JPH0313403A - Control of reception and withdrawal in container storage facility - Google Patents

Abstract

PURPOSE:To improve the safety and prevent damage by calculating an actual piling height of containers by a level sensor provided at a cargo crane at the time of receiving or withdrawing, collating it with a memorized value, checking it, and then actuating a spreader. CONSTITUTION:When a cargo crane 4 stores a container A in a containing zone and winds a spreader to its upper limit position, the distance to the piled containers A is measured by a level sensor 16 and inputted to a control device 20. The control device 20 calculates the container height based on it and renews memorized data in a memorizing device 19. When withdrawal is set through an inputting device 18, the crane 4 is moved to a predetermined position based on the data in the memorizing device 19 by the control device 20. The height of the containers A is then measured by the level sensor 16, it is collected with a memorized value, it is checked, and then a spreader is actuated. The memorized value is renewed after withdrawal. The safety can thus be improved.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a container storage facility for storing containers in a stacked state in multiple stages, and particularly to a method for controlling entry and exit thereof.

[Prior Art] Containers used for marine transportation are stored and left in warehouses near ports or outdoors, and the amount of containers is increasing as ships become larger and the amount of cargo increases.

Additionally, storing empty containers requires a huge amount of effort.

Conventionally, when storing these containers, since the containers are formed in the shape of a rectangular parallelepiped, they are arranged in a stacked state, and are stored using a forklift or the like.
I try to stack them in tiers or 4 tiers. However, due to the need to prevent containers from falling due to typhoons, earthquakes, gusts of wind, etc., the number of stacked containers is limited to the number listed above.
Because it is necessary to leave a path between containers for the movement of forklifts during loading and unloading, the storage area tends to increase.

Therefore, the present applicant has developed a container guide column that guides and supports the side ridge line along the height direction of the container.
Container storage zones that store containers in a stacked manner are set up parallel to each other at intervals corresponding to the corners, and are divided into multiple rows, and rails are installed above the rows of these container storage zones. We are proposing a storage facility equipped with a cargo handling crane that can be moved along the
According to this storage facility, the number of stacked containers can be increased to reduce the area of the storage site.

In such storage facilities, inventory management, that is, understanding the arrival and departure of goods, is important.In general automated warehouses, each storage location is numbered and limit switches are installed.
Inventory management is performed to determine whether items are in stock at the address.

[Problems to be Solved by the Invention] However, in a container storage facility, if a limit switch is attached to each storage location like the above-mentioned automatic warehouse etc., an extremely large number of limit switches would be required and the cost would be high.

Moreover, the container has a height of 8 feet, 8 feet and 6 feet.
inches, 9 feet.

There are different sizes such as 9 feet and 6 inches.

It is desirable that the container storage equipment be able to handle these Class A size containers by unmanned and automatic operation of cargo handling cranes.

To do this, it is necessary to accurately know the presence or absence of inventory and the current height of the containers in stock for each container storage zone, so as to be able to deal with input errors in management data. This is because if there is an error in the management data for storage and retrieval, the spreader or container may collide with an already existing container when descending and be destroyed.

Even when handling multiple types of containers with different heights, the present invention avoids the situation where the spreader or containers are destroyed due to the difference between the management of loading and unloading and the actual stacking height of the containers, and unmanned and automated loading/unloading cranes. An object of the present invention is to provide a method for controlling the loading and unloading of a container storage facility that can be operated.

[Means for Solving the Problems] The loading and unloading control method of the present invention arranges container storage zones in which containers are stacked in multiple stages using a lattice-like frame structure in rows and columns in a horizontal plane, and horizontally extends the upper part of the frame structure. In a container storage facility where a cargo handling crane capable of moving in any direction is moved to a container storage zone at an address specified by a control device including a computer to store and unload containers, the cargo handling crane is given the distance to the container. In addition to providing a level sensor that measures from above, the above control device will: (a) In the case of warehousing, when the container is placed in the container storage zone and the cargo handling crane lifts the spreader to the upper limit position, the level sensor The container stacking height is calculated by reading the measurement signal, and the stored data in the storage device is updated with that value. The container stacking height is calculated by reading the measurement signal of After that, the data stored in the storage device is updated with the calculated value.

[Operation] Each container storage zone is located at fF, and a control device including a computer specifies any address among them, moves the cargo handling crane to the container storage zone at that address, and stores the container. Or leave the warehouse.

In the case of storage, when the cargo handling crane receives the container into the container storage zone and lifts the spreader to the upper limit position, the container stacking height is calculated by reading the measurement signal from the level sensor mentioned above. Update the data stored in the storage device with the value. Therefore, the management data is managed based on the actual container stacking height.

In addition, in the case of warehouse retrieval, when the cargo handling crane comes over the container storage zone, the container stacking height is calculated by reading the measurement signal from the level sensor, and this calculated value is stored in the memory at the time of warehousing. Check against the value stored in . Then, when confirmation is obtained, the spreader of the cargo handling crane is suspended to take out the container, and thereafter, the stored data in the storage device is updated with the above-described calculated value.

Therefore, the management data is managed here as well based on the actual container stacking height.

In addition, the above control not only measures the actual stack height of containers using a level sensor installed on the cargo handling crane at the time of storage or removal, but also uses a computer to check the previous stored data and confirm the verification. Lifting is carried out only when confirmation is obtained, and lifting is not carried out if verification cannot be made. Therefore, the speed at which the container is hoisted into the container storage zone at the address, i.e., the hoisting of the cargo handling crane. It is safe even at high speeds. In other words, the level sensor monitors and updates the actual stacking height of containers, so even if there is an error in the input of management data, the container or spreader will not collide with the container below when the cargo handling crane lowers it. risks are avoided in advance.

[Example] Embodiments of the present invention will be described based on the accompanying drawings.

First, the outline of this container storage facility will be explained using FIGS. 2 to 5.

In FIG. 2, the container storage stage m100 has a frame structure 3 configured by arranging a vertical frame 8 and a horizontal frame 9 made of H-shaped steel in a lattice shape, and the horizontal frame 9 also extends in the direction perpendicular to the plane of the paper. It is extending. Below, storage equipment 1
The width direction of 00 is called the X direction, the depth direction is called the Y direction, and the height direction is called the Z direction.

First, four container guide columns 1 made of steel with an L-shaped surface for guiding and supporting the side ridge line along the height direction of the container A are arranged parallel to each other at intervals corresponding to the four corners of the container A. A container storage zone 2 in which containers A are stacked and stored is vertically defined between these four container guide columns 1. and,
The frame structure 3 is made up of two container storage zones 2.
It is surrounded by four vertical frames 8. By adding this as a unit, multiple sets of four container guide pillars 1 are arranged next to each other, and each set of container guide pillars 1
The container storage zone 2 formed between
They are arranged in a matrix (2 rows and 28 columns) in the Y plane). Each container guide column 1 has a height that allows containers A to be stacked in, for example, 10 stages in the Z direction from the ground 5 in the storage zone 2.
It is erected on the ground 5.

The above:1 antenna storage zone 2 is assigned an address with respect to its queue, and the receivers to be described later are managed by a computer in an operation room 17 provided at the transfer port 6. When container A is received and stored container A
When leaving a container, the address of the corresponding container storage zone 2 is specified.

Two cargo handling cranes 4 are mounted on the top of the frame structure 3 so as to be able to travel in a space 15 above the container storage zone 2. In addition, there are container storage zones 2 at two locations in the middle of the frame structure 3 (row direction and X direction).
Utilizing the lower part (in the illustrated example, two stages of 3 rows and 2 columns), the container receiving opening 6 is formed along the rows (Y direction). A container lifting passage 7 for lifting and lowering the container A is formed above the transfer port 6 of both container holders.

In order to form a running space 15 for the cargo handling crane 4, the vertical frame 8 is formed longer than the container guide column 1, and protrudes upward by one container A.

Then, connect the upper ends of these to the X where container storage zone 2 goes.
A pair of rails 11 (the third
) is provided.

In FIG. 3, the truck 10 of the cargo handling crane 4 is
It spans between book rails 11 and can run freely in the X direction. 12 is a girder extending between both rails 11, and 13 is a container gripping spreader. The I-roller 14 that lifts the container gripping spreader 13 is
The girder 1-2 is provided so as to be movable back and forth in the length direction of the girder 1-2, that is, in the Y direction.

Container A to be handled in this example has the same horizontal cross-sectional dimensions and heights of 8ft, 8ft6in,
There are four types: 9 ft and 9 ft6 in (ft near eid, in: inch). In order to accommodate and handle these containers of different sizes through unmanned automatic operation of the cargo handling crane, each cargo handling crane 4 is equipped with a level that measures the distance to the top surface of the containers A stacked in the container storage zone 2. A sensor 16 is provided. This level sensor 16 is a reflective optical sensor using a light tube.

In FIG. 1, the distance measurement output of the level sensor 16 is
Control device 20 using a computer in the operation room 17
It is input to the control device! 20 also receives input from an input device 18 including a keyboard. 19 is a storage device, 21
is a notification device such as a lamp or a display device.

When the cargo handling crane 4 stores the container in the container storage zone 2 and hoists the spreader 13 to the upper limit position, the control device 20 reads the distance measurement output of the level sensor 16 and moves the container into the container storage zone 2. Calculate the height of stacked containers. Then, this calculated container height is updated with the container height data previously stored in the storage device 19, and inventory management is performed.

FIGS. 6 and 7 show control flows when entering and exiting the warehouse.

In accordance with the control flow at the time of warehousing shown in FIG. 6, the case where container A is warehousing will be explained. The container A is transported to a delivery port 6 by a transport vehicle B running on the ground 5.

First, the operator in the operation room 17 operates the keys on the input device 18 to enter the name of the shipping company that owns the container, the container size, and the container number, and makes storage settings (6.0
1>, the control device 20 determines the coordinates (Xi, Y
i, Zi) (6.02), and transport vehicle B
is in the specified position, move the cargo handling crane 4 to the coordinates (XOlYo), and hang the spreader 13 (6.02 to 6.05). Once it has landed, the spreader 13 is moved to the container A. and lift the inside of the suspension passage 7 above the frame structure 3, that is, to the top in the Z direction (6.07 to 6.08).

Next, this cargo handling crane 4 is moved to the specified coordinates (Xi, Y
After moving the container A in the space 15 to i) and stopping at the container storage zone 2 at a predetermined address, the container A is suspended downward (in the Z direction) in the container storage zone 2 (6.09
~6.10) In this case, the container A is guided by the guide surface of the L half cross section of each container guide column 1 near the four corner ridge lines formed by its four sides in the Z direction. 13 from container A and lift the spreader 13 to the upper limit position of the container storage zone 2 <6.11~. 6.13).

When the cargo handling crane 4 hoists the spreader 13 to the upper limit position, that is, when the upper limit switch is activated, the distance measurement output (Z) of the level sensor 16 is read (6.14>), and the level sensor 16 The distance measurement output (Z) of is subtracted from the seat 11Zl of the container storage zone 2 to obtain the container stacking height (Zi-Z), which is memorized and registered (6.15), and the inventory The container stacking height data previously stored in the storage device 19 is updated to the container stacking height (Zi-
Z).

Next, the control at the time of leaving the warehouse shown in FIG. 7 will be explained.

First, by operating the keys on the input device 18, the shipping company that owns the container and the container size are input, and the shipping settings are made (7.01). Determine the coordinates (Xi, Yi, Zi) of the corresponding container from the data (7.02)
, move the cargo handling crane 4 to the specified coordinates (X, Y) and stop it (7.03> Next, read the measured level output (Z) of the level sensor 16 (7,04), first move to the specified address Check the stock of (7)
．． 05) Then, by subtracting the measured level output (Z) of this level sensor 16 from the coordinates Zi of the container storage zone 2, the container stacking height (Zi-Z) is obtained, and the height is stored in the memory. It is checked against the registered height to confirm that they match (7.06). If confirmation cannot be obtained, the notification device 21 is activated and the following lowering operation is not performed.

Once the container stacking height has been confirmed, spreader 1
3, and after landing, lock the spreader 13 to the container A and lift it up (7.07 to 7.10>, and then move this cargo handling crane 4 to the coordinates of the hoisting passage 7 (Xo, Y
o), confirm that carrier B is in the designated position, and hang container A downward (7.11
~7.13) Once the container has landed, the spreader 13 is unlocked from the container A, and the spreader 13 is lifted to the upper limit position of the container storage zone 2 and placed on standby (
7.14 to 7.16), and the container stacking height and inventory availability data previously stored in one storage device are changed to the container stacking height (Zi-Z) that has changed due to the above shipping. ) (7.17).

As mentioned above, when storing container A, when the container is lowered into the container storage zone 2 and the spreader is lifted to the highest level, the measured level output of the level sensor 16 is read and the container stacking height is memorized. I'll keep it
Then, at the time of unloading, immediately before unloading the container to the container storage zone 2, the measured level output of the level sensor 16 is read and the actual height of the stacked containers is calculated.
Compare it with the value you have memorized. In this way, level sensor 1
In addition to reading the measurement level output in step 6, a confirmation function based on computer calculation and verification is added to double check safety.

Due to the above double check, the operator may make an input error, for example, when inputting the data of the container at the time of warehousing, or the 9ft.
Even if you enter 8ft instead of 8ft, you can use the computer's calculation verification function (6, 15, 7,
06), an input error is detected at the time of warehousing and warehousing. If this input error is detected, the control device 20 outputs a notification to that effect to the notification device 21, and the notification device 21 notifies the operator of the abnormality by lighting a lamp or displaying a display. Yotte, the container is 8ft, 8ft6
The spreader or container, whether of any height between 9ft and 9ft6in, can be lowered quickly without colliding with the stack of containers below, thus making the loading crane unmanned and automatic. It becomes possible to drive the vehicle.

[Effects of the Invention] As described above, according to the present invention, the actual stacking height of containers is measured by the level sensor installed in the cargo handling crane at the time of storage or at the time of storage, and is simply used as monitoring data. It is used as management data by a computer, and execution of hanging is prohibited if verification of comparison with the previous stored data cannot be confirmed. Therefore, even if the lowering speed of the cargo handling crane is high, or even if there is an input error in the management data, it is safe, and accidents such as collisions and destruction of containers or spreaders when lowering the cargo handling crane can be avoided in advance. be done.

As a result, the unmanned and automatic operation of the cargo handling crane becomes possible even when handling multiple types of containers with different heights.

[Brief explanation of the drawing]

Fig. 1 is a schematic diagram showing a first embodiment of the present invention, Fig. 2 is a front view showing a storage facility of the invention, Fig. 3 is a plan view thereof, and Fig. 4 is a line taken along the line IV-IV in Fig. 2. FIG. 5 is a vertical cross-sectional view taken along line v--V in FIG. 2, and FIGS. 6 and 7 are control flow diagrams at the time of storage and exit. In the figure, 1 is a container guide column, 2 is a container storage zone, 4 is a cargo handling crane, 5 is the ground, 6 is a container receiving port, 8 is a vertical frame, 9 is a horizontal frame, 13 is a spreader, 14 is a trolley, 16 is a level sensor, 17 is an operation room, 18 is an input device, 19 is a storage device, 20 is a control device, and 21 is a notification device.

Claims (1)

[Claims] 1. Container storage zones in which containers are stacked in multiple stages are arranged in rows and columns in a horizontal plane using a lattice-like frame structure, and a cargo handling crane is provided that can arbitrarily move horizontally above the frame structure. In a container storage facility in which containers are moved into and out of a container storage zone at an address specified by a control device including a computer, the cargo handling crane is equipped with a level sensor that measures the distance to the container from above, The above control device calculates the container stacking height by (a) In the case of storage, when the container is placed in the container storage zone and the cargo handling crane lifts the spreader to the upper limit position, the measurement signal from the above level sensor is read and the container stacking height is calculated. (b) In the case of unloading, when the cargo handling crane comes over the container storage zone, it reads the measurement signal from the level sensor and calculates the container stacking height. and compare this calculated value with the value stored in the storage device at the time of storage,
A method for controlling the loading and unloading of a container storage facility, characterized in that when confirmation is obtained, a spreader of a cargo handling crane is hung to execute the loading and unloading of the container, and thereafter, data stored in a storage device is updated with the above calculated value. .