WO2005087633A1 - コンテナ検査荷役方法およびコンテナ検査荷役システム - Google Patents
コンテナ検査荷役方法およびコンテナ検査荷役システム Download PDFInfo
- Publication number
- WO2005087633A1 WO2005087633A1 PCT/JP2005/004361 JP2005004361W WO2005087633A1 WO 2005087633 A1 WO2005087633 A1 WO 2005087633A1 JP 2005004361 W JP2005004361 W JP 2005004361W WO 2005087633 A1 WO2005087633 A1 WO 2005087633A1
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- WIPO (PCT)
- Prior art keywords
- container
- inspection
- cargo
- agv
- containers
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000007689 inspection Methods 0.000 claims abstract description 143
- 230000005855 radiation Effects 0.000 claims abstract description 91
- 238000012546 transfer Methods 0.000 claims abstract description 56
- 238000011068 loading method Methods 0.000 claims description 33
- 238000004891 communication Methods 0.000 claims description 9
- 230000001678 irradiating effect Effects 0.000 claims description 4
- 239000000969 carrier Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 6
- 230000008676 import Effects 0.000 description 6
- 238000013459 approach Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 2
- 230000002238 attenuated effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 230000004992 fission Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
- B65G63/002—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles
- B65G63/004—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles for containers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
- G01V5/20—Detecting prohibited goods, e.g. weapons, explosives, hazardous substances, contraband or smuggled objects
Definitions
- the present invention relates to a container inspection cargo handling method and a container inspection cargo handling system, and more particularly to a cargo handling route for unpacking cargo in a container that has been unloaded or loaded in a vessel.
- the present invention relates to a container inspection loading and unloading method and a container inspection loading and unloading system which are inspected by external force radiation inside a container.
- an X-ray device is arranged in a shielded room, and X-ray inspection of the container cargo is performed by passing a vehicle equipped with a container through the X-ray inspection device. There is something.
- Patent document 1 Japanese Patent Application Laid-Open No. 2003-287507
- the present invention provides an inspection method and an inspection system for container cargo, which realizes efficient container inspection and labor saving of cargo handling / transportation work, and is capable of efficiently inspecting containers to be imported and exported. With the goal.
- a container cargo inspection method provides a method for inspecting a container ship while circulating an automatic guided vehicle in a quay area where a container ship berths. It is characterized by carrying out the delivery of containers between containers and performing a radiation inspection of the container cargo on the automatic guided vehicle during the circulating movement.
- the AGV circulates between the container stack yard and the container delivery area of the ship, and the container cargo on the AGV moving in a circulating manner can be inspected for radiation.
- the container delivery may be performed between the automatic guided vehicle and the truck chassis that circulate.
- the present invention circulates an unmanned guided vehicle in a quay area to transfer containers to and from a ship, and performs a radiation inspection in this circulating route, thereby circulating the unmanned guided vehicle and the quay area.
- a container inspection cargo handling method characterized in that containers can be delivered between a truck chassis or an automated guided vehicle that moves between the container stack yard and the container stack yard.
- the present invention is a method for inspecting container cargo by radiation inspection of cargo in a container unloaded by a ship or cargo in a container to be loaded on a ship, wherein the automated guided vehicle is provided in a quay area. Circulating the vehicle, loading and unloading work between the automatic guided vehicle and the vessel on a circulating traveling line of the automatic guided vehicle, inspecting the containers placed on the automatic guided vehicle, It is also possible to adopt a configuration characterized by performing a container transfer operation between the automatic guided vehicle and the manned guided vehicle. The container transfer operation and the container loading / unloading operation are performed at at least one location on the circulation line, and the inspection of the container is performed at one location or the container transfer operation / container loading operation. It can be set less than the place where the unloading work is performed.
- a container inspection and cargo handling system is provided with a container crane installed on a quay area where a container ship berths and a circulation path for an unmanned transport vehicle passing through a work area of the container crane.
- a radiation inspection apparatus for irradiating container cargo on the automatic guided vehicle with radiation while providing delivery of containers between the container ship and the automatic guided vehicle is provided along the circulation path.
- the circulation route may be a route that reciprocates in the quay area.
- container A transfer means can be provided to enable delivery of containers between the truck chassis and the automatic guided vehicle.
- a container transfer means is provided in the circulation path, and a second automatic guided vehicle for transferring the container by the transfer means is provided, and the second automatic guided vehicle is circulated between the container stack yard and the quay area. It may be transportable.
- the container inspection and handling system includes a container crane installed in a quay area where a container ship berths, and an unmanned transport vehicle that travels through a work area of the container crane to a container stack yard.
- a circulation route is provided to enable the container to be delivered between the container ship and the automatic guided vehicle and to be unloaded to the container stack yard, thereby irradiating the container cargo on the automatic guided vehicle with radiation.
- a radiation detection device to be provided is provided along the circulation path.
- the circulation path includes a loop in the quay area and a communication loop connecting the quay area, which shares a part of the loop, with the container stack yard.
- a radiation inspection apparatus may be provided in the common loop.
- the circulation path includes a loop in the quay area and a communication loop connecting the quay area, which shares a part of the loop, with the container stack yard, and the loop in the quay area is a switchback type reciprocating circulation.
- the route can be configured as follows.
- the circulation path includes an automatic guided vehicle circulation loop in the quay area and a communication circulation loop for communicating between the quay area and the container stack yard, and the container is passed between the two loops. It is good also as a structure equipped with a container transfer crane.
- the present invention is a container cargo inspection system for radiation inspection of cargo in a container in which ship power has been unloaded and cargo in a container to be loaded on a ship, and circulates through the quay area.
- An unmanned guided vehicle equipped with an automatic guided vehicle, and on a line along which the unmanned guided vehicle circulates, cargo handling means for handling the container with respect to the unmanned guided vehicle, and inspection of the cargo in the container placed on the unmanned guided vehicle.
- a container inspection unit for transferring containers between the automatic guided vehicle and the automated guided vehicle may be provided.
- each of the cargo handling means and the container transfer means is provided on at least one line on which the automatic guided vehicle circulates, and the container inspection means is provided on a line on which the automatic guided vehicle circulates.
- One or the cargo handling means, the container The number should be smaller than the transfer means.
- the AGV is circulated independently in the quay area or between the quay area and the container stack yard, and the AGV circulates.
- On-line, loading and unloading work between the AGV and the ship, and radiation inspection of containers placed on the AGV on the same circulation traveling line are performed.
- containers are transferred to and from the automated guided vehicle and the automated guided vehicle or between unmanned guided vehicles in and out of the circulation line. be able to.
- unmanned transport vehicles that circulate around the quay area it is possible to reduce the waste of drivers getting on and off at the time of container inspection, and also to reduce personnel costs, etc., corresponding to the waiting time that occurs during each process. Can be.
- the container transfer operation and the container loading / unloading operation are performed at at least one location on the circulation traveling line, and the container inspection is performed at one location or the container transfer operation.
- a transfer line of a chassis is provided alongside the circulating travel line so that transfer can be performed.
- a circulating line to a container stack yard is separately formed, and a yard and a quay area by an automatic guided vehicle are provided.
- a fully automated system can be provided by transferring containers between containers.
- the circulating travel line in the quay area and the circulating travel line to the container stack yard will also be formed as a continuous travel line with a shared line, and an unmanned guided vehicle will run here, making it a fully automated line.
- the system will be able to inspect the radiation of container cargo, which will make it extremely efficient.
- FIG. 1 is a view showing an embodiment of a container inspection and cargo handling system of the present invention.
- FIG. 2 is a view showing a state of cargo handling work under a quay crane.
- FIG. 3 is a plan view showing a radiation inspection apparatus and an AGV passing through the radiation inspection apparatus.
- FIG. 4 is a front view showing container transfer means.
- FIG. 5 is a view showing a second embodiment of the embodiment relating to the container inspection and cargo handling system of the present invention.
- FIG. 6 is a configuration diagram showing a third embodiment of the container inspection and cargo handling system according to the present invention.
- FIG. 7 is a configuration diagram showing a fourth embodiment of the container inspection and cargo handling system according to the present invention.
- FIG. 8 is a configuration diagram showing a fifth embodiment of the container inspection and unloading system according to the present invention.
- FIG. 9 is a configuration diagram showing a sixth embodiment of the container inspection and cargo handling system according to the present invention.
- FIG. 10 is a partial configuration diagram illustrating a container inspection and handling system according to a seventh embodiment of the present invention.
- FIG. 1 is a diagram showing an overall outline of a first embodiment of a container inspection and cargo handling method and an inspection and cargo handling system of the present invention.
- the basic configuration of the present embodiment is as follows.
- An AGV (Automated Guided Vehicle) 18 that circulates through the quay area 10 of a port and a container 14 provided on the AGV 18 traveling line Quay line 16 as a cargo handling means, a radiation inspection device 20 as a container inspection means, a container transfer means 22, and a container to which the container 14 is transferred from the AGV 18 by the container transfer means 22.
- a carrier vehicle hereinafter referred to as a truck chassis
- the AGV 18 used in the present embodiment is not particularly limited as long as the AGV 18 can transport the container 14.
- the AGV 18 is provided along the quay in the quay area 10. It is set to be able to reciprocate and circulate on the quay circulating travel line Q installed.
- the circulating travel line Q is set so as to perform circulating travel by switching back and changing the route as shown by arrows a and b.
- a U-turn may be set, but the above-described method is preferable in the quay area 10 where traveling space is limited.
- the container 14 lifted via the spreader 17 is attached to the lower part of the quay crane 16 as shown in detail in FIG. Unload to the loading platform 18a of the AGV18 stopped in the frame.
- a guide 19 is provided at the container mounting position of the loading platform 18a of the AGV 18, and it is possible to automatically correct some deviation error when loading the container Good to do!
- the radiation inspection apparatus 20 includes a radiation source 20a that emits radiation, and a detection unit 20b that detects radiation emitted from the radiation source.
- the radiation source 20a and the detection unit 2 Ob are provided with an interval that allows the AGV 18 to pass between them, and when the AGV 18 passes between them, the container placed on the AGV 18 Radiologically inspect the cargo within 14.
- the radiation inspection apparatus 20 may be provided with a casing 20c that covers at least a radiation emission region with a radiation shielding material for safety. Further, although not shown, it is preferable that the radiation inspection apparatus 20 be provided with a tire (not shown) and configured to be movable to an arbitrary position.
- the container transfer means 22 installed on the circulation path will be described with reference to FIG.
- the container transfer means 22 comprises a portal frame 23 with a traversable trolley 26 And the spreader 30 can be wound up via a wire 28.
- the spreader 30 is connected to the container 14 mounted on the AGV 18 stopped at the stop position, and the container 14 is lifted.
- the lifted container 14 is moved along the route indicated by the arrow d and delivered to the truck chassis 24 stopped at the container transport vehicle lane.
- the container transfer means 22 includes a tire and is configured to be movable to an arbitrary position.
- any means such as a transfer crane, a forklift, a reach stat force, and a top lid can be used.
- a transfer crane a forklift, a reach stat force, and a top lid.
- the AGV 18 traveling on the above-mentioned circulation route may be one that sequentially receives commands from a control unit (not shown) provided in the harbor or one that travels on the circulation route at a pre-programmed timing and speed.
- a configuration may be adopted in which a sensor or the like embedded in the route is input and an instruction is received from the sensor.
- control of the quay crane 16, the radiation inspection apparatus 20, and the container transfer means 22 may be controlled collectively by a control unit (not shown), but requires manual operation when loading / unloading containers. Therefore, in consideration of safety, it is desirable to place an operator on each machine and operate it by the operator!
- the route on which the AGV 18 travels is determined.
- the traveling route of the AGV 18 is preferably a circulation route that passes through the unloading position of the quay crane 16 (in the lower frame).
- the radiation inspection apparatus 20 and the container transfer means 22 are arranged at arbitrary positions on the circulation path.
- the unloaded container 14 is placed on the carrier 18a in the lower frame of the quay crane 16.
- the AGV 18 on which the container 14 is placed travels on the circulation path and moves as it is into the radiation inspection apparatus 20.
- the AGV 18 whose traveling speed is controlled to be constant passes between the radiation source 20a and the detection unit 20b.
- the container 14 placed on the AGV 18 is inspected along the longitudinal direction. That is, radiation is emitted from the radiation source 20a of the radiation inspection apparatus 20 toward the container 14. Radiation is attenuated in the process of passing through the outer wall of the container 14 and the cargo in the container, and the attenuated transmitted radiation is detected by the detector 20b.
- the detection unit 20b converts the detected radiation into an electric signal and outputs the electric signal to an image processing device (not shown).
- the image processing device processes the electric signal and displays an image of the cargo in the container 14 on a monitor (not shown). The image displayed on the monitor is checked by the operator for any obvious difference from the cargo list declared by the shipper of container 14.
- the cargo check can also be performed by the following method.
- a database is stored in the radiation inspection apparatus 20, and an estimated amount of transmitted radiation corresponding to the cargo in the container 14 to be inspected is set.
- an alarm or the like is sounded when the dose of transmitted radiation is significantly different from the expected amount.
- the container 14 for which the alarm has sounded is sent for further detailed inspection. This reduces human labor and increases inspection speed.
- the AGV 18 on which the container 14 having been inspected as described above is placed by passing through the radiation inspection apparatus 20 travels to the stop position set in the container transfer means 22 and stops.
- the spreader 30 is connected to the container 14 placed on the loading platform 18a of the stopped AGV 18 and is lifted.
- the lifted container 14 is transported along the route indicated by the arrow d, and is delivered to the truck chassis 24 stopped in the container transport vehicle side lane with the fence 11 interposed therebetween.
- the AGV 18 that has delivered the container 14 to the container transfer means 22 circulates and travels along the determined route, and moves again into the lower frame of the quay crane 16.
- a radiation inspection apparatus 20 and a container transfer means 22 are respectively provided for a plurality of (two in the embodiment) quay cranes 16.
- a radiation inspection apparatus 20 and a container transfer means 22 are respectively provided for a plurality of (two in the embodiment) quay cranes 16.
- X-rays are particularly effective in the present invention in which it is essential to transmit an outer wall iron plate of a container having a large penetrating power.
- X-rays of high energy of about 6-9 MeV are used.
- the radiation used in the present invention may be gamma rays or the like.
- the radiation detector may be a passive sensor such as a neutron detector for detecting fission material, or a combination of these sensors.
- the container transfer means may be a forklift or the like as long as it can transfer the container to the container transport vehicle with the AGV force.
- a fork pocket (not shown) provided at the lower part of the container.
- the container cargo inspection system of the present invention can also be used when loading a container on a vessel.
- the process of transporting the container 14 is reversed. That is, the container 14 conveyed to the container transfer means 22 by the truck chassis 24 is transferred to the AGV 18.
- the container 14 transferred to the AGV 18 passes through the radiation inspection apparatus 20, is conveyed into the lower frame of the quay crane 16, and is loaded on the ship 12. Note that the container for which an abnormality has been confirmed by the radiation inspection apparatus 20 is transported to a process different from the above.
- the container transferring means 22 may be divided into a loading container transferring means 22a and an unloading container transferring means 22b.
- the loading container transported by the container transporting vehicle 24 is transferred to the AGV 18 by the loading container transfer means 22a.
- the AGV 18 performs a radiation inspection on the loaded containers transferred by the radiation inspection device 20.
- AGV18 which has completed the radiation inspection of the loading container, passes the unloading container transfer means 22b, passes the route a, and removes the loading container. It is transported into the lower frame of the quay crane 16.
- the unloading container unloaded from the ship to AGV 18 is subjected to radiation inspection by radiation inspection device 20.
- the unloading container after the inspection is delivered to the truck chassis 24 by the unloading container transfer means 22b.
- the container transporting vehicle 24 which has delivered the container 14 by the loading container transfer means 22a, can pick up the container 14 by the unloading container transfer means 22b. Carrying work can be performed.
- the radiation inspection apparatus 20 and the container transfer means 22 may be provided separately for the loading circulation path and the unloading circulation path.
- the AGV 18 may be run with the container loading route and the unloading route set in two directions (opposite directions). In this case, when the vehicles approach each other, at least one of them may change the running line to prevent the vehicles from contacting each other.
- the cargo handling means is a quay crane, but the cargo handling means according to the present invention is not limited to the quay crane.
- FIGS. 6 to 9 show third to sixth embodiments.
- the truck chassis 24 is not driven in the quay area 10 and the container is transferred by the container transfer means 22 in a part of the quay circulation traveling line Q.
- This is a configuration example. That is, the AGV 18 is circulated and moved along the quay circulation traveling line Q at the quay area 10 where the container ship 12 berths, and the container 14 is transferred to and from the ship 12, and the circulation route is The radiation inspection equipment 20 installed in the AGV 18 passes through the AGV 18 equipped with a container, and Cargo radiation inspection is being conducted.
- the container transfer means 22 is disposed in front of the radiation inspection apparatus 20, and passes through the transport line T of the truck chassis 24, and transfers the container 14 between the circulating AGV 18 and the truck chassis 24.
- the truck chassis reciprocates with the container stack yard to carry the containers.
- FIG. 7 relates to the fourth embodiment, and instead of the transport line T of the truck chassis 24 of the third embodiment shown in FIG. 6, a yard communication circulation traveling line Y communicating with the container stack yard 32 is installed. This is configured so that the second AGV 18A is circulated.
- the loop of the yard communication circulation line Y and the loop of the quay circulation line Q are connected by the container transfer means 22 provided on the front side of the radiation inspection device 20 so that container transfer can be performed between the loops. I have. According to this embodiment, everything from loading and unloading of containers to yard accommodation can be performed unattended.
- FIG. 8 shows still another embodiment, which is a direct circulation traveling line for directly connecting between the quay area 10 and the container stack yard 32 without providing the independent circulation traveling line Q in the quay area 10.
- D is installed to circulate the AGV 18 between the quay area 10 and the container stack yard 32. Then, by passing the radiation inspection device 20 in the quay area 10 of the travel line D, the inspection of the container cargo is automatically performed.
- the radiation inspection of the import container 14 can be performed after unloading.However, in the case of the export container, the radiation inspection cannot be performed in front of the quay crane 16, so the radiation inspection device 20 is a mobile type. In the case of an export container, it is desirable to move and arrange the radiation inspection apparatus 20 before the quay line 16.
- the circulation route D can be switched in the forward and reverse directions depending on the cargo handling capacity of the export container and the cargo handling of the import container.
- the radiation Inspections can be performed simultaneously, and efficient operation can be achieved.
- a route Db bypassing the radiation inspection apparatuses 2 Oa and 20 b is provided in the circulation line D.
- FIG. 9 is a system diagram showing another embodiment. This is a facility combining the quay circulation line Q and the yard connection circulation line Y, and the loop of both lines Q and Y is partly shared.
- the AGV 18 travels along the combined circulation travel line to perform cargo handling and inspection work. That is, the cargo handling work area by the quay crane 16 is arranged on the common line QY of the quay circulation traveling line Q, and the inspection area is arranged by installing the radiation inspection apparatus 20 downstream of the quay crane 16. In such an embodiment, the import / export container handling process is different. First, for cargo handling of export containers, containers 14 are transferred from the yard connecting circulation line Y to the quay by AGV 18 from the container stack yard 32.
- the AGV 18 After inspecting the internal cargo, the AGV 18 enters the yard communication circulation line Y (arrow B3), and faces the container stack yard 32. They are loaded into the yard.
- the traveling line of the AGV 18 is distinguished by the import / export of the container 14, and the inspection of the container cargo is performed at the optimum position only by traveling the cargo handling work route without moving the radiation inspection apparatus 20. Work efficiency is extremely high.
- the AGV 18 may be run with the container loading route and the unloading route set in two directions (opposite directions). In this case, when vehicles approach each other, at least one of them runs. It is good to change the line and set it to prevent contact between vehicles.
- the track chassis 24 Alternatively, if the radiation inspection is performed before the container 14 is unloaded to the vessel 12 by rotating the circulation loop in the AGV 18, the system can be used more efficiently.
- the present invention can be used for a container cargo handling work system that performs a radiation inspection of a container cargo as well as an operation of stacking and landing a container on a ship.
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- High Energy & Nuclear Physics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Geophysics (AREA)
- Analysing Materials By The Use Of Radiation (AREA)
- Ship Loading And Unloading (AREA)
- Sorting Of Articles (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
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Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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US10/590,303 US7780390B2 (en) | 2004-03-12 | 2005-03-11 | Container inspection/cargo-handling method and container inspection/cargo-handling system |
JP2006511014A JP3970315B2 (ja) | 2004-03-12 | 2005-03-11 | コンテナ検査荷役方法およびコンテナ検査荷役システム |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2004-070884 | 2004-03-12 | ||
JP2004070884 | 2004-03-12 |
Publications (1)
Publication Number | Publication Date |
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WO2005087633A1 true WO2005087633A1 (ja) | 2005-09-22 |
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Application Number | Title | Priority Date | Filing Date |
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PCT/JP2005/004361 WO2005087633A1 (ja) | 2004-03-12 | 2005-03-11 | コンテナ検査荷役方法およびコンテナ検査荷役システム |
Country Status (4)
Country | Link |
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US (1) | US7780390B2 (ja) |
JP (1) | JP3970315B2 (ja) |
TW (1) | TW200532191A (ja) |
WO (1) | WO2005087633A1 (ja) |
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JP2013544218A (ja) * | 2010-11-11 | 2013-12-12 | ゴットヴァルト ポート テクノロジー ゲーエムベーハー | コンテナ積み替えシステム |
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Also Published As
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US20080025825A1 (en) | 2008-01-31 |
JP3970315B2 (ja) | 2007-09-05 |
TWI378236B (ja) | 2012-12-01 |
TW200532191A (en) | 2005-10-01 |
US7780390B2 (en) | 2010-08-24 |
JPWO2005087633A1 (ja) | 2008-01-24 |
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