JP2004010284A - Transfer crane, container terminal and transfer crane control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a transfer crane, a container yard and a transfer crane control method, capable of improving productivity. <P>SOLUTION: This transfer crane has an RTG (a transfer crane body) 4, a travel path 6 traversed by the RTG 4, and two lines of tracks 22, 23 positioned in the travel path 6 and guiding AGVs (unmanned carrier trucks) 21. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a transfer crane, a container terminal, and a transfer crane control method.
[0002]
[Prior art]
The container terminal loads containers (loads) to container ships of marine containers and stores and stores the quay facilities for unloading and the unloaded containers until they are delivered to the shipper, or stores the containers received from the shipper until they are loaded. It consists of facilities.
[0003]
FIG. 8 shows an example of an arrangement of a general container terminal. Only major facilities directly related to container handling and transport are shown, and other facilities are omitted.
In the figure, reference numeral 1 denotes a range of a container terminal, 1A denotes a quay, 2 denotes a container ship moored on the quay, 5 denotes a transfer machine, and C denotes a container. Reference numeral 1B denotes an area where containers are stacked and stored at predetermined positions (hereinafter referred to as “storage”), that is, a container yard.
[0004]
In the container terminal 1, a quay crane 3 is installed facing the quay 1A. The quay crane 3 is a cargo handling machine for loading and unloading the container C between the container ship 2 moored on the quay 1A and the ground. The quay crane 3 can be positioned with respect to the container ship 2 and is provided so as to be movable in parallel with the quay 1A.
[0005]
Reference numeral 10 denotes a chassis for automatically transporting containers in the container yard 1B. Each of the chassis 10 is operated by a driver, and runs on a predetermined route as described later.
Reference numeral 11 denotes a trailer for carrying the container C into the container terminal 1 and carrying the container C out of the container terminal 1. That is, the work of loading and unloading the container C to and from the container yard is performed.
Reference numeral 12 denotes a trailer 11 in the container terminal 1 and a gate 12 for managing the entry / exit status of the container C loaded thereon.
Reference numeral 5 denotes a transfer machine that transfers a container C between the chassis 10 and the trailer 11, that is, performs a transfer operation.
[0006]
The chassis 10 is configured to circulate in the container yard 1B, which is an area above the transfer machine 5 on the paper surface, and along the traveling lane L indicated by a dashed line, the quay crane 3 and the container storage The RTGs 4 running by connecting each rubber tire type transfer crane main body 4 (hereinafter referred to as RTG) provided in the area and the transfer machine 5 respectively traverse predetermined traveling paths 6. A large number of loaded containers C and a traveling lane L of the chassis 10 are located on the traveling path 6.
[0007]
Further, the trailer 11 enters the container terminal 1 after passing through the gate 12, passes through the waiting place 13 and the transfer machine 5 along the trailer traveling lane R indicated by a two-dot chain line, and again passes through the gate 12 or Following the path back to terminal exit 14.
[0008]
Now, the traveling lane L of the chassis 10 in the RTG 4 is shown in FIGS.
In FIG. 9, reference numeral 15 denotes a trolley provided with a spreader for loading the container C on the chassis 10 or for lowering the container C from the chassis 10. The container C is moved by the trolley 15 moving between the container storage area 6a and the stopped chassis 10.
By the way, conventionally, the chassis 10 traveling in the RTG 4 is driven by a driver. In the RTG 4, the chassis 10 has only one travel path, but the chassis 10 can travel freely by the driver. Therefore, the other chassis 10 stops on the travel lane L for delivery of luggage and stops. If so, the driver can overtake the side of the chassis 10.
[0009]
[Problems to be solved by the invention]
Meanwhile, in recent years, a technology has been developed in which a driver does not drive the chassis 10 but uses the chassis as an unmanned transport vehicle (hereinafter, referred to as an AGV; Automated Guided Vehicle). In this technique, the vehicle is guided and moved on a predetermined trajectory (such as a magnet embedded in a road surface) on a container yard. However, in this case, if there is only one traveling lane L passing through the RTG 4,
・ Because the driver cannot drive freely, the chassis cannot overtake other chassis.
If the order of the chassis is not determined properly, the chassis cannot be overtaken, so the chassis will be congested and the productivity of the container yard will decrease.
-There were problems such as difficulty in determining the chassis order.
[0010]
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a transfer crane, a container terminal, and a transfer crane control method capable of improving productivity.
[0011]
[Means for Solving the Problems]
The transfer crane according to claim 1 includes a transfer crane main body, a traveling path on which the transfer crane main body traverses, and a track for guiding the automatic guided vehicle, and the tracks are provided in two rows. At least one of the two tracks is located on the travel path.
[0012]
In the present invention, since the tracks are provided in two rows, even if the unmanned transport vehicle is stopped and is in cargo handling on one track located on the travel path, the other track is traveled on the other track. Can overtake the unmanned transport vehicle during cargo handling. If the two tracks are both located on the travel path, the other can be used as a passing track for the other.
[0013]
According to a second aspect of the present invention, in the transfer crane according to the first aspect, a trolley for traversing a suspended container is provided on the transfer crane main body, and the trolley is provided on an outer side of the two rows of tracks. It is not located on the orbit of
[0014]
In the present invention, the outer trajectory where the trolley is not located is used for overtaking.
[0015]
The transfer crane according to claim 3 includes a transfer crane main body, a traveling path on which the transfer crane main body traverses, and a track positioned on the traveling path and guiding the automatic guided vehicle, wherein the traveling paths are adjacent to each other. Two overtaking tracks are further provided between these two adjacent running paths.
[0016]
In the present invention, since the tracks are provided in two rows, even when the unmanned transport vehicle stops and is in cargo handling on one of the tracks, the other unmanned transport vehicle travels on the passing track to allow the unmanned transport vehicle to carry the cargo. You can overtake the unmanned transport cart inside. The overtaking track is shared by the unmanned transport vehicles traveling on the tracks on adjacent running paths.
[0017]
The transfer crane according to claim 4 includes a transfer crane main body, a traveling path on which the transfer crane body traverses, and a track positioned on the traveling path and guiding the unmanned transport vehicle, wherein the traveling paths are adjacent to each other. Two tracks are provided, and the tracks provided on one of the running paths are respectively provided on the other adjacent running path side.
[0018]
In the present invention, the tracks of the two running paths are adjacent to each other. Therefore, even if the unmanned transport vehicle stops on one track and is in cargo handling, the unmanned transport vehicle in cargo handling can be overtaken by using the track of the adjacent traveling path as a passing track. That is, the trajectory of each traveling path is shared as an overtaking trajectory of an adjacent traveling path.
[0019]
A container terminal according to claim 5, comprising a container yard provided with a quay crane and a transfer crane in which containers are transported between the quay crane by an unmanned transport trolley, wherein the transfer crane is any of claims 1 to 4. It is a transfer crane described in Crab.
[0020]
In the present invention, when a container is transported between the quay crane and the transfer crane using the unmanned transport cart, even when loading is performed between one transfer crane main body and the unmanned transport cart, other Can overtake the loading trolley. Therefore, for example, even when carrying between a plurality of quay cranes and a plurality of transfer cranes, a smooth carrying operation can be performed.
[0021]
The invention according to claim 6 is a method for controlling a transfer crane that transports containers by providing two rows of tracks on one transfer crane travel path and running an unmanned carrier on these tracks. A transfer crane main body is provided, and when the transfer crane main body and the unmanned transport vehicle on one track are performing loading and unloading work, the other unmanned transport vehicle is moved to another track to perform the loading and unloading operation. The unmanned transport vehicle in the middle is overtaken, and the transfer crane main body stands by at a position where the next cargo handling operation is performed.
[0022]
According to the present invention, the operation can be performed continuously and promptly by keeping the automatic guided vehicle at the position where the transfer crane main body performs the next cargo handling operation.
[0023]
The invention according to claim 7 is a control method for a transfer crane that transports containers by providing two rows of tracks on one transfer crane travel path and running an unmanned carrier on these tracks. When two transfer cranes are provided, one track is dedicated to loading and unloading with one transfer crane, and the other track is dedicated to loading and unloading with the other transfer crane. And
[0024]
In the present invention, the two tracks are dedicated to different transfer cranes, respectively, thereby preventing the automatic guided vehicle from being congested.
[0025]
The invention according to claim 8 is a control method for a transfer crane that transports containers by providing two rows of tracks on one transfer crane travel path and running an unmanned carrier on these tracks. When two transfer cranes are provided, the inner trajectory is used exclusively for loading and unloading of the unmanned transport vehicle and the transfer crane, and the outer trajectory is used exclusively for passing the unmanned transport vehicle.
[0026]
In the present invention, the inner track is used exclusively for cargo handling, and when the unmanned transport vehicle that is loading on the track is stopped, the subsequent unmanned transport vehicle can change lanes to the outer passing-only track and pass. it can.
[0027]
BEST MODE FOR CARRYING OUT THE INVENTION
Next, an embodiment of the present invention will be described with reference to the drawings. The same components as those of the related art are denoted by the same reference numerals, and description thereof will be omitted.
FIG. 1 is a schematic plan view of a transfer crane used for a container yard shown as one embodiment of the present invention, and is an enlarged view of one RTG traveling path 6. Reference numeral 4 denotes a rubber crane type transfer crane main body (RTG). A portion where the container C is stored and tracks 22 and 23 on which an AGV (chassis) 21 travels are provided on a road surface below the RTG 4. The AGV 21 is an unmanned carrier and is controlled to travel while communicating wirelessly with a control center (not shown). The tracks 22 and 23 do not physically restrict the AGV 21, but are, for example, magnetic field sources provided at various points on the road surface, and the traveling is guided by the AGV 21 detecting the magnetism. The AGV 21 travels while being guided by the tracks 22 and 23 during normal running, but can also change the track from the track 22 to the track 23 or from the track 23 to the track 22 by skew.
The tracks 22 and 23 are both located on the traveling path 6 of the RTG 4 (that is, within the region of the traveling width where the RTG 4 traverses), and are located side by side facing the outside of the traveling path 6.
[0028]
A method of loading and unloading the transfer crane thus configured will be described.
(1) When Work is Performed by One RTG As shown in FIG. 2, when the AGV 21-1 located on the inner track 22 is loading and unloading on the RTG 4, the subsequent AGV 21-2 is on the inner side. By changing the lane from the track 22 to the outer track 23, the AGV 21-1 can be overtaken. The subsequent AGV 21-2 waits at the next position where the RTG 4 unloads. Thus, after the work with the AGV 21-1, the work can be immediately continued with the waiting AGV 21-2.
The AGV 21-2 overtaking the AGV 21-1 may return to the original trajectory 22 as shown in FIG. 2, or may not return to the trajectory after overtaking as shown in FIG.
[0029]
(2) When the operation is performed by two RTGs The AGV 21 is assigned to each RTG 4. As shown in FIG. 4, if one RTG is 4-1 and the other is 4-2, the AGV 21-1 running on the track 22 is dedicated to the RTG4-1, and the AGV 21-2 running on the track 23 is dedicated to the RTG4-2. And Thus, even when one RTG 4 and the AGV 21 are loading, the traveling of the AGV 21 that is loading with the other RTG 4 is not hindered. Therefore, work can be performed without delay in each RTG 4. In this case, it is not necessary to change the trajectory.
Alternatively, as shown in FIG. 5, the track 22 is dedicated to the cargo handling lane, and the track 23 is dedicated to the overtaking lane. In this case, even when the AGV 21-1 is carrying the cargo in the RTG4-1, the AGV 21-2 can pass the AGV 21-1 and carry the cargo in the RTG4-2. In this case, since the AGV 21 and the RTG 4 on the track 23 are not directly unloaded, there is no need to position the trolley 15 (see FIG. 9) included in the RTG 4 on the track 23, and the size of the RTG 4 is reduced. In this case, the track 23 is located outside the traveling path 6.
[0030]
As described above, in the present embodiment, traffic jam of the AGV 21 can be prevented, so that productivity can be improved. In particular, when a plurality of quay cranes 3 are provided, the loading operation can be performed on the plurality of AGVs 21 in parallel, so that the deadlock can be eliminated.
[0031]
In addition, you may comprise as follows as a modification.
As shown in FIG. 6, a track 30 is provided between adjacent running paths 6-1 and 6-2 among a plurality of running paths 6 of the RTG 4. In each of the traveling paths 6-1 and 6-2, a track 22 is provided on the side of the other traveling path 6 adjacent thereto. That is, the track 22-1 of the running path 6-1 is adjacent to the track 22-2 of the running path 6-2, and the track 30 is provided between the tracks 22-1 and 22-2.
In this modified example, when the AGV 21 is working and the running of the subsequent AGV 21 is hindered on the track 22-1 of the one traveling path 6-1, the track 30 is set as an overtaking lane, and the subsequent AGV 21 is used as the track 22. Then, the vehicle is skewed to the track 30 from -1, passing the stopped AGV 21, and then returns to the track 22-1 to continue traveling. Similarly, in the other traveling path 6-2, when the running of the subsequent AGV 21 is hindered by the stopped AGV 21 on the track 22-2, the track 30 is set as an overtaking lane, and the stopped AGV 21 is overtaken. , And enable the subsequent AGV 21 to travel.
In this modification, the same effects as those of the above-described embodiment can be obtained, and the track 30 is shared by the two adjacent traveling paths 6-1, 6-2, so that the space can be saved.
[0032]
Further, a modification shown in FIG. 7 may be used. In this modified example, the track 22 is provided on the side of another adjacent traveling path 6 in the traveling paths 6-1 and 6-2 of the adjacent RTG 4. That is, the track 22-1 of the traveling path 6-1 and the track 22-2 of the traveling path 6-2 are adjacent to each other.
In this modified example, when the running of the subsequent AGV 21 is blocked by the stopped AGV 21 on the track 22-1 of one running path 6-1, the track 22-2 of the adjacent running path 6-2 is changed. Used as an overtaking lane. Similarly, on the track 22-2 of the other traveling path 6-2, the track 22-1 of the adjacent traveling path 6-1 is used as an overtaking lane.
In this modification, the same effects as those of the above embodiment can be obtained, and the trajectory of the adjacent traveling path is shared as an overtaking lane, so that the space can be further reduced.
[0033]
In the above description, the transfer crane is exemplified by the RTG, but it is needless to say that the transfer crane is not limited to this. For example, a rail type in which the traveling path of the transfer crane is defined by rails may be used.
[0034]
【The invention's effect】
As described above, the following effects can be obtained in the present invention.
According to the first aspect of the present invention, since the tracks are provided in two rows, even if the unmanned transport vehicle stops and is in cargo handling on one track, the other track travels on the other track. The unmanned transport vehicle can overtake the unmanned transport vehicle during cargo handling. Therefore, it is possible to prevent traffic jam of the automatic guided vehicle and to improve the productivity.
[0035]
According to the invention described in claim 2, the outer trajectory on which the trolley is not located is used for overtaking. Further, it is not necessary to lengthen the transfer crane main body, and the size can be reduced.
[0036]
According to the third aspect of the present invention, since two orbits of tracks are provided, even if the unmanned carrier is stopped on one track and the cargo is being unloaded, the other track is traveled on the overtaking track. The unmanned transport vehicle can overtake the unmanned transport vehicle during cargo handling. Therefore, it is possible to prevent traffic jam of the automatic guided vehicle and to improve the productivity.
[0037]
According to the fourth aspect of the present invention, even if the unmanned transport vehicle is stopped on one track and the cargo is being loaded, the track on the traveling path provided next is used as a passing track, so that the loading is performed. Can overtake unmanned transport vehicles. Therefore, it is possible to prevent traffic jam of the automatic guided vehicle and to improve the productivity.
[0038]
According to the fifth aspect of the present invention, even while loading with one transfer crane main body, the other transport trolley can pass the loaded transport trolley. Therefore, even when the transfer is performed between a plurality of quay cranes and a plurality of transfer cranes, a smooth transfer operation can be performed, and productivity can be improved.
[0039]
According to the sixth aspect of the present invention, the operation can be performed continuously and promptly by keeping the unmanned carrier at the position where the transfer crane main body performs the next cargo handling operation. Therefore, productivity can be improved.
[0040]
According to the seventh aspect of the present invention, the two tracks are dedicated to different transfer cranes, respectively, thereby preventing the automatic guided vehicle from being jammed. Therefore, productivity can be improved.
[0041]
According to the eighth aspect of the present invention, when the unmanned transport vehicle that is loading and unloading is stopped on the inner track, the subsequent unmanned transport vehicle can change lanes to the outer track and pass. Therefore, productivity can be improved.
[Brief description of the drawings]
FIG. 1 is a schematic plan view of a transfer crane used for a container yard shown as one embodiment of the present invention.
FIG. 2 is a diagram showing a traveling route of an AGV in the transfer crane.
FIG. 3 is a diagram showing a traveling route of an AGV in the transfer crane.
FIG. 4 is a diagram showing a traveling route of an AGV in the transfer crane.
FIG. 5 is a diagram showing a traveling route of an AGV in the transfer crane.
FIG. 6 is a diagram showing a traveling route of an AGV in a transfer crane shown as a modification.
FIG. 7 is a diagram showing a traveling route of an AGV in a transfer crane shown as a modification.
FIG. 8 is a diagram showing an example of an arrangement of a general container terminal.
FIG. 9 is a side view showing an RTG in the container terminal.
FIG. 10 is a view showing a chassis running lane in an RTG in the container terminal.
[Explanation of symbols]
4 RTG (Transfer crane body)
6 (6-1, 6-2) Traveling path 21 AGV (Automated guided vehicle)
22 (22-1, 22-2), 23, 30 orbits

Claims (8)

A transfer crane main body, a traveling path on which the transfer crane main body traverses, and a track for guiding the automatic guided vehicle, wherein the tracks are provided in two rows, and at least one of these two tracks is A transfer crane that is located on a road. 2. The transfer crane according to claim 1, wherein the transfer crane main body is provided with a trolley for traversing a suspended container, and the trolley is not located on an outer track among the two rows of tracks. And transfer crane. A transfer crane body, a traveling path on which the transfer crane body traverses, and a track positioned on the traveling path and guiding the automatic guided vehicle,
A transfer crane, wherein two adjacent traveling paths are provided, and an overtaking track is further provided between the adjacent traveling paths. A transfer crane body, a traveling path on which the transfer crane body traverses, and a track positioned on the traveling path and guiding the automatic guided vehicle,
A transfer crane, wherein two of the traveling paths are provided adjacent to each other, and the tracks provided on one of the traveling paths are respectively provided on the other adjacent traveling path side. In a container terminal provided with a quay crane and a transfer crane in which containers are transported by an unmanned carrier between the quay crane,
The container terminal according to claim 1, wherein the transfer crane is the transfer crane according to claim 1. A method of controlling a transfer crane that transports containers by providing two rows of tracks on one transfer crane travel path and running an unmanned transport vehicle on these tracks,
One transfer crane main body is provided in one traveling path, and when the transfer crane main body and the unmanned transport vehicle on one track are performing a cargo handling operation, the other unmanned transport vehicle is caused to travel to another track. A method of controlling a transfer crane, characterized in that the unmanned transport vehicle during the cargo handling operation is overtaken and the transfer crane main body stands by at a position where the next cargo handling operation is performed. A method of controlling a transfer crane that transports containers by providing two rows of tracks on one transfer crane travel path and running an unmanned transport vehicle on these tracks,
When two transfer cranes are provided on one travel path, one track is used exclusively for loading and unloading with one transfer crane, and the other track is used exclusively for loading and unloading with the other transfer crane. A transfer crane control method. A method of controlling a transfer crane that transports containers by providing two rows of tracks on one transfer crane travel path and running an unmanned transport vehicle on these tracks,
When two transfer cranes are provided on one travel path, the inner track should be used exclusively for loading and unloading of the automated guided vehicle and the transfer crane, and the outer track should be used exclusively for passing the automated guided vehicle. Characteristic transfer crane control method.

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