WO2021000339A1 - 一种自动化集装箱堆场 - Google Patents

一种自动化集装箱堆场 Download PDF

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Publication number
WO2021000339A1
WO2021000339A1 PCT/CN2019/095553 CN2019095553W WO2021000339A1 WO 2021000339 A1 WO2021000339 A1 WO 2021000339A1 CN 2019095553 W CN2019095553 W CN 2019095553W WO 2021000339 A1 WO2021000339 A1 WO 2021000339A1
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WIPO (PCT)
Prior art keywords
container
module
information
yard
area
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PCT/CN2019/095553
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English (en)
French (fr)
Inventor
江勇涛
张洪波
张国昭
赵伟
朱国兵
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机科（山东）重工科技股份有限公司
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Publication of WO2021000339A1 publication Critical patent/WO2021000339A1/zh

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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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the invention belongs to the technical field of container terminal construction, and relates to an automated container yard, in particular to the design of an automatic container yard without manual scheduling and control.
  • Container English name container, is a component tool that can load packed or unpacked goods for transportation, and is convenient for loading and unloading with mechanical equipment.
  • the biggest success of the container lies in the standardization of its products and the establishment of a complete set of transportation systems, which can standardize a behemoth with a load of tens of tons, and gradually realize the global scale of ships, ports, routes, and roads based on this.
  • Transfer stations, bridges, tunnels and multimodal transport supporting logistics system can be called one of the great miracles created by civilization in history.
  • the container yard also known as the yard, is a unified gathering place for containers before or after they are cleared and disembarked. It is used for the loading and unloading, transshipment, storage and handover of heavy or empty containers. It plays a very important role in container transportation.
  • the container yard is generally divided into empty container yard, container rear yard and container front yard.
  • the empty container yard, the rear container yard and the front container yard are getting closer and closer to the ship's parking place.
  • the empty container yard is mainly used to stack empty containers. Since the empty containers do not carry cargo, the empty containers are stacked close to each other to save floor space.
  • the rear yard of the container is mainly used to store heavy containers.
  • gantry cranes are generally used to hoist heavy containers. Due to the accuracy of gantry cranes, there needs to be a certain gap between the heavy containers to facilitate lifting.
  • the transport truck is transported to the front yard of the container, and the container in the front yard of the container is hoisted onto the ship using a crane.
  • Each yard needs to be dispatched by personnel.
  • the equipment in the yard needs to be manually controlled by operators.
  • the operation and scheduling of the yard is extremely manual. The experience of the operators greatly determines whether the yard runs smoothly. At the same time, the current low level of automation in the storage yard does not match the automation level of the entire logistics industry.
  • the purpose of the present invention is to overcome the defects of the prior art that the degree of automation is low, rely on manual scheduling and control, and require high operator experience, and to provide a fully automatic container yard without manual scheduling and control.
  • An automated container yard including a central control unit and automatic stacking equipment
  • the yard is provided with a container stacking area and a container entry and exit area.
  • the containers in the container stacking area are arranged in rows.
  • the container stacking area is provided with a first information collection device for collecting stacking container status information and transmitting the information to the central control unit.
  • the yard is provided with a plurality of longitudinal rails perpendicular to the length of the container, each row of containers is provided with a corresponding longitudinal rail, and the yard is also provided with a horizontal rail connecting the plurality of longitudinal rails; the longitudinal rail and the horizontal rail of the yard of the present invention
  • the specific arrangement is not limited to this.
  • the present invention only uses this as an example, as long as it is ensured that each row of containers is provided with a corresponding longitudinal track and a track connecting each longitudinal track.
  • the container entry and exit area is provided with a second information collection device for collecting information about entering and exiting containers or trucks and transmitting the information to the central control unit.
  • the central control unit formulates a dispatch plan based on the acquired information and dispatches automatic stacking according to the dispatch plan. Moving containers with high equipment;
  • the automatic stacking equipment runs on a longitudinal track and a transverse track.
  • the automated container yard of the present invention has a high degree of automation, does not require manual scheduling and control, and greatly saves labor. At the same time, the central control unit has better stability than manual scheduling and manual control.
  • the structure of the automated container yard of the present invention is simple.
  • the longitudinal track is provided to ensure that the automatic stacking equipment can move along the longitudinal track for container stacking or removing.
  • the design of the horizontal track enables the automatic stacking equipment to switch between different longitudinal tracks. , In order to realize the reasonable scheduling of automatic stacking equipment. For example, in the current state, the more 40-foot containers are used, more automatic stacking equipment will be transferred to the 40-foot container area.
  • the automated container yard of the present invention can be not only an empty container yard, but also a container yard behind the container.
  • the central control unit will record the information (size, number and location) of each container in the yard, which can be controlled according to actual needs.
  • the automatic stacking equipment takes out a certain specified container. Compared with the ordinary manual control stacking equipment, the automatic stacking equipment is more efficient and faster.
  • the containers in the container stacking area are close to each other.
  • the scope of protection of the present invention is not limited to this, and the present invention only takes this as an example, and containers close to each other can save floor space.
  • the information about entering and leaving the container includes the entering and exiting information, size and number of the container; the information about the truck includes the license plate and model of the truck.
  • the specific information of the container and truck of the present invention is not limited to this. The present invention only uses this as an example.
  • the central control unit can arrange the automatic stacker at the corresponding location to carry (stack) the container according to the information (size) of the container or truck. Record the location or other information of the container after handling.
  • a row of containers corresponds to a longitudinal track; the central axis of the longitudinal track passes through the center of the container corresponding to the longitudinal track.
  • the scope of protection of the present invention is not limited to this, and the present invention only takes this as an example, and those skilled in the art can select a suitable position of the longitudinal rail according to actual needs.
  • the container stacking area is divided into an area I with 20-foot containers and an area II with 40-foot containers along the length of the container;
  • the pitch between the longitudinal tracks of the zone II is twice the pitch between the longitudinal tracks of the zone I.
  • the scope of protection of the present invention is not limited to this.
  • the present invention only takes this as an example.
  • the container stacking area can be divided into different areas according to the size or type of the container to facilitate management.
  • the overall partition according to the container size can facilitate automatic stacking.
  • the first information collection device and the second information collection device include cameras.
  • the scope of protection of the present invention is not limited to this, and the present invention only takes this as an example, as long as the information collection device can obtain corresponding information.
  • the container entry and exit area includes a container entry area and a container delivery area.
  • the container entry area and the container delivery area are respectively located on both sides of the container stacking area. Longitudinal rails and horizontal rails are arranged between the shipping area and the container stacking area.
  • the scope of protection of the present invention is not limited to this. The present invention only takes this as an example.
  • the separation of the container entry area and the container delivery area can facilitate management and improve efficiency, but it will increase the floor area to a certain extent, and more Automatic stacking equipment.
  • the container entry zone and the container shipping zone of the present invention are combined into one to save floor space. The specific settings of the container entry zone and the container shipping zone can be selected by those skilled in the art according to actual needs.
  • the longitudinal track is perpendicular to the transverse track, and the transverse track is connected to the end of the longitudinal track away from the container.
  • the direction of the transverse rail and the specific connection position with the longitudinal rail of the present invention are not limited to this, and those skilled in the art can make selections according to actual needs.
  • the automatic stacking equipment includes a vehicle body and a vehicle control module installed on the vehicle body, an intelligent sensing module, a vehicle positioning module, a grasping module, a lifting boom module, and a power drive Module, wheel change drive module and communication module;
  • a plurality of wheels I that move in the same direction and cannot steer are installed under the vehicle body;
  • the smart sensing module, the vehicle positioning module, the grasping module, the lifting boom module, the power drive module, the track changing drive module and the communication module are respectively connected to the vehicle control module;
  • the smart sensor module is used to identify the grasping position of the container to be processed and obtain height information of the container to be processed on the lifting arm module, and at the same time send the acquired information to the vehicle control module;
  • the vehicle positioning module is used to obtain the vehicle position and send the information to the vehicle control module;
  • the vehicle control module is used to formulate a control plan based on real-time acquired information, and send the control plan to the power drive module, the wheel change drive module, the grab module, and the lifting boom module;
  • the grasping module is used to grasp the container to be processed
  • the lifting boom module is used to lift the grabbed container to be processed
  • the power drive module is connected to the wheel I, and is used to drive the automatic stacking equipment to travel along the direction of movement of the wheel I;
  • the wheel-changing drive module includes a plurality of wheels II that are installed under the vehicle body and have the same telescopic motion direction but different from the direction of the wheel I, and a motor for driving the wheel II.
  • the wheel II is in contact with the ground when it is fully deployed. At this time, the wheel I is not in contact with the ground;
  • the communication module is used for receiving instructions issued by the central control unit and transmitting the instructions to the vehicle control module, and the communication module is connected with the central control unit.
  • the automatic stacking equipment of the present invention has a high degree of automation, can operate automatically without manual control, and has high efficiency.
  • the wheel-changing drive module is equipped with the automatic stacking equipment to switch between different tracks without the need for track modification , Low cost, easy to control, and very promising.
  • the wheel I is located on a longitudinal track, and the movement direction of the wheel II is consistent with the direction of the lateral track;
  • the lifting boom module is in the shape of a ladder as a whole;
  • the grasping module is slidably mounted on the lifting arm module;
  • the grasping position is the container lock hole position
  • the grasping of the object to be processed means that after the jack on the grasping module is inserted into the lock hole of the container, the lock on the jack is unfolded to fix the container and the grasping module.
  • the protection scope of the present invention is not limited to this, and the present invention only takes this as an example.
  • the automated container yard of the present invention has a high degree of automation without manual scheduling and control, which greatly saves labor;
  • the automated container yard of the present invention has good stability and great application prospects.
  • Figure 1 is a top view of an automated container yard of the present invention
  • Figure 2 is a left view of an automated container yard of the present invention
  • 3-7 are the front view, left view, top view, three-dimensional schematic diagram and bottom view of the automatic stacking equipment of the present invention.
  • 1-automatic stacking equipment 2-longitudinal rail, 3-transverse rail, 4-20 feet container, 5-40 feet container, 6-grabbing module, 7-lifting arm module, 8-wheel I, 9 -Power drive module, 10-car body, 11-wheel II.
  • An automated container yard as shown in Figures 1 to 2, including a central control unit and automatic stacking equipment 1;
  • the yard is equipped with a container stacking area and a container entry and exit area.
  • the containers in the container stacking area are arranged in rows and the containers are close to each other.
  • the container stacking area is equipped with first information for collecting stacking container status information and transmitting the information to the central control unit Collecting device (camera, laser sensor), one side of the container stacking area is provided with multiple longitudinal rails 2 perpendicular to the length of the container.
  • a row of containers corresponds to a longitudinal rail 2
  • the central axis of the longitudinal rail 2 corresponds to the longitudinal rail 2
  • the yard is also provided with a horizontal rail 3 that connects all the longitudinal rails 2.
  • the horizontal rail 3 is perpendicular to the longitudinal rail 2 and connected to the end of the longitudinal rail 2 away from the container.
  • the container stacking area is divided and arranged along the length of the container There is a 20-foot container 4 in the area I and a 40-foot container 5 in the area II, the distance between the longitudinal rails of the area II is twice the distance between the longitudinal rails of the area I;
  • the container entry and exit area is located on the side of the horizontal track far away from the container. It is equipped with a second information collection device (camera, laser sensor) used to collect information about the entry and exit of the container (including the entry and exit information, size and number of the container) and transfer the information to the central control unit ), the central control unit formulates a dispatch plan based on the acquired information and dispatches the automatic stacking equipment to move the container according to the dispatch plan.
  • the automatic stacking equipment can operate on the longitudinal and horizontal tracks;
  • the automatic stacking equipment includes the vehicle body 10 and the vehicle control module installed on the vehicle body, the smart sensor module, the vehicle positioning module, the grasping module 6, the lifting boom module 7, and the power drive module 9.
  • Wheel-changing drive module and communication module, intelligent sensor module, vehicle positioning module, grabbing module, lifting arm module, power drive module, rail-changing drive module and communication module are respectively connected to the vehicle control module;
  • the power drive module 9 is connected with the wheel I 8 to drive the wheel I 8 to rotate, and the wheel I 8 is arranged on the longitudinal rail 2;
  • the wheel-changing drive module includes multiple wheels II 11 that are installed under the vehicle body, have the same telescopic motion direction, cannot steer, and the motion direction is perpendicular to the motion direction of the wheel I, and a motor for driving the wheel II 11, the wheel II 11 is fully expanded When the wheel is in contact with the ground, the wheel I 8 is not in contact with the ground at this time, and the movement direction of the wheel II is consistent with the direction of the transverse track;
  • the intelligent sensor module is used to identify the container's grasping position and obtain the height information of the container on the lifting boom module, and at the same time send the acquired information to the vehicle control module, the grasping position is the container's keyhole position;
  • the vehicle positioning module is used to obtain the vehicle location and send the information to the vehicle control module;
  • the vehicle control module is used to formulate a control plan based on the information obtained in real time, and send the control plan to the power drive module, the wheel change drive module, the grab module and the lifting arm module;
  • the grab module is used to hold the container, that is, after the jack on the grab module is inserted into the lock hole of the container, the lock on the jack expands to fix the container and the grab module;
  • the lifting boom module is used for lifting and lowering the grabbed container.
  • the whole is ladder-shaped.
  • the grabbing module is slidably mounted on the lifting boom module;
  • the communication module is connected with the central control unit, and is used to receive instructions from the central control unit and transmit the instructions to the vehicle control module.
  • the operation process of the automated container yard of the present invention is as follows:
  • the truck loads the container into the container entry and exit area, and the second information collection device collects the container information and sends it to the central control unit, while the first information collection device in the container stacking area sends the collected stacked container status information to the central control unit in real time;
  • the central control unit formulates a dispatch plan based on the acquired information, and dispatches the automatic stacker according to the dispatch plan to unload and transport the container on the truck to a designated location. At this time, the central control unit records the location information of the container;
  • the truck (empty) enters the container entry and exit area, and the second information collection device collects truck information and sends it to the central control unit.
  • the first information collection device in the container stacking area sends the collected stacked container status information to the central control unit in real time;
  • the central control unit formulates a dispatch plan based on the acquired information, and dispatches the automatic stacker according to the dispatch plan to unload the designated container from the container stacking area and transport it to the truck. At this time, the central control unit records the shipping information of the container;
  • the central control unit sends instructions, and the automatic stacker moves to the junction of the longitudinal track and the transverse track at this time according to the instruction;
  • the automatic stacking equipment performs wheel replacement (the wheel running direction is changed by 90°) to complete the steering or the auxiliary vehicle that has been controlled by the central control unit to run on the lateral track arrives at this position before the automatic stacking device, and the automatic stacking device is located On the auxiliary car
  • the automatic stacking equipment moves on the horizontal track to the junction of its target longitudinal track and the horizontal track or the auxiliary vehicle loaded automatic stacking equipment moves on the horizontal track to the junction of its target longitudinal track and the horizontal track;
  • the automatic stacking equipment performs wheel replacement again (returns to the original wheel running direction) or the automatic stacking equipment moves away from the auxiliary vehicle to complete the switching of the longitudinal track.
  • the operation process (stack height) of the automatic stacker is as follows:
  • the vehicle control module of the automatic stacking equipment receives the instruction from the central control unit via the communication module, that is, obtains the current position of the target container (located in the container entry and exit area), that is, the target placement position, and the vehicle positioning module real-time Vehicle location information is sent to the vehicle control module;
  • the vehicle control module processes the above information to obtain the expected trajectory of the vehicle at the moment, and controls the vehicle (power drive module and wheel change drive module) to move closer to the target container according to the trajectory. After the vehicle moves, the vehicle control module collects the second information The real-time information sent by the device and the vehicle positioning module adjusts the trajectory of the vehicle in real time;
  • the smart sensor module recognizes the container's grasping position and transmits the information to the vehicle control module.
  • the grasping module control scheme is obtained to control the grasping module and the grasping position.
  • the vehicle control module will adjust the control plan of the grasping module in real time according to the information sent by the smart sensor module in real time, and then the vehicle control module will control the vehicle to move to the target position (located in the container stacking area);
  • the smart sensor module obtains the height of the container's target placement position, and transmits the information to the vehicle control module. After the vehicle control module processes it, the control plan for the lifting arm module is obtained, and the lifting arm module is controlled to raise the container to the target height. During the operation of the lifting arm module, the vehicle control module will adjust the control plan of the lifting arm module in real time according to the information sent by the smart sensor module in real time;
  • the intelligent sensor module obtains the target position (horizontal) of the container, and transmits the information to the vehicle control module. After the vehicle control module processes it, the power drive module control scheme is obtained, that is, the vehicle is driven forward so that the container and the container are placed in the target position. Align horizontally
  • the vehicle control module controls the grasping module to separate the grasping module from the container.
  • the container is placed in the target position to complete the stacking.
  • the forklifting process of automatic stacking equipment is basically the same as the stacking process. The only difference lies in the sequence of steps. When forklifting is performed, the container must be fork off from the stacking area (container stacking area) and transported to the vehicle or the target location. (Container access area).
  • the automated container yard of the present invention has a high degree of automation, does not require manual scheduling and control, and greatly saves labor; compared with the manual scheduling and manual control mode that relies on experience, the present invention has good stability and extremely Has application prospects.
  • An automated container yard whose structure is basically the same as that of Embodiment 1.
  • the container entry and exit area includes a container entry area and a container delivery area.
  • the container entry area and the container delivery area are located on both sides of the container stacking area, namely
  • the other side of the container stacking area is also provided with a longitudinal rail and a horizontal rail connected to the side longitudinal rail.
  • the side of the horizontal rail away from the container is the container entry area and the container transport exit area.

Abstract

一种自动化集装箱堆场，包括中央控制单元及自动堆高设备（1）；堆场设有集装箱堆叠区和集装箱进出区，集装箱堆叠区的集装箱呈行列排列，集装箱堆叠区设有用于采集堆叠集装箱状态信息并将信息传递至中央控制单元的第一信息采集装置，堆场设有多条垂直于集装箱长度方向的纵向轨道（2），每列集装箱均对应设有纵向轨道（2），堆场上还设有连接纵向轨道的横向轨道（3）；集装箱进出区设有用于采集进出集装箱的信息并将该信息传递至中央控制单元的第二信息采集装置，中央控制单元根据获取信息制定调度方案后并根据调度方案调度自动堆高设备（1）搬动集装箱；自动堆高设备（1）在纵向轨道（2）和横向轨道（3）上运行。该集装箱堆场的自动化程度高，无需人工调度及控制，稳定性好。

Description

一种自动化集装箱堆场 技术领域
本发明属于集装箱码头建设技术领域，涉及一种自动化集装箱堆场，特别涉及一种无需人为调度及控制的全自动集装箱堆场的设计。
背景技术
集装箱，英文名container，是能装载包装或无包装货进行运输，并便于用机械设备进行装卸搬运的一种组成工具。集装箱最大的成功在于其产品的标准化以及由此建立的一整套运输体系，其能够让一个载重几十吨的庞然大物实现标准化，并且以此为基础逐步实现全球范围内的船舶、港口、航线、公路、中转站、桥梁、隧道及多式联运相配套的物流系统，堪称人类有史以来创造的伟大奇迹之一。
集装箱堆场也称场站，是集装箱通关上船前或下船后的统一集合地，用于集装箱重箱或空箱的装卸、转运、保管和交接，在集装箱运输中起着非常重要的作用。对于大型集装箱码头而言，由于其需要存放的集装箱数量众多，为了便于存取和管理，集装箱堆场一般分为空箱堆场、集装箱后方堆场及集装箱前方堆场。空箱堆场、集装箱后方堆场及集装箱前方堆场距离轮船停放处越来越近。空箱堆场主要用于堆放集装箱空箱，由于集装箱空箱不带货，空箱彼此紧靠堆叠以节约占地面积。集装箱后方堆场主要用于存放集装箱重箱，目前一般采用龙门吊吊装集装箱重箱，由于龙门吊的精度问题，集装箱重箱彼此间需要留有一定间隙以方便吊装，使用龙门吊将集装箱重箱吊装在运输车后，通过运输车运往集装箱前方堆场，使用吊车将集装箱前方堆场的集装箱吊装上船。每个堆场均需安排人员进行调度，此外，堆场中的设备需要操作人员手动控制，堆场的运行及调度极度依赖人工，而操作人员经验是否丰富极大地决定了堆场运行是否顺畅。同时，目前 堆场的低自动化程度，与整个物流行业的自动化水平不符。
因此，开发一种无需人为调度及控制的全自动集装箱堆场极具现实意义。
发明内容
本发明的目的在于克服现有技术自动化程度低、依赖人力调度及控制且对操作人员经验要求较高的缺陷，提供一种无需人为调度及控制的全自动集装箱堆场。
为实现上述目的，本发明提供如下技术方案：
一种自动化集装箱堆场，包括中央控制单元及自动堆高设备；
所述堆场设有集装箱堆叠区和集装箱进出区，集装箱堆叠区的集装箱呈行列排列，集装箱堆叠区设有用于采集堆叠集装箱状态信息并将信息传递至中央控制单元的第一信息采集装置，堆场设有多条垂直于集装箱长度方向的纵向轨道，每列集装箱均对应设有纵向轨道，堆场上还设有连接多个纵向轨道的横向轨道；本发明的堆场的纵向轨道及横向轨道具体布置并不局限于此，本发明仅以此为例，只要保证每列集装箱均对应设有纵向轨道且设有连接各条纵向轨道的轨道即可‘
所述集装箱进出区设有用于采集进出集装箱的信息或货车的信息并将该信息传递至中央控制单元的第二信息采集装置，中央控制单元根据获取信息制定调度方案后并根据调度方案调度自动堆高设备搬动集装箱；
所述自动堆高设备在纵向轨道和横向轨道上运行。
本发明的自动化集装箱堆场，自动化程度高，无需人工调度及控 制，极大地节约了劳动力，同时中央控制单元相比于人工调度和人工控制，其稳定性好。本发明的自动化集装箱堆场的结构简单，通过设置纵向轨道保证自动堆高设备能够沿纵向轨道运动进行集装箱堆叠或取下，同时横向轨道的设计使得自动堆高设备能够在不同纵向轨道间进行切换，以实现对自动堆高设备的合理调度如当前状态下40尺集装箱的使用更多即向40尺集装箱区调动更多的自动堆高设备。本发明的自动化集装箱堆场，不仅可为空箱堆场，也可为集装箱后方堆场，中央控制单元会记录堆场内每个集装箱的信息(尺寸、编号及位置)，可根据实际需求控制自动堆高设备取出某个指定集装箱，自动堆高设备相比于普通人工控制的堆高设备，效率更高，速度更快。
作为优选的技术方案：
如上所述的一种自动化集装箱堆场，所述集装箱堆叠区的集装箱间彼此紧靠。本发明的保护范围并不仅限于此，本发明仅以此为例，彼此紧靠的集装箱更能节约占地面积。
如上所述的一种自动化集装箱堆场，所述进出集装箱的信息包括集装箱的进出信息、尺寸及编号；所述货车的信息包括货车的牌照及型号。本发明的集装箱及货车的具体信息并不仅限于此，本发明仅以此为例，中央控制单元根据集装箱或货车信息(尺寸)即可安排对应位置的自动堆高设备搬运(堆叠)集装箱，在搬运完成后记录该集装箱的位置或其他信息。
如上所述的一种自动化集装箱堆场，一列集装箱与一条纵向轨道对应；纵向轨道的中心轴过与该纵向轨道对应的集装箱的中心。本发 明的保护范围并不仅限于此，本发明仅以此为例，本领域技术人员可根据实际需求选择纵向轨道的合适位置。
如上所述的一种自动化集装箱堆场，所述集装箱堆叠区沿集装箱长度方向分为布置有20尺集装箱的区I和布置有40尺集装箱的区II；
所述区II的纵向轨道间的间距是区I的纵向轨道间的间距的两倍。本发明的保护范围并不仅限于此，本发明仅以此为例，集装箱堆叠区可根据集装箱尺寸或类型的不同，分为不同的区域以方便管理，整体根据集装箱尺寸进行分区能方便自动堆高设备在不同纵向轨道上的调动。
如上所述的一种自动化集装箱堆场，所述第一信息采集装置和第二信息采集装置包括摄像头。本发明的保护范围并不仅限于此，本发明仅以此为例，信息采集装置只要能够获取相应的信息即可。
如上所述的一种自动化集装箱堆场，所述集装箱进出区包括集装箱进入区和集装箱运出区，所述集装箱进入区和集装箱运出区分别位于集装箱堆叠区的两侧，集装箱进入区、集装箱运出区与集装箱堆叠区之间均布置有纵向轨道和横向轨道。本发明的保护范围并不仅限于此，本发明仅以此为例，集装箱进入区与集装箱运出区分离能够方便管理，提高效率，但在一定程度上会增大占地面积，此外需要更多的自动堆高设备。本发明的集装箱进入区与集装箱运出区合二为一，以节约占地面积，集装箱进入区及集装箱运出区的具体设置，本领域技术人员可根据实际需求进行选择。
如上所述的一种自动化集装箱堆场，所述纵向轨道垂直于横向轨 道，所述横向轨道与纵向轨道的远离集装箱端连接。本发明的横向轨道的走向及与纵向轨道的具体连接位置并不仅限于此，本领域技术人员可根据实际需求进行选择。
如上所述的一种自动化集装箱堆场，所述自动堆高设备包括车体及安装在车体上的车辆控制模块、智能感应模块、车辆定位模块、抓取模块、升降臂架模块、动力驱动模块、换轮驱动模块及通讯模块；
所述车体下方安有多个运动方向相同且不能转向的车轮I；
所述智能感应模块、车辆定位模块、抓取模块、升降臂架模块、动力驱动模块、换轨驱动模块及通讯模块分别与车辆控制模块连接；
所述智能感应模块用于识别待处理集装箱的抓取位置及获取待处理集装箱在升降臂架模块上的高度信息，同时将获取信息发送至车辆控制模块；
所述车辆定位模块用于获取车辆位置并将该信息发送至车辆控制模块；
所述车辆控制模块用于根据实时所获取信息制定控制方案，并将控制方案发送至动力驱动模块、换轮驱动模块、抓取模块及升降臂架模块；
所述抓取模块用于抓牢待处理集装箱；
所述升降臂架模块用于升降已抓取的待处理集装箱；
所述动力驱动模块与车轮I连接，用于驱动自动堆高设备沿车轮I的运动方向行进；
所述换轮驱动模块包括多个安装在车体下方、能伸缩的运动方向 相同且与车轮I运动方向不一的车轮II及用于驱动车轮II的电机，车轮II完全展开时与地面接触，此时车轮I不与地面接触；
所述通讯模块用于接收中央控制单元发出的指令并将该指令传递至车辆控制模块，通讯模块与中央控制单元连接。
本发明的自动堆高设备，自动化程度高，无需人工控制即可全自动进行作业，效率高，其设有的换轮驱动模块能够使得自动堆高设备在不同轨道间进行切换，无需进行轨道改造，成本低廉，控制简便，极具应用前景。
如上所述的一种自动化集装箱堆场，所述车轮I位于纵向轨道上，车轮II的运动方向与横向轨道的方向一致；
所述升降臂架模块整体呈梯子状；
所述抓取模块上下滑动地安装在升降臂架模块上；
所述抓取位置为集装箱锁孔位置；
所述抓牢待处理物是指抓取模块上的插孔插入集装箱锁孔位置后，插孔上的锁头展开将集装箱与抓取模块固定。本发明的保护范围并不仅限于此，本发明仅以此为例。
有益效果：
(1)本发明的一种自动化集装箱堆场，自动化程度高，无需人工调度及控制，极大地节约了劳动力；
(2)本发明的一种自动化集装箱堆场，相比于依赖经验的人工调度和人工控制模式，本发明的稳定性好，极具应用前景。
附图说明
图1为本发明的一种自动化集装箱堆场的俯视图；
图2为本发明的一种自动化集装箱堆场的左视图；
图3～7分别为本发明的自动堆高设备的主视图、左视图、俯视图、立体示意图及仰视图；
其中，1-自动堆高设备，2-纵向轨道，3-横向轨道，4-20尺集装箱，5-40尺集装箱，6-抓取模块，7-升降臂架模块，8-车轮I，9-动力驱动模块，10-车体，11-车轮II。
具体实施方式
下面结合附图，对本发明的具体实施方式做进一步阐述。
实施例1
一种自动化集装箱堆场，如图1～2所示，包括中央控制单元及自动堆高设备1；
堆场设有集装箱堆叠区和集装箱进出区，集装箱堆叠区的集装箱呈行列排列且集装箱间彼此紧靠，集装箱堆叠区设有用于采集堆叠集装箱状态信息并将信息传递至中央控制单元的第一信息采集装置(摄像头、激光传感器)，集装箱堆叠区一侧设有多条垂直于集装箱长度方向的纵向轨道2，一列集装箱与一条纵向轨道2对应，纵向轨道2的中心轴过与该纵向轨道2对应的集装箱的中心，堆场上还设有连接所有纵向轨道2的横向轨道3，横向轨道3与纵向轨道2垂直且与纵向轨道2的远离集装箱端连接，集装箱堆叠区沿集装箱长度方向分为布置有20尺集装箱4的区I和布置有40尺集装箱5的区II，区II的纵向轨道间的间距是区I的纵向轨道间的间距的两倍；
集装箱进出区位于横向轨道远离集装箱侧，其设有用于采集进出 集装箱的信息(包括集装箱的进出信息、尺寸及编号)并将该信息传递至中央控制单元的第二信息采集装置(摄像头、激光传感器)，中央控制单元根据获取信息制定调度方案后并根据调度方案调度自动堆高设备搬动集装箱，自动堆高设备可在纵向轨道和横向轨道上运行；
自动堆高设备，如图3～7所示，包括车体10及安装在车体上的车辆控制模块、智能感应模块、车辆定位模块、抓取模块6、升降臂架模块7、动力驱动模块9、换轮驱动模块及通讯模块，智能感应模块、车辆定位模块、抓取模块、升降臂架模块、动力驱动模块、换轨驱动模块及通讯模块分别与车辆控制模块连接；
车体下方安有多个运动方向相同且不能转向的车轮I 8，动力驱动模块9与车轮I 8连接以驱动车轮I 8转动，车轮I 8布置在纵向轨道2上；
换轮驱动模块包括多个安装在车体下方、能伸缩的运动方向相同、不能转向且运动方向与车轮I运动方向垂直的车轮II 11及用于驱动车轮II 11的电机，车轮II 11完全展开时与地面接触，此时车轮I 8不与地面接触，车轮II运动方向与横向轨道方向一致；
智能感应模块用于识别集装箱的抓取位置及获取集装箱在升降臂架模块上的高度信息，同时将获取信息发送至车辆控制模块，抓取位置即为集装箱的锁孔位置；
车辆定位模块用于获取车辆位置并将该信息发送至车辆控制模块；
车辆控制模块用于根据实时所获取信息制定控制方案，并将控制方案发送至动力驱动模块、换轮驱动模块、抓取模块及升降臂架模块；
抓取模块用于抓牢集装箱，即将抓取模块上的插孔插入集装箱锁孔位置后，插孔上的锁头展开将集装箱与抓取模块固定；
升降臂架模块用于升降已抓取的集装箱，其整体呈梯子状，抓取模块上下滑动地安装在升降臂架模块上；
通讯模块与中央控制单元连接，用于接收中央控制单元发出的指令并将该指令传递至车辆控制模块。
本发明的自动化集装箱堆场的运转流程如下：
(1)进行全自动堆货；
1.1)货车装载集装箱进入集装箱进出区，第二信息采集装置采集集装箱信息后发送至中央控制单元，同时集装箱堆叠区的第一信息采集装置实时将采集堆叠集装箱状态信息发送至中央控制单元；
1.2)中央控制单元根据获取信息制定调度方案，并根据调度方案调度自动堆高设备将货车上的集装箱卸下并运送堆叠至指定位置，此时中央控制单元会记录该集装箱的位置信息；
(2)全自动出货；
2.1)货车(空车)进入集装箱进出区，第二信息采集装置采集货车信息后发送至中央控制单元，同时集装箱堆叠区的第一信息采集装置实时将采集堆叠集装箱状态信息发送至中央控制单元；
2.2)中央控制单元根据获取信息制定调度方案，并根据调度方案调度自动堆高设备将指定的集装箱从集装箱堆叠区卸下并运送 至货车，此时中央控制单元会记录该集装箱的出货信息；
(3)自动堆高设备在不同纵向轨道间的切换；
3.1)中央控制单元发送指令，自动堆高设备根据指令运动至此时其所在纵向轨道与横向轨道的连接处；
3.2)自动堆高设备进行车轮更换(车轮运行方向改变90°)完成转向或中央控制单元已控制在横向轨道上运行的辅车在自动堆高设备前到达该位置，此时自动堆高设备位于辅车上；
3.3)自动堆高设备在横向轨道上运动至其目标纵向轨道与横向轨道的连接处或辅车装载自动堆高设备在横向轨道上运动至其目标纵向轨道与横向轨道的连接处；
3.4)自动堆高设备再次进行车轮更换(回复原车轮运行方向)或自动堆高设备从辅车上驶离即完成了纵向轨道的切换。
自动堆高设备的作业流程(堆高)如下：
(1)自动堆高设备的车辆控制模块接收到中央控制单元经通讯模块传递来的指令，即获取了目标集装箱(位于集装箱进出区)的当前位置即目标摆放位置，同时车辆定位模块实时将车辆位置信息发送车辆控制模块；
(2)车辆控制模块处理以上信息后得到此刻的车辆预期运动轨迹，控制车辆(动力驱动模块及换轮驱动模块)按照该轨迹运动靠近目标集装箱，车辆运动后车辆控制模块会根据第二信息采集装置及车辆定位模块实时发送的信息对车辆的运动轨迹进行实时调整；
(3)车辆靠近集装箱后，智能感应模块识别集装箱的抓取位置 并将该信息传递至车辆控制模块，车辆控制模块处理后得到抓取模块控制方案，控制抓取模块与抓取位置卡牢，在抓取模块作业的过程中车辆控制模块会根据智能感应模块实时发送的信息对抓取模块控制方案进行实时调整，而后车辆控制模块控制车辆运动至目标位置(位于集装箱堆叠区)；
(4)智能感应模块获取集装箱目标摆放位置的高度，并将该信息传递至车辆控制模块，车辆控制模块处理后得到升降臂架模块控制方案，控制升降臂架模块将集装箱升至目标高度，在升降臂架模块作业的过程中车辆控制模块会根据智能感应模块实时发送的信息对升降臂架模块控制方案进行实时调整；
(5)智能感应模块获取集装箱目标摆放位置(水平)，并将该信息传递至车辆控制模块，车辆控制模块处理后得到动力驱动模块控制方案即驱动车辆前进使得集装箱与集装箱目标摆放位置在水平上对齐；
(6)对齐后，车辆控制模块控制抓取模块使得抓取模块与集装箱分离，此时集装箱即放置在目标摆放位置完成堆高。自动堆高设备的叉货流程与堆高流程基本相同，不同仅在于其步骤次序，进行叉货时需先将集装箱由堆放处(集装箱堆叠区)叉下，将其运输至车辆或目标位置处(集装箱进出区)。
经验证，本发明的一种自动化集装箱堆场，自动化程度高，无需人工调度及控制，极大地节约了劳动力；相比于依赖经验的人工调度和人工控制模式，本发明的稳定性好，极具应用前景。
实施例2
一种自动化集装箱堆场，其结构与实施例1基本相同，不同在于，集装箱进出区包括集装箱进入区和集装箱运出区，集装箱进入区和集装箱运出区分别位于集装箱堆叠区的两侧，即集装箱堆叠区另一侧也设有纵向轨道及连接该侧纵向轨道的横向轨道，横向轨道远离集装箱侧为集装箱进入区和集装箱运出区。
虽然以上描述了本发明的具体实施方式，但是本领域的技术人员应该理解，这些仅是举例说明，在不违背本发明的原理和实质的前提下，可以对这些实施方式做出多种变更或修改。

Claims (10)

  1. 一种自动化集装箱堆场，其特征在于，包括中央控制单元及自动堆高设备；
    所述堆场设有集装箱堆叠区和集装箱进出区，集装箱堆叠区的集装箱呈行列排列，集装箱堆叠区设有用于采集堆叠集装箱状态信息并将信息传递至中央控制单元的第一信息采集装置，堆场设有多条垂直于集装箱长度方向的纵向轨道，每列集装箱均对应设有纵向轨道，堆场上还设有连接多个纵向轨道的横向轨道；
    所述集装箱进出区设有用于采集进出集装箱的信息或货车的信息并将该信息传递至中央控制单元的第二信息采集装置，中央控制单元根据获取信息制定调度方案后并根据调度方案调度自动堆高设备搬动集装箱；
    所述自动堆高设备在纵向轨道和横向轨道上运行。
  2. 根据权利要求1所述的一种自动化集装箱堆场，其特征在于，所述集装箱堆叠区的集装箱间彼此紧靠。
  3. 根据权利要求1所述的一种自动化集装箱堆场，其特征在于，所述进出集装箱的信息包括集装箱的进出信息、尺寸及编号；所述货车的信息包括货车的牌照及型号。
  4. 根据权利要求1所述的一种自动化集装箱堆场，其特征在于，一列集装箱与一条纵向轨道对应；纵向轨道的中心轴过与该纵向轨道对应的集装箱的中心。
  5. 根据权利要求1所述的一种自动化集装箱堆场，其特征在于，所述集装箱堆叠区沿集装箱长度方向分为布置有20尺集装箱的区I 和布置有40尺集装箱的区II；
    所述区II的纵向轨道间的间距是区I的纵向轨道间的间距的两倍。
  6. 根据权利要求1所述的一种自动化集装箱堆场，其特征在于，所述第一信息采集装置和第二信息采集装置包括摄像头、激光传感器。
  7. 根据权利要求1所述的一种自动化集装箱堆场，其特征在于，所述集装箱进出区包括集装箱进入区和集装箱运出区，所述集装箱进入区和集装箱运出区分别位于集装箱堆叠区的两侧，集装箱进入区、集装箱运出区与集装箱堆叠区之间均布置有纵向轨道和横向轨道。
  8. 根据权利要求1所述的一种自动化集装箱堆场，其特征在于，所述纵向轨道垂直于横向轨道，所述横向轨道与纵向轨道的远离集装箱端连接。
  9. 根据权利要求1所述的一种自动化集装箱堆场，其特征在于，所述自动堆高设备包括车体及安装在车体上的车辆控制模块、智能感应模块、车辆定位模块、抓取模块、升降臂架模块、动力驱动模块、换轮驱动模块及通讯模块；
    所述车体下方安有多个运动方向相同且不能转向的车轮I；
    所述智能感应模块、车辆定位模块、抓取模块、升降臂架模块、动力驱动模块、换轨驱动模块及通讯模块分别与车辆控制模块连接；
    所述智能感应模块用于识别待处理集装箱的抓取位置及获取待处理集装箱在升降臂架模块上的高度信息，同时将获取信息发送至车 辆控制模块；
    所述车辆定位模块用于获取车辆位置并将该信息发送至车辆控制模块；
    所述车辆控制模块用于根据实时所获取信息制定控制方案，并将控制方案发送至动力驱动模块、换轮驱动模块、抓取模块及升降臂架模块；
    所述抓取模块用于抓牢待处理集装箱；
    所述升降臂架模块用于升降已抓取的待处理集装箱；
    所述动力驱动模块与车轮I连接，用于驱动自动堆高设备沿车轮I的运动方向行进；
    所述换轮驱动模块包括多个安装在车体下方、能伸缩的运动方向相同且与车轮I运动方向不一的车轮II及用于驱动车轮II的电机，车轮II完全展开时与地面接触，此时车轮I不与地面接触；
    所述通讯模块用于接收中央控制单元发出的指令并将该指令传递至车辆控制模块，通讯模块与中央控制单元连接。
  10. 根据权利要求9所述的一种自动化集装箱堆场，其特征在于，所述车轮I位于纵向轨道上，车轮II的运动方向与横向轨道的方向一致；
    所述升降臂架模块整体呈梯子状；
    所述抓取模块上下滑动地安装在升降臂架模块上；
    所述抓取位置为集装箱锁孔位置；
    所述抓牢待处理物是指抓取模块上的插孔插入集装箱锁孔位置 后，插孔上的锁头展开将集装箱与抓取模块固定。
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