WO2022034198A1

WO2022034198A1 - Freight barge

Info

Publication number: WO2022034198A1
Application number: PCT/EP2021/072558
Authority: WO
Inventors: Matthew Whelan; Lars Sverker Ture LINDBO
Original assignee: Ocado Innovation Limited
Priority date: 2020-08-13
Filing date: 2021-08-12
Publication date: 2022-02-17
Also published as: GB2597987A; GB202012676D0

Abstract

The present disclosure relates to an autonomous freight or container barge (40) for conveying freight (6) about a shipping container terminal (10) comprising at least one load handling device (16), the autonomous guided barge (40) comprising a loading area (42) for holding freight (6) delivered by the load handling device (16), a positioning system (46) for determining relative positions of the loading area (42) and a load handler (44) of the load handling device (16), and a propulsion system (48) for guiding the autonomous guided barge (40) according to the relative positions such that the loading area (42) is positioned to receive freight (6) from the load handler (44).

Description

FREIGHT BARGE

The present disclosure relates to a freight or container barge, and in particular an autonomous guided barge suitable for transferring freight about a shipping container terminal. Aspects of the invention relate to the autonomous guided barge itself and a control system thereof.

Many shipping container ports around the world are spread out over several terminal areas, often several kilometres apart. Quite often shipping containers need to be transferred, usually by autonomous guided vehicles (AGVs) or the like, from one area of the port to another, leading to significant AGV movement in congested areas of the shipping container ports. This can lead to delays or so-called “bottlenecks” in the container transfer process, increasing the idle time for ships at the terminal areas and clogging up the throughput of the port.

There would be significant benefits if containers could be transferred faster; not only would the idle time for the container ships be reduced, but the more space could be made available in the terminal areas. Accordingly, there is a perceived need for an alternative way of transferring containers that would address one or more of the disadvantages associated with the prior art.

The present invention accordingly provides, in a first aspect, an autonomous guided barge for conveying freight about a shipping container terminal comprising at least one load handling device, the autonomous guided barge comprises a loading area for holding freight delivered by the load handling device; a positioning system for determining relative positions of the loading area and a load handler of the load handling device; and, a propulsion system for moving the autonomous guided barge according to the relative positions such that the loading area is positioned to receive freight from the load handler.

Preferably, the positioning system comprises a positioning sensor and a target element, the positioning sensor being arranged to determine the relative positions of the loading area and the load handler according to the position of the target element. Where one of the positioning sensor or target element is fixed to the autonomous guided barge and the other of the positioning sensor or target element is fixed to the load handler.

The positioning sensor may be a radio transceiver, a laser transceiver or an optical imaging device, and the target element is reflector for lasers, radio waves or in some cases a distinct visual cue such as a QR code. Preferably, the propulsion system is configured to move the autonomous guided barge in longitudinal and lateral directions, providing a holonomic motion, and comprises four propellers, each propeller being located on a respective side of the autonomous guided barge. Alternatively, the propulsion system comprises four pairs of propellers, each pair of propellers being located on a respective side of the autonomous guided barge.

In a second aspect, the present invention provides a control system for an autonomous guided barge, the control system comprising one or more controllers, the control system being configured to determine relative positions of a loading area of the autonomous guided barge and a load handler of a load handling device; and, guide the barge according to the relative positions such that the loading area is suitably positioned to receive freight from the load handler.

Preferably, the one or more controllers collectively comprise at least one electronic processor having an electrical input for receiving one or more input signals indicative of the relative positions of the loading area and load handler; and, at least one memory module electrically coupled to the at least one electronic processor and having instructions stored therein, wherein the at least one electronic processor is configured to access the at least one memory module and execute the instructions thereon so as to control a propulsion system of the autonomous guided barge based on the one or more input signals in order to align the loading area and load handler for delivery of freight.

These and other aspects of the invention will now be described, by way of example only, and with reference to the accompanying drawings, in which:

Figure 1 is a schematic representation of a container handling system showing a container vessel docked at a shipping container terminal;

Figure 2 is a schematic representation of the shipping container terminal of figure 1 showing an autonomous guided barge in accordance with the present invention;

Figure 3 shows a first embodiment of the autonomous guided barge;

Figure 4 shows a second embodiment of the autonomous guided barge;

Figure 5 is a schematic view of a control system of the autonomous guided barge; Figure 6 is a flow chart of a method carried out by the control system of figure 5;

Figure 7 is a schematic representation of a shipping container terminal comprising a channel of water for receiving the autonomous guided barge;

Figure 8 is a schematic representation of a shipping container terminal showing the autonomous guided barge receiving a plurality of shipping containers; and,

Figure 9 is a schematic representation of a shipping container terminal comprising opposing quays defining a water channel therebetween for receiving the autonomous guided barge.

In the figures, like features are denoted by like reference signs.

FIG. 1 shows a schematic view of an example of a container handling system, generally designated by 2 of a shipping port. In this example, a container vessel or container ship 4, carrying a plurality of shipping containers 6, is situated in a body of water 8 and moored to a container terminal 10. The container handling system 2 comprises a container load handling device 12, in the form of a ship-to-shore crane (STS) 14, for transferring freight, such as the containers 6, between the container ship 4 and a shipping container terminal 10. The STS 14 comprises a load handler 16 operable to transport the containers 6 to a first transfer point of one or more first transfer points, generally designated by 18. The first transfer points 18 are located in a first container transfer area of the container terminal 10 from which a container transport vehicle 20, such as an autonomous guided vehicle (AGV), collects containers 6 delivered by the STS 14. In this example, the container transport vehicle 20 resides on the first transfer point 18, within the first container transfer area, and the STS 14 is in the process of lowering a shorebound container 6 directly onto it. Alternatively, the shorebound container 6 can be lowered directly onto the dock of the container terminal 10 at the first transfer point 18 for subsequent collection by the container transport vehicle 20. In this alternative example, the container transport vehicle 20 is fitted with a suitable lifting mechanism for carrying the container 6 from the first transfer point 18. Once collected by the container transport vehicle 20, the shorebound container 6 is transferred from the first transfer point 18 to a second transfer point of one or more second transfer points, generally denoted by 22, located in a second container transfer area. The second container transfer area is located below one or more grid spacings 23 of a plurality of grid spacings 23 defined by a substantially horizontal grid structure 24. The grid structure 24 is part of a container storage and sortation structure 26, which, together with the container transport vehicle 20, forms part of the container handling system 2. The container storage and sortation structure 26 is similar to that described in WO2016/166308A1 , the contents of which are incorporated herein by reference, in that it comprises a plurality of upright members 28 supporting a plurality of horizontal members 30 forming the grid structure 24. Containers 6 are stacked on top of one another to form stacks 32, located beneath a respective grid spacing 23, within a workspace 34 defined below the grid structure 24. The top surface of the grid structure 24 comprises a plurality of rails (not shown) upon which a plurality of robotic load handling devices 36 are operative. A first set of substantially parallel rails guide movement of the robotic load handling devices 36 in a first direction (X) across the top of the grid structure 24, and a second set of substantially parallel rails, arranged substantially perpendicular to the first set, guide movement of the robotic load handling devices 36 in a second direction (Y), substantially perpendicular to the first direction. In this way, the rails allow movement of the robotic load handling devices 36 in two dimensions in the X-Y plane, such that any one of the robotic load handling devices 36 can be moved into position above any one of the stack 32.

Each robotic load handling device 36 comprises a body 38 mounted on wheels arranged to travel in the first and second directions on the rails above the stacks 32. A first set of wheels, comprising a pair of wheels on the front of the body 38 and a pair of wheels on the back of the body 38, are arranged to engage two adjacent rails of the first set of rails. Similarly, a second set of wheels on each side of the body 38 are arranged to engage two adjacent rails of the second set of rails. Each set of wheels can be lifted and lowered relative to each other, so that either the first or second set of wheels engages with the respective set of rails at any one time.

When the first set of wheels engages the first set of rails and the second set of wheels are lifted clear of the second set of rails, the first set of wheels can be driven, by way of a drive mechanism housed in the body 38, to move the load handling device 36 in the first direction. To move the load handling device 36 in the second direction, the first set of wheels are lifted clear of the first set of rails, and the second set of wheels are lowered into engagement with the second set of rails. The drive mechanism can then be used to drive the second set of wheels to achieve movement of the robotic handling device 36 in the second direction.

In this way, one or more robotic load handling devices 36 can move around above the top surface of the stacks 32 on the grid structure 24 under the control of a central control system (not shown). Each robotic load handling device 36 is provided with a lifting means for raising or lowering containers 6 into and out of the stacks 32 through its respective grid spacing 23 formed by the grid structure 24. In that way, containers 6 are moved from the second transfer point 22 and a storage location within the workspace 34 to await onward transport. The process works in reverse for seabound containers. That is, a robotic load handling device 36 retrieves a seabound container 6 from its storage location within the workspace 34 and transfers it to the second transfer point 22. From there, the container transport vehicle 20 transfers the container 6 from the second transfer point 22 to the first transfer point 18, where it is then collected by the STS 14 for loading on to the container ship 4.

It will be understood that this is a simplified representation of the container handling system 2, and that in practice it would include multiple container load handling devices 12, or STSs 14. In some instances, the container transport vehicle 20 is not required to transfer containers 6 to the nearest storage and sortation structure 26 but instead to another destination within the shipping port such as, for example, another shipping container terminal or a separate vehicle or vessel for the onward transportation of the containers 6. This can lead to significant AGV movement, often congesting areas of the shipping port. Also, given the typical size of shipping ports, the distances over which the containers 6 are required to be transported for onward transportation, for example, are often too long for AGVs, making their use unsuitable, particularly if routes involve the use of public roads, as is often the case.

In order to mitigate these issues, an autonomous guided barge (AGB) is provided according to the invention. FIG. 2 shows the container handling system 2 of FIG. 1 but with a container 6 being lowered by the crane load handler 16 onto the AGB 40 for automatically transporting the container 6 to a destination within the shipping container terminal 10. In most instances, STSs are designed to extend across container ships moored at shipping container terminals so as to easily reach freight held on the far side of the container ship. In the example situation shown in FIG. 2, the AGB 40 is positioned adjacent to the side of the container ship 4 furthest from the shipping container terminal 10 and the STS 14 is extending across the container ship 4 to load the container 6 on the AGB 40. This removes the need for positioning the AGB 40 between the container ship 4 and the shipping container terminal 10, where space can be limited, and also makes use of areas of the shipping container terminal 10 previously unused - that is, an area of water around the perimeter of the shipping container terminal 10 - for transporting freight.

Turning to FIG. 3, the AGB 40 comprises a loading area 42 arranged to hold the container 6 delivered by a load hander 44 of the load handling device 16, together with a positioning system 46 suitable for determining relative positions of the loading area 42 and the load handler 44. The AGB 40 further comprises a propulsion system 48 configured to move the AGB 40 in longitudinal and lateral directions, providing a holonomic motion, for guiding the AGB 40 through the water 8 according to the relative positions of the loading area 42 and the load handler 44 such that the loading area 42 is suitably positioned to receive the container 6 from the load handler 44. In the embodiment shown, the propulsion system 48 comprises four pairs of propellers 49, each pair being located on one of the four sides of the AGB 40. Other embodiments may comprise only four propellers with each propeller being located on a respective side of the AGB 40.

The positioning system 46 generally comprises two types of components: at least one positioning sensor 50 and a respective target element 52. In the embodiment shown in FIG. 3, a positioning sensor 50 are attached to the load handler 44 and a respective target element 52 is located on the AGB 40. In other embodiments, the positioning sensor 50 might be attached to the AGB 40 and the target element 52 attached to the load handler 44. Regardless of the configuration, however, the positioning sensor 50 functions to determine the relative positions of the loading area 42 and the load handler 44 according to the position of the target element 52.

In the embodiment shown in FIG. 3, the positioning sensor 50 is a laser transceiver located on one end of the load handler and the target element 52 is a laser reflector generally arranged on a corner of the upper surface of the AGB 40. In the embodiment shown in FIG. 4, the positioning sensor 50 comprises an optical imaging device located on the AGB 40 for receiving optical images and the target element 52 comprises part of the load handler 44, such as a corner section, or a distinct visual cue such as a QR code. In other embodiments, the positioning sensor 50 might comprise a radio transceiver, lidar or similar.

With reference to FIG. 5, there is illustrated a simplified example of a control system 60 of the AGB 40 for implementing the method of FIG. 6 described below. The control system 60 comprises at least one controller 62. The controller 62 comprises a propulsion control unit 64 and at least one electronic processor 66 including one or more electrical inputs for receiving one or more input signals, indicative of the relative positions of the loading area 42 and the load handler 44, from the positioning sensor 50. In this example, the processor 66 is configured to execute instructions that are stored in and read from a memory module 68 in order to issue a set of control objectives, based on the one or more input signals, to the propulsion control unit 64, that, when executed by the propulsion control unit 64, cause the loading area 42 of the AGB 40 to align with the load handler 44 for delivery of a container 6. In this example, the controller 62 comprises a separate propulsion control unit 64 and electronic processor 66. Alternatively, the propulsion control unit 64 may be implemented in software run on the electronic processor 66. Moreover, in another examples of the control system 60, the controller 62 itself may comprises a memory module from which the electronic processor 66 reads instructions.

FIG. 6 shows a method 69 of aligning the loading area 42 of the AGB 40 with the load handler 44 starting at step 70. From here, the method progresses to step 72 where it is determined whether the loading area 42 of the AGB 40 is aligned with the load handler 44 such that it can receive a container 6 based on the one or more input signals received from the positioning sensor 50. Provided the loading area 42 and load handler 44 align, the method progresses to step 74 where loader hander 44 delivers the container 6 to the AGB 40 for its onward transportation and then finishes at step 76. In the event the loading area 42 and load handler 44 misalign, the method progresses to step 78 where the propulsion control unit 64 executes the control objectives issued by the electronic processor 66 to reposition the AGB 40 to bring the loading area 42 into alignment with the load handler 44. Provided the propulsion control unit 64 is successful in aligning the loading area 42 with the load handler 44, the method moves to steps 74 and 76 where the container 6 is delivered by the load handler 44 to the loading area 42 of the AGB 40 before the method finishes at step 76.

FIG. 7 illustrates another example in which the AGB 40 may be used. In this example, the shipping container terminal 10 comprises a water channel 80, wide enough to accommodate at least one AGB 40, extending underneath the grid structure 24. This way, the robotic load handling device 36 can either deliver containers 6 to the AGB 40 for onwards transport or collect containers 6 from the AGB 40 for storing within the workspace 34.

With reference to FIG. 8, the AGB 40 may be configure to carry several containers 6 arranged in a stacked configured. For example, the AGB 40 may be arranged to carry 27 containers 6 arranged in a 3 x 3 x 3 configuration.

FIG. 9 shows a schematic view of an example of another example in which the AGB 40 may be used. In this example, the shipping container terminal 10 comprises opposing quays 82 defining a water channel 84 therebetween. The quays 82 each include a container handling system 2 comprising a container load handling device 12, or STS 14, and a storage and sortation structure 26, together with a plurality of robotic load handling devices 36. The water channel 84 is sufficiently wide enough to accommodate a container ship 4 and at least one AGB 40 either side of the container ship 4. This way, containers 6 can be transferred directly between AGBs 40 and the container ship 4. It will be appreciated by those skilled in the art that the present invention has been described by way of example only, and that a variety of alternative approaches may be adopted without departing from the scope of the invention as defined by the appended claims. For example, the AGB 40 has been described within the context of automatically transporting the containers to different destinations within a shipping container terminal but the AGB 40 might also be used for inter-port journeys; that is, transporting containers between different shipping ports, or even for transporting containers between shipping ports across shipping channels.

Claims

9 CLAIMS

1 . An autonomous guided barge for conveying freight about a shipping container terminal comprising at least one load handling device, the autonomous guided barge comprising: a loading area for holding freight delivered by the load handling device; a positioning system for determining relative positions of the loading area and a load handler of the load handling device; and, a propulsion system for guiding the autonomous guided barge according to the relative positions such that the loading area is positioned to receive freight from the load handler.

2. An autonomous guided barge according to claim 1 , wherein the positioning system comprises a positioning sensor and a target element, the positioning sensor being arranged to determine the relative positions of the loading area and the load handler according to the position of the target element.

3. An autonomous guided barge according to claim 2, wherein one of the positioning sensor or target element is fixed to the autonomous guided barge and the other of the positioning sensor or target element is fixed to the load handler.

4. An autonomous guided barge according to claims 2 or 3, wherein the positioning sensor comprises a radio transceiver, a laser transceiver or an optical imaging device.

5. An autonomous guided barge according to any one of claims 2 to 4, wherein the target element is reflector for lasers, radio waves or a distinct visual cue.

6. An autonomous guided barge according to any preceding claim, wherein the propulsion system is configured to move the autonomous guided barge in longitudinal and lateral directions.

7. An autonomous guided barge according to claim 6, wherein the propulsion system comprises four propellers, each propeller being located one on a respective side of the autonomous guided barge.

8. An autonomous guided vehicle according to claim 6, wherein the propulsion system comprises four pairs of propellers, each pair of propellers being located on a respective side of the autonomous guided barge.

9. A control system for an autonomous guided barge, the control system comprising one or more controllers, the control system being configured to: determine relative positions of a loading area of the autonomous guided barge and a load handler of a load handling device; and, guide the barge according to the relative positions such that the loading area is suitably positioned to receive freight from the load handler.

10. The control system of claim 9, wherein the one or more controllers collectively comprise: at least one electronic processor having an electrical input for receiving one or more input signals indicative of the relative positions of the loading area and load handler; and, at least one memory module electrically coupled to the at least one electronic processor and having instructions stored therein, wherein the at least one electronic processor is configured to access the at least one memory module and execute the instructions thereon so as to control a propulsion system of the autonomous guided barge based on the one or more input signals in order to align the loading area and load handler for delivery of freight.