JP2020083538A - Method and program for determining reposition site, and crane control system - Google Patents

Abstract

To provide a method and program for determining a reposition site, and crane control system adapted to stabilize the position of a container ship by lowering the center-of-gravity position of the container ship even if there is a decrease in the frequency of cargo handling when loading cargoes onto the container ship.SOLUTION: A method for determining a reposition site adapted for repositioning an object-of-reposition container Cx from a carrier vehicle 23 to a reposition area 22 by a portal crane 30, includes acquiring, if there are a plurality of repositionable containers Dy in a reposition area 22, a weight Mx of an object-of-reposition container Cx and respective weights DMy of the plurality of repositionable containers Dy, comparing the acquired weight Mx with the weights DMy and specifying a reposition-candidate container Ey having a weight lighter than the weight Mx, and determining a reposition site Px at a top surface of the specified reposition-candidate container Ey.SELECTED DRAWING: Figure 3

Description

The present invention relates to a storage position determination method, a storage position determination program, and a crane control system.

An apparatus or method has been proposed in which, when loading a container on a container ship, the weight of the container loaded in the lower part of the compartment for storing the container of the container ship is made heavier than the weight of the container loaded in the upper part (for example, , Patent Document 1). This device and method stabilize the posture of the container ship by lowering the position of the center of gravity of the container ship.

JP, 9-267918, A

As described above, in order to load a container ship, it is desirable to store a plurality of containers stored in the container terminal in an arrangement suitable for loading the container ship. However, the container loaded on the container ship is a container that is transported from the outside to the container terminal by a transport vehicle, and it is not possible to control the time when it arrives at the container terminal. Therefore, it is necessary to store the arrived containers in a position where they can be stored in the order of arrival, and it is necessary to perform a unloading operation to arrange the containers at the optimal storage position before loading them on a container ship.

An object of the present invention is to set a storage position determining method and storage position determining program that lowers the center of gravity of a container ship to stabilize the attitude of the container ship even if the frequency of cargo handling work when loading the container ship is reduced. And to provide a crane control system.

The storage position determining method of the present invention that achieves the above object is a storage region in which a plurality of containers can be stacked in the vertical direction and can be arranged in a direction orthogonal to the vertical direction. In the method of determining the storage position when the storage container is stored by a crane from a transportation vehicle parked outside one side end of the orthogonal direction, the storage container can be stored by stacking the storage container on the upper surface. When there are a plurality of storable containers, the weight of the storable container and the weight of each of the storable containers are acquired, and the obtained weight of the storable container and the plurality of storable containers are acquired. The storage candidate container having a weight smaller than the weight of the storage target container is specified by comparing with the respective weights of the storage container, and the storage position is determined on the upper surface of the storage candidate container.

The storage position determining program of the present invention that achieves the above-mentioned object is a storage region in which a plurality of containers can be stacked in the vertical direction and a plurality of containers can be arranged in a direction orthogonal to the vertical direction. In the program for causing the control device of the crane to determine the storage position when the storage target container is stored by the crane from the transportation vehicle stopped outside the one side end of the orthogonal direction, the storage target container is stored in the storage region. When there are a plurality of storable containers that can be stacked and stored on the upper surface, the control device compares the input weight of the storage target container with the weight of each of the plurality of storable containers, and It is characterized in that a procedure for specifying a storage candidate container having a weight smaller than that of the storage target container and a step for determining the storage position on the upper surface of the storage candidate container whose storage position is specified are executed.

The crane control system of the present invention that achieves the above object is a storage area in which a plurality of containers can be stacked in the vertical direction and a plurality of containers can be arranged in a direction orthogonal to the vertical direction. In a control system of a crane for loading and unloading a storage object container between a transportation vehicle stopped outside one side end of the orthogonal direction, the weight of the storage object container and the storage object by stacking the storage object container on an upper surface. A plurality of storageable containers are provided in the storage area, and a weight acquisition device that acquires the respective weights of the plurality of storageable containers that are possible and a control device that is connected to the weight acquisition unit and the crane are present. In this case, based on the weight of the storage object container acquired by the weight acquisition device and the weight of each of the plurality of storable containers, the storage device having a weight lower than the weight of the storage object container is controlled by the control device. A candidate container is specified, the storage position is specified on the upper surface of the storage candidate container, and the crane is instructed to store on the upper surface of the storage candidate container on which the storage target container is determined. And

According to the present invention, it is possible to store a container, which is heavier than a container stored in the lower part of the storage area by a crane, in the upper part of the storage area. Therefore, even if the cargo handling work is omitted before loading the container ship, by loading containers in order from the container stored at the top of the storage area to the container stored at the bottom, The weight of the container loaded in the lower part of the compartment that stores the can be made heavier than the weight of the container loaded in the upper part. As a result, even if the frequency of the cargo handling work before loading the container ship is reduced, it is advantageous to lower the position of the center of gravity of the container ship, and the attitude of the container ship can be stabilized.

It is a block diagram which illustrates the embodiment of the control system of the crane of this invention, and the storage position determination program. It is a top view which illustrates the container terminal provided with the crane controlled by the control system of the crane of FIG. It is an arrow line view shown by the arrow III of FIG. It is a 1st flowchart which illustrates embodiment of the storage position determination method of this invention. FIG. 5 is a second flow diagram following I in FIG. 4. FIG. 6 is a third flow chart following II in FIG. 5.

Hereinafter, an embodiment of a storage position determining method, a storage position determining program, and a crane control system will be described. In the figure, the X direction is the traveling direction of the portal crane 30, the Y direction is the traveling direction of the trolley 35 of the portal crane 30, and the Z direction is the vertical direction. Further, in the present disclosure, y used as a symbol indicates a row number in the storage lane 30, and, for example, the uppermost container Cy indicates the container C stored in the uppermost row of the container row of the row number y. To do.

As illustrated in FIG. 1 to FIG. 3, the control system 10 of the embodiment causes the storage vehicle 22 to store the storage target container Cx in the storage area 22 existing in the storage lane 21 of the container terminal 20 by the gate crane 30. System.

As illustrated in FIG. 1, the control system 10 includes a parameter acquisition device 11 and a control device 12, and the control device 12 has a storage position determination program 13 as a functional element.

As illustrated in FIG. 2, the container terminal 20 includes a plurality of storage lanes 21 in which a large number of containers C are stored and a plurality of storage lanes 21 running in the X direction across the storage lanes 21 in the Y direction. A gate-type crane 30, a plurality of quayside cranes 25 arranged on the quayside where the container ship 24 berths, and a gate 26 are provided. Further, the container terminal 20 includes a management device 27 that manages the container C. The transport vehicle 23 that travels in the yard of the container terminal 20 and transports the container C is divided into a premises vehicle that travels only in the premises and an alien vehicle that enters and exits the container terminal 20 through the gate 26. The container C is transported between the quayside crane 25 and the quay crane 25, and the foreign vehicle transports the container C between the storage lane 21 and the outside.

As illustrated in FIG. 3, the gantry crane 30 includes a hoisting tool 31, a girder portion 32, a structure 33, and a traveling device 34. The suspending tool 31 is a device that can be moved up and down in the Z direction by a wire suspended from a trolley 35 configured to traverse in the Y direction along the girder portion 32. The girder portion 32 is a member that suspends and supports the suspending tool 31 via the trolley 35 and extends in the Y direction. The structure 33 has a plurality of legs and supports the girder portion 32 on the upper portion. The traveling device 34 is a device that is attached to the lower ends of the legs and travels the gate crane 30 along the storage lane 21 in the X direction. Further, the portal crane 30 has, as a drive device 36 for loading and unloading the container C, a drive device for raising and lowering the lifting tool 31, a drive device for traversing the trolley 35, and a drive device for traveling the gate crane 30 by the traveling device 34. .

The storage area 22 is an area where m (m≧2) containers can be stacked in the Z direction and k (k≧2) containers can be arranged in the Y direction. Assuming that bay, row, and tier are partition units in the X direction, Y direction, and Z direction of the storage lane 21, the storage region 22 is a region set for each bay, and one storage region 22 is one. The area is divided by a bay, a maximum of k rows, and a maximum of m tiers. The row numbers y(1 to k) are sequentially increased from the left side to the right side in the drawing with the transport vehicle 23 stopped outside the left end of the storage area 22 in the Y direction as a reference (zero). The tier numbers n (1 to m) increase in order from the lower side to the upper side in the figure with the ground, which is the lower end of the storage area 22, as a reference (zero). The row number y may be based on the right end on the side where the transport vehicle 23 does not stop, and the tier number n may be based on the upper end of the storage area 22.

In the storage area 22, it is preferable that the plurality of containers C stored in the storage area 22 are configured by the containers C loaded in any one of the container ships 24, and the containers loaded in the same container ship 24 are loaded. More preferably, it is composed of C. With such a configuration, it is advantageous to reduce the movement of the gate crane 30 in the X direction when loading the container ship 24.

In the storage area 22, when the storage target container Cx is stored, the uppermost container Cy, the storage possible container Dy, and the storage candidate container Ey are sequentially set for the plurality of stored containers C. Further, in the storage area 22, when there is a ground section Gy in which the storage target container Cx can be stored, the ground section Gy is one of the uppermost container Cy, the storage possible container Dy, and the storage candidate container Ey. I see it all at once.

The uppermost container Cy is the container C stacked on the uppermost stage of each row among the plurality of containers C stored in the storage area 22. The number of uppermost-stage containers Cy existing in one storage area 22 is k, and the maximum value of the row number y is k.

The storable container Dy is a container that can store the storage object container Cx of the uppermost container Cy. The storable container Dy is preferably a container C that satisfies at least condition A of both conditions A and B of the uppermost container Cy, and more preferably a container C that satisfies both conditions.

When the storage target container Cx is stored on the upper surface of the uppermost container Cy that satisfies the condition A, the height Hx from the upper surface of the storage target container Cx to the ground is set in advance to a first threshold value Ha. The container C is as follows. The topmost container Cy that is out of the condition A is a container C whose height Hx is higher than the first threshold value Ha. The first threshold value Ha is set to the height from the top surface to the ground when m containers C are stacked in the Z direction.

When the storage object container Cx is stored on the upper surface of the uppermost container Cy that satisfies the condition B, from the upper surface of the uppermost container Cy of the container row adjacent to the Y direction to the upper surface of the storage object container Cx that is stored. The height C of the container C is less than a preset second threshold value Hb. The uppermost container Cy that is out of the condition B is a container C whose height ΔHx is equal to or higher than the second threshold value Hb. The second threshold value Hb is set to be higher than the height of one container C and lower than the first threshold value Ha. In the present disclosure, the uppermost container Cy that is adjacent to the storage target container Cx in the Y direction is the uppermost container of each of the container rows on both sides when the storage target container Cx is adjacent to the storage target container Cx on both sides in the Y direction. A container Cy is shown. The height ΔHx is the absolute value of the difference between the height to the upper surface of the storage target container Cx and the height to the upper surface of the adjacent uppermost container Cy with respect to the ground.

The storage candidate container Ey is a container C having a weight EMy that is lighter than the weight Mx of the storage target container Cx among the plurality of storageable containers Dy. In the present disclosure, the weight of the container C (Mx, CMy, DMy, EMy) is the total value of the own weight of the container C and the weight of the cargo loaded in the container C.

The ground section Gy is a section that exists in the storage area 22, is formed on the ground, and is capable of storing the storage target container Cx. It is assumed that the ground section Gy is the upper surface of the virtual container, and the virtual container is regarded as the uppermost container Cy, the storable container Dy, and the storable candidate container Ey. Hereinafter, in the present disclosure, the same reference numeral as that of the ground section Gy is used in the virtual container.

The virtual weight GMy of the virtual container Gy may be a preset constant value, but it is desirable to use a variable according to the case. The virtual weight GMy is set to zero when comparing with the weight Mx of the storage target container Cx and when calculating the difference from the weight Mx of the storage target container Cx, otherwise, the virtual weight GMy of the plurality of storageable containers Dy is set. More preferably, the weight is set to be heavier than zero based on each weight DMy.

The cargo handling path length ELy set for the storage candidate container Ey is the total length of the paths when the storage candidate container Ey is loaded by the gate-type crane 30 from the transport vehicle 23 to the respective storage positions. is there. For example, the cargo handling path length when the cargo is handled from the transport vehicle 23 to the storage position is the distance raised from the transport vehicle 23 right above the Z direction until the lower end of the container exceeds the first threshold value Ha, It is the total value of the traversing distance in the Y direction from that position to the position immediately above the storage position and the distance lowered to the storage position just below in the Z direction. The cargo handling path length ELy is a value that can be calculated from the row number y and the tier number n of the storage candidate container Ey.

As illustrated in FIG. 1, the parameter acquisition device 11 acquires at least the weight Mx of the storage target container Cx and the weights DMy of the plurality of storable containers Dy as parameters, and outputs the acquired values to the control device 12. It is a device that does. Further, the parameter acquisition device 11 indicates, as parameters, the position where the uppermost container Cy stored in the uppermost stage of each row in the storage area 22 is stored and the cargo handling path length ELy set for the storage candidate container Ey. This is a device that acquires storage information including the storage information and outputs the acquired value to the control device 12.

The parameter acquisition device 11 includes a management device 27 and a communication device 28 installed in the container terminal 20, and a communication device 37 installed in the gate crane 30, and manages each container C stored in the management device 27. Get parameters from data.

The management device 27 includes a central processing unit (CPU) that performs various types of information processing, an internal storage device that can read and write programs used to perform the various types of information processing, and information processing results, and various interfaces. It is wear. The management device 27 has a functional element that manages each container C in the container terminal 20, and has a management number and parameters (including storage position, weight, and cargo handling route length) of each container C, identification information of the transport vehicle 23, and The management data including the container ship 24 to be loaded is stored in the internal storage device. The communicator 28 and the communicator 37 are configured to be communicable with each other, and transmit/receive a part of management data or information of the management data between the management device 27 and the control device 12. Various information of the management data is information transmitted from the import source or export destination of the container C, information acquired when the transport vehicle 23 enters from the gate 26 of the container terminal 20, the quay crane 25 or the gate crane 30. It is updated from time to time with information on cargo handling. The weights Mx, DMy, EMy of each container are updated by the information transmitted from the export source. The storage position and the cargo handling path length ELy of the storage candidate container Ey are updated by the information transmitted when the storage candidate container Ey is loaded by the portal crane 30.

The control device 12 is installed in the gate crane 30 and performs a central processing unit (CPU) that performs various information processing, an internal storage device that can read and write programs used for performing the various information processing, and information processing results. And hardware including various interfaces. The control device 12 is electrically connected to the parameter acquisition device 11 and the drive device 36 of the portal crane 30. In the drawing, the central processing unit and the internal storage device of the control device 12 are not shown, but each functional element is shown with a reference numeral.

The control device 12 has a storage position determining program 13 as a functional element that determines the storage position Px in the storage area 22 of the storage target container Cx. The storage position determining program 13 is stored in the internal storage device of the control device 12, read by the central processing unit, and executed as appropriate. In addition, the control device 12 has the control unit 14 as a functional element that issues an instruction to the gate-type crane 30 to load the storage target container Cx based on the storage position Px determined by the storage position determination program 13. In the present disclosure, the instruction for loading and unloading is an instruction to the driver when the gate-type crane 30 is a crane operated by the driver, and examples thereof include a screen display and an instruction by sound. In addition, as the instruction for loading and unloading, a control signal to the drive device 36 is exemplified when the portal crane 30 is a crane capable of automatic loading and unloading.

The storage position determining program 13 is a program for determining the storage position Px by reading out the parameters acquired by the parameter acquisition device 11 and stored in the internal storage device, and the storage position determining program 13 is a functional element including the first specifying unit 15 and the second specifying unit. 16, a third specifying unit 17, a weight setting unit 18, and a coefficient setting unit 19. Each functional element may be configured by an individual program that is independently executed.

The first specifying unit 15 is a functional element that reads out the stored parameters and outputs information on the plurality of storable containers Dy specified from the plurality of uppermost containers Cy to the second specifying unit 16. The first specifying unit 15 is also a functional element that outputs the storage position Px to the control unit 14 when the storage position Px is narrowed down to one in the specifying process.

The second specifying unit 16 receives the information of the plurality of storable containers Dy from the first specifying unit 15, reads the stored parameters, and the information of the plurality of storage candidate containers Ey specified from the plurality of storable containers Dy. Is a functional element that outputs to the third specifying unit 17. The second specifying unit 16 compares the weight Mx of the storage target container Cx with the weight DMy of each of the plurality of storable containers Dy as a storage candidate container Ey, and specifies a container having a lighter weight than the weight Mx. ..

The second specifying unit 16 is also a functional element that outputs the storage position Px to the control unit 14 when the storage position Px is narrowed down to one in the process of specifying the storage candidate container Ey. In addition, the second specifying unit 16 reduces the storage position Px to one and outputs the storage position Px to the control unit 14 when the storage candidate container Ey cannot be specified in the process of specifying the storage candidate container Ey. It is also an element.

The third specifying unit 17 receives the information of the plurality of storage candidate containers Ey output from the second specifying unit 16, reads the stored parameters, and controls the storage position Px determined from the plurality of storage candidate containers Ey. It is a functional element output to the unit 14.

The third specifying unit 17 specifies a function minimum container Ez that minimizes the bivariate function Fy(ΔWy, ΔMy) (hereinafter, referred to as bivariable function Fy) shown in the following mathematical formulas (1) to (4), It is a functional element that determines the storage position Px on the upper surface of the function minimum container Ez.

The mathematical expression (1) represents the bivariate function Fy, and α and β represent coefficients preset by the coefficient setting unit 19. ΔWy is a physical quantity difference calculated by Equations (2) and (3), ΔMy is a weight difference calculated by Equation (4), and μ is an average value. The two-variable function Fy is a function having both the physical quantity difference ΔWy and the weight difference ΔMy as variables.

In the present disclosure, the dynamic physical quantity refers to the distance and time for loading and unloading the container C between the predetermined positions of the transport vehicle 23 and the storage area 22 and the weight of the container when the container C is loaded by the portal crane 30. Indicates the physical quantity represented by some of these combinations or the physical quantity required for cargo handling. Examples of the dynamic physical quantity include work and energy consumption. In this embodiment, the mechanical physical quantity indicates the work amount.

The physical quantity difference ΔWy is an absolute value of the difference between the storage object physical quantity (Mx·Ly) and the average value μ, as shown in Expression (3). The storage target physical quantity (Mx·Ly) is a work amount, and the storage target container Cx having a weight Mx is loaded by the gate-type crane 30 between the transport vehicle 23 and the upper surface of one of the storage candidate containers Ey. It is the amount of work in the case. In addition, when the storage target physical quantity (Mx·Ly) is calculated, Ly is used as the cargo handling path length when the storage target container Cx is temporarily loaded, but the cargo handling path length ELy set for the storage candidate container Ey is used. May be used.

The average value μ is the average of the storage candidate physical quantities (EMy·ELy), which are the workloads for the plurality of storage candidate containers Ey, as shown in Equation (2). The storage candidate physical quantity (EMy·ELy) is the work amount when the storage crane candidate container Ey having a weight EMy is loaded between the transport vehicle 23 and the position where the storage candidate container Ey is stored by the gate type crane 30. ..

When the storage container candidate Ey includes the virtual container Gy, the virtual weight GMy of the virtual container Gy is set to a value larger than zero based on the weight DMy of each of the storageable containers Dy by the weight setting unit 18. The virtual weight GMy of the virtual container Gy is preferably set to a value larger than zero based on the weight EMy of the storage candidate container Ey, and is half the maximum weight of the weight EMy of the storage candidate container Ey. Is more preferably set to.

The weight difference ΔMy is the absolute value of the difference between the weight Mx of the storage target container Cx and the weight EMy of the storage candidate container Ey, as shown in Expression (4).

The weight setting unit 18 is a functional element that outputs the virtual weight GMy of the virtual container Gy to the third identifying unit 17. The virtual weight GMy of the virtual container Gy is set to zero as an initial value, and when calculating the physical quantity difference ΔWy in the third specifying unit 17, a value heavier than zero is set.

The coefficient setting unit 19 is a functional element that sets the coefficients α and β and outputs them to the third specifying unit 17. The coefficient setting unit 19 of this embodiment is configured so that the coefficients α and β can be arbitrarily set.

As illustrated in FIGS. 4 to 6, the method for determining the storage position Px in the storage area 22 of the storage target container Cx is a method in which three steps are roughly performed, and ends when the storage position Px is determined. The first process illustrated in FIG. 4 is a process performed by the first identifying unit 15, the second process illustrated in FIG. 5 is a process performed by the second identifying unit 16, and the third process illustrated in FIG. This is a process performed by the three specifying unit 17. The first step is performed in a state where the previous storage object container C(x-1) is stored at the previous storage position P(x-1) by the gate crane 30 and the storage information of the storage area 22 is confirmed. .. The second step and the third step are performed after the transport vehicle 23 that transports the current storage object container Cx stops outside one side end of the storage area 22 and the weight Mx of the storage object container Cx is determined. It should be noted that the symbols used in the mathematical expressions in the flow chart (for example, n in n(Dy)) are different from the symbols defined in the present disclosure.

At the start of the storage position determination method, it is assumed that arbitrary values are input to the first threshold value Ha of the condition A and the second threshold value Hb of the condition B, and the coefficients α and β in the above mathematical expression (1). To do. Further, it is assumed that zero is input as the initial value of the virtual weight GMy of the virtual container Gy. It should be noted that in the flow chart, steps relating to transmission/reception of information between each functional element are omitted.

As illustrated in FIG. 4, when the storage information of the storage area 22 is confirmed, the parameter acquisition device 11 acquires the parameters (S110). The parameters are the position (row number y, tier number n) where the uppermost container Cy of each row in the storage area 22 is stored, the weight CMy, and the cargo handling path length CLy. At this time, if the ground section Gy exists, the uppermost container Cy includes the virtual container Gy. The parameters acquired in this step are stored in the internal storage device of the control device 12. Next, the first specifying unit 15 stores the storable containers that satisfy the conditions A and B from the plurality of uppermost containers Cy based on the parameters acquired by the parameter acquisition device 11 and stored in the internal storage device of the control device 12. Dy is specified (S120).

Next, the first specifying unit 15 determines whether or not one or more specified storageable containers Dy exist in the storage area 22 (S130). When it is determined that there is no storable container Dy in the storage area 22 (S130: NO), the control unit 14 issues an instruction to move the gate-shaped crane 30 to another storage area 22 different from the storage area 22 that is present. The bay is changed (S140). As described above, the storage information in which no storageable container Dy exists in the storage area 22 indicates the situation in which all the topmost containers Cy have the maximum stacking number, or a plurality of container rows protrude from other container rows. This is the situation. In the present disclosure, the situation in which a plurality of container rows are projected with respect to other container rows means that at least one of the uppermost surface of the target container row and the container rows adjacent to the container row on both sides in the Y direction. It shows a situation in which there are a plurality of states in which the target container row is separated from the uppermost surface by a second threshold value Hb or more, and the target container row projects from the adjacent container row.

On the other hand, if it is determined that one or more storable containers Dy exist in the storage area 22 (S130: YES), the first specifying unit 15 determines whether or not two or more storable containers Dy exist in the storage area. (S150). When it is determined that two or more storable containers Dy do not exist in the storable area 22 (S150: NO), the first identifying unit 15 sets the storable position Px of the storable container Cx on the upper surface of the identified storable container Dy. It is determined (S160).

On the other hand, when determining that there are two or more storable containers Dy in the storage area 22 (S130: YES), the first specifying unit 15 outputs information on the specified plurality of storable containers Dy to the second specifying unit 16. The first step is completed.

As illustrated in FIG. 5, the information of the plurality of storable containers Dy output from the first specifying unit 15 is input to the second specifying unit 16, and the storage vehicle 22 stores the current storage object container Cx in the storage area 22. When arriving outside the one side end, the parameter acquisition device 11 acquires the weight Mx of the storage target container Cx (S210). In this step, the unique identification information of the transport vehicle 23 stopped outside one end of the storage area 22 and the management number of the storage target container Cx are acquired, and the acquired information and the management data of the management device 27 are acquired. The weight Mx of the storage target container Cx may be acquired by collating with.

Next, the second specifying unit 16 specifies the storage candidate container Ey based on the weight Mx of the storage target container Cx acquired by the parameter acquisition device 11 and the weight DMy of each of the plurality of storable containers Dy (S220). .. In this step, the second specifying unit 16 compares the weight Mx with the weight DMy of each of the plurality of storable containers Dy, and sets the storable container Dy having the weight DMy that is lighter than the weight Mx as the storable candidate container Ey. Identify.

Next, the second specifying unit 16 determines whether or not one or more specified storage candidate containers Ey exist in the storage area 22 (S230). When determining that there is no storage candidate container Ey in the storage area 22 (S230: NO), the second specifying unit 16 specifies the maximum weight DMw of the respective weights DMy of the plurality of storageable containers Dy. (S240). In this step, if the virtual weight GMy exists among the respective weights DMy, the virtual weight GMy is initialized to zero. Further, when there are a plurality of specified maximum weights DMw, it is advisable to specify the one having the smaller physical quantity difference ΔWy obtained by using the above equation (3). Next, the second specifying unit 16 determines the storage position Px of the storage target container Cx as the upper surface of the maximum weight container Dw having the specified maximum weight DMw (S250).

On the other hand, if it is determined that there are one or more storage candidate containers Ey in the storage area 22 (S230: YES), the second specifying unit 16 determines whether there are two or more storage candidate containers Ey in the storage area. (S260). When it is determined that there are no more than two storage candidate containers Ey in the storage area 22 (S260: NO), the second specifying unit 16 determines the storage position Px of the storage target container Cx as the upper surface of one storage candidate container Ey. Yes (S270).

On the other hand, when it is determined that there are two or more storage candidate containers Ey in the storage area 22 (S260: YES), the second specifying unit 16 outputs information on the specified plurality of storage candidate containers Ey to the third specifying unit 17. The second step is completed.

As illustrated in FIG. 6, when the information of the plurality of storage candidate containers Ey output from the second specifying unit 16 is input to the third specifying unit 17, the third specifying unit 17 calculates the average value μ ( S310). Although not shown, when the storage container candidate Ey includes a virtual container Gy and the step of calculating the average value μ is performed, the weight setting unit 18 specifies the virtual weight GMy of the virtual container Gy. A step of setting the value to half the maximum weight of the weights EMy of the plurality of storage candidate containers Ey is performed.

Next, the third specifying unit 17 calculates the physical quantity difference ΔWy and the weight difference ΔMy by parallel processing (S320, S330). Although not shown, when the plurality of storage candidate containers Ey include a virtual container Gy, when performing the step of calculating the weight difference ΔMy, the virtual weight GMy of the virtual container Gy set in step S310 is set. The step of returning to zero is performed.

Next, the third specifying unit 17 calculates the value of the bivariate function Fy having both the calculated physical quantity difference ΔWy and the calculated weight difference ΔMy as variables (S340). The calculated value of the bivariate function Fy is stored in the internal storage device. Next, the third identifying unit 17 determines whether or not the row number y of the storage candidate container Ey has become the maximum (S350). When determining that the row number y of the storage candidate container Ey is not the maximum (S350: NO), the third specifying unit 17 counts up the row number y (S360) and returns to the parallel processing. The steps S320 to S360 loop until the values of the bivariate function Fy for all storage candidate containers Ey are calculated.

When it is determined that the row number y of the storage candidate container Ey has become the maximum (S350: YES), the third specifying unit 17 specifies the smallest minimum function Fz of all the calculated values of the two-variable function Fy. (S370). Next, the third specifying unit 17 determines the storage position Px on the upper surface of the function minimum container Ez that becomes the minimum function Fz (S380), and this method is completed.

The storage position Px determined as described above is output to the control unit 14. Next, the control unit 14 issues an instruction to the gate-type crane 30 to store the storage target container Cx at the determined storage position Px.

When the storage target container Cx is stored at the storage position Px determined by the storage position determination method described above, the container C that is heavier than the weight of the container C stored below the storage region 22 is stored above the storage region 22. Will be possible. Therefore, by sequentially loading the container ship 24 from the container C stored in the upper part of the storage area 22 to the container C stored in the lower part, the container C of the container ship 24 is loaded in the lower part of the compartment for storing the container C. The weight of C can be heavier than the weight of the container C loaded on top. That is, even if the frequency of carrying out the loading work is reduced by omitting the loading work by the gate crane 30 before loading the container ship 24, it is advantageous to lower the center of gravity of the container ship 24. The attitude of the ship 24 can be stabilized.

The storage position determining method specifies, when a plurality of storage candidate containers Ey are specified, a function minimum container Ez that minimizes a two-variable function Fy having both the weight difference ΔMy and the physical quantity difference ΔWy as variables, and determines the storage position. This is a method of determining Px on the upper surface of the specified function minimum container Ez.

When the storage target container Cx is stored at the storage position Px determined by this storage position determination method and the storage of the container C in the storage area 22 is completed, the relatively heavy container C is stored in the vicinity of the transport vehicle 23, It is possible to store the relatively light container C away from the transport vehicle 23. By reducing the weight difference between the vertically adjacent containers C, it is possible to form a mass of the containers C having a close weight difference in the storage area 22. Therefore, the weight of the container C radially stored from the lower right end of the storage area 22 far from the transport vehicle 23 can be increased, and the center of gravity of the storage area 22 can be located at the upper left end. This is advantageous for equalizing the workload of each of the plurality of containers C stored in the storage area 22, and the cost required for the gate crane 30 to load and unload the containers C can be reduced.

Further, by reducing the weight difference between the vertically adjacent containers C, it is advantageous to secure the number of the storage candidate containers E(y+1) for the next storage target container C(x+1), and the adjacent vertically adjacent containers C can be secured. The frequency of reverse stacking in which the container C is lighter on the top can be reduced.

In the two-variable function Fy, when the coefficient α is made larger than the coefficient β and the physical quantity difference ΔWy is emphasized in comparison with the weight difference ΔMy, it is more advantageous for equalizing the work amount, and the coefficient β is larger than the coefficient α. Also, if the weight difference ΔMy is emphasized in comparison with the physical quantity difference ΔWy, it is more advantageous to reduce the frequency of the reverse stacking state.

In the above-described embodiment, the coefficients α and β are set in advance by the coefficient setting unit 19. However, when the storage in the storage area 22 is completed, the storage status is evaluated and the coefficient α is calculated based on the evaluation. , Β may be added to add a functional element. The coefficients α and β may be set based on parameters such as the cargo handling efficiency of the container terminal 20 and the berthing period of the container ship 24. Further, a coefficient table in which the coefficients α and β are set according to the export destination of the container C and the type of cargo of the container C is stored in the internal storage device, and the coefficients α and β are individually set for each storage area 22. You may. That is, when a plurality of storage areas 22 are set for one storage lane 21, different coefficients α and β may be set respectively.

Further, either one of the coefficients α and β may be set to zero. When one of the coefficients α and β is set to zero, the bivariate function Fy becomes a univariate function. That is, the above-mentioned storage position determining method may be a method of determining the storage position Px on the upper surface of the minimum weight difference container having the minimum weight difference ΔMy, and on the upper surface of the minimum physical quantity difference container having the minimum physical amount difference ΔWy. It may be a method of determining.

In the embodiment described above, of the two variables of the bivariate function Fy, the physical quantity difference ΔWy is the absolute value of the difference between the storage target physical quantity (Mx·Ly) and the average value μ. It may be an absolute value of the difference between Ly) and the storage candidate physical quantity (EMy·ELy).

The above-described storage position determining method is the maximum weight container Dw having the maximum weight of the storage positions Px among the respective weights DMy of the plurality of storage-capable containers Dy when the storage candidate container Ey does not exist in the storage area 22. Is the method of determining on the upper surface of. In the situation where the storage candidate container Ey does not exist in the storage area 22, the weight DMy of the storage capable container Dy is relatively heavy. Therefore, in order to secure the number of storage candidate containers E(y+1) for the next storage target container C(x+1) by storing a storage target container Cx that is lighter than the maximum weight container Dw among them. Be advantageous

The above-mentioned storage position determining method is a method of specifying, as the storage container Dy, a container that satisfies the conditions A and B among the plurality of uppermost containers Cy. Therefore, it is possible to avoid a state in which only the container row of a specific row in the storage area 22 is stacked high. This makes it possible to stack the containers C in order from the lower part to the upper part of the storage area 22 while avoiding the situation where the container row of the specific row projects higher than the other container rows.

The parameter acquisition device 11 is not limited to the configuration of the present disclosure. For example, as a device for measuring the weight of the container C, a vehicle weight measuring device embedded in the ground or the gate 26 where the transport vehicle 23 stops outside one end of the storage area 22 may be used. Alternatively, a load meter installed on the hoisting tool 31 of the gate crane 30 or the trolley 35 may be used. As a device for acquiring the storage information of the storage area 22, the position of the uppermost container Cy of each row may be acquired by a profile sensor installed in the gate crane 30.

The control device 12 is not limited to the device installed in the gate crane 30. For example, the management device 27 may have the function of the control device 12, and the control device 12 different from the control device of the gate crane 30 is installed at a remote place and communicates with the control device of the gate crane 30 by wireless communication. You may make it communicate.

Further, the control device 12 is not limited to the configuration having the storage position determination program 13. For example, an electric circuit in which each functional element of the storage position determination program 13 independently functions in addition to the program is illustrated. Further, each functional element may be configured by a PLC (Programmable Logic Controller), and the control device 12 may be an aggregate of a plurality of PLCs.

The cargo handling path length ELy set for the storage candidate container Ey is the total length of the paths when the storage candidate container Ey is loaded by the gate-type crane 30 from the transport vehicle 23 to the respective storage positions. I wish I had it. For example, the cargo handling path length ELy may be a path that draws an arcuate path from the transport vehicle 23 to a position directly above the storage candidate container Ey while avoiding contact with the stored container C.

In the second step and the third step, after the weight Mx of the storage object container Cx is determined, the transportation vehicle 23 that has transported the storage object container Cx this time stops outside the one side end of the storage area 22. You may go before. For example, the second process and the third process may be performed when the transport vehicle 23 performs the reception process at the gate 26 and the weight Mx of the storage target container Cx transported by the transport vehicle 23 is determined. In this way, the storage step Px is calculated in each of the plurality of storage areas 22 by performing the second step and the third step before the transportation vehicle 23 stops at the side of the storage area 22, and the calculated plurality of storage positions Px are calculated. It is possible to select the storage position Px having the lowest stacking number in the Z direction.

10 Control System 11 Parameter Acquisition Device 12 Control Device 13 Storage Position Determination Program 22 Storage Area 23 Transport Vehicle 30 Gate Crane C Container Cx Storage Target Container Cy Top Container Dy Storage Container Ey Storage Candidate Containers Mx, CMy, DMy, EMy Weight Ly, ELy Cargo handling path length

Claims (10)

In a storage area in which a plurality of containers can be stacked in the vertical direction and arranged in a direction orthogonal to the vertical direction, the transportation is stopped outside one side end of the storage area in the orthogonal direction. In the method of determining the storage position when storing a container to be stored from a vehicle by a crane,
When there are a plurality of storable containers that can be stored by stacking the storage target containers on the upper surface in the storage area,
Obtaining the weight of the storage target container and the weight of each of the plurality of storageable containers,
By comparing the weight of the obtained storage target container with the weight of each of the plurality of storageable containers, the storage candidate container having a weight lower than the weight of the storage target container is specified,
A method for determining a storage position, characterized in that the storage position is determined on the upper surface of the storage candidate container. When comparing the weight of the storage target container and the weight of each of the plurality of storageable containers, when specifying a plurality of storage candidate containers having a weight lower than the weight of the storage target container in the storage area,
For each of the plurality of storage candidate containers, a weight difference that is a difference between the weight of the storage target container and the weight of each of the plurality of storage candidate containers is calculated, and the weight difference minimum container having the minimum weight difference is specified,
The storage position determining method according to claim 1, wherein the storage position is determined on the upper surface of the weight difference minimum container that specifies the storage position. When loading and unloading a container between the transport vehicle and a predetermined position in the storage area, a physical quantity represented by some combination of the distance and time for loading and the weight of the container, or a physical quantity required for loading and unloading. Is a mechanical physical quantity,
When comparing the weight of the storage target container and the weight of each of the plurality of storageable containers, when specifying a plurality of storage candidate containers having a weight lower than the weight of the storage target container in the storage area,
A parameter relating to a storage target physical quantity that is the mechanical physical quantity when loading the storage target container by the crane with the upper surface of any one of the plurality of storage candidate containers as the predetermined position, and any one of the above. For each of the plurality of storage candidate containers, a parameter relating to a storage candidate physical quantity, which is the dynamic physical quantity when the container is used to load or unload any of the containers, with the position where the container is stored as the predetermined position. Then
A physical quantity difference that is a difference between the storage target physical quantity and the storage candidate physical quantity calculated from the acquired parameters is calculated for each of the plurality of storage candidate containers, and the calculated physical quantity difference minimum container that minimizes the physical quantity difference is specified. Then
The storage position determining method according to claim 1, wherein the storage position is determined on the upper surface of the physical quantity difference minimum container that specifies the storage position. When loading and unloading a container between the transport vehicle and a predetermined position in the storage area, a physical quantity represented by some combination of the distance and time for loading and the weight of the container, or a physical quantity required for loading and unloading. Is a mechanical physical quantity,
When comparing the weight of the storage target container and the weight of each of the plurality of storageable containers, when specifying a plurality of storage candidate containers having a weight lower than the weight of the storage target container in the storage area,
For each of the plurality of storage candidate containers, calculating a weight difference that is a difference between the weight of the storage target container and the weight of each of the plurality of storage candidate containers,
For each of the plurality of storage candidate containers, the storage that is the dynamic physical quantity when loading the storage target container by the crane with the upper surface of any one of the plurality of storage candidate containers as the predetermined position. A parameter relating to the target physical quantity and a parameter relating to the storage candidate physical quantity which is the mechanical physical quantity when the container is loaded/unloaded by the crane with the position where the container is stored as the predetermined position. Acquired, then calculate an average value of the plurality of storage candidate physical quantity calculated based on the acquired parameter, then, in the difference between the storage target physical amount calculated based on the acquired parameter and the average value. Calculate a certain physical quantity difference,
A function minimum container having the smallest two-variable function having both the calculated weight difference and the physical quantity difference as variables is specified,
The storage position determining method according to claim 1, wherein the storage position is determined on the upper surface of the function minimum container that specifies the storage position. Comparing the weight of the storage target container and the weight of each of the plurality of storageable containers, when the storage candidate container does not exist in the storage area,
Specifying the maximum weight container having the maximum weight of the respective weights of the plurality of storable containers,
The storage position determining method according to any one of claims 1 to 4, wherein the storage position is determined on the upper surface of the maximum weight container that specifies the storage position. The storageable container, when the storage target container is stored on the upper surface, the height between the upper surface of the storage target container and the ground is less than a preset first threshold, and, A height between a top surface of the storage target container and a plurality of containers adjacent to the storage target container in the direction orthogonal to the vertical direction between the uppermost surfaces in a container row in which the vertical direction is preset is preset. The storage position determining method according to any one of claims 1 to 5, wherein the two threshold values are set to the following values. When there is a ground section in which the storage target container can be stored in the storage area, it is assumed that the ground section is the upper surface of the virtual container, and the virtual container is defined as one of the plurality of storageable containers. The storage position determining method according to any one of claims 1 to 6, which is considered. The weight of the virtual container is compared with the weight of the storage target container, and is set to zero when calculating the difference between the weight of the storage target container and the weight of the storage target container. The storage position determining method according to claim 7, wherein the value is set to a value greater than zero based on each weight. In a storage area in which a plurality of containers can be stacked in the vertical direction and arranged in a direction orthogonal to the vertical direction, the transportation is stopped outside one side end of the storage area in the orthogonal direction. In a program that causes the control device of the crane to determine the storage position when the storage target container is stored by the crane from the vehicle,
When there are a plurality of storable containers that can be stored by stacking the storage target containers on the upper surface in the storage area,
In the control device,
A procedure for comparing the input weight of the storage target container and the weight of each of the plurality of storageable containers to identify a storage candidate container having a weight lower than the weight of the storage target container,
A storage position determining program for executing the storage position determination process on the upper surface of the storage position candidate container having the storage position specified. A storage area in which a plurality of containers can be stacked in the vertical direction and a plurality of containers can be arranged in a direction orthogonal to the vertical direction, and a transportation vehicle stopped outside one side end of the storage area in the orthogonal direction. In the control system of the crane that handles the storage target container between
A parameter acquisition device that acquires at least the weight of the storage target container and the weight of each of the plurality of storageable containers that can be stored by stacking the storage target container on the upper surface as parameters, and the parameter acquisition device and the drive device of the crane. And a control device connected to
When the plurality of storageable containers are present in the storage area,
Based on the weight of the storage target container acquired by the parameter acquisition device and the weight of each of the plurality of storageable containers, the control device selects a storage candidate container having a weight lower than that of the storage target container. The storage position is specified, the storage position is determined on the upper surface of the storage candidate container, and the driving device is instructed to store the storage target container on the upper surface of the storage candidate container. Crane control system.

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