JP4365339B2 - Unmanned transport cart for container terminal and transport method of unmanned transport cart - Google Patents

Unmanned transport cart for container terminal and transport method of unmanned transport cart Download PDF

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JP4365339B2
JP4365339B2 JP2005086324A JP2005086324A JP4365339B2 JP 4365339 B2 JP4365339 B2 JP 4365339B2 JP 2005086324 A JP2005086324 A JP 2005086324A JP 2005086324 A JP2005086324 A JP 2005086324A JP 4365339 B2 JP4365339 B2 JP 4365339B2
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container
transport cart
unmanned transport
yard
unmanned
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JP2006264530A (en
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宗史 佐藤
信哉 栢菅
藤原  潔
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三井造船株式会社
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  The present invention relates to a container terminal unmanned transport cart and an unmanned transport cart suitable for unmanned loading and unloading of containers in a container yard by remotely operating a container crane and a container transport cart at a container terminal. Regarding the method.

  The container terminal is a facility that serves as a point of contact between different means of transportation between sea and land. Its main function is to load and unload containers between these different means of transportation. For this reason, a container yard for temporarily storing containers waiting for loading and unloading is provided. In other words, the container yard stores containers for loading and unloading with a container ship that touches the quay and for loading and unloading with a chassis for land transportation.

  By the way, in order to rationalize container handling work for loading and unloading of containers in a container yard, a labor saving or unmanned operation system has been developed in a container terminal. This can be done by loading a container into a container ship, loading / unloading a container from a container ship, a crane for a quay, traveling in a container yard to unload a container to a storage position, The container yard is transported to the chassis of the ship and land transport, the container at the storage position is loaded on the chassis, and the yard container for loading and unloading the container from the chassis is operated by remote control. It is a system that tries to unmanned.

  In order to promote such labor-saving and unmanned operations, automation of container yard operation plans, etc., and to improve efficiency, a container terminal system has been proposed that prevents the entry of external vehicles into the container yard ( Patent Document 1). This container terminal system includes a container crane that handles containers on a ship, and a container yard that can store and store containers. The container terminal system handles containers between ships and land transport vehicles. A plurality of transfer cranes that have a gate-shaped mainframe and can be loaded or unloaded automatically or manually, and between the container crane and the transfer crane, and a flat container in the container yard The AGV is installed in the vicinity of the boundary between the container yard and the outside, and the container is transferred manually or partially automatically between the AGV in the container yard and the outside land transport vehicle. Perform delivery crane and container In which de and land transport vehicle is configured to include a boundary indicia provided on the boundary between the drivable externally.

Patent No. 2892606

  When unmanned in the container yard, an automated guided vehicle (AGV) travels in the container yard and transports containers, so that the unmanned transport cart does not interfere with travel. Of course, it is necessary to prevent workers and the like from entering the container yard. In addition, the delivery of the container between the foreign chassis is performed in a dedicated delivery area.

  By the way, if the unmanned transport cart becomes faulty and cannot run, it will interfere with the travel of other unmanned transport carts. If left unattended, the work in the container yard will stagnate and the work schedule will be disturbed. There is a risk that. For this reason, the automated guided vehicle that has become unable to travel must be repaired promptly. If this repair is performed at a place where the automated guided vehicle has failed, the worker must enter the container yard and other normal automated guided vehicles must be stopped until the repair is completed. It will be stagnant. For this reason, it is necessary to promptly transport a broken automatic guided vehicle to a repair shop or the like for repair. If the degree of failure is minor and the vehicle can be self-propelled, the automatic guided vehicle is self-propelled to a repair shop. If the vehicle cannot be self-propelled, for example, an unmanned transport cart is loaded and transported on a trailer or the like. However, since the trailer is manned, an operator enters the container yard, and the transport on the trailer ends. Until then, other normal automatic guided vehicles may need to be stopped.

  In view of this, the present invention can easily and quickly transport an unmanned transport cart that has become faulty and unable to travel from a container yard to a repair shop or the like, and performs a cargo handling operation by another normal unmanned transport cart in the container yard. The purpose is to prevent any problems.

  As a technical means for achieving the above object, an automatic guided vehicle for a container terminal according to the present invention travels in a container yard in order to transport a container between a container ship, a container yard, and a foreign chassis. In the container terminal automatic guided vehicle, the held means that can be held by the holding means of the cargo handling machine that is used for the cargo handling work in the container yard, and the other automatic guided vehicle loaded, And positioning means for positioning the loading position of the automatic guided vehicle.

  That is, another unmanned transport cart can be loaded on one unmanned transport cart, and the loading operation of the unmanned transport cart can be performed by a loading machine such as a yard crane. If there is an unmanned transport cart that has become unable to travel due to a failure, etc., the normal unmanned transport cart that can travel and the yard crane travel to the vicinity of the fault unmanned transport cart, and the yard crane uses a spreader, etc. Suspended and loaded on a normal automatic guided vehicle. The normal automatic guided vehicle then transports the failed automatic guided vehicle to a repair shop or the like. When loading a fault unmanned transport cart onto a normal unmanned transport cart, the positioning means causes the loading position of the fault unmanned transport cart relative to the normal unmanned transport cart to be a predetermined position. In addition, it is preferable to give a wheel stop to a failure automatic guided vehicle further. Further, since the automatic guided vehicle is provided with held means that is held by holding means such as a spreader, when the straddle carrier is used for work in the container yard, the holding means for the straddle carrier It is also possible to hold the held means on the spreader and transport it to a repair shop or the like by the straddle carrier.

  According to a second aspect of the present invention, there is provided a container terminal unmanned carriage for transporting a container terminal between a container ship, a container yard, and a foreign chassis. In the transport method of the transport cart, the unmanned transport cart that cannot be traveled by the loading machine used in the cargo handling work in the container yard is loaded on the travelable unmanned transport cart, and the travel of the travelable unmanned transport cart It is characterized by transporting unattended unmanned transport carts to repair shops.

  In the container yard, when an unmanned transport cart fails and cannot run, load the faulty unmanned transport cart that cannot travel and transport it to a repair factory, etc. This is a transport method in which a cargo handling machine such as a yard crane can be used for the loading operation of a broken unmanned transport cart. In addition, if it is a loading machine which loads and unloads a container with respect to an automatic guided vehicle, other loading machines, such as a yard crane and a straddle carrier, can be used.

  According to the unmanned transport cart for container terminal and the transport method of the unmanned transport cart according to the present invention, it is possible to load another unmanned transport cart on one unmanned transport cart and to transfer the one unmanned transport cart to another unmanned transport cart. If there is a broken unmanned transport cart that has become unable to run in the container yard because it is loaded with a cargo handling machine such as a yard crane, the cart is replaced with another normal unmanned transport cart that can run the fault unmanned transport cart. It can be loaded quickly. For this reason, it can be quickly transported to a repair factory or the like without entering the container yard, so that the cargo handling work and the transport work in the container yard are not hindered, and the work efficiency in the container yard is not lowered. In addition, it is not necessary to introduce a dedicated transport machine for transporting the broken unmanned transport cart, and it can be handled by an existing cargo handling machine, and the installation cost of the equipment is hardly required.

  Hereinafter, based on preferred embodiments shown in the drawings, the container terminal unmanned transport cart and the transport method of the unmanned transport cart according to the present invention will be specifically described.

  FIG. 4 shows a schematic plan view of a container terminal 1 suitable for transporting a container by running this automatic guided carriage. A container ship 2 is moored on a quay 3 and is containerized by a quay crane 4. 5 is loaded and unloaded. The quay 3 is arranged at the edge of the container yard 6, and the container 5 loaded and unloaded on the container ship 2 is stored and stored in the storage area 6 a of the container yard 6. An appropriate number of containers 5 are stacked in a matrix to form a container block 5a, and an appropriate number of container blocks 5a are arranged in a matrix in the storage area 6a. In order to move the container 5 in the storage area 6a, a dedicated premises chassis 7a is used, and an external chassis 7b is used for land transportation between the container terminal 1 and the shipper. In addition, an automatic guided vehicle (AGV) that is operated unattended by remote control is used for the campus chassis 7a. A yard crane 8 is used for loading and unloading the container 5 on the on-site chassis 7a. The yard crane 8 shown in FIG. 4 is a bridge crane, and as shown in FIG. 3, the container 5 is loaded so as to straddle the container block 5a and the premises chassis 7a stopped to the side of the container block 5a. Perform loading and unloading. The yard crane 8 moves in the traveling direction along the container block 5a and moves in the perpendicular direction along the right-angle lane 61 between the container block 5a and the container block 5a in order to move to the adjacent container block 5a. And can be done.

  The foreign chassis 7b enters the container terminal 1 from the entrance gate Gi and exits from the exit gate Go or the subgate Gs. This is because the foreign chassis 7b in which the actual container 5 containing the imported cargo is loaded must be carried out after the bonded process is performed at the exit gate Go, and the foreign chassis 5 in which the empty container 5 is loaded. 7b or an empty foreign chassis 7b in which no container 5 is loaded does not need to carry out a bonded procedure, and is thus withdrawn from the sub-gate Gs. On the side of the entrance gate Gi, there are a management building 9, a guardman stuffing station 10, an office building 11 and the like. In addition, an empty van pool 12, a repair shop 13, and a water washing place 14 in which empty containers 5 are stored are arranged on the opposite side of the management building 9 across the entrance gate Gi.

  Then, the fence 20 is provided at a position that secures an area where the extraneous chassis 7b that has entered from the gate G can move sufficiently so that the extraneous chassis 7b cannot enter the storage area 6a of the container yard 6 in which the premise chassis 7a is traveling. Is installed. The on-site chassis 7a is used for cargo handling work on the container 5 in the storage area 6a on the sea side, that is, on the inner side of the fence 20, and the foreign chassis 7b is on the gate G side of the fence 20, that is, on the outer delivery area 6b. 5 is used for loading and unloading. A buffer area 21 in which the container 5 can be temporarily placed adjacent to the fence 20 is provided inside the fence 20. A fence gate 20a that can be opened and closed is provided at the end of the fence 20.

  Similarly to the container block 5a, a buffer block 24 is formed in the buffer area 21 by appropriately stacking containers 5 in a matrix. Further, the area from the left end to the appropriate range in FIG. 4 of the buffer area 21 is defined as a carry-in area 21i, and the area from the end of the carry-in area 21i to the right end is defined as a carry-out area 21o. In addition, a buffer band portion 22 that separates the container 5 is provided between the carry-in area 21i and the carry-out area 21o, and the areas 21i and 21o are partitioned. By the way, in the container terminal 1 according to the embodiment shown in FIG. 4, the container ship 2 is assumed to berth on the port side, and most of the containers 5 loaded on the container ship 2 have a door body on the right side, that is, the stern. It is supposed to be on the side. This is because a large amount of seawater splashes from the bow direction collide with the container 5 during navigation, so that the door body is directed toward the stern side to prevent intrusion of seawater. For this reason, in the container yard 5, the door body of the container 5 faces leftward in FIG. 4, and when it is transported to the buffer area 21, the door body faces rightward. Therefore, when the foreign chassis 7b carries in / out the container 5 temporarily placed in the buffer area 21, it proceeds from the right side to the left side in FIG. Thereby, the door body of the container 5 loaded on the foreign chassis 7b is arranged on the rear side of the foreign chassis 7b, and the door body can be opened and closed. That is, the positional relationship between the carry-in area 21i and the carry-out area 21o is such that the carry-in area 21i is located on the front side in the traveling direction of the external chassis 7b, and the carry-out area 21o is located on the rear side. Note that the traveling direction of the local chassis 7a along the buffer area 21 is the same as that of the foreign chassis 7b.

  A delivery crane 23 is arranged in the buffer area 21, and the container 5 is loaded into and unloaded from the buffer area 21. The delivery crane 23 is preferably the same as the yard crane 8 disposed in the container yard 6. FIG. 3 shows the front of a tire-type bridge-shaped yard crane 8 used for cargo handling work in the container yard 6. This tire-type bridge-shaped yard crane 8 is provided with two pairs of left and right legs 8b having tires 8a at the lower part, that is, four legs 8b, and a pair is provided at the upper end of each of the left and right legs 8b. No. 8c is spanned in parallel. The trolley 8d is guided by the pair of girders 8c so as to be movable in the transverse direction, which is the left-right direction in FIG. 3, and the block 5a of the stacked container 5 and the on-site chassis 7a stopped on one side of the block 5a. The container 5 is hung with the trolley 8d, and the container 5 is loaded or unloaded on the chassis 7. The container 5 is held and lifted by a spreader 8e that is lifted and lowered by a trolley 8d. In addition, the cab 8f on which the operator is boarded moves together with the trolley 8d, and the operator operates the trolley 8d. When the yard crane 8 is operated unattended, the operator does not board and is operated by a remote device.

  As described above, the yard crane 8 moves in the direction along the container block 5a in a state of straddling the container block 5a, that is, in the traveling direction which is the direction penetrating the paper surface in FIG. 3, and from one container block 5a. In order to move to another adjacent container block 5a, it is possible to move in the direction along the right-angle traveling lane 61, that is, the right-and-left direction in FIG. For this reason, the rotation axis of the tire 8a is rotatable about an axis in the vertical direction, and the direction of movement can be changed by changing the direction of the rotation axis.

  The on-site chassis 7a, which is an automatic guided vehicle according to the present invention, is shown in FIGS. A loading table 71 for loading the container 5 is provided on the upper surface of the campus chassis 7a. At the four corners of the loading platform 71, there are provided held portions 72 as held means to which holding portions 81 as holding means of the spreader 8e of the yard crane 8 are detachably linked. The held portion 72 has the same structure as that provided in the container 5, and is provided at a position corresponding to the position provided in the container 5. For this reason, the holding portion 81 of the spreader 8e and the held portion 72 can be engaged and disengaged, and the premise chassis 7a can be held by the spreader 8e by being engaged.

  The loading platform 71 is provided with a positioning recess 73 as positioning means. This positioning recess 73 is formed by an arc-shaped recess that accommodates the tire 74 at a position where the tire 74 of the loaded chassis 71 is located when another chassis 7a is loaded on the loading platform 71. Has been. It should be noted that a structure that can position the loaded position of the loaded chassis 7a is not limited to a structure that accommodates the tire 74. In addition, the positioning depression 73 is preferable because the accommodated tire 74 does not move carelessly and functions as a wheel stopper.

  The operation of the unmanned transport cart for container terminals according to the present invention configured as described above will be described together with the transport method of the unmanned transport cart.

  If any of the on-site chassis 7a fails and cannot be traveled, unless the on-site chassis 7a that has failed is quickly removed from the position, the other on-site chassis 7a that is traveling normally It becomes an obstacle. It should be noted that no worker or the like can enter the storage area 6a because the on-site chassis 7b by the automatic guided vehicle is running. Therefore, the local chassis 7a that can normally travel to the vicinity of the failed local chassis 7a travels and is positioned, and the yard crane 8 at an appropriate position moves to a position where the defective local chassis 7a can be suspended. . Then, the spreader 8e of the yard crane 8 is lowered, and the holding portion 81 is engaged with the held portion 72. If the spreader 8e is raised while the holding portion 81 and the held portion 72 are engaged, the failed local chassis 7a is suspended, so that the local chassis 7a that can run the yard crane 8 in the suspended state is suspended. Move to position. Next, when the spreader 8e is lowered, the broken chassis 7a is lowered on the loading platform 71 of the traveling chassis 7a. At this time, the failed tire 74 of the local chassis 7a is accommodated in the positioning recess 73 of the local chassis 7a that can travel. In addition, it is preferable to apply a wheel stop to the failed on-site chassis 7a because it is possible to more reliably prevent the failed on-site chassis 7a from being accidentally dropped from the on-site chassis 7a that can travel.

  In this state, the engagement between the holding portion 81 of the spreader 8e and the held portion 72 of the failed local chassis 7a is released, and the spreader 8e is raised. As a result, the failed chassis 7a is loaded on the travelable chassis 7a, so that the travelable chassis 7a can be driven and transported to a repair shop or the like. .

  In the above-described embodiment, the bridge-shaped yard crane 8 is used to load and transport the failed chassis 7a on the travelable chassis 7a. On the other hand, depending on the container terminal 1, for example, a straddle carrier may be used for transporting the container 5 in the container yard 6 or the like. In the container terminal 1 in which the straddle carrier is used, the broken chassis 7a can be suspended by the spreader 8e provided in the straddle carrier, and the straddle carrier can be transported to a repair shop or the like. Further, even if the loading machine does not include the spreader 8e, the failed loading chassis 7a is loaded on the movable chassis 7a by the loading machine that performs the work of loading the container 5 on the chassis 7a. You can also.

  According to the unmanned transport cart for container terminal and the transport method of the unmanned transport cart according to the present invention, the local chassis that has become unable to run due to a failure can be quickly transported to a repair factory or the like. The work by is not stagnated. In addition, since there is no need for the worker to be involved in the work of loading the failed on-site chassis onto the normal on-site chassis and the operation of transporting the failed on-site chassis, it is not necessary for the workers to enter the container yard. It is possible to use unmanned transport carts to contribute to labor saving and unmanned container terminal. Furthermore, since the existing cargo handling machine is used, the introduction to the existing container terminal is easy, and the introduction cost can be minimized.

It is a figure explaining the conveyance method of the unmanned conveyance cart for container terminals concerning this invention, and an unmanned conveyance cart, and is an exploded perspective view showing the work situation of loading other local chassis on one local chassis. It is a perspective view which shows the state which loaded the other local chassis on the one local chassis. It is a front view which shows the bridge-shaped container crane which is a cargo handling machine in a container yard, and is a figure explaining cargo handling work. It is a schematic top view which shows an example of the facility structure of the container terminal suitable for implementing the unmanned conveyance cart for container terminals of this invention, and the conveyance method of an unmanned conveyance cart.

Explanation of symbols

1 Container terminal 2 Container ship 5 Container
5a Container block 6 Container yard
6a Storage area
6b Delivery area
7a campus
7b Foreign chassis 8 yards crane
8e spreader
20 Fence
21 Buffer area
23 delivery crane
71 Loading platform
72 Holding part (holding means)
73 Positioning recess (positioning means)
74 tires
81 Holding part

Claims (2)

  1. In order to transport containers between container ships, container yards, and foreign chassis,
    A held means that can be held by a holding means of a cargo handling machine provided for cargo handling work in the container yard;
    An unmanned transport cart for a container terminal comprising positioning means for positioning a loading position of the other unmanned transport cart in a state where another unmanned transport cart is loaded.
  2. In order to transport containers between a container ship, a container yard, and a foreign chassis, in the transport method of an unmanned transport cart for a container terminal that runs in the container yard,
    Loading an unmanned transport cart that cannot be driven by a loading machine that is used for cargo handling work in the container yard onto a travelable unmanned transport cart;
    A method for transporting an unmanned transport cart for a container terminal, wherein the unmanned transport cart that cannot travel is transported to a repair factory or the like by travel of the travelable unmanned transport cart.
JP2005086324A 2005-03-24 2005-03-24 Unmanned transport cart for container terminal and transport method of unmanned transport cart Active JP4365339B2 (en)

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Applications Claiming Priority (1)

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JP2005086324A JP4365339B2 (en) 2005-03-24 2005-03-24 Unmanned transport cart for container terminal and transport method of unmanned transport cart

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107368072A (en) * 2017-07-25 2017-11-21 哈尔滨工大特种机器人有限公司 A kind of AGV operation control systems and paths planning method that can configure based on map

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100875537B1 (en) 2007-05-29 2008-12-24 주식회사 우경피엔제이 Unmanned balance
US8509982B2 (en) 2010-10-05 2013-08-13 Google Inc. Zone driving
US9321461B1 (en) 2014-08-29 2016-04-26 Google Inc. Change detection using curve alignment
US9248834B1 (en) 2014-10-02 2016-02-02 Google Inc. Predicting trajectories of objects based on contextual information

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107368072A (en) * 2017-07-25 2017-11-21 哈尔滨工大特种机器人有限公司 A kind of AGV operation control systems and paths planning method that can configure based on map

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