view of the second container handling device, and (4) is a partial side view of the second container handling device.

FIG. 7 is a block diagram for explaining a configuration of a control system in the container cargo handling system according to the embodiment of the present invention.

FIG. 8 is a front view of a conventional container handling system.

[Explanation of symbols]

 Reference Signs List 1 container yard 2 first container cargo handling device 3 second container cargo handling device 4 container 21 body 22 cargo handling unit 31 vehicle body 32 cargo handling unit 41, 61 magnetic line 42, 62 induction magnetic detection sensor 43, 63 control device 47, 67 magnetic marker 48 , 68 ID tag 49, 69 Positioning magnetic detection sensor 50, 70 ID reader 51, 71 Encoder B Ship handling area C Vehicle handling area C1 First container transport area C2 Second container transport area C3 Container temporary storage area S Container handling Area S1 Container storage area S2 Container transport area

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI theme coat ゛ (Reference) B66C 19/00 B66C 19/00 B (72) Inventor Teruo Nakamura 1-15 Kyomachibori, Nishi-ku, Osaka-shi, Osaka No. 10 TCM Co., Ltd. (72) Inventor Norihiro Iwasaki 1-15-10 Kyomachibori, Nishi-ku, Osaka City, Osaka Prefecture TMC M Co., Ltd. (72) Inventor Nagasokabe Hisa Hisashi 1-15-15 Kyomachibori, Nishi-ku, Osaka City, Osaka Prefecture (72) Inventor Koji Ichinose 1-15-10 Kyomachibori, Nishi-ku, Osaka City, Osaka Prefecture F term in M Corporation (reference) 3F022 AA15 EE10 JJ03 LL05 MM02 MM03 MM11 MM51

Claims (8)

[Claims] In a container yard, a method of loading and unloading a container using a self-propelled first container handling device and a self-propelled second container handling device, the first container handling device comprising: It has a front view portal-shaped vehicle body, and a cargo handling unit capable of holding a container disposed between the left and right portions of the vehicle body. And a cargo handling unit capable of holding a container disposed between the first and second units.
A container handling area in which the container handling apparatus can move back and forth is provided, and the container handling area is arranged so that a plurality of containers having the longitudinal direction of the first container handling apparatus as a longitudinal direction are arranged in front, rear, left and right, and are stacked vertically. A container storage area in which storage is possible, and a container transport area in which the second container handling apparatus can move back and forth along the direction of forward and backward movement of the first container handling apparatus; The container stored in the container storage area between the left and right portions of the moving first container handling apparatus body and the second container handling apparatus moving along the front-rear direction in the container transport area can be arranged side by side. When unloading a container stored in the container storage area out of the container handling area, the container storage area The piped container is placed in the container transport area by the first container handling apparatus, and then the container placed in the container transport area is held by the second container handling apparatus, and thereafter, the container is held. When the container is carried out of the container handling area by moving the second container handling apparatus and the container is stored in the container storage area, the container to be stored outside the container handling area by the second container handling apparatus. Then, the second container handling apparatus is caused to enter the container transport area, and then the container held by the second container handling apparatus is placed in the container transport area, and thereafter, the container transport area is moved. Storing the container placed in the area in the container storage area by the first container handling device. Container loading and unloading method. 2. A method according to claim 1, wherein when the container is moved in and out of the container yard by the ship, the container is transferred by the second container handling device between the ship handling area in the container yard and the container transfer area. The container handling method according to claim 1, wherein: 3. The method according to claim 2, wherein the container is transported between the vehicle handling area and the container transport area in the container yard by the second container handling apparatus when the container is moved into and out of the container yard by the transport vehicle. The container handling method according to claim 1 or 2, wherein: 4. A vehicle handling apparatus in which a first container handling device is movable forward and backward in the vehicle handling area. The vehicle handling area includes a plurality of containers whose longitudinal direction is the longitudinal movement direction of the first container handling apparatus. A container temporary storage area in which the container can be stored so as to be stacked vertically and horizontally and a first container transport area in which the second container handling apparatus can move back and forth along the direction of movement of the first container handling apparatus; A second container transport area in which the transport vehicle can move back and forth along the forward and backward movement direction of the first container handling apparatus, and the first container handling apparatus moves in the vehicle handling area along the front and rear direction. A container stored in the container temporary storage area between the left and right portions of the vehicle body and a second container moving along the front-rear direction in the first container transport area. The cargo handling device and the transport vehicle moving along the front-rear direction in the second container transport area can be arranged side by side, and when the transport vehicle unloads the container from the container yard, the container is out of the container loading area. The second container-handling device that has carried out the container is allowed to enter the first container-transporting area, and then the container held by the second container-handling device is placed in the first container-transporting area, and then the first container The container placed in the transport area is stored in the container temporary storage area by the first container handling apparatus, and then the container stored in the container temporary storage area is located in the second container transport area by the first container handling apparatus. After that, the container is taken out of the container yard by the transport vehicle, and the container yard is moved by the transport vehicle. When the container is loaded into the container, the transport vehicle loaded with the container is made to enter the second container transport area, and then the container loaded on the transport vehicle is moved to the container temporary storage area by the first container handling device. Storage, and then the container stored in the container temporary storage area is placed in the first container transport area by the first container handling device, and then the container placed in the first container transport area is placed in the first container transport area. 4. The container handling device according to claim 3, wherein the container is held by the two container handling device, and thereafter, the second container handling device holding the container is caused to enter the container transport region of the container handling region for storage in the container storage region. Container handling method described in the above. 5. When a container is unloaded from the container yard, a container is loaded into the transport vehicle by the second container loading device in the vehicle handling area, and when the container is loaded into the container yard, the container is loaded. The container handling method according to claim 3, wherein in the vehicle handling area, containers loaded on the transport vehicle are held by the second container handling device. 6. A self-propelled first container handling device, and a self-propelled second container handling device, the first container handling device having a gate-shaped body viewed from the front, and left and right portions of the body. A cargo handling unit capable of holding a container disposed therebetween, the second container handling device comprising: a portal-shaped vehicle body in front view; and a cargo handling unit capable of retaining a container disposed between left and right portions of the vehicle body. The container yard is provided with a container handling area in which the first container handling apparatus can move back and forth, and the container handling area has a plurality of longitudinal directions whose longitudinal directions are the direction of movement of the first container handling apparatus. A container storage area in which containers can be stored in parallel in the front-rear and left-right directions and stacked up and down; And a container to be stored in the container storage area between the left and right portions of the body of the first container handling apparatus moving along the front-rear direction in the container loading area, A container handling system in which a second container handling device that moves along the route can be arranged side by side. 7. In the container handling area, the first
A guiding device that guides the container handling device to move in the front-rear direction and a positioning device that positions the first container handling device to stop at a predetermined position are provided, and in the container transport area, The second
7. The guide device according to claim 6, further comprising a guiding device for guiding the container handling device to move in the front-rear direction, and a positioning device for positioning the second container handling device to stop at a predetermined position. Container handling system. 8. The container handling system according to claim 6, wherein the left and right width and height of the vehicle body of the second container handling apparatus are set so that a single container can be arranged between the left and right portions.