JP7085463B2 - Storage position determination method, storage position determination program, and crane control system - Google Patents

Description

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

When loading a container on a container ship, devices and methods have been proposed in which the weight of the container loaded at the bottom of the container storage section of the container ship is heavier than the weight of the container loaded at the top (for example). , Patent Document 1). This device and method stabilize the attitude of the container ship by lowering the position of the center of gravity of the container ship.

Japanese Unexamined Patent Publication No. 9-267918

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 the time of arrival at the container terminal cannot be controlled. Therefore, the arriving containers must be stored in a position where they can be stored in the order of arrival, and it is necessary to carry out the loading work to arrange the arriving containers in the optimum storage position for loading before loading them on the container ship.

An object of the present invention is a storage position determination method and a storage position determination program for lowering the position of the center of gravity of a container ship and stabilizing the posture of the container ship even if the frequency of loading work when loading the container ship is reduced. , And to provide a control system for the crane.

The storage position determination method of the present invention that achieves the above object is to store a plurality of containers in 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 the method of determining the storage position when the storage target container is stored by a crane from a transport vehicle stopped outside one side end in the orthogonal direction, the storage target container can be stacked on the upper surface and stored in the storage area. When there are a plurality of storable containers, the weight of the storable container and the weight of each of the plurality of storable containers are acquired, and the acquired weight of the storable container and the plurality of storable containers are obtained. It is characterized in that a storage candidate container having a weight lighter than the weight of the storage target container is specified by comparing with each of the weights of the above, and the storage position is determined on the upper surface of the specified storage candidate container.

The storage position determination program of the present invention that achieves the above object is in 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 program in which the control device of the crane determines the storage position when the storage target container is stored by a crane from a transport vehicle stopped outside one side end in the orthogonal direction, the storage target container is placed in the storage area. When there are a plurality of storable containers that can be stacked and stored on the upper surface, the control device is made to compare the input weight of the storable container with the weight of each of the plurality of storable containers. It is characterized in that a procedure for specifying a storage candidate container having a weight lighter than the weight of the storage target container and a procedure for determining the storage position on the upper surface of the storage candidate container are executed.

The crane control system of the present invention that achieves the above object has a storage area and 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 the control system of the crane that handles the storage target container with the transport vehicle stopped outside the one side end in the orthogonal direction, at least the weight of the storage target container and the storage target container are loaded on the upper surface as parameters. A parameter acquisition device for acquiring the weight of each of the plurality of storable containers that can be stored in the crane, and a control device connected to the parameter acquisition device and the drive device of the crane are provided, and the plurality of storages are stored in the storage area. When there is a possible container, the control device increases the weight of the storage target container based on the weight of the storage target container acquired by the parameter acquisition device and the weight of each of the plurality of storage target containers. A storage candidate container having a light weight is specified, the storage position when the storage target container is stored by the crane from the transport vehicle is determined on the upper surface of the storage candidate container, and the storage target container is set in the drive device. It is characterized in that it is configured to give an instruction to store the crane on the upper surface of the storage candidate container for which the above has been determined.

According to the present invention, it is possible to store a container heavier than the weight of the 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 loading work is omitted before loading the container ship, the container of the container ship can be loaded in order from the container stored in the upper part of the storage area to the container stored in the lower part. The weight of the container loaded in the lower part of the compartment for storing the container can be heavier than the weight of the container loaded in the upper part. As a result, even if the frequency of loading 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 crane control system and the storage position determination program of this invention. FIG. 5 is a plan view illustrating a container terminal including a crane controlled by the crane control system of FIG. 1. It is an arrow view which is shown by the arrow III of FIG. It is a 1st flow diagram which illustrates embodiment of the storage position determination method of this invention. It is a second flow chart following I of FIG. It is a third flow chart following II of FIG.

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

As illustrated in FIGS. 1 to 3, in the control system 10 of the embodiment, the container Cx to be stored is stored by the portal crane 30 from the transport vehicle 23 in the storage area 22 existing in the storage lane 21 of the container terminal 20. It is a 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 has a plurality of storage lanes 21 in which a large number of containers C are stored, and a plurality of storage lanes 21 straddling the storage lane 21 in the Y direction and traveling in the X direction along the storage lane 21. It includes a portal crane 30, a plurality of quay cranes 25 arranged on the quay where the container ship 24 berths, and a gate 26. Further, the container terminal 20 includes a management device 27 that manages the container C. The transport vehicle 23 that travels on the premises of the container terminal 20 and transports the container C is divided into a premises vehicle that travels only on the premises and an outpatient vehicle that enters and exits the container terminal 20 through the gate 26, and the premises vehicle is stored in the storage lane 21. The container C is transported between the quay 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 has a hanger 31, a girder portion 32, a structure 33, and a traveling device 34. The hanger 31 is a device that can be raised and lowered in the Z direction by a wire suspended from a trolley 35 configured so as to be traversing in the Y direction along the girder portion 32. The girder portion 32 is a member that suspends and supports the hanger 31 via a trolley 35 and extends in the Y direction. The structure 33 has a plurality of legs and supports the girder 32 at the upper part. The traveling device 34 is a device attached to the lower end of the leg portion to allow the gantry crane 30 to travel in the X direction along the storage lane 21. Further, the gantry crane 30 has, as a drive device 36 for handling the container C, a drive device for raising and lowering the hanger 31, a drive device for traversing the trolley 35, and a drive device for traveling the gantry crane 30 by a traveling device 34. ..

The storage area 22 is an area in which m (m ≧ 2) containers C can be stacked in the Z direction and k (k ≧ 2) can be arranged in the Y direction. Assuming that the respective division units of the storage lane 21 in the X direction, the Y direction, and the Z direction are bays, rows, and tiers, the storage area 22 is an area set for each bay, and one storage area 22 is one. It is an area partitioned by a bay, a maximum of k rows, and a maximum of m tiers. The row numbers y (1 to k) increase in order from the left side to the right side in the figure, with the transport vehicle 23 stopped outside the left end in the Y direction of the storage area 22 as a reference (zero). The tier number n (1 to m) increases in order from the lower side to the upper side in the figure with the ground at 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 a plurality of containers C stored in the area are composed of containers C loaded on any of the container ships 24, and containers loaded on the same container ship 24. It is more preferable to be composed of C. With such a configuration, it is advantageous to reduce the movement of the portal crane 30 in the X direction during the loading work on 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 capable of storing the storage target container Cx, the ground section Gy is one of the uppermost container Cy, the storage possible container Dy, and the storage candidate container Ey. I think of it as one.

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

The storeable container Dy is a container that can store the storage target container Cx among the uppermost container Cy. The storeable 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 satisfying the condition A, the height Hx from the upper surface of the storage target container Cx to the ground is preset as the first threshold value Ha. The container C is as follows. The uppermost container Cy that deviates from 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 uppermost surface to the ground when m containers C are stacked in the Z direction.

When the storage target container Cx is stored on the upper surface of the uppermost container Cy satisfying 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 target container Cx. The height ΔHx of the container C is less than the preset second threshold value Hb. The uppermost container Cy that deviates from 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 a height higher than the height of one container C and lower than the height of the first threshold value Ha. In the present disclosure, the top-level container Cy adjacent to the stored storage target container Cx in the Y direction is the top stage of each of the container rows on both sides when the container rows are adjacent to both sides of the storage target container Cx in the Y direction. Indicates container Cy. Further, the height ΔHx is an absolute value of the difference between the height to the upper surface of the storage target container Cx with respect to the ground and the height to the upper surface of the adjacent uppermost container Cy.

The storage candidate container Ey is a container C having a weight EMy 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 weight of the container C and the weight of the cargo loaded on the container C.

The ground section Gy is a section that exists in the storage area 22 and is formed on the ground and can store the storage target container Cx. The ground section Gy is assumed to be the upper surface of the virtual container, and the virtual container is regarded as the uppermost container Cy, the storageable container Dy, and the storage candidate container Ey. Hereinafter, in the present disclosure, the same reference numeral as the ground section Gy shall be 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 set it as a variable depending on 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, and in other cases, of a plurality of storageable containers Dy. It is more desirable to set the weight to be heavier than zero based on each weight DMy.

The cargo handling route length ELi set for the storage candidate container Ey is the total length of the routes when the storage candidate container Ey is loaded from the transport vehicle 23 to the position where each is stored by the gantry crane 30. be. For example, the cargo handling path length when cargo is handled from the transport vehicle 23 to the position where each is stored is the distance raised directly above the Z direction from the transport vehicle 23 until the lower end of the container exceeds the first threshold value Ha. It is the total value of the traverse distance in the Y direction from that position to the position directly above the stored position and the distance lowered directly below the Z direction to the stored position. The cargo handling route length ELi 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 weight DMy of each of the plurality of storageable containers Dy as parameters, and outputs the acquired values to the control device 12. It is a device to do. Further, the parameter acquisition device 11 sets 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 route length ELi set for the storage candidate container Ey as parameters. It is a device that acquires storage information including storage and outputs the acquired value to the control device 12.

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

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

The control device 12 is installed in the portal crane 30 and is a central processing unit (CPU) that performs various information processing, an internal storage device that can read and write programs and information processing results used for performing the various information processing. And hardware composed of 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 figure, the central processing unit and the internal storage device of the control device 12 are not shown, but are shown with reference numerals to each functional element.

The control device 12 has a storage position determination program 13 as a functional element for determining the storage position Px in the storage area 22 of the storage target container Cx. The storage position determination program 13 is stored in the internal storage device of the control device 12, read out by the central processing unit, and executed as appropriate. Further, the control device 12 has a control unit 14 as a functional element for instructing the portal crane 30 to handle the container Cx to be stored based on the storage position Px determined by the storage position determination program 13. In the present disclosure, the instruction to handle cargo is an instruction to the operator when the gantry crane 30 is a crane operated by the operator, and a screen display or a sound instruction is exemplified. Further, as the instruction to handle the cargo, a control signal to the drive device 36 is exemplified when the portal crane 30 is a crane capable of automatic cargo handling.

The storage position determination 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 as functional elements, the first specific unit 15 and the second specific unit. It has 16, a third specific unit 17, a weight setting unit 18, and a coefficient setting unit 19. Each functional element may consist of a separate program that runs independently.

The first specifying unit 15 is a functional element that reads out the stored parameters and outputs the information of the plurality of storable containers Dy specified from the plurality of top-level containers Cy to the second specifying unit 16. Further, 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 process of specifying.

The second specific unit 16 receives information on a plurality of storageable containers Dy from the first specific unit 15, reads out stored parameters, and information on a plurality of storage candidate containers Ey specified from the plurality of storageable containers Dy. Is a functional element that outputs to the third specific 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 the storage candidate container Ey, and identifies a container having a weight lighter than the weight Mx. ..

Further, 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 Eye. In addition, the second specifying unit 16 has a function of narrowing down the storage position Px to one and outputting 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 specific unit 17 is input with the information of the plurality of storage candidate containers Ey output from the second specific unit 16, reads out the stored parameters, and controls the storage position Px determined from the plurality of storage candidate containers Ey. This is a functional element to be output to the unit 14.

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

Equation (1) indicates a two-variable function Fy, and α and β indicate coefficients preset by the coefficient setting unit 19. ΔWy is the physical quantity difference calculated by the formula (2) and the formula (3), ΔMy is the weight difference calculated by the formula (4), and μ is the average value. The two-variable function Fy is a function in which both the physical quantity difference ΔWy and the weight difference ΔMy are variables.

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

As shown in the mathematical formula (3), the physical quantity difference ΔWy is an absolute value of the difference between the physical quantity to be stored (Mx · Ly) and the average value μ. The physical quantity to be stored (Mx · Ly) is a work amount, and the container Cx to be stored with a weight of Mx is loaded and unloaded between the transport vehicle 23 and the upper surface of one of the storage candidate containers Ey by the portal crane 30. The amount of work in the case. When calculating the physical quantity to be stored (Mx · Ly), Ly was used as the cargo handling route length when the storage target container Cx was tentatively handled, but the cargo handling route length ELY set for the storage candidate container Ey. May be used.

As shown in the mathematical formula (2), the average value μ is the average of the storage candidate physical quantities (EMy · ELi), which is the work amount for the plurality of storage candidate containers Ey. The storage candidate physical quantity (EMy · ELi) is the amount of work when the storage candidate container Ey having a weight EMy is loaded and unloaded between the transport vehicle 23 and the position where the storage candidate container Ey is stored by the gantry crane 30. ..

When the virtual container Gy is included in the storage candidate container Ey, the virtual weight GMy of the virtual container Gy is set to a value larger than zero by the weight setting unit 18 based on the respective weight DMy of the storageable container Dy. 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 storage candidate container Ey. It is more preferable to set to.

As shown in the mathematical formula (4), the weight difference ΔMy is an 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.

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

The coefficient setting unit 19 is a functional element that sets the coefficients α and β and outputs them to the third specific 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 of determining the storage position Px in the storage area 22 of the storage target container Cx is a method in which three major steps are performed, and the method ends when the storage position Px is determined. The first step exemplified in FIG. 4 is a step performed by the first specific unit 15, the second step exemplified in FIG. 5 is a step performed by the second specific unit 16, and the third step exemplified in FIG. 6 is the first step. (3) This is a process performed by the specific unit 17. The first step is performed in a state where the previous storage target container C (x-1) is stored in the previous storage position P (x-1) by the gantry 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 carrying the storage target container Cx stops outside one side end of the storage area 22 and the weight Mx of the storage target container Cx is determined. The symbol (for example, n of n (Dy)) used in the mathematical formula in the flow chart is different from the reference numeral specified 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 described above, and the coefficients α and β in the above formula (1). do. Further, it is assumed that zero is input as the initial value of the virtual weight GMy of the virtual container Gy. In the flow chart, the steps related to the transmission and reception of information between each functional element shall be omitted.

As illustrated in FIG. 4, when the storage information of the storage area 22 is determined, 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 route length CLy. At this time, when the ground section Gy exists, it is assumed that the virtual container Gy is included in the uppermost container Cy. The parameters acquired in this step are stored in the internal storage device of the control device 12. Next, the first specifying unit 15 is a storeable container that satisfies the conditions A and B from the plurality of top-level 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. Specify Dy (S120).

Next, the first specifying unit 15 determines whether or not one or more of the specified storageable container Dy exists in the storage area 22 (S130). When it is determined that there is no storageable container Dy in the storage area 22 (S130: NO), the control unit 14 issues an instruction to move the portal crane 30 to another storage area 22 different from the current storage area 22. Change the bay (S140). In this way, the storage information in which no storage-capable container Dy exists in the storage area 22 is such that all the top container Cys have the maximum number of stacks, or a plurality of container rows protrude from other container rows. It is a situation that has been done. In the present disclosure, a situation in which a plurality of container rows protrude from other container rows means that the top surface of the target container row and at least one of the container rows adjacent to both sides in the Y direction with respect to the container row. It shows a situation in which the uppermost surface is separated from the second threshold value Hb or more, and a plurality of states in which the target container row protrudes from the adjacent container row exists.

On the other hand, when it is determined that one or more storable container dy exists in the storable area 22 (S130: YES), the first specific unit 15 determines whether or not two or more storable container dy exist in the storable area. (S150). When it is determined that there are no more than one storageable container Dy in the storage area 22 (S150: NO), the first specific unit 15 places the storage position Px of the storage target container Cx on the upper surface of one storageable container Dy. Determine (S160).

On the other hand, when it is determined that there are two or more storable container dy in the storable area 22 (S130: YES), the first specific unit 15 outputs the information of the specified plurality of storable container dy to the second specific 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 specific unit 15 is input to the second specific unit 16, and the container Cx to be stored this time is stored in the storage area 22 by the transport vehicle 23. Upon arriving outside 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 side 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. It is advisable to obtain the weight Mx of the storage target container Cx by collating with.

Next, the second specifying unit 16 identifies 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 storageable containers Dy (S220). .. In this step, the second specific unit 16 compares the weight Mx and the weight DMy for each of the plurality of storable containers Dy, and sets the storable container Dy having a weight DMy 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 of the specified storage candidate containers Ey exist in the storage area 22 (S230). When it is determined 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 weight DMy of the plurality of storageable containers Dy. (S240). In this step, if a virtual weight GMy exists in each weight DMy, the virtual weight GMy is set to zero by default. Further, when there are a plurality of specified maximum weight DMw, it is preferable to specify one having a small physical quantity difference ΔWy obtained by using the above mathematical formula (3). Next, the second specifying unit 16 determines the storage position Px of the storage target container Cx on the upper surface of the maximum weight container Dw having the specified maximum weight DMw (S250).

On the other hand, when it is determined that one or more storage candidate containers Ey exist in the storage area 22 (S230: YES), the second specific unit 16 determines whether or not two or more storage candidate containers E exist in the storage area. (S260). When it is determined that there are not two or more storage candidate containers Ey in the storage area 22 (S260: NO), the second specific unit 16 determines the upper surface of one storage candidate container Ey for which the storage position Px of the storage target container Cx is specified. (S270).

On the other hand, when it is determined that two or more storage candidate containers Ey exist in the storage area 22 (S260: YES), the second specific unit 16 outputs the information of the specified plurality of storage candidate containers Ey to the third specific 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 specific unit 16 is input to the third specific unit 17, the third specific unit 17 calculates the average value μ ( S310). Although not shown, when the virtual container Gy is included in the plurality of storage candidate containers Ey 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. The step of setting the value to half of the maximum weight of the weight EMy of the plurality of storage candidate containers Ey is performed.

Next, the third specific unit 17 calculates the physical quantity difference ΔWy and the weight difference ΔMy by parallel processing (S320, S330). Although not shown, when the virtual container Gy is included in the plurality of storage candidate containers Ey and the step of calculating the weight difference ΔMy is performed, the virtual weight GMy of the virtual container Gy set in the above step S310 is used. A step to return to zero is performed.

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

When it is determined that the row number y of the storage candidate container Ey is the maximum (S350: YES), the third specific unit 17 specifies the minimum function Fz which is the minimum of all the calculated values of the two-variable function Fy. (S370). Next, the third specific unit 17 determines the storage position Px on the upper surface of the function minimum container Ez to be 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 portal crane 30 to store the container Cx to be stored at the storage position Px that has been determined.

When the storage target container Cx is stored in the storage position Px determined by the above storage position determination method, the container C heavier than the weight of the container C stored in the lower part of the storage area 22 is stored in the upper part of the storage area 22. Will be possible. Therefore, by loading the container C stored in the upper part of the storage area 22 to the container C stored in the lower part in order on the container ship 24, the container loaded in the lower part of the container C of the container ship 24 is stored. The weight of C can be heavier than the weight of the container C loaded on top. That is, even if the loading work by the portal crane 30 is omitted before loading the container ship 24 and the frequency of performing the loading work is reduced, it is advantageous to lower the position of the center of gravity of the container ship 24, and the container. The attitude of the ship 24 can be stabilized.

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

When the storage target container Cx is stored in 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. The relatively light container C can be stored far away from the transport vehicle 23. By reducing the weight difference between the vertically adjacent containers C, it becomes possible to form a mass of containers C having a similar weight difference in the storage area 22. Therefore, the weight of the container C radially stored from the lower right end far from the transport vehicle 23 of the storage area 22 can be increased, and the center of gravity in the storage area 22 can be positioned at the upper part on the left end side. This is advantageous for equalizing the workload for each of the plurality of containers C stored in the storage area 22, and can reduce the cost required for the portal crane 30 to handle the container C.

Further, by reducing the weight difference between the containers C adjacent to the top and bottom, it becomes advantageous to secure the number of storage candidate containers E (y + 1) for the next storage target container C (x + 1), and the containers are adjacent to the top and bottom. It is possible to reduce the frequency of the reverse stacking state in which the upper part of the container C becomes lighter.

In the two-variable function Fy, if the coefficient α is made larger than the coefficient β and the physical quantity difference ΔWy is emphasized with respect to the weight difference ΔMy, it is more advantageous for equalizing the work amount, and the coefficient β is more than the coefficient α. If the weight difference ΔMy is emphasized as compared with the physical quantity difference ΔWy, it is 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, but when the storage in the storage area 22 is completed, the storage status is evaluated and the coefficients α are evaluated based on the evaluation. , Β may be added as a functional element to set. Further, 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, the coefficient table in which the coefficients α and β are set according to the export destination of the container C and the type of the 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 for each.

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

In the above-described embodiment, of the two variables of the two-variable function Fy, the physical quantity difference ΔWy is set as the absolute value of the difference between the physical quantity to be stored (Mx · Ly) and the mean value μ, but the physical quantity to be stored (Mx · ·. It may be an absolute value of the difference between Ly) and the storage candidate physical quantity (EMy · ELi).

In the above storage position determination method, when the storage candidate container Ey does not exist in the storage area 22, the storage position Px is the maximum weight container Dw having the maximum weight among the respective weights DMy of the plurality of storageable containers Dy. It is a method to determine 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 storageable 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 the lighter storage target container Cx on the upper surface of the maximum weight container Dw. It will be advantageous.

The above-mentioned storage position determination method is a method of specifying a plurality of top-level container Cys that satisfy the conditions A and B as the storageable container Dy. Therefore, it is possible to avoid a state in which only a specific row of container rows in the storage area 22 is piled up high. As a result, the containers C can be stacked 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 protrudes 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 side end of the storage area 22 may be used. Further, a load meter installed on the hanger 31 of the gantry crane 30 or the trolley 35 may be used. Further, 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 portal crane 30.

The control device 12 is not limited to the device installed in the portal crane 30. For example, the management device 27 may have the function of the control device 12, and a control device 12 different from the control device of the gantry crane 30 may be installed at a remote location to communicate with the control device of the gantry crane 30 by wireless communication. You may 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 functions independently in addition to the program is also exemplified. 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 route length ELi set for the storage candidate container Ey is the total length of the routes when the storage candidate container Ey is loaded from the transport vehicle 23 to the position where each is stored by the gantry crane 30. All you need is. For example, the cargo handling route length ELi may be a route that draws an arc-shaped trajectory from the transport vehicle 23 to a position directly above the storage candidate container Ey in a state where contact with the stored container C can be avoided.

In the second step and the third step, if the weight Mx of the storage target container Cx is determined, the transport vehicle 23 carrying the storage target container Cx this time stops outside one side end of the storage area 22. You may go ahead. For example, when the transport vehicle 23 performs the reception process at the gate 26 and the weight Mx of the storage target container Cx carried by the transport vehicle 23 is determined, the second step and the third step may be performed. In this way, by performing the second step and the third step before the transport vehicle 23 stops on the side of the storage area 22, the storage position Px is calculated in each of the plurality of storage areas 22, and the calculated plurality of are calculated. It becomes possible to select the storage position Px having the smallest number of stacking stages 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-type crane C Container Cx Storage target container Cy Top container D Storage possible container E Storage candidate container Mx, CMy, DMy, EMy Weight Ly, ELY Cargo handling route length

Claims (10)

Transportation 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 the crane is stopped outside one side end of the storage area in the orthogonal direction. In the method of determining the storage position when the container to be stored is stored from the vehicle by a crane.
When there are a plurality of storable containers that can be storable by stacking the storable container on the upper surface in the storable area.
Obtain the weight of the storage target container and the weight of each of the plurality of storageable containers.
By comparing the acquired weight of the storage target container with the weight of each of the plurality of storageable containers, a storage candidate container having a weight lighter than the weight of the storage target container is identified.
A method for determining a storage position, which comprises determining the storage position on the upper surface of the storage candidate container for which the storage position is specified. When the weight of the storage target container is compared with the weight of each of the plurality of storageable containers, and a plurality of storage candidate containers having a weight lighter than the weight of the storage target container are identified in the storage area, when a plurality of storage candidate containers are identified.
A weight difference, which is the difference between the weight of the storage target container and the weight of each of the plurality of storage candidate containers, is calculated for each of the plurality of storage candidate containers, and the weight difference minimum container having the minimum weight difference is specified.
The storage position determination method according to claim 1, wherein the storage position is determined on the upper surface of the container having the minimum weight difference. When loading and unloading a container between a predetermined position of the transport vehicle and the storage area, a physical quantity represented by a combination of the distance and time for cargo handling and some of the weights of the container, or a physical quantity required for cargo handling. Is a mechanical physical quantity,
When the weight of the storage target container is compared with the weight of each of the plurality of storageable containers, and a plurality of storage candidate containers having a weight lighter than the weight of the storage target container are identified in the storage area, when a plurality of storage candidate containers are identified.
A parameter relating to the physical quantity to be stored, which is the mechanical physical quantity when the container to be stored is loaded and unloaded by the crane with the upper surface of any of the plurality of storage candidate containers as the predetermined position, and any of the above. The parameter related to the storage candidate physical quantity, which is the mechanical physical quantity when one of the containers is loaded and unloaded by the crane, with the position where the container is stored as the predetermined position, is acquired for each of the plurality of storage candidate containers. death,
The physical quantity difference, which is the difference between the physical quantity to be stored and the physical quantity of the storage candidate, calculated from the acquired parameters, is calculated for each of the plurality of storage candidate containers, and the physical quantity difference minimum container in which the calculated physical quantity difference is the minimum is specified. death,
The storage position determination method according to claim 1, wherein the storage position is determined on the upper surface of the physical quantity difference minimum container for which the storage position is specified. When loading and unloading a container between a predetermined position of the transport vehicle and the storage area, a physical quantity represented by a combination of the distance and time for cargo handling and some of the weights of the container, or a physical quantity required for cargo handling. Is a mechanical physical quantity,
When the weight of the storage target container is compared with the weight of each of the plurality of storageable containers, and a plurality of storage candidate containers having a weight lighter than the weight of the storage target container are identified in the storage area, when a plurality of storage candidate containers are identified.
For each of the plurality of storage candidate containers, a weight difference, which is the difference between the weight of the storage target container and the weight of each of the plurality of storage candidate containers, is calculated.
For each of the plurality of storage candidate containers, the storage is the mechanical physical quantity when the storage target container is loaded and unloaded by the crane with the upper surface of any one of the plurality of storage candidate containers as the predetermined position. The parameters related to the target physical quantity and the parameters related to the storage candidate physical quantity, which is the mechanical physical quantity when the container is loaded by the crane with the position where the container is stored as the predetermined position, are set. Then, the average value of the plurality of storage candidate physical quantities calculated based on the acquired parameters is calculated, and then the difference between the storage target physical quantity calculated based on the acquired parameters and the average value is used. Calculate a certain physical quantity difference and
Specify the function minimum container that minimizes the two-variable function that has both the calculated weight difference and the physical quantity difference as variables.
The storage position determination method according to claim 1, wherein the storage position is determined on the upper surface of the function minimum container for which the storage position is specified. When the weight of the storage target container and the weight of each of the plurality of storageable containers are compared and the storage candidate container does not exist in the storage area, the storage candidate container does not exist.
The maximum weight container having the maximum weight among the respective weights of the plurality of storable containers is specified.
The storage position determination 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 having the specified storage position. When the storage target container is stored on the upper surface of the storageable container, the height between the upper surface of the storage target container and the ground is equal to or lower than a preset first threshold value, and the storage target container is stored. The height between the upper surface of the stored container and the uppermost surface of the container row in which a plurality of containers are stacked in the vertical direction adjacent to the storage target container in the direction orthogonal to the storage target container is preset. (Ii) The storage position determination method according to any one of claims 1 to 5, wherein the threshold value is equal to or less than one. When there is a ground section in the storage area where the storage target container can be stored, it is assumed that the ground section is the upper surface of the virtual container, and the virtual container is regarded as one of the plurality of storage-capable containers. The storage position determination method according to any one of claims 1 to 6. The weight of the virtual container is set to zero when comparing with the weight of the storage target container and when calculating the difference from the weight of the storage target container, and in other cases, of the plurality of storageable containers. The storage position determination method according to claim 7, wherein a value heavier than zero is set based on each weight. Transport stopped outside one side end of the orthogonal direction in a storage area where multiple containers can be stacked in the vertical direction and multiple in the direction orthogonal to the vertical direction can be arranged. In a program that causes the control device of the crane to determine the storage position when the container to be stored is stored from the vehicle by a crane.
When there are a plurality of storable containers that can be storable by stacking the storable container on the upper surface in the storable area.
To the control device
A procedure for comparing the input weight of the storage target container with the weight of each of the plurality of storageable containers to identify a storage candidate container having a weight lighter than the weight of the storage target container.
A storage position determination program, characterized in that a procedure for determining the storage position on the upper surface of the storage candidate container for which the storage position is specified is executed. A storage area where 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 transport vehicle stopped outside one side end of the storage area in the orthogonal direction. In the control system of the crane that handles the container to be stored,
As parameters, a parameter acquisition device that acquires at least the weight of the storage target container and the weight of each of a plurality of storageable containers that can be stored by stacking the storage target container on the upper surface, and the parameter acquisition device and the drive device of the crane. Equipped with a control device connected to
When the plurality of storable containers exist in the storing 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 obtains a storage candidate container having a weight lighter than the weight of the storage target container. The storage candidate container specified, the storage position when the storage target container is stored by the crane from the transport vehicle is determined on the upper surface of the storage candidate container, and the storage target container is determined by the drive device. A crane control system characterized by being configured to give instructions to store on the top surface.

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