JP7069918B2 - Non-contact charging system for automatic guided vehicles for containers and automatic guided vehicles for containers - Google Patents

Description

The present invention relates to a non-contact charging system for an automated guided vehicle for containers and an automated guided vehicle for containers .

As a conventional technique for a non-contact charging system for an automated guided vehicle for a container and an automated guided vehicle for a container , for example, an operation control system for an automated guided vehicle disclosed in Patent Document 1 is known. In the operation control system of the automatic guided vehicle disclosed in Patent Document 1, the automatic guided vehicle can be charged in a non-contact manner in the transfer area as a loading / unloading space for loading and unloading containers in the vicinity of the gantry crane. A charger is provided. The charger is arranged at a position separated by a predetermined distance from the side of the traveling path, that is, in a direction orthogonal to the direction along the traveling path (left-right direction of the automatic guided vehicle) with respect to the traveling path. Further, a plurality of chargers are installed at predetermined intervals along the traveling path of the automatic guided vehicle.

The charger is equipped with a power transmission coil to which AC power is supplied. Correspondingly, the automatic guided vehicle is provided with a power receiving coil provided at a position where it can face the power transmission coil, specifically, a side portion of the automatic guided vehicle. According to this configuration, when AC power is input to the transmission coil in a situation where the transmission coil of the charger and the power receiving coil of the unmanned carrier face each other in the left-right direction of the unmanned carrier within a predetermined distance. The power receiving coil receives AC power.

Japanese Unexamined Patent Publication No. 2014-142704

However, in the operation control system of the automatic guided vehicle disclosed in Patent Document 1, although the charger is near the gantry crane, it is provided at a position away from the gantry crane. Therefore, when charging the power storage device of an automatic guided vehicle with a charger, the automatic guided vehicle must move to the place where the charger is installed, which causes a decrease in the operating rate of the automatic guided vehicle. There is a problem.

The present invention has been made in view of the above problems, and an object of the present invention is for a non-contact charging system for an automated guided vehicle for a container and a container, which can improve the operating rate of the automated guided vehicle for a container. It is in the provision of automatic guided vehicles.

In order to solve the above problems, the present invention is provided separately from the unmanned transport vehicle for a container and the unmanned transport vehicle for a container, which are provided with a traveling motor, a power storage device, and a power receiving unit capable of receiving power by non-contact, and the power receiving. A power transmission device capable of transmitting power to a unit in a non-contact manner, wherein the power storage device is used in a non-contact charging system for an unmanned carrier for a container, which is charged by non-contact power transmission from the power transmission device to the power receiving unit. A load transfer machine that transfers the load to the container unmanned carrier that is stopped at a load transfer position preset in the travel path of the container unmanned carrier, and a control device that controls the traveling motor. , A transmitter provided in the load transfer machine and transmitting a signal indicating the load transfer position, and a receiver provided in the unmanned transport vehicle for a container and connected to the control device to receive the signal. A blower provided in the load transfer machine and blows air toward the power storage device when the power storage device is charged, and the power transmission device is provided in the load transfer machine and can face the power receiving unit. The control device compares the load transfer position based on the signal with the current position of the container unmanned carrier, and the difference between the current position of the container unmanned carrier and the load transfer position. The traveling motor is controlled according to the above, and the power storage device is charged by non-contact power transmission from the power transmission device to the power reception unit when the load is transferred by the load transfer machine, and the power transmission device and the power reception unit are charged. When the power storage device faces the blower, the receiver faces the transmitter, and when the transfer of the load is completed, the charging to the power receiving unit and the blowing by the blower stop. It is characterized by being done.

In the present invention, the automatic guided vehicle for containers is stopped at the load transfer position for the transfer of the load, and the load is transferred to the stopped unmanned carrier for containers . Since the load transfer machine is provided with a power transmission device, it is possible to charge the power storage device of the automatic guided vehicle for a container by non-contact power reception of the power receiving unit when the load is transferred by the load transfer machine. That is, it is possible to improve the operating rate of the automatic guided vehicle for containers by simultaneously transferring the load and charging the power storage device.
Further, the blower blows air toward the charging power storage device when the power storage device of the automatic guided vehicle for a container is charged by non-contact power reception of the power receiving unit. Therefore, even if the charging of the power storage device by the non-contact power receiving of the power receiving unit is quick charging, the power storage device arranged close to the side of the automatic guided vehicle for the container is cooled by receiving the air blown by the blower. , It is possible to suppress the temperature rise of the power storage device.
In addition, the control device compares the load transfer position based on the transmitter signal with the current position of the automatic guided vehicle for the container, and responds to the difference between the current position of the automatic guided vehicle for the container and the load transfer position. Control the driving drive source. As the difference between the current position and the load transfer position of the automatic guided vehicle for containers becomes smaller, the control device controls the traveling drive source so as to stop when there is no difference in position. As a result, the automatic guided vehicle for containers can be stopped accurately at the load transfer position.

Further, in the non-contact charging system of the automatic guided vehicle for containers , the power receiving unit is provided on the side portion of the automatic guided vehicle for containers, and the power transmission device is provided on the side portion of the load transfer machine. It may be configured as such.
In this case, even if the vehicle height of the automatic guided vehicle for containers fluctuates depending on the presence or absence of a load in the automatic guided vehicle for containers, there is almost no change in the distance between the power transmission device and the power receiving unit, and the power transmission device and the power receiving unit There is almost no decrease in power transmission efficiency due to non-contact.

Further, in the non-contact charging system of the automatic guided vehicle for containers , the load transfer machine may be configured to be movable along the traveling path.
In this case, since the load transfer machine can move along the traveling path of the automatic guided vehicle for containers , the chargeable load transfer position can be changed.

Further, the present invention includes a traveling motor, a power storage device, and a power receiving unit capable of receiving power by non-contact, and the power storage device is charged by non-contact power transmission from a power transmission device provided separately from an unmanned carrier for a container to the power receiving unit. In the unmanned transport vehicle for containers, the power transmission device transfers the load to the unmanned transport vehicle for containers that is stopped at a load transfer position preset in the travel path of the unmanned transport vehicle for containers. The load transfer machine is provided on the load transfer machine and can face the power receiving unit. The load transfer machine has a transmitter that emits a signal indicating the load transfer position and is directed toward the power storage device when the power storage device is charged. A blower for blowing air, a control device for controlling the traveling motor, and a receiver connected to the control device for receiving the signal, and the control device includes the load transfer based on the signal. The mounting position is compared with the current position of the unmanned transport vehicle for containers, and the traveling motor is controlled according to the difference between the current position of the unmanned transport vehicle for containers and the load transfer position. When the load is transferred by the load transfer machine, it is charged by non-contact transmission from the power transmission device to the power receiving unit, and when the power transmission device and the power receiving unit face each other, the power storage device faces the blower. At the same time, when the receiver faces the transmitter and the transfer of the load is completed, the charging to the power receiving unit and the blowing by the blower are stopped.
In the present invention, when the load is transferred by the load transfer machine, the power storage device of the automatic guided vehicle for a container can be charged by non-contact power reception of the power receiving unit.

According to the present invention, it is possible to provide a non-contact charging system for an automated guided vehicle for a container and an automated guided vehicle for a container, which can improve the operating rate of the automated guided vehicle for a container.

It is a schematic diagram of the container terminal to which the non-contact charging system which concerns on this embodiment is applied. It is a front view which shows the outline of the gantry crane which concerns on this embodiment. It is a side view which shows the outline of the gantry crane which concerns on this embodiment. It is a front view which shows the outline of the rubber tire crane which concerns on this embodiment. It is a side view which shows the outline of the rubber tire crane which concerns on this embodiment. It is a top view which shows the outline of the power transmission device of a gantry crane and the automatic guided vehicle for a container. It is a top view which shows the outline of the power transmission device of a rubber tire crane and the automatic guided vehicle for a container.

Hereinafter, the container terminal as the port facility according to the present embodiment will be described with reference to the drawings. In the container terminal of the present embodiment, the non-contact charging system of the automatic guided vehicle and the automatic guided vehicle of the present invention are applied.

As shown in FIG. 1, the container terminal 10 has a quay 12 on which the container ship 11 as a ship can berth. The container ship 11 has a hull capable of loading a large number of ISO standard containers (hereinafter referred to as "containers") C, and can berth with the side and the quay 12 facing each other. At the container terminal 10, a gantry crane 13 as a load transfer machine for delivering and receiving the container C to and from the container ship 11 in the berthing state is arranged along the quay 12. The gantry crane 13 can reciprocate in parallel with the quay 12. The configuration of the gantry crane 13 will be described later.

The container terminal 10 includes a container yard 14 as an area for temporarily storing the container C. The container yard 14 is provided with a rubber tire crane 15 as a load transfer machine that handles the cargo of the container C. The configuration of the rubber tire crane 15 will be described later.

The container terminal 10 includes a traveling route 16 of an automatic guided vehicle 17 for containers. The traveling route 16 is a route for circulating the automatic guided vehicle 17 for a container in one direction between the gantry crane 13 and the rubber tire crane 15. The container terminal 10 is provided with an operation control device 18 for controlling the operation of the automatic guided vehicle 17 for containers in the control tower 19. The configuration of the automatic guided vehicle 17 for a container as an automatic guided vehicle will be described later. The operation control device 18 can wirelessly communicate with the automatic guided vehicle 17 for containers, and instructs the automatic guided vehicle 17 for containers to travel along the traveling route 16.

Next, the gantry crane 13 will be described. The gantry crane 13 transfers the container C between the container ship 11 and the automatic guided vehicle 17 for containers. As shown in FIG. 2, the gantry crane 13 includes a leg 21 on the sea side and a leg 22 on the land side. As shown in FIG. 3, the leg portion 22 has a gate shape when the gantry crane 13 is viewed from the side. The leg 21 is also a gate type, but in FIG. 2, only the leg 22 is shown. The lower portions of the legs 21 and 22 are provided with wheels 24 that roll on a traveling track 23 laid in parallel with the quay 12. As shown in FIG. 3, a horizontal member 25 parallel to the traveling track 23 is provided in the lower portion of the leg portion 22. A horizontal member (not shown) similar to the horizontal member 25 is provided in the lower portion of the leg portion 21. A pair of horizontal jib 26s are provided on the upper portions of the legs 21 and 22. The horizontal jib 26 is attached to the legs 21 and 22 so as to extend in the horizontal direction, and the tip portion of the horizontal jib 26 on the sea side projects to the sea.

The horizontal jib 26 is provided with a trolley 27 that can reciprocate in the longitudinal direction of the horizontal jib 26. A container spreader 28 is suspended from the trolley 27 by a wire 29 so as to be able to move up and down. The container spreader 28 can be transferred by suspending the container C. The trolley 27 can move to near both ends of the horizontal jib 26. A power chamber 30 is installed near the legs 22 on the land side of the horizontal jib 26. The power chamber 30 is provided with equipment such as a drive source for operating each part of the gantry crane 13, and each part of the gantry crane 13 is operated by electric power. Further, the power chamber 30 is provided with a control unit (not shown) for controlling each device of the gantry crane 13. Although not shown, the trolley 27 is provided with an cab for an operator who operates the gantry crane 13.

The position of the gantry crane 13 facing the land-side leg 22 in the traveling path 16 is the load transfer position P1 (see FIG. 1). When the container C is transferred by the gantry crane 13, the automatic guided vehicle 17 for the container is stopped at the load transfer position P1. Since the gantry crane 13 can travel, the load transfer position P1 moves according to the position of the gantry crane 13. As shown in FIG. 3, a transmitter 31 is provided at the lower part of the land-side leg 22 of the gantry crane 13 to transmit the position of the load transfer position P1 to the automatic guided vehicle 17 for containers traveling on the travel path 16. ing.

Next, the rubber tire crane 15 will be described. As shown in FIGS. 4 and 5, a pair of gantry frames 35 are provided. The gantry frame 35 is arranged so as to straddle the traveling path 16 of the container yard 14 and the automatic guided vehicle 17 for containers. In the present embodiment, a traveling route 36 of the container trailer T for loading and unloading the container C to and from the container yard 14 is set between the container yard 14 and the traveling route 16 (see FIG. 1). The traveling route 36 is a route for traveling the container trailer T in one direction. The gantry frame 35 straddles the traveling paths 16 and 36. The rubber tire crane 15 transfers the container C between the container automatic guided vehicle 17 and the container trailer T and the container yard 14.

The gantry frame 35 includes a pair of legs 37, and an upper portion of the pair of legs 37 is provided with a horizontal member 38 that connects the tops of the legs 37 to each other. The pair of gantry frames 35 are connected to each other by a plurality of connecting members 39, 40, 41, 42. At the bottom of the legs 37, a plurality of wheels 44 with rubber tires are provided. The rubber tire crane 15 includes a traveling drive source (not shown) and can move along the traveling path 16. The horizontal member 38 is provided with a trolley 45 that can reciprocate in the longitudinal direction of the horizontal body. A container spreader 46 is suspended from the trolley 45 by a wire 47 so as to be able to move up and down. The container spreader 46 can be transferred by suspending the container C. As shown in FIG. 5, a control unit 48 for controlling each part of the rubber tire crane 15 is provided in the lower part of the leg portion 37. The control unit 48 can communicate with the operation control device 18, and controls each unit in response to a command from the operation control device 18. That is, the rubber tire crane 15 of this embodiment is remotely controlled by the operation control device 18.

The position of the rubber tire crane 15 facing the sea-side leg 37 on the traveling path 16 is the load transfer position P2 (see FIG. 1). When the container C is transferred by the rubber tire crane 15, the automatic guided vehicle 17 for the container is stopped at the load transfer position P2. Since the rubber tire crane 15 can travel, the load transfer position P2 moves according to the position of the rubber tire crane 15. A transmitter 49 for transmitting the position of the load transfer position P2 to the automatic guided vehicle 17 for a container traveling on the traveling path 16 is provided below the leg portion 22 on the land side of the rubber tire crane 15. The transmitter 49 has the same configuration as the transmitter 31 included in the gantry crane 13.

Next, the automatic guided vehicle 17 for a container of this embodiment will be described. As shown in FIG. 6, the vehicle body 50 of the automatic guided vehicle 17 for a container is provided with a loading platform 51 on which the container C can be mounted and a plurality of drive wheels 52 for supporting the vehicle body 50. Each drive wheel 52 is provided with an electric motor 59 as a traveling motor. The automatic guided vehicle 17 for a container travels by receiving the transmission of the driving force of the electric motor 59. The vehicle body 50 descends by mounting the container C on the pavement 51 and approaches the road surface, and rises when the pavement 51 to which the container C is transferred becomes empty.

The vehicle body 50 is equipped with a power storage device 53, a power conversion device 54, a controller 55, and a communication unit 56. The power storage device 53 can supply electric power to the electric motor 59 and can also store regenerative power generated by each electric motor 59. The power storage device 53 is, for example, a nickel hydrogen battery. The power storage device 53 is installed in the vehicle body 50 in close proximity to the side portion 57 facing the gantry crane 13 and the rubber tire crane 15.

The power conversion device 54 includes an inverter (not shown), converts the DC power of the power storage device 53 into AC power and supplies it to the electric motor 59, and also transfers the regenerative power generated by the electric motor 59 from the AC power. It has a function of converting it into DC power and storing it in the power storage device 53.

The controller 55 controls each part of the automatic guided vehicle 17 for a container including the electric motor 59 and the power conversion device 54. The controller 55 includes an arithmetic processing unit (not shown) that executes a program and performs various arithmetic processing, and a storage unit (storage unit) that stores the program and data. The communication unit 56 has a function of communicating with the operation control device 18 by wireless communication, and is connected to the controller 55. Therefore, when the communication unit 56 receives the operation command from the operation control device 18, the controller 55 controls each unit so that the automatic guided vehicle 17 for the container travels on the travel route 16 based on the operation command.

The automatic guided vehicle 17 for containers includes a receiver 58 capable of receiving signals from transmitters 31 and 49. The receiver 58 is connected to the controller 55, and the received signals of the transmitters 31 and 49 are transmitted to the controller 55. The controller 55 controls each part so as to position the container transfer vehicle 17 with respect to the load transfer positions P1 and P2 based on the signal transmitted from the receiver 58. Specifically, the controller 55 compares, for example, the load transfer position P1 based on the signal of the transmitter 31 with the current position of the automatic guided vehicle 17 for containers, and determines the difference between the current position and the load transfer position P1. The electric motor 59 is controlled accordingly. As the difference between the current position of the automatic guided vehicle 17 for containers and the load transfer position P1 becomes smaller, the controller 55 controls the electric motor 59 so as to stop the automatic guided vehicle 17 for containers when there is no difference in position. do. Similarly, the controller 55 receives the signal of the transmitter 49 and controls the electric motor 59 according to the difference from the current position with respect to the load transfer position P2. The receiver 58 faces the transmitters 31 and 49 when the automatic guided vehicle 17 for containers stops at the load transfer positions P1 and P2.

By the way, in the container terminal 10 of the present embodiment, a non-contact charging system for automatic guided vehicles (hereinafter referred to as "non-contact charging system") is adopted. As shown in FIGS. 2 and 3, a power transmission device 60 that enables non-contact power transmission to the automatic guided vehicle 17 for containers is provided on the side of the horizontal member 25 of the gantry crane 13 of the present embodiment. .. The power transmission device 60 includes a power transmission coil 61 as a power transmission unit. Further, the gantry crane 13 is provided with a blower 62 toward the traveling path 16. The blower 62 is provided to cool the power storage device 53 during rapid charging of the container automatic guided vehicle 17 by non-contact power transmission. The installation position of the blower 62 in the gantry crane 13 is set so that the blower 62 faces the power storage device 53 when the container automatic guided vehicle 17 stops at the load transfer position P1. The power transmission device 60 and the blower 62 are connected to a control unit (not shown) provided in the power chamber 30, and are controlled by this control unit.

On the other hand, as shown in FIG. 6, the vehicle body 50 of the automatic guided vehicle 17 for a container is provided with a power receiving coil 63 as a power receiving unit and a rectifier 64 connected to the power receiving coil 63. The power receiving coil 63 can receive AC power by non-contact from the power transmission coil 61 of the power transmission device 60 provided in the gantry crane 13. The rectifier 64 rectifies the AC power received by the power receiving coil 63. The rectifier 64 is connected to the power storage device 53, and the power storage device 53 stores the electric power rectified through the rectifier 64.

The height of the power receiving coil 63 from the road surface is substantially the same as the height of the power transmitting coil 61 from the road surface. Therefore, when the automatic guided vehicle 17 for a container stops at the load transfer position P1, the power receiving coil 63 and the power transmission coil 61 face each other. That is, the power transmission coil 61 can face the power reception coil 63. When the loading platform 51 is empty, the power receiving coil 63 and the power transmission coil 61 face each other, and even if the vehicle body 50 is lowered due to the mounting of the container C on the loading platform 51, the amount of misalignment between the power receiving coil 63 and the power transmission coil 61 Has almost no effect on non-contact power transmission.

As described above, the non-contact charging system of the present embodiment includes a power transmission device 60 provided in the gantry crane 13 and an automatic guided vehicle 17 for a container. Further, in this non-contact charging system, as shown in FIG. 7, not only the gantry crane 13 but also the rubber tire crane 15 is provided with a power transmission device 70 for non-contact power transmission to the automatic guided vehicle 17 for containers. The non-contact power transmission of the present embodiment is an electromagnetic induction type non-contact power transmission using an electromotive force generated by a change in the strength of a magnetic flux penetrating between a power transmission coil 31 and a power receiving coil 63.

The power transmission device 70 is provided on the side of the connecting member 39 of the rubber tire crane 15. The power transmission device 70 includes a power transmission coil 71 as a power transmission unit. Further, the rubber tire crane 15 is provided with a blower 72 toward the traveling path 16. The blower 72 is provided to cool the power storage device 53 during rapid charging of the automatic guided vehicle 17 for containers by non-contact. The power transmission device 70 and the blower 72 are connected to the control unit 48 and are controlled by the control unit 48.

The installation position of the power transmission coil 71 in the rubber tire crane 15 is set so that the power receiving coil 63 and the power transmission coil 71 face each other when the automatic guided vehicle 17 for a container stops at the load transfer position P2. The installation position of the blower 72 in the rubber tire crane 15 is set so that the blower 72 faces the power storage device 53 when the container automatic guided vehicle 17 stops at the load transfer position P2.

Next, the non-contact charging of the container automatic guided vehicle 17 by the non-contact charging system according to the present embodiment will be described. In the present embodiment, as shown in FIG. 1, the automatic guided vehicle 17 for a container travels along the traveling path 16 in one direction. The automatic guided vehicle 17 for containers performs wireless communication with the operation control device 18 via the communication unit 56, and the controller 55 controls each part of the vehicle body 50 to start and stop based on the command of the operation control device 18.

When the automatic guided vehicle 17 for a traveling vehicle approaches the load transfer position P1, the receiver 58 provided in the vehicle body 50 receives the signal from the transmitter 31 provided in the gantry crane 13. The signal of the transmitter 31 indicates the position of the gantry crane 13, and the controller 55 controls the electric motor 59 based on the signal received so that the automatic guided vehicle 17 for the container stops at the load transfer position P1. The automatic guided vehicle 17 for containers stops at the load transfer position P1.

As shown in FIG. 6, when the automatic guided vehicle 17 for a container stops at the load transfer position P1, the power transmission coil 61 of the power transmission device 60 and the power reception coil 63 provided on the side portion 57 of the vehicle body 50 face each other. Further, the blower 62 and the power storage device 53 provided close to the side portion 57 of the vehicle body 50 face each other. Further, the transmitter 31 provided in the gantry crane 13 and the receiver 58 provided in the automatic guided vehicle 17 for a container face each other. When the automatic guided vehicle 17 for containers stops at the loading position P1, the gantry crane 13 starts transferring the container C from the container ship 11 to the loading platform 51.

The transfer of the container C by the gantry crane 13 is performed by the operator operation on the gantry crane 13. First, the operator moves the trolley 27 on the horizontal jib 26 above the container ship 11 and lowers the container spreader 28. Next, the operator suspends the container C on the lowered container spreader 28 and then raises the container C, and moves the trolley 27 above the automatic guided vehicle 17 for the container. When the trolley 27 is moved above the automatic guided vehicle 17 for containers, the operator lowers the container spreader 28 holding the container C to place the container C on the loading platform 51.

On the other hand, when the automatic guided vehicle 17 for a container stops at the load transfer position P1, the gantry crane 13 transfers the container C and non-contact power transmission is performed from the power transmission coil 61 of the power transmission device 60 to the power reception coil 63. The power storage device 53 is charged via the power receiving coil 63. Since the traveling path 16 of the automatic guided vehicle 17 for containers and the traveling track 23 of the gantry crane 13 are parallel to each other, the distance between the power transmission coil 61 and the power receiving coil 63 at the load transfer position P1 is kept within a predetermined distance. ..

When AC power is input to the power transmission coil 61 in a state where the distance between the power transmission coil 61 and the power reception coil 63 is maintained within a predetermined distance, the power reception coil 63 receives the AC power. The AC power received by the power receiving coil 63 is rectified by the rectifier 64 to become DC power, which is stored in the power storage device 53. That is, the power transmission device 60 performs non-contact charging of the power storage device 53 during the transfer of the container C by the gantry crane 13. Since the non-contact charging of the power storage device 53 by the power transmission device 60 is quick charging, the temperature of the power storage device 53 rises, but the blower 62 operates during the non-contact charging of the power storage device 53, and the power storage device 53 is operated by the blower 62. It is cooled by receiving air. Therefore, the temperature rise due to the rapid charging of the power storage device 53 is suppressed, and the deterioration due to the temperature rise of the power storage device 53 is suppressed.

When the loading of the container C on the loading platform 51 is completed, the automatic guided vehicle 17 for the container starts traveling. When the loading of the container C on the loading platform 51 is completed, for example, a load detection sensor (shown) may be provided on the vehicle body 50, and the controller 55 may detect it by the signal of the load detection sensor. Further, when the loading of the container C on the loading platform 51 is completed, a command to stop power transmission is transmitted to the power transmission device 60 through the operation control device 18. The power transmission by the power transmission device 60 is stopped based on the command to stop the power transmission, the charging of the power storage device 53 is completed, and the operation of the blower 62 is stopped. The container C is mounted on the loading platform 51, and the automatic guided vehicle 17 for a container, which has completed non-contact charging, travels toward the container yard 14 and stops at the loading transfer position P2.

As shown in FIG. 7, when the automatic guided vehicle 17 for a container equipped with the container C stops at the load transfer position P2, the power receiving coil 71 of the power transmission device 70 and the side portion 57 of the vehicle body 50 receive power. It faces the coil 63. Further, the blower 72 and the power storage device 53 provided close to the side portion 57 of the vehicle body 50 face each other. Further, the transmitter 49 provided on the rubber tire crane 15 and the receiver 58 provided on the automatic guided vehicle 17 for the container face each other. When the automatic guided vehicle 17 for containers stops at the loading position P2, the rubber tire crane 15 starts transferring the container C from the loading platform 51 to the container yard 14.

The transfer of the container C by the rubber tire crane 15 is performed based on the command of the operation control device 18. First, the trolley 45 on the horizontal member 38 is moved above the automatic guided vehicle 17 for containers, and then the container spreader 46 is lowered. When the lowered container spreader 46 suspends the container C of the loading platform 51, it is raised and the trolley 45 is moved above the container yard 14. When the trolley 45 moves above the container yard 14, the container spreader 46 is lowered and the container C is placed in the container yard 14.

On the other hand, when the automatic guided vehicle 17 for a container stops at the load transfer position P2, the container C is transferred by the rubber tire crane 15, and power is transmitted to the power receiving coil 63 by the non-contact of the power transmission device 70, and the vehicle is mounted on the vehicle body 50. The charged power storage device 53 is charged. Since the traveling path 16 of the automatic guided vehicle 17 for containers and the traveling direction of the rubber tire crane 15 are parallel to each other, the distance between the power transmission coil 71 and the power reception coil 63 at the load transfer position P2 is kept within a predetermined distance. ..

When AC power is input to the power transmission coil 71 while the distance between the power transmission coil 71 and the power reception coil 63 is kept within a predetermined distance, the power reception coil 63 receives the AC power. The AC power received by the power receiving coil 63 is rectified by the rectifier 64 to become DC power, which is stored in the power storage device 53. That is, the power transmission device 70 performs non-contact charging of the power storage device 53 during the transfer of the container C by the rubber tire crane 15. Since the non-contact charging of the power storage device 53 by the power transmission device 70 is quick charging, the temperature of the power storage device 53 rises, but the blower 72 operates during the non-contact charging of the power storage device 53, and the power storage device 53 is operated by the blower 72. It is cooled by receiving air. Therefore, the temperature rise of the power storage device 53 is suppressed, and the deterioration of the power storage device 53 due to the temperature rise is suppressed.

When the transfer of the container C to the container yard 14 is completed, the automatic guided vehicle 17 for the container starts running. The completion of the transfer of the container C to the container yard 14 may be transmitted to the controller 55 by, for example, the operation control device 18. When the transfer of the container C to the container yard 14 is completed, the power transmission device 70 and the blower 72 are instructed to stop power transmission and stop blowing by the control unit 48 provided in the rubber tire crane 15. Therefore, the power transmission by the power transmission device 70 is stopped, the charging of the power storage device 53 is completed, and the operation of the blower 72 is stopped. The container C is transferred to the container yard 14, and the automatic guided vehicle 17 for a container, which has completed non-contact charging, travels toward the gantry crane 13 and stops at the load transfer position P1.

The charging system according to this embodiment has the following effects.
(1) The container automatic guided vehicle 17 is stopped at the load transfer position P1 (P2) for the transfer of the container C, and the container for the container automatic guided vehicle 17 stopped at the load transfer position P1 (P2). C is reprinted. Since the power transmission device 60 (70) is provided on the gantry crane 13 (rubber tire crane 15), when the container C is transferred by the gantry crane 13 (rubber tire crane 15), the power storage device 53 receives non-contact power from the power receiving coil 63. It can be charged. That is, by simultaneously transferring the container C and charging the power storage device 53, it is possible to improve the operating rate of the automatic guided vehicle 17 for the container.

(2) The power transmission coil 61 (71) is provided on the side of the gantry crane 13 (rubber tire crane 15), and the power receiving coil 63 is provided on the side 57 of the vehicle body 50. Therefore, even if the vehicle height of the vehicle body 50 changes depending on the presence or absence of the container C in the loading platform 51, there is almost no change in the distance between the power transmission coil 61 (71) and the power reception coil 63, and the power transmission coil 61 (71). The power transmission efficiency due to non-contact with the power receiving coil 63 is hardly reduced.

(3) The gantry crane 13 (rubber tire crane 15) can move along the traveling path 16 of the automatic guided vehicle 17 for containers. Therefore, the chargeable load transfer position P1 (P2) can be changed in the direction along the traveling path 16.

(4) The power storage device 53 of the automatic guided vehicle 17 for containers is arranged close to the side portion 57 of the vehicle body 50, and the gantry crane 13 (rubber tire crane 15) is directed toward the power storage device 53 when the power storage device 53 is charged. It is equipped with a blower 62 (72) that blows air. Therefore, the blower 62 (72) blows air toward the charging power storage device 53 when the power storage device 53 of the container automatic guided vehicle 17 is charged by the non-contact power reception of the power receiving coil 63. Therefore, even if the charging of the power storage device 53 by the non-contact power receiving of the power receiving coil 63 is quick charging, the power storage device 53 is cooled by receiving the air blow, and the temperature rise due to the quick charging of the power storage device 53 can be suppressed. can. Therefore, as compared with the case where the power storage device 53 is not cooled, deterioration of the power storage device 53 can be suppressed, and the useful life of the power storage device 53 can be extended.

(5) The automatic guided vehicle 17 for a container includes an electric motor 59, a controller 55, and a receiver 58 for receiving a signal of a transmitter 31 (49) provided in the gantry crane 13 (rubber tire crane 15). .. The controller 55 compares the load transfer position P1 (P2) based on the signal of the transmitter 31 (49) with the current position of the automatic guided vehicle 17 for containers, and sets the current position and the load transfer position P1 (P2). The electric motor 59 is controlled according to the difference. As the difference between the current position of the automatic guided vehicle 17 for containers and the load transfer position P1 (P2) becomes smaller, the controller 55 causes the electric motor to stop the automatic guided vehicle 17 for containers when there is no difference in position. Control 59. As a result, even if the load transfer position P1 (P2) is changed, the automatic guided vehicle 17 for the container can be stopped accurately at the load transfer position P1 (P2). Further, it is not necessary to provide an expensive navigation device on the automatic guided vehicle 17 for a container, and it is possible to suppress an increase in the manufacturing cost of the automatic guided vehicle 17 for a container.

(6) Of the electric power required for the automatic guided vehicle 17 for a container equipped with the container C to move between the load transfer position P1 and the load transfer position P2, the ratio of the electric power to be non-contact charged is As the size increases, the power storage device 53 can be made smaller than before. By downsizing the power storage device 53, it is possible to reduce the weight of the automatic guided vehicle 17 for containers and the manufacturing cost of the automatic guided vehicle 17 for containers.

(7) Since the non-contact charging is performed at the same time as the transfer of the container C by the gantry crane 13, the operator of the gantry crane 13 does not need to be aware of the non-contact charging by the power transmission device 60 (70), and the container C is transferred. You can concentrate on the operation for loading.

(8) Since the power transmission is performed by the power transmission coil 61 (71) and the power reception coil 63 of the power transmission device 60 (70) by non-contact, it is possible to charge the power storage device 53 of the automatic guided vehicle 17 for containers regardless of the weather.

The present invention is not limited to the above embodiment, and various modifications can be made within the scope of the gist of the invention. For example, the present invention may be modified as follows.

○ In the above embodiment, it is assumed that the load transfer machine for transferring the load can move along the traveling route of the automatic guided vehicle for containers , but this is not the case. The load transfer machine may be a fixed transfer machine that does not move along the traveling path of the automatic guided vehicle for containers .
○ In the above embodiment, the container C is transferred from the container ship 11 to the automatic guided vehicle 17 for containers at the load transfer position P1, but this is not the case. At the load transfer position P1, the container C mounted on the loading platform 51 may be transferred from the container automatic guided vehicle 17 to the container ship 11. Further, in the above embodiment, the container C is transferred from the container automatic guided vehicle 17 to the container yard 14 at the load transfer position P2, but this is not the case. At the load transfer position P2, the container C may be transferred from the container yard 14 to the automatic guided vehicle 17 for containers .
○ In the above embodiment, the charging of the power storage device performed at the same time as the transfer of the container is quick charging, but normal charging other than quick charging may be used .

10 Container terminal 13 Gantry crane 14 Container yard 15 Rubber tire crane 16 Travel path 17 Unmanned transport vehicle for container 18 Operation control device 25 Horizontal member 31 Transmitter 48 Control unit 49 Transmitter 51 Loading platform 52 Drive wheel 53 Power storage device 55 Controller 57 Side 58 Receiver 59 Electric motor 60, 70 Transmission device 61, 71 Transmission coil 62, 72 Blower 63 Power receiving coil 64 Crane C Container P1, P2 Load transfer position

Claims (4)

An automated guided vehicle for containers equipped with a traveling motor, a power storage device, and a power receiving unit that can receive power by non-contact.
It is equipped with a power transmission device that is provided separately from the automatic guided vehicle for containers and can transmit power to the power receiving unit in a non-contact manner.
The power storage device is used in a non-contact charging system for an automated guided vehicle for a container, which is charged by non-contact power transmission from the power transmission device to the power receiving unit.
A load transfer machine that transfers loads to the automatic guided vehicle for containers that is stopped at a load transfer position preset in the travel path of the automatic guided vehicle for containers.
A control device that controls the traveling motor and
A transmitter provided in the load transfer machine and transmitting a signal indicating the load transfer position,
A receiver provided in the automatic guided vehicle for a container and connected to the control device to receive the signal.
The load transfer machine is provided with a blower that blows air toward the power storage device when the power storage device is charged.
The power transmission device is provided in the load transfer machine and can face the power receiving unit.
The control device compares the load transfer position based on the signal with the current position of the container automatic guided vehicle.
The traveling motor is controlled according to the difference between the current position of the automatic guided vehicle for containers and the load transfer position.
The power storage device is charged by non-contact power transmission from the power transmission device to the power receiving unit when the load is transferred by the load transfer machine.
When the power transmission device and the power receiving unit face each other, the power storage device faces the blower and the receiver faces the transmitter.
A non-contact charging system for an automated guided vehicle for a container, characterized in that charging to the power receiving unit and ventilation by the blower are stopped when the transfer of the load is completed. The power receiving unit is provided on the side of the automatic guided vehicle for a container.
The non-contact charging system for an automated guided vehicle for a container according to claim 1, wherein the power transmission device is provided on a side portion of the load transfer machine. The non-contact charging system for an automatic guided vehicle for a container according to claim 1 or 2, wherein the load transfer machine is movable along the traveling path. Equipped with a traveling motor, a power storage device, and a power receiving unit that can receive power by non-contact.
The power storage device is an automatic guided vehicle for containers that is charged by non-contact power transmission from a power transmission device provided separately from the automatic guided vehicle for containers to the power receiving unit.
The power transmission device is provided in a load transfer machine that transfers a load to the automatic guided vehicle for a container that is stopped at a load transfer position preset in a travel path of the automatic guided vehicle for the container. It can face the power receiving unit and can face the power receiving unit.
The load transfer machine is
A transmitter that emits a signal indicating the load transfer position, and
A blower that blows air toward the power storage device when charging the power storage device is provided.
A control device that controls the traveling motor and
A receiver connected to the control device and receiving the signal is provided.
The control device compares the load transfer position based on the signal with the current position of the container automatic guided vehicle.
The traveling motor is controlled according to the difference between the current position of the automatic guided vehicle for containers and the load transfer position.
The power storage device is charged by non-contact power transmission from the power transmission device to the power receiving unit when the load is transferred by the load transfer machine.
When the power transmission device and the power receiving unit face each other, the power storage device faces the blower and the receiver faces the transmitter.
An automatic guided vehicle for a container, characterized in that charging to the power receiving unit and ventilation by the blower are stopped when the transfer of the load is completed.

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