KR101140359B1 - Trailer Positioning Method for Loading and unloading a container - Google Patents

Abstract

The present invention provides a loading / unloading of a container to increase the accuracy of alignment of the wagon-trailer in the process of loading / unloading the container from the wagon to the trailer or from the trailer to the wagon through the horizontal transfer unit of the container loading / unloading system. A method for recognizing a location for a vehicle, the control of a system for horizontally transporting a container between a first container transporter and a second container transporter, wherein the first and second container transports when the first container transporter enters a workplace. Sensing the horizontal distance between the means and displaying it on the display means; manipulating the first container transportation means such that the displayed horizontal distance is within a tolerance range; when the horizontal distance alignment is finished, the first and second container transportation means The front and rear positions of the sensor When the alignment of the front and rear positions of the first and second container transportation means is completed by operating the first container transportation means; transmitting a completion signal of the alignment of the first and second container transportation means to an external main control system; do.

Description

Trailer Positioning Method for Loading and unloading a container}

The present invention relates to a loading / unloading system of a container, and more particularly, to a container that enables to increase the accuracy of alignment of a wagon-trailer in a process of loading / unloading a container from a wagon to a trailer or from a trailer to a wagon through a horizontal transfer unit. It relates to a location recognition method for loading / unloading of.

Currently, maritime traffic is increasing due to trade between countries or freight between regions, and logistics transportation using containers continues to increase due to such transportation or trade.

In general, containers are classified into land transport and sea transport, and land transport is classified into air transport and rail transport. At present, the air is in saturation and efforts and researches are being actively conducted to increase the amount of transportation through the railway due to accidents caused by long-time operation of trailers and environmental pollution due to soot. As described above, the rail transport is inexpensive and stable, but the connection area with the airway is limited. In addition, in order to transport a container using a railroad, the container must be stored in a loading dock or a storage facility, and thus, direct delivery (DTD (Door to door)) and real time delivery (JIT (Just in time)) are difficult or impossible.

On the other hand, most of the invoices currently use cranes to load / unload containers between trailers and wagons, but the use of cranes is restricted or impossible since the electric wires are installed in the workplace due to the tramization of locomotives. Development of the transfer method is urgently required.

In order to solve the above problems, a dual mode trailer capable of loading / unloading a container for loading / unloading a container between a trailer and a wagon without using a crane is disclosed in Korean Patent Nos. 774015 and 797200. .

No. 774015 of the above patents relates to rail / road combination transport and unloading railcars of cargo, wherein at least one end of the railcar structure is connected to the end platform by a detachable connection to form a rigid assembly and transport. For the purpose of transmitting all static or dynamic forces generated by towing, transport and unloading, where the end platform of the end platform can be completely released if it is separated for unloading, and between end platforms the position of the end platform during unloading operation. A retaining means is provided for retaining the retaining means, the retaining means do not transmit static or dynamic forces associated with towing, transport and unloading operations, and are disposed in a position subject to lift and rotational forces on the rail carrier structure and a longitudinal centerline on the railcar. It has a feature of having a pivot point.

Further, Patent No. 797200 relates to a system and a method for unloading a container using Patent No. 774015, and the container structure is lifted and rotated to load / unload the container from a wagon to a trailer or from a trailer to a wagon. There is a method characteristic to make.

However, in such a conventional patent, since the installation of the rotating means for rotating the carrier structure is essential to the platform of each loading dock, there is a problem that the cost of the effective space and the work space are excessively increased and the cost is significantly increased.

In addition, since the container is loaded / unloaded in a rotational manner, a lot of work space is required, resulting in a complicated system and unloading operation.

In addition, since the loading / unloading operation is possible only on the platform provided with a driving means or a rotating means, there is a problem that the applicability is limited.

The present invention provides a loading / unloading of a container to increase the accuracy of the wagon-trailer alignment in the process of loading / unloading the container from the wagon to the trailer or from the trailer to the wagon through the horizontal transport unit of the container loading / unloading system. It is an object of the present invention to provide a location recognition method.

The present invention provides a position recognition method for loading / unloading a container using a horizontal transfer device (HTS) installed in a wagon to create an alignment state for smooth transfer between a trailer box and a wagon. have.

The present invention accurately informs the driver of the stopped state and position of the trailer through a display device and transmits the wagon-trailer alignment state to the main control system so that the loading / unloading of the container can be efficiently controlled. The purpose is to provide a location recognition method for loading.

According to the present invention, a CCD camera is installed at a wagon and a trailer cone to display a virtual reference position line on a display terminal screen, and the loading / unloading of a container to check the distance between the vehicle and the front and rear positions of the vehicle as a checkable attachment to the wagon. The purpose of the present invention is to provide a location recognition method.

The present invention includes a communication module for transmitting data acquired from a sensor attached for position recognition to a display terminal of a trailer driver seat and configured to load / unload a container to secure communication distance and data reliability. It is an object of the present invention to provide a location recognition method.

The objects of the present invention are not limited to the above-mentioned objects, and other objects that are not mentioned will be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, a position recognition method for loading / unloading a container according to the present invention includes controlling the system for horizontally transporting a container between a first container transporter and a second container transporter, wherein the first container Sensing a horizontal distance between the first and second container transportation means when the vehicle enters a workplace and displaying the horizontal distance on the display means; manipulating the first container transportation means such that the displayed horizontal distance is within a tolerance range; When the horizontal distance alignment is finished, sensing front and rear positions of the first and second container transportation means and displaying them on a display unit; manipulating the first container transportation means to front and rear positions of the first and second container transportation means When the alignment is finished, the alignment completion signal of the first and second container transportation means And it characterized by including; transmitting to the control system.

Here, the first container transport means is a trailer, the second container transport means is characterized in that the wagon.

The horizontal distance between the first and second container transportation means may be calculated using sensing signals of the ultrasonic sensors installed in the first container transportation means.

The front and rear positions of the first and second container transportation means are calculated by using a signal sensed using photo sensors installed in the first container transportation means and a reflector installed in the second container transportation means. It is done.

And an image output from a CCD (Charge Coupled Device) camera installed in the first container transportation means during the horizontal distance between the first and second container transportation means and the alignment of the front and rear positions of the first and second container transportation means. It characterized by using.

And in the step of transmitting the alignment completion signal of the first and second container transportation means to the external main control system, at the same time characterized in that the communication in a frequency band different from the frequency band used by other location recognition systems that work is performed do.

And in the process of the first container vehicle enters the workplace, the driver of the first container vehicle means to enter the first container vehicle while checking the stop line shown on the floor of the workplace to induce entry of the vehicle It is done.

And in the alignment process of the first and second container transportation means, the front image, the rear image screen of the first container transportation means, the front horizontal interval, rear horizontal interval of the first and second container transportation means, and the first And 2 information on the front and rear positions of the container transport means is continuously displayed on the display means.

In the alignment process of the first and second container transportation means, the virtual reference position line is displayed on the display terminal screen and the first and second container transportation is based on the attachment of the second container transportation means of the image displayed on the display means. It is characterized in that the horizontal distance between the means and the front and rear positions of the first and second container transport means.

The second container vehicle may be stopped at a predetermined position while the first container vehicle enters a workplace and performs a position recognition process for loading / unloading a container.

After the alignment of the forward and backward positions of the first and second container transportation means is completed, after the alignment completion signal of the first and second container transportation means is transmitted, the container is horizontally transferred from the first container transportation means to the second container transportation means. Transporting the container, or transporting the container from the second container transport means to the first container transport means using a horizontal transport apparatus.

Such a location recognition method for loading / unloading a container according to the present invention has the following effects.

First, in the process of loading / unloading the container between the trailer and the wagon through the horizontal transfer unit, the wagon-trailer alignment accuracy can be improved.

Second, the accuracy of the wagon-trailer alignment can be improved to increase the working time and efficiency.

Third, by using the horizontal transfer device (HTS) to enable the position recognition to make the container box aligned for smooth transfer between the trailer and the wagon.

Fourth, it is possible to accurately inform the driver of the stopped state and position of the trailer through the display device.

Fifth, the vehicle trailer-trailer alignment status is transmitted to the main control system to efficiently control the loading and unloading of the trailer.

Sixth, a virtual reference position line is displayed on the display terminal screen, and the attachment distance that can be checked on the wagon can confirm the inter-vehicle distance and the front and rear positions of the vehicle, thereby increasing the alignment accuracy.

Seventh, it includes a communication module for transmitting data obtained from the sensor for location recognition to ensure the communication distance and data reliability.

1 is a configuration block diagram showing a loading / unloading system of the container
Figures 2a to 2c is a perspective view, a plan view and a side view showing an example of a horizontal transfer device of the loading / unloading system of the container
3 is a schematic view showing a wagon and a trailer in which a horizontal transport apparatus is positioned in a loading / unloading system of a container
Figure 4 is a block diagram showing a container loading / unloading process using a horizontal transfer device of the container loading / unloading system according to the present invention
5 is a configuration diagram showing a schematic configuration of a location recognition system according to the present invention
6 is a block diagram illustrating a configuration of a location recognition system according to the present invention.
Figure 7 is a block diagram showing a trailer-wagon position alignment state using a position recognition system according to the present invention
8a to 8d is a block diagram showing the progress of the trailer-wagon position alignment process using the position recognition system according to the present invention
9 is a flow chart illustrating a trailer-car wagon position alignment method using a position recognition system according to the present invention.
10a to 10e are screen configuration diagrams displayed on the display means at the time of trailer-wagon position alignment using the position recognition system according to the present invention

Hereinafter, a preferred embodiment of a position recognition method for loading / unloading a container according to the present invention will be described in detail.

Features and advantages of the position recognition method for loading / unloading a container according to the present invention will become apparent from the detailed description of each embodiment below.

1 is a block diagram illustrating a loading / unloading system of a container.

2A to 2C are perspective views, plan views, and side views illustrating an example of a horizontal transfer apparatus of a loading / unloading system of a container, and FIG. 3 illustrates a wagon in which a horizontal transfer unit is positioned in a loading / unloading system of a container. A schematic diagram of a trailer.

The present invention relates to a system for horizontal transport of containers between a first container means and a second container means, in the following description, a first container means means is a trailer, the second container means means a wagon. .

The present invention is to improve the alignment of the wagon-trailer in the process of loading / unloading the container from the wagon to the trailer or from the trailer to the wagon using a horizontal transfer device of the container loading / unloading system.

In the following description, a 'position recognition system' for loading / unloading of a container is used in order to accurately move the container C by the plurality of horizontal transfer devices between the truck F and the trailer T. The relative position of the trailer (T) on the basis of the position, that is, the distance between the truck surface (F) and the loading surface of the trailer (T) means a system that enables the alignment of each other precisely.

The 'location recognition system' includes a position recognition means, a communication means, a display means, a control means for position recognition between the wagon (F) and the trailer (T).

First, an example of a loading / unloading system of a container to which a location recognition system for loading / unloading a container according to the present invention is applied will be described.

Naturally, the loading / unloading system of the container to which the position recognition system according to the present invention is applied is not limited to the configuration shown in FIGS. 1 to 3.

The loading / unloading system of a container according to a preferred embodiment of the present invention is provided on the loading surface of the wagon F to load / unload the container C from the wagon F to the trailer T or to the trailer ( A plurality of horizontal transfer parts 100 moving between the wagon F and the trailer T while the container C is loaded in order to load / unload the container C from the T to the wagon F; To determine the relative position of the trailer (T) based on the position of the wagon (F) for the accurate movement of the container (C) by the plurality of horizontal transfer unit 100 between the wagon (F) and the trailer (T) The plurality of horizontal transfer units (200) by controlling the vehicle position determination unit 200 to enable the alignment between each other, the hydraulic supply unit 300 for supplying hydraulic pressure to the drive means of the plurality of horizontal transfer unit 100 ( Hydraulic driving unit 400 for controlling the driving of the driving means of 100, the plurality Determining the normal operation by detecting the operation of the driving means driven for the horizontal running of the horizontal transfer unit 100 of the plurality of horizontal transfer unit 100 so that the plurality of horizontal transfer unit 100 is driven at the same position The horizontal driving determination unit 500 to determine the correct position of the plurality, the vertical driving determination unit 600 to determine the normal operation by detecting the operation of the driving means driven for the vertical drive of the plurality of horizontal transfer unit 100 And a controller 700 electrically connected to the components to control the operation of the components.

In this case, the loading / unloading system of the container includes a power supply unit for supplying operation power to the components and a series of operations controlled by the controller 700, that is, between the truck F and the trailer T. The display unit may further include a display unit which allows the operator to more easily grasp the situation such as the alignment and the operation and the lifting operation of the horizontal transfer unit 100.

In addition, the control unit 700 is preferably provided in the form of a control panel provided on one side of the wagon (F), More preferably, the control unit 700 is the overall situation of the terminal such as loading dock or iron invoice or loading dock It is good to be electrically connected to the control panel to control the operation status by the loading / unloading system of the container is transmitted.

In addition, the controller 700 may operate by receiving a signal for controlling the components through an external remote control means (remote control).

The wagon F, a plurality of main bodies are detachably connected to the train vehicle to drive the railroad, and a loading surface on which the container C is loaded / unloaded is formed in the longitudinal direction of the main body.

In addition, the side of the wagon (F) is further provided with a plurality of trigger means for stably supporting the trailer (T) on the bottom of the loading dock to prevent the shaking occurs during loading / unloading of the container (C) It is preferable.

In addition, the trailer (T), the main body is integrally provided in the tow vehicle or is detachably attached to the road to run, the loading surface on which the container (C) is loaded / unloaded in the longitudinal direction of the trailer (T) body Is formed.

In addition, the side of the trailer (T) is further provided with a plurality of trigger means for stably supporting the trailer (T) on the bottom of the loading dock to prevent the shaking occurs during loading / unloading of the container (C) It is preferable.

The horizontal transfer unit 100 is provided on the loading surface of the wagon F to load / unload the container C from the wagon F to the trailer T or from the wagon F to the trailer T. It moves between the wagon F and the trailer T with the container C loaded in order to load / unload the container C. The reciprocating motion between the wagon F and the trailer T is performed. The horizontal driving means 110, the vertical driving means 120 is provided on one side of the horizontal driving means 110 and the lifting operation is provided on the upper side of the vertical driving means 120 and the lifting operation and the lower portion of the container (C) Support means for supporting the 130.

An example of a loading / unloading operation process of a container using a horizontal transportation device of a loading / unloading system of a container according to the present invention will be described below.

Figure 4 is a block diagram showing a container loading / unloading process using a horizontal transfer device of the container loading / unloading system according to the present invention.

First, in a control method of loading / unloading a container loaded on a trailer (T) into a truck (F), a plurality of horizontal conveying devices are installed between a loading surface of the trailer (T) and a lower side of the container.

At this time, the loading surface of the wagon F is preferably provided with a plurality of sockets for supporting the lower portion of the container, the lower portion of the container loaded on the loading surface of the trailer (T) is stably by a plurality of sockets It is desirable to have a supported state.

As such, when the trailer T is provided with a plurality of horizontal transfer devices, for example, when the wagon F enters the loading station and transfers the container loaded on the trailer T to the wagon F, By the hydraulic pressure from the hydraulic supply source of the trailer (T) to the hydraulic motor and the hydraulic cylinder of the horizontal feeder.

Subsequently, when the hydraulic cylinder is operated by controlling the access of the hydraulic pressure supplied to the hydraulic cylinder, the support bucket of the support is positioned at the lower end of the container, and at this time, from the plurality of sockets S provided in the trailer T The disengaged container is stably loaded on the support bucket or unloaded from the trailer (T).

As such, when the container is loaded in the support bucket of the support part, when the hydraulic motor is operated in the forward direction by controlling the hydraulic pressure of the hydraulic motor, the driving wheel is rotated forward so that the horizontal feeder is connected between the trailer (T) and the truck (F). Will move.

Thereafter, when the horizontal transportation device is moved from the trailer (T) to the truck (F), when the hydraulic cylinder is operated by controlling the access of the hydraulic pressure supplied to the hydraulic cylinder, the support bucket of the support is lowered, and the support bucket As the lower side of the container is inserted into the plurality of con sockets (S) provided in the wagon (F), the container is stably unloaded from the support bucket or loaded in the wagon (F).

In such a state, in order to return the horizontal feeder back to the trailer (T), when the hydraulic motor is operated in the reverse direction by controlling the hydraulic pressure of the hydraulic motor, the driving wheel is reversely rotated, so that the horizontal feeder and the wagon (F) It will move between the trailer (T).

Therefore, the horizontal feeder is moved from the wagon F to the trailer T and eventually returned to its original position, thereby completing the loading / unloading of the container C from the trailer T to the wagon F.

After that, of course, the container can be fixed to the freight car F and the freight car F can be moved toward the destination.

Referring to the position recognition system according to the present invention for improving the alignment accuracy in the container loading / unloading process using a horizontal transfer device as shown in Figure 4 as follows.

5 is a configuration diagram showing a schematic configuration of a location recognition system according to the present invention.

6 is a block diagram illustrating a position recognition system according to the present invention, and FIG. 7 is a block diagram showing a trailer-car position alignment state using the position recognition system according to the present invention.

Position recognition system according to the present invention is to be installed in the trailer, by using a horizontal transfer device (HTS) located in the wagon to create a state for smooth transfer of the container box between the trailer and the wagon.

The position recognition system according to the present invention accurately informs the driver of the stopped state and the position of the trailer through a display device visible to the trailer driver and transmits the wagon-trailer alignment state to the main control system.

Here, the 'main control system' means a system for controlling and managing the entire transport operation of the container.

5 shows a position recognition system configured in the trailer (T), the position recognition sensor module 52 configured to be largely configured on one side of the loading surface of the trailer to output data regarding the alignment state of the wagon-trailer, and the specificity of the trailer. A main control board 50 configured to receive a sensing signal of the position recognition sensor module 52 to calculate a stopped state and a position of a trailer, and transmit a wagon-trailer alignment state to a main control system and a display means; It is configured in the driver's seat portion of the trailer and includes a display means 51 for informing the driver exactly the stopped state and position of the trailer.

Such a detailed configuration of the position recognition system according to the present invention, as shown in Figure 6, the distance between the wagon and the trailer (horizontal distance (tilt) measurement) and the ultrasonic sensor 52a for front and rear position recognition, photo sensor 52b And a CCD camera 52c, the position recognition sensor module sensing the position information of the wagon and the trailer, and the sensing data received from the position recognition sensor module to process and communicate with the outside communication The board 50b, the position control board 50a for controlling the position of the trailer based on the sensing data through the communication board, and the DVR 50c for receiving, processing, storing and outputting image data of the CCD camera 52c for display and display. Control the vehicle's stationary position and position, and transmit the wagon-trailer alignment status to the main control system and display means. The in control board 50 and the display means 51 which display the information regarding the alignment state of the wagon-trailer output from the main control board 50 are included.

Here, the communication board 50b communicates in a frequency band different from the frequency band used by other location recognition systems in which work is simultaneously performed when communicating with an external main control system.

7 is a view illustrating a trailer-truck position alignment state using a position recognition system according to the present invention, an ultrasonic sensor 52a, a photo sensor 52b, a CCD camera in a position recognition system configured in a trailer positioned adjacent to a truck Transmitting the position information collected by the position recognition sensor module including the 52c from the main control board 50 to the display means 51, and displaying information on the alignment state of the wagon-trailer on the display means 51; The configuration is shown.

Here, the communication board of the main control board 50 wirelessly transmits information on the alignment state of the wagon-trailer to an external main control system (HTR Control Panel).

In addition, the display unit 51 displays an output value calculated from a sensor installed in a wagon or a trailer with an LCD (Liquid Crystal Display) monitor, and the indication of the direction indication so that the trailer driver can easily recognize the vehicle status. It is preferable to display numerically and graphically.

In addition to the LCD (Liquid Crystal Display) device, the display unit 51 may use other types of display devices. The display unit 51 may be configured as a touch panel so that the driver may control the search, enlargement, and confirmation of information on the arrangement of the wagon-trailer. Naturally, it can be configured to be possible.

Referring to the data sensing and processing in the trailer-wagon position alignment process using the position recognition system having a configuration as described above and a method for confirming the exact position is as follows.

8A to 8D are diagrams illustrating a process of aligning a trailer-truck position using a position recognition system according to the present invention.

8A illustrates a process of recognizing span distance of a wagon and a trailer.

It is a configuration that draws a lane with a high recognition rate at the point where the trailer should stop exactly, and makes a stop line, and the trailer driver directly checks the lane and stops at the correct position.

This is because the trailer driver should check the lane directly with the naked eye, which is restricted by night work and the surrounding environment, and the span distance error rate is not constant. However, this is the first attempted positioning process when aligning positions between the wagon-trailers for transporting containers.

8B illustrates a span distance recognition process using an ultrasonic sensor.

At least one side of the loading surface of the trailer is configured, for example, by detecting the position of the horizontal distance between the truck and the trailer with two ultrasonic sensors, and transmits the sensed data to the display terminal installed in the trailer to check the position The process is shown.

This span distance recognition process is for stopping the vehicle within the tolerance range of the wagon and the trailer (for example, 300 ± 20 mm), and it is natural that the selection of the sensor attachment position and the receiver mounting part may vary depending on the site situation. .

Figure 8b shows a case where the ultrasonic sensor is installed in the trailer.

And 8c is to align the trailer and the trailer, showing a position alignment process using a polarization mirror type photo sensor.

In other words, the photo sensor and the mirror reflector plate (80a) (80b) in the wagons and trailers are installed to check the exact position of the trailer.

8D illustrates a position alignment process using a CCD camera.

A CCD camera is installed at the wagon and the trailer cone to display a virtual reference position line on the display terminal screen, and to check the inter-vehicle distance and the front and rear position of the vehicle with a checkable attachment to the wagon.

The driver stops the vehicle when all of the front and rear patches of the vehicle are within the allowable range through the image displayed on the screen, and transmits a signal for a complete stop by pressing the "OK" or "OK" button on the terminal.

The CCD camera used in the position recognition system according to the present invention prevents moisture freezing, prevents focus distortion when using IR at night, and maintains a clear focus state. It is desirable to have the performance of ON / OFF, heat prevention design, waterproof function and the like.

Referring to the method of confirming the exact position in the trailer-wagon position alignment process using the position recognition system according to the present invention having such a configuration as follows.

9 is a flow chart illustrating a trailer-car position alignment method using a position recognition system according to the present invention, and FIGS. 10A to 10E are displayed on display means at the time of trailer-car position alignment using a position recognition system according to the present invention. This is a screen configuration diagram.

The trailer-car position alignment process according to the present invention mainly comprises a vehicle entry step, a vehicle interval alignment step of the trailer-car, a trailer-car front and rear position alignment step, and a trailer-car vehicle alignment completion signal transmission step.

Specifically, as shown in Figure 9, when the trailer enters the workplace (S901), the trailer driver enters the trailer while checking the stop line shown on the floor of the workshop to guide the trailer entry (S902).

When the trailer enters as described above, the CCD camera 52c of the position recognition sensor module 52 captures and transmits a patch image for determining before and after the wagons attached to the wagon, and the ultrasonic sensor 52a transmits horizontal distance information between the wagon and the trailer. The photo sensor 52b senses the arrangement of the wagon and the trailer cone and transmits it to the main control board 50.

Accordingly, as shown in FIG. 10A, the display means 51 of the position recognition system includes a front image and a rear image screen of the wagon transmitted from the main control board 50, and a front horizontal gap and a rear horizontal gap of the trailer-car. And, displays information about the front and rear positions of the trailer-car.

Such an indication continues to be displayed on the display means 51 until the alignment between the wagon-trailer is completed.

In the trailer-car position alignment process according to the present invention, horizontal distance alignment of the trailer-car is first performed.

That is, when the ultrasonic sensor 52a senses the horizontal distance position between the wagon and the trailer (S903) and transmits it to the main control board 50, the sensing data is processed to calculate the horizontal separation distance between the wagon and the trailer and display the calculation result. Displayed on the means 51. (S904)

Subsequently, as shown in FIG. 10B, the driver operates the trailer while checking the horizontal separation distance information displayed on the display means 51 to fall within the tolerance range.

This horizontal separation distance check and trailer operation process is repeated until the allowable interval as shown in Figure 10c (S906).

As such, when the horizontal separation distance of the wagon-trailer is aligned, the front and rear positions of the wagon and the trailer are aligned.

That is, the photo sensor 52b senses the arrangement of the wagon and the trailer cone (S907) and transmits the sensed data to the main control board 50 to process the sensing data and display it on the display means 51 (S908).

In the embodiment according to the present invention uses a method in which the LED window is configured on the display means 51 to correspond to the photo sensor 52b is turned on / off.

When all LEDs are on, it is determined that the wagon and the trailer cone alignment, that is, the front and rear positions of the wagon and the trailer are aligned.

Subsequently, the process of aligning the front and rear positions of the vehicle by manipulating the trailer while checking the vehicle front and rear position alignment information of the displayed wagon and the trailer as shown in FIG. 10D is continued (S909).

When the alignment of the wagon and the trailer is completed by performing the alignment process as described above (S910), the vehicle positioning check mark is displayed on the display means 51 as shown in FIG. 10E, and the communication board 50b of the main control board 50 is provided. ) Transmits the vehicle alignment completion signal to the external main control system (S911).

Here, the communication is performed in a frequency band different from the frequency band used by other location recognition systems in which work is simultaneously performed when communicating with an external main control system.

And while the trailer enters the workshop and performs the position recognition process for loading / unloading the container, the wagon is stopped at a fixed position.

When the front and rear position alignment of the wagon-trailer is completed, after the alignment completion signal of the wagon-trailer is transmitted, the container is transported between the wagon-trailers using a horizontal transfer device.

In the trailer-car position alignment process according to the present invention, by using the image information from the CCD camera installed on the wagon and the trailer cone position, a virtual reference position line is displayed on the display terminal screen and the attachment of the wagon is displayed on the image. It is also possible to check the inter-vehicle distance and the front and rear positions of the vehicle as a reference.

The position recognition method for loading / unloading a container according to the present invention as described above is to improve the accuracy of the wagon-trailer alignment in the process of loading / unloading the container from the wagon to the trailer or from the trailer to the wagon.

It will be understood that the present invention is implemented in a modified form without departing from the essential features of the present invention as described above.

It is therefore to be understood that the specified embodiments are to be considered in an illustrative rather than a restrictive sense and that the scope of the invention is indicated by the appended claims rather than by the foregoing description and that all such differences falling within the scope of equivalents thereof are intended to be embraced therein It should be interpreted.

50. Main Control Board 51. Display Means
52. Position Aware Sensor Module

Claims (11)

In the control of a system for horizontal transport of containers between a first container means and a second container means,
Sensing the horizontal distance between the first and second container vehicles when the first container vehicle enters a workplace and displaying the horizontal distance on the display means;
Manipulating a first container vehicle such that the displayed horizontal distance is within a tolerance range;
When the horizontal distance alignment is finished, sensing front and rear positions of the first and second container transportation means and displaying them on a display means;
And manipulating the first container transportation means to transmit an alignment completion signal of the first and second container transportation means to an external main control system when alignment of the forward and backward positions of the first and second container transportation means is completed. A location recognition method for loading / unloading a container. The method of claim 1, wherein the first container vehicle is a trailer and the second container vehicle is a wagon. The position recognition for loading / unloading a container according to claim 1, wherein the horizontal distance between the first and second container transportation means is calculated using sensing signals of ultrasonic sensors installed in the first container transportation means. Way. The method of claim 1, wherein the front and rear positions of the first and second container transportation means use a signal sensed using photo sensors installed in the first container transportation means and a reflector plate installed in the second container transportation means. Position recognition method for loading / unloading a container, characterized in that for calculating. According to claim 1, CCD (Charge Coupled Device) installed in the first container transport means in the horizontal distance between the first and second container transport means and the alignment of the front and rear positions of the first and second container transport means Position recognition method for loading / unloading a container, characterized by using an image output from a camera. According to claim 1, In the step of transmitting the completion signal of the alignment of the first and second container vehicle to the main control system,
A location recognition method for loading / unloading a container, characterized in that communication is performed in a frequency band different from that used by other location recognition systems in which work is simultaneously performed. According to claim 1, In the process of entering the first container container means,
The driver of the first container vehicle means to enter the first container vehicle while checking the stop line shown on the floor of the workplace to induce entry of the vehicle means for loading / unloading the container. The method of claim 1, wherein in the alignment of the first and second container vehicles,
The front image and the rear image screen of the first container transport means, the front horizontal gap and the rear horizontal gap of the first and second container transport means, the information about the front and rear positions of the first and second container transport means display means A method of recognizing a location for loading / unloading a container, which is continuously displayed on the screen. The method of claim 1, wherein in the alignment of the first and second container vehicles,
A virtual reference position line is displayed on the display terminal screen and the horizontal distance between the first and second container transportation means and the first and second container transportation means based on the attachment of the second container transportation means of the image displayed on the display means. A position recognition method for loading / unloading a container, characterized by identifying the front position and the rear position. The method of claim 1, wherein the second container vehicle is stationary at a fixed position while the first container vehicle enters the workplace and performs the position recognition process for loading / unloading the container. Location recognition method for loading / unloading a container. According to claim 1, After the alignment of the front and rear positions of the first and second container transport means, after transmitting the completion signal of the alignment of the first and second container transport means,
The container is transferred from the first container transportation means to the second container transportation means using a horizontal transportation device;
Positioning method for loading / unloading a container, characterized in that for transporting the container from the second container transportation means to the first container transportation means using a horizontal conveying device.

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