JPH06321324A - Detecting device for storage address and fixed point of container - Google Patents

Abstract

PURPOSE:To detect an accurate address even when a road surface is covered with sand and the like by providing a display mechanism for a storage space address composed of a radio wave response type transponder. CONSTITUTION:Radio electric wave response type transponder 3... are buried in a road surface at positions along a travel guide line 05 while coinciding with the center positions of 20 feet and 40 feet container storage spaces to be placed in a container storage space. Also fixed point markers 4... for respective container storage spaces are provided while coinciding with the camera 07 position of a carrying vehicle at the center positions of both the container storage spaces together with the travel guide line 05 in the travel path of a carrying vehicle 01. While, an antenna 5 moving above the transponders 3, and a TV camera 07 detecting the travel guide line 05 and the fixed point markers 4 are provided on the body of the carrying vehicle 01. Consequently the storage space address and fixed point for a container can be accurately detected even when a road surface is covered with sand, etc.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a container address and a container fixed point detecting device for a container carrier.

[0002]

2. Description of the Related Art Conventionally, for example, a device shown in the perspective view of FIG. That is, in the figure, 01 is a tire traveling type container carrier vehicle, 02 is a tire traveling device of the carrier vehicle 01, 03 is a traveling motor, and 0 is a traveling motor.
Reference numeral 4 is a steering cylinder, 05 is a guide line that is continuously drawn on the road surface for guiding the transport vehicle 01, and 06 is a guide line along the guide line 05, which indicates the center position of each container storage compartment. It is a bar code indicating the transfer address of the transferred container storage section. 07,07
Is a pair of cameras for detecting the guide line 05, which are mounted downward at both outer ends on one side of the transport vehicle 01, and 08 is also a bar code 06 downward on the outer center of one side of the transport vehicle 01.
A bar code detection unit for detecting a storage address of a storage section provided so as to scan, 09 is a control unit on the transport vehicle 01, and 010
Is an image processing device provided in the control unit 09, 011 is an address reading processing device, and 012 is a vehicle controller.

Further, the camera 07 and the bar code detector 0
8 is a guide line 05 as shown in the partial cross-sectional view of FIG.
And the bar code 06 is scanned from directly above, the detection signals are transmitted to both the processing devices 010 and 011 respectively, and the controller 012 for the vehicle controls the traveling motor 03 or the steering cylinder 04 along the guide line 05 for traveling steering control. The carrier 01 is stopped at the container yard at the designated yard number.

However, such a device has the following drawbacks. (1) If the bar code 06 transferred to the road surface is covered with a substance that moves by sand or the like, it becomes difficult for the bar code detection unit 08 to read the bar code 06, making it difficult to detect the storage address of the container. Therefore, it becomes difficult to automatically drive the transport vehicle 01. (2) If the barcode 06 transferred to the road surface is also covered with a substance that moves by sand or the like, it becomes difficult for the barcode detection unit 08 to read the barcode 06, so it is difficult to detect the container fixed point. It becomes difficult, and accordingly, the automatic operation of the carrier vehicle 01 becomes difficult.

[0005]

SUMMARY OF THE INVENTION The present invention has been proposed in view of such circumstances, and even if the road surface is covered with sand or the like, it is easy to detect the storage address of the container, and therefore, the automated operation is possible. It is an object of the present invention to provide an excellent container storage address and storage space fixed point detection device. Further, even if the road surface is covered with sand or the like, it is possible to easily detect the container storage address and the storage fixed point, and therefore to provide a container storage address and storage fixed point detection device that is more excellent in automated operation. To do.

[0006]

To this end, the invention of claim 1 provides a traveling guide line laid in a container storage space,
It has a display of storage addresses and display of fixed points of storage, which are respectively attached at predetermined intervals along the traveling guide line, and has a detection mechanism of the above-mentioned storage addresses and fixed points of storage, and the pair of front and rear TV cameras guide the traveling. In a container carrier that can automatically run vertically across the container yard while detecting a line, a display mechanism of a storage address formed by radio wave response type transponders arranged at predetermined intervals on the road surface of the container yard. And a fixed-point display mechanism formed of fixed-point markers that are detected in parallel by the pair of front and rear television cameras, and a detection mechanism for a registered fixed-location address of the transponder attached to the container carrier. Is characterized by.

[0007] The invention of claim 2 is a traveling guide line laid in the container yard, display of the yard address provided along the traveling guide line at predetermined intervals, display of yard fixed point, and the yard. In a container carrier that has a street address and a fixed point for detecting the storage space, respectively, and is capable of automatically running vertically across the container storage space while detecting the traveling guide line with a pair of front and rear TV cameras,
Directly above the transponder by the display mechanism of the storage address formed by the radio wave response type transponders arranged at a predetermined interval on the road surface of the container storage and the detection mechanism of the registered storage address of the transponder attached to the container carrier. It is characterized by including a display mechanism of a fixed place of the storage formed by detecting the dead zone region generated in the above, and a detection mechanism of the registered storage address of the transponder attached to the container carrier.

[0008]

According to this structure, the following actions are performed. According to the invention of claim 1, the traveling guide line laid in the container yard, the display of the yard address attached along the traveling guide line at predetermined intervals, the display of the yard fixed point, the yard address, the above A container carrier that has a fixed point detection system for each container and that can automatically run vertically across the container yard while detecting the traveling guide line with a pair of front and rear TV cameras, and at predetermined intervals on the road surface of the container yard. A display mechanism of a storage address formed by a transponder of a radio wave response type arranged in 1., a display mechanism of a fixed position of the storage formed by fixed point markers detected in parallel by the pair of front and rear television cameras, Since it is attached to the container carrier and has a detection mechanism for the registered storage address of the transponder, even if the road surface is covered with sand, etc. The land of detection is facilitated.

According to the second aspect of the present invention, the traveling guide line laid in the container storage area, the display of the storage address provided along the traveling guide line at a predetermined interval, the display of the storage fixed point, and the storage area. In a container carrier that has a street address and a fixed point for detecting the storage space, respectively, and is capable of automatically running vertically across the container storage space while detecting the traveling guide line with a pair of front and rear TV cameras,
Directly above the transponder by the display mechanism of the storage address formed by the radio wave response type transponders arranged at a predetermined interval on the road surface of the container storage and the detection mechanism of the registered storage address of the transponder attached to the container carrier. Since a fixed point display mechanism formed by detecting the dead zone area generated in the container and a detection mechanism for the registered storage address of the transponder attached to the container transport vehicle are provided, the road surface is covered with sand or the like. However, it becomes easy to detect the storage address and the fixed point of the container. Also, the TV camera only needs to detect and calculate the guide line,
The processing time of the image processing apparatus is shortened.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to the drawings, an embodiment in which the present invention is applied to the storage address and storage fixed point detection device of the container carrier shown in FIG. 7 will be described. First, in the plan view of FIG. 1 (A) showing the first embodiment, 1 is a 20-foot container storage space placed in a container storage space, 2 is a 40-foot container storage space, and 3 is the center position of both container storage spaces 1 and 2. The radio wave responsive transponders are buried in the road surface at positions along the travel guide line 05. A fixed point marker 4 for each of the container storage areas 1 and 2 is provided along the travel guide line 05 on the track of the transport vehicle 01 so as to coincide with the camera 07 position on the transfer vehicle 01 at the center position of both container storage areas 1 and 2.

An antenna 5 that moves at a constant height above the transponder 3 is provided on the body of the transport vehicle 01, and the television cameras 07 and 07 that detect the traveling guide line 05 and the fixed point marker 4 are also the same as in the conventional case. It is provided. As an example, the transponder 3 has a 20-foot container storage space 1
There is an odd number of storage areas such as [01] to [13] in the storage area, and [02] to [1 in the 40-foot container storage area 2.
4], even-numbered storage addresses are stored and registered.

The partial cross-sectional view of FIG.
An example of the mounting state of the antenna 5 on one body, the transponder 3, the television camera 07, and the guide line 05 which are embedded is shown.

Further, the block diagram of FIG. 2 shows the configuration of the control unit 6 of the apparatus including the above-mentioned equipment, 7 is a radio wave receiving / transmitting / reading apparatus connected to the antenna 5, and 8 is a carrier vehicle 01.
A sequencer for control, which controls the traveling drive unit 03 and the steering drive unit 04 of the carrier vehicle 01. As the transponder 3 and the radio wave transmission / reception reading device 7 itself, those existing in the market as FM radio wave correspondence parts are used, and the transponder 3 registers and stores the container storage address as described above, and the radio wave reception / transmission reading is performed. The device 7 is integrated with the control unit 6 for the transport vehicle 01, and the output thereof is used to control the transport vehicle 01.

FIG. 3 is a flow chart showing a control procedure by the control unit 6 and the sequencer 8.

In such an apparatus, the seating condition of the 20-foot container storage area 1, the 40-foot container storage area 2 and the like in the container yard is managed by a yard management computer (not shown), and the loading and unloading of containers from the management room. It is operated by remote control of. From the control room to carrier 01
A container transport instruction signal is sent to the control unit 6 of
When the rom-to signal is input, the transport vehicle 01 starts moving operation, and the image processing device 0
It moves by the operation of system 10 and the container storage address is input from the transponder 3. The control unit 6 recognizes the first storage address position from the transponder 3 as the current position, moves to the instructed "from storage address position", and decelerates after detecting "from storage address-1" from the signal of the transponder 3. After shifting to running, the fixed point marker 4 at the designated "from place address" is automatically stopped at that position by detection of the camera 07, and the 20-foot container or 40-foot container is lifted.

The operation of hoisting and hoisting the container may be the same as the conventional one, and thus the details thereof will be omitted. The carrier 01 that has lifted the container moves to the designated "to storage address position", and the signal from the transponder 3 causes "to storage address-1".
Decelerates when detected, and then the fixed-point marker 4 at "to storage address"
Is detected by the television camera 07, the vehicle automatically stops at that position, the container is unloaded at the position and operated, and then the operation is performed in a cycle of waiting again for input of a control signal from the control room.

In order to detect the storage address in the width direction of the container storage, the transponder 3 and the antenna 5 described above are used to transport the vehicle 0.
Similarly, the control unit 6 can control the trolley movement position by arranging the girder on the first girder and the trolley traversing the girder so as to match the container storage position. If the transponders 3 arranged on the container storage or the carrier 01 are provided at intervals separated by the size of the container accommodated in the yard, the container storage of one area can be replaced with all the different container storages. can do.

According to the above-mentioned device, since the storage address registered in the transponder is read out by using the radio wave of a specific frequency, sand, dust or other substances are attached to the road surface provided with the address marker or the transport vehicle to cause optical transmission. Even in situations where it is not possible to identify specific signs, it is possible to always reliably detect the storage address and perform a loss-free container transport operation. Also,
The radio wave is arranged so that the antenna 5 and the transponder 3 are located very close to each other and the output is limited, so that no influence is exerted on others.

Next, in the overall plan view of FIG. 4 (A) showing the second embodiment, the traveling guide line 0
5 and the embedded transponder 3 in which the storage address is stored and registered so as to match the arrangement of the 20-foot container storage area 1 and the 40-foot container storage area 2 and the television camera 8a for detecting the traveling guide line 05 is provided on the transport vehicle 01. 8a
And an antenna 5 for detecting the transponder 3 is provided. The transponders 3 are arranged at regular intervals, and storage addresses for additional numbers are set. For example, in the case of the 20-foot container storage area 1, odd-numbered storage areas are used, and in the case of the 40-foot container storage area 2, even-numbered storage areas are used. Is used. The control unit 9 on the transport vehicle 01 is connected to the TV camera 8a to detect the traveling guidance line 05 and performs only the calculation for guidance, and the antenna 5 to connect the transponder 3 to the storage address and fixed point position. And a sequencer 12 for controlling the traveling drive unit 03 and the steering drive unit 04 in accordance with the instructions from the both devices 10 and 11. Reference numeral 13 denotes a transponder communication area between each transponder 3 and the antenna 5.

Further, the partial cross-sectional view of FIG. 4B is the same as FIG.
Of the TV camera 8a and the antenna 5,
They are provided on the sides of the transport vehicle 01 so as to face the traveling guide line 05 and the transponder 3.

The transponder 3 has loop radio wave communication areas 14 on both sides of a vertical plane passing through the transponder 3 in a direction perpendicular to the track as shown in the diagram of FIG. 5 (A) and the plan view of FIG. 5 (B). It is provided so that a valley-shaped antenna dead zone region 15 is formed just above the transponder 3.
Then, the antenna 5 on the transport vehicle 01 is provided on the transport vehicle 01 at a height suitable for detecting the antenna dead zone region 15. As an example, the required stopping accuracy of the transport vehicle 01 is ±
In the case of 35 mm, the horizontal distance between the loop radio wave communication areas 14 on both sides of the antenna dead zone area 15 is 7 mm.
The area of 0 mm is the stop point of the carrier 01. In FIG. 5, if the antenna 5 is provided at a height of 0.5 m from the road surface, the carrier vehicle 01 can be stopped at the stop point by the detection of the above "70 mm area of the antenna dead zone area 15".

FIG. 6 is a flow chart showing a control procedure by the above-mentioned apparatus. In such a device,
The seated states of the 20-foot container, the 40-foot container, etc. in the yard are respectively managed by a yard management computer (not shown), and the loading / unloading of the container is operated by remote control from the management room. Car 0 from the control room
When the container transportation instruction signal (from-to signal depending on the storage address) is input to the control unit 9 of No. 1, the transportation vehicle 01 starts the moving operation and moves along the traveling guidance line 05 by the operation of the image processing apparatus 10 system. Then, the container storage address signal is input from the transponder 3. The control unit 9 recognizes the first storage location address from the transponder 3 as the current position in the radio wave reception / transmission / reading apparatus 11 system, and instructs “f”.
rom storage location address ", shift to deceleration by detecting" from storage address-1 "from the signal from transponder 3, and then detect" antenna dead zone area 15 "at the designated" from storage address location ". At that position, the transport vehicle 01 is automatically stopped and a 20-foot container or 40
Lift the foot container. The operation of lifting and lowering the container is the same as the conventional one, and details are omitted.
The carrier 01 that has lifted the container moves to the designated "to storage address position", decelerates when "to storage address-1" is detected by the signal from the transponder 3, and then "antenna" at the "to storage address position". When the dead zone region 15 "is detected, it automatically stops at that position, unloads and operates the container at that position, and then operates again in a cycle of waiting for input of a control signal from the control room.

The transponder 3 and the antenna 5 are used to recognize the storage address and the stop point in the width direction of the container storage by using the transport vehicle 0.
By arranging the girder 1 and the trolley traversing the girder 1 so as to match the container position, the control unit 9 can similarly control the trolley movement position.

According to the apparatus of these embodiments, the following effects can be obtained. (1) According to the first embodiment, the traveling guide line laid in the container storage area, the display of the storage location addresses attached along the traveling guide line at predetermined intervals, the display of the storage location points, and the storage location address. ， In a container carrier that has each of the above fixed-point detection mechanism and can automatically run vertically across the container yard while detecting the traveling guide line with a pair of front and rear TV cameras, on the road surface of the container yard A display mechanism of a storage address formed by radio wave response type transponders arranged at predetermined intervals, and a display mechanism of a fixed position of the storage formed by fixed point markers which are detected in parallel by the pair of front and rear television cameras. Since the container transport vehicle is equipped with a detection mechanism for the registered storage address of the transponder, even if the road surface is covered with sand, etc. The ground can be easily detected, and thus the automated operation of the carrier can be ensured.

(2) According to the second embodiment, traveling guide lines laid in the container yard, display of the yard addresses and display of the yard fixed points respectively provided at predetermined intervals along the traveling guide line, In a container carrier that has the above-mentioned storage address and the above-mentioned storage fixed point detection mechanism, respectively, and is capable of automatically running longitudinally across the container storage while detecting the traveling guide line with a pair of front and rear TV cameras,
Directly above the transponder by the display mechanism of the storage address formed by the radio wave response type transponders arranged at a predetermined interval on the road surface of the container storage and the detection mechanism of the registered storage address of the transponder attached to the container carrier. Since a fixed point display mechanism formed by detecting the dead zone area generated in the container and a detection mechanism for the registered storage address of the transponder attached to the container transport vehicle are provided, the road surface is covered with sand or the like. However, it becomes easier to detect the storage address of the container and the fixed point of the storage, and thus the automated operation of the transport vehicle becomes more reliable. Further, the television camera only needs to detect and calculate the guide line, which shortens the processing time of the image processing apparatus, and thus speeds up the automated operation of the transport vehicle.

[0026]

In summary, according to the invention of claim 1, the traveling guide line laid in the container storage area, the display of the storage address and the display of the fixed point of the storage area which are respectively attached at predetermined intervals along the traveling guide line. , The container address, and the container fixed point detection mechanism, respectively, and the container transport vehicle capable of automatically running vertically across the container yard while detecting the traveling guide line with a pair of front and rear television cameras, A display mechanism of a storage address formed by transponders of a radio wave response type arranged at predetermined intervals on the road surface of the storage space, and a fixed position point formed by a fixed point marker which is detected in parallel by the pair of front and rear television cameras. It has a display mechanism and a mechanism for detecting the registered storage address of the transponder attached to the container carrier, so that the road surface is covered with sand or the like. Also, easy detection of yard address container, thus Area address of excellent container automated operation, because obtaining a detection device yard fixed point, the present invention is extremely useful industrially.

Further, according to the invention of claim 2, a traveling guide line laid in the container yard, display of the yard address and display of the yard fixed point respectively provided at predetermined intervals along the traveling guide line, A container carrier that has a detection mechanism for the storage address and the storage fixed point, and is capable of automatically running vertically across the container storage while detecting the traveling guide line with a pair of front and rear TV cameras. It is generated just above the transponder by the display mechanism of the storage address formed by the radio wave response type transponders arranged at a predetermined interval on the road surface and the detection mechanism of the registered storage address of the transponder attached to the container carrier. A fixed point display mechanism formed by detecting the dead zone area, and the above-mentioned trans Since it has a mechanism for detecting the registered storage address of the ponda, even if the road surface is covered with sand etc., it is easy to detect the storage address of the container and the fixed point of the storage respectively, and therefore the storage address of the container is even better for automated operation. ，
The present invention is extremely useful industrially because a device for detecting a fixed position of a field is obtained.

[Brief description of drawings]

FIG. 1 shows a first embodiment in which the present invention is applied to a storage address and storage fixed point detection device of the known container transport vehicle shown in FIG. 7, where (A) and (B) are an overall plan view and a partial cross section, respectively. It is a side view.

FIG. 2 is a block diagram showing the storage address and storage fixed point detection device of FIG.

FIG. 3 is a flowchart showing a control procedure of the apparatus of FIG.

FIG. 4 shows a second embodiment in which the present invention is applied to the storage address and storage fixed point detection device of the known container transport vehicle shown in FIG. 7, (A) and (B) are an overall plan view and a partial cross section, respectively. It is a side view.

5A and 5B show a detection function of a fixed point of a container storage place by the transponder 3 in FIG. 4, where (A) and (B) are longitudinal sectional views, respectively.
It is a top view.

FIG. 6 is a flowchart showing a control procedure of the apparatus of FIG.

FIG. 7 is a view showing a storage address and a storage fixed point detecting device of a known container transport vehicle, and (A) and (B) are an overall perspective view and a partial transverse sectional view, respectively.

[Explanation of symbols]

 1 20-foot container storage 2 40-foot container storage 3 Transponder 4 Fixed point marker 5 Antenna 6 Control unit 7 Radio wave receiver / transmitter / reader 8 Sequencer 8a TV camera 9 Control unit 10 Image processor 11 Radio wave receiver / transmitter / reader 12 Sequencer 13 Transponder Communication area 14 Loop radio wave communication area 15 Antenna dead zone area 01 Carrier vehicle 02 Tire traveling device 03 Travel drive unit 04 Steering drive unit 05 Travel guidance line 07 TV camera 010 Image processing device

Claims (2)

[Claims] 1. A traveling guidance line laid in a container yard, display of a yard address provided along the traveling guidance line at predetermined intervals, display of a yard fixed point, and detection of the yard address and the yard fixed point. In a container carrier that has respective mechanisms and is capable of automatically running vertically across the container yard while detecting the traveling guide line with a pair of front and rear TV cameras, the vehicle is arranged at predetermined intervals on the road surface of the container yard. The display mechanism of the storage address formed by the radio wave response type transponder, the display mechanism of the fixed position of the storage place formed by the fixed point markers detected in parallel by the pair of front and rear TV cameras, and the container carrier A device for detecting the storage address of a container and a fixed position of the storage container, which is additionally provided with a detection mechanism for detecting the registered storage address of the transponder. 2. A traveling guide line laid in a container yard, display of a yard address attached along the traveling guide line at predetermined intervals, display of a yard fixed point, and detection of the yard address and the yard fixed point. In a container carrier that has respective mechanisms and is capable of automatically running vertically across the container yard while detecting the traveling guide line with a pair of front and rear TV cameras, the vehicle is arranged at predetermined intervals on the road surface of the container yard. It is formed by detecting the dead zone generated just above the transponder with the display mechanism of the storage address formed by the transponder of the radio wave response type and the detection mechanism of the registered storage address of the transponder attached to the container carrier. And a fixed point display mechanism,
A device for detecting the storage address of a container and a fixed position of the storage container, which is attached to the container transport vehicle and has a detection mechanism for detecting the registered storage address of the transponder.