Automatic RTG system, control device and container handling path setting method

Abstract

An automatic RTG system according to one embodiment includes: an RTG crane for transporting containers from a plurality of container groups arranged in a container yard; and a control device for controlling the RTG crane, the control device having a path setting unit that uses first object row distribution information indicating the outline of a loading and unloading object, i.e., a loading and unloading object container group, and first adjacent row distribution information indicating the outline of an adjacent container group adjacent to the loading and unloading object container group to set a transport path for the containers.

Description

Technical Field

[0001] The present invention relates to an automatic RTG system, a control device and a container handling path setting method. Background Art

[0002] Patent Document 1 describes automating a portion of the container transport work in a container yard.

[0003] Previous technical literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2004-123367 Summary of the Invention

[0006] Technical issues to be solved by the invention

[0007] During automatic operation, it is required to reliably avoid interference between the transported container and objects other than the container being loaded or unloaded.

[0008] The object of the present invention is to provide an automatic RTG system, a control device and a container transport path setting method that can improve the transport safety of containers.

[0009] Means for solving technical problems

[0010] An automatic RTG system according to one embodiment of the present invention comprises: an RTG crane for transporting containers from a plurality of container groups arranged in a container yard; and a control device for controlling the RTG crane, the control device having a path setting unit for setting a container transport path using first object row (bay) distribution information indicating the outline of a loading and unloading object, i.e., a loading and unloading object container group, and first adjacent row distribution information indicating the outline of an adjacent container group adjacent to the loading and unloading object container group.

[0011] The path setting unit may create superimposed distribution information by superimposing the first target row distribution information and the first adjacent row distribution information, and set an optimal path for causing the container to pass through a position higher than the superimposed distribution information by a predetermined distance as the container transport path.

[0012] The route setting unit may set the container transport route using the first target row distribution information and a pair of first adjacent row distribution information located on both sides of the loading and unloading target container group.

[0013] The RTG crane may further include a distribution detector that measures the outline of the container group to be loaded and unloaded and the outline of the adjacent container group. The control device may further include a distribution detection unit that creates first target row distribution information and first adjacent row distribution information based on the measurement results of the distribution detector.

[0014] The control device may further include a distribution storage unit that stores the first target row distribution information and the first adjacent row distribution information created by the distribution detection unit.

[0015] The control device may also have a distribution verification unit, which verifies each of the first object row distribution information and the first adjacent row distribution information stored in the distribution storage unit and each of the second object row distribution information representing the outline of the loading and unloading object container group and the second adjacent row distribution information representing the outline of the adjacent container group obtained by a mechanism different from the distribution detector.

[0016] When the first target row distribution information and the second target row distribution information are inconsistent and / or when the first adjacent row distribution information and the second adjacent row distribution information are inconsistent, the path setting unit can set a safe path that allows the container to pass through a specified maximum height as the container transportation path.

[0017] When the first target row distribution information and the second target row distribution information coincide with each other and the first adjacent row distribution information and the second adjacent row distribution information coincide with each other, the path setting unit may set an optimal path as the container transport path.

[0018] The control device may be arranged on the RTG crane.

[0019] A control device for an RTG crane according to one embodiment of the present invention is a control device for an RTG crane that controls the transport of containers from a plurality of container groups arranged in a container yard. The control device for the RTG crane includes a path setting unit that uses first object row distribution information indicating the outline of a loading and unloading object, i.e., a loading and unloading object container group, and first adjacent row distribution information indicating the outline of an adjacent container group adjacent to the loading and unloading object container group to set a container transport path.

[0020] A container handling path setting method according to one embodiment of the present invention is a method for setting a container handling path for an RTG crane among a plurality of container groups arranged in a container yard. The method includes the following steps: setting a container handling path using first target row distribution information indicating the outline of a loading and unloading target container group and first adjacent row distribution information indicating the outline of an adjacent container group adjacent to the loading and unloading target container group.

[0021] Effects of the Invention

[0022] According to the present invention, the transportation safety of a container can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a plan view showing an exemplary container terminal to which the automated RTG system and the container transport route setting method according to the embodiment are applied.

[0024] Figure 2 This is a perspective view showing an example of a group of containers to be loaded and unloaded and a group of adjacent containers arranged along the traveling direction of a transport vehicle.

[0025] Figure 3 is a perspective view showing an exemplary RTG crane.

[0026] Figure 4 It is schematically represented Figure 3 Side view of the stack distribution sensor and container group.

[0027] Figure 5 It is a system configuration diagram schematically showing the configuration of an automatic RTG system according to the embodiment.

[0028] Figure 6 (a) is a side view schematically showing a transport path for transporting a container from a transport trolley to a container storage side. Figure 6 (b) is a side view schematically showing a transport path for transporting a container from the container storage side to a transport trolley.

[0029] Figure 7 This is a diagram for explaining the verification by the distribution verification unit and the route setting by the route setting unit of the automatic RTG system according to the embodiment.

[0030] Figure 8 This is a flowchart showing an example of each step of the container transport route setting method according to the embodiment. DETAILED DESCRIPTION

[0031] The following describes embodiments of the present invention with reference to the accompanying drawings. In the description of the drawings, identical or corresponding elements are denoted by the same reference numerals, and duplicate descriptions are omitted as appropriate. Furthermore, for ease of description, portions of the drawings may be simplified or exaggerated, and dimensional ratios and other figures are not limited to those shown in the drawings.

[0032] Figure 1 FIG. 1 is a plan view showing an exemplary container terminal 1. Figure 1As shown, the container terminal 1 is provided with: a container stacking yard 2 for arranging containers C; a plurality of gantry cranes 3 for transferring containers C to and from docked container ships; a plurality of RTG cranes 10 arranged at the container stacking yard 2 for loading and unloading containers C; and a remote operation room 5 capable of remotely operating the plurality of RTG cranes 10.

[0033] Figure 2 2 is a perspective view showing a container C on a container storage yard 2 and an exemplary transport vehicle 20. The transport vehicle 20 is, for example, a truck, a van, a trailer or an AGV (Automated Guide Vehicle). Figure 1 and Figure 2 As shown, the container yard 2 is provided with a storage area for storing multiple containers and a travel path (truck lane) for a transport trolley 20. The RTG crane 10 retrieves a container C from the transport trolley 20, which is parked at a predetermined location, and places the container C at a predetermined location in the container yard 2. Furthermore, the RTG crane 10 retrieves a container C from the container yard 2 and transfers the container C to the transport trolley 20, which then unloads the container C.

[0034] As an example, container C is an ISO standard container. Container C has an elongated rectangular parallelepiped shape. For example, the longitudinal length of container C is greater than 20 feet and less than 40 feet. The height of container C is, for example, greater than 8.5 feet and less than 9.5 feet. Containers C are stacked in one or more layers in container yard 2. The number of layers containing containers C is sometimes referred to as a tier.

[0035] The container yard 2 includes a plurality of lanes L where containers C are arranged, and a plurality of RTG cranes 10 are arranged therein. For example, one RTG crane 10 is arranged in each lane L. The number of RTG cranes 10 arranged in a lane L may be one or more. An automatic RTG system 100, described below, centrally manages the plurality of RTG cranes 10.

[0036] Containers C are stacked in one or more layers in the container yard 2 to form a plurality of rows R. For example, there are six rows R. Each row R is arranged so that the longitudinal direction of the containers C forming that row R (i.e., the containers C loaded in that row R) is parallel to the longitudinal directions of the containers C forming other rows R.

[0037] If the length of the containers C arranged in the container yard 2 is defined as the X direction, the width of the containers C is defined as the Y direction, and the height of the containers C is defined as the Z direction, then the container yard 2 extends on the XY plane. For example, the containers C are stacked along the Z direction at a certain position on this XY plane. The X direction coincides with the travel direction of the RTG crane 10 in the cell L. The Y direction coincides with the lateral movement direction of the RTG crane 10 in the cell L.

[0038] The containers C form a plurality of container groups (i.e., rows B) arranged in the Y direction and stacked in the Z direction. A plurality of rows B arranged in the X direction are provided in the container storage yard 2. Rows B, for example, include a loading and unloading row (i.e., loading and unloading container group B1) that is the target of loading and unloading of the containers C, and adjacent container groups B2 located on either side of the loading and unloading container group B1 in the X direction.

[0039] In the container yard 2, the stacking locations of containers C are hypothetically set in three-dimensional space. These hypothetical stacking locations of containers C are defined as slot numbers (X, Y, Z). Specifically, the container yard 2 has multiple slot numbers (X, Y, Z) that are pre-demarcated as areas where containers C can be loaded. In the slot numbers (X, Y, Z), "X" represents the row number, "Y" represents the column number, and "Z" represents the floor number.

[0040] Figure 3 1 is a perspective view showing an exemplary RTG crane 10 disposed at the container yard 2. Figure 3 As shown, the RTG crane 10 is a rubber-tired gantry crane (RTG) for loading and unloading containers C. The RTG crane 10 automatically loads and unloads containers C placed in a container yard 2 at a container terminal 1 , for example.

[0041] The RTG crane 10 includes, for example, a pair of support legs 11, a crane girder 12 connecting the upper ends of the pair of support legs 11, a crane trolley 13 capable of transverse movement on the crane girder 12, a spreader 14 for loading and unloading containers C, and a traveling device 15 with wheels. The pair of support legs 11 and the crane girder 12 form a portal shape. For example, the RTG crane 10 is configured to include two sets of a pair of portal-shaped support legs 11 and crane girder 12, with the two sets arranged in the X direction.

[0042] The trolley 13 is driven, for example, by a traverse motor to transversely move in the Y direction. In this embodiment, the Y direction coincides with the traverse direction of the trolley 13. For example, the trolley 13 includes a winding drive unit 16 comprising a drum that rotates forward and reversely by a drum drive motor, and the sling 14 is suspended via a suspension member 18 comprising a wire rope. The suspension member 18 extends from two locations aligned in the X direction on the trolley 13. The sling 14 is suspended from the suspension member 18 at two locations aligned in the X direction.

[0043] The spreader 14 is used to lift the container C. The spreader 14 has, for example, a rectangular shape extending in the X-direction. The spreader 14 can engage the container C from above, engaging and lifting the container C to facilitate loading and unloading. For example, the movement of the spreader 14 is controlled by the drive of the aforementioned traverse motor and drum drive motor. The automated RTG system 100 according to this embodiment controls the drive of these traverse motors and drum drive motors.

[0044] like Figure 3 and Figure 4 As shown, the RTG crane 10 is further equipped with a distribution detector 19 for detecting the outlines of the container groups B loaded in the bays. The distribution detector 19 is, for example, located on the crane main beam 12. The distribution detector 19 is, for example, a laser rangefinder capable of scanning in the Y direction. For example, when the RTG crane 10 travels in the X direction, the distribution detector 19 measures the distance to the top surface of the container C loaded on the top layer of each row and transmits the measurement results to the distribution detection unit 111. The distribution detection unit 111 creates distribution information of the containers C based on the measurement results received from the distribution detector 19.

[0045] In the present invention, "distribution information" refers to information about the upwardly exposed surfaces (which may also include sidewardly exposed surfaces) of multiple loaded containers, including information about the top surfaces of the loaded containers. As the RTG crane 10 travels in the X direction, the distribution detector 19 scans the upwardly exposed surfaces of the containers C (e.g., including the top and sidewardly exposed surfaces of the containers C) and measures the distance to the upwardly exposed surfaces of the containers C in each row. The distribution detection unit 111 determines the number of layers of containers stacked in each row based on the distance to the upwardly exposed surfaces of each container C, detecting the distribution information for each row B. This is sometimes referred to as measured distribution information. In this way, the distribution detection unit 111 creates distribution information for the containers C, thereby obtaining storage information for the containers C in the cell L of the container yard 2.

[0046] As an example, the RTG crane 10 includes three distribution detectors 19 arranged along the crane main beam 12 , and each distribution detector 19 detects distribution information of two rows R. However, the number and arrangement of the distribution detectors 19 are not limited to the above example and can be modified as appropriate.

[0047] Figure 5 This is a block diagram showing the configuration and functions of the automatic RTG system 100 according to the present embodiment. Figure 6 (a) and (b) are diagrams for explaining the setting of the transport path of the container C. In the present embodiment, the container transport paths H1 and H2 are set using the above-mentioned container distribution information.

[0048] The RTG crane 10 includes a control device 110 including the distribution detection unit 111 described above. The control device 110 may include, for example, a processor, memory, storage, and a communication interface, and may be configured as a computer (also referred to as an onboard automatic control PC). The processor is an arithmetic unit such as a CPU (Central Processing Unit). The memory is a storage unit such as a ROM (Read Only Memory) or a RAM (Random Access Memory). The storage device is a storage unit (storage medium) such as an HDD (Hard Disk Drive). The communication interface is a communication device that enables data communication. The processor controls the memory, storage, and communication interface to implement the functions of the control device 110 described below. In the control device 110, various functions are implemented by, for example, loading programs stored in the ROM into the RAM and having the CPU execute the programs loaded into the RAM. The number of computers that constitute the control device 110 may be one or more.

[0049] The automated RTG system 100 includes, for example, multiple operating stations 6 installed in the remote operating room 5 and a management computer 7 for managing the automated operation of multiple RTG cranes 10. The management computer 7 is also referred to as an RGC (RTG Group Management Computer). The management computer 7 includes, for example, the same computer components as the control device 110. Specifically, the management computer 7 includes, for example, the same processor, memory, storage device, and communication interface as described above.

[0050] By managing a plurality of RTG cranes 10 by the management computer 7, automatic loading and unloading of a plurality of RTG cranes 10 can be realized. Figure 5In the figure, only one RTG crane 10 is shown as the RTG crane 10 capable of communicating with the remote operation room 5. However, in reality, multiple RTG cranes 10 can communicate with the remote operation room 5. Communication between the remote operation room 5 and the multiple RTG cranes 10 is achieved, for example, by wireless communication.

[0051] Typically, the RTG crane 10 automatically loads and unloads the container C. For example, the RTG crane 10 may be assigned to the operator's station 6. Thus, when the RTG crane 10 is assigned to the operator's station 6, the RTG crane 10 can be manually operated from the operator's station 6. Manual operation of the RTG crane 10 can be performed, for example, when transferring the container C to the transport trolley 20 for safety reasons. Thus, when the RTG crane 10 is assigned to the operator's station 6, the operator can operate the assigned RTG crane 10 from the operator's station 6.

[0052] All loading and unloading operations at the container terminal 1 are managed by TOS (Terminal Operation System) 8. TOS8 is capable of communicating with the management computer 7. For example, the management computer 7 and TOS8 can communicate via a wired line. However, the communication line between the management computer 7 and TOS8 can also be a wireless line and can be changed as appropriate. TOS8 is capable of communicating with the RTG crane 10 via the management computer 7. However, TOS8 and the RTG crane 10 can also communicate wirelessly. TOS8 centrally manages the loading and unloading operations of containers C based on multiple RTG cranes 10 in the container terminal 1. TOS8 outputs loading and unloading operation instructions for container C to the management computer 7 or the control device 110. TOS8 can be set in the remote operation room 5 or in a location other than the remote operation room 5. In this way, the location of TOS8 can be changed as appropriate. TOS8 creates container distribution information based on the loading and unloading operation request sent to the management computer 7 and the loading and unloading operation completion report received from the management computer 7. This distribution information is sometimes referred to as TOS distribution information (second distribution information). TOS8 updates the TOS distribution information when a loading and unloading operation request is sent and when a loading and unloading operation completion report is received, thereby always maintaining the latest storage information.

[0053] In response to a loading and unloading operation request received from the TOS 8, the management computer 7 transmits an automatic operation start instruction to the control device 110 of each RTG crane 10. Furthermore, if the management computer 7 receives an operation request from a control device 110 during automatic operation, it assigns the RTG crane 10 to an operator's station 6. The operator remotely operates the RTG crane 10 from the operator's station 6 assigned by the management computer 7. When the operator's remote operation is complete, the management computer 7 instructs the control device 110 of the RTG crane 10 to resume automatic operation. When the RTG crane 10 completes the requested loading and unloading operation, the management computer 7 notifies the TOS 8 of the completion of the loading and unloading operation.

[0054] The control device 110 includes the following functional components: the aforementioned distribution detection unit 111, a measured distribution storage unit 112, a TOS distribution acquisition unit 113, and a distribution verification unit 114. The TOS distribution acquisition unit 113, for example, acquires TOS distribution information received from the TOS 8 via the management computer 7. As described above, the distribution detection unit 111 creates measured distribution information based on the detection results of the distribution detector 19. The distribution verification unit 114 verifies the measured distribution information and the TOS distribution information to determine whether they match.

[0055] For example, the control device 110 further includes the following functional components: a path setting unit 115 for setting a transfer path for the container C using the spreader 14 of the RTG crane 10, and a movement control unit 116 for controlling the movement of the spreader 14 according to the path setting set by the path setting unit 115. When transporting the container C of the above-mentioned loading and unloading target container group B1, the path setting unit 115 uses the distribution information of the container C to set the transport path. Figure 6 H1 shown in (a) shows a transport path when the container C mounted on the transport vehicle 20 is transferred to the storage area. Figure 6 H2 shown in (b) shows the transport path when the container C in the storage area is transferred to the transport cart 20. The movement control unit 116 controls the traverse motor and the roller drive motor to move the container C along the path set by the path setting unit 115.

[0056] like Figure 6 As shown in (a), when transporting the container C in a direction away from the transport vehicle 20, the route setting unit 115 sets the transport route H1 based on the storage conditions of the containers C in the loading and unloading target container group B1. Figure 6 (a) shows an example of transporting a container C on a transport cart 20 to a storage area. The path setting unit 115 sets a transport path H1 (hereinafter sometimes referred to as an optimal path) that passes through a position a predetermined distance higher than the highest height of the containers C stored in each row R of the target container group B1.

[0057] For example, Figure 2 As shown in FIG. 1 , assume that a container C stored in the adjacent container group B2 has an offset E in the X direction. In this case, if container C is transported in path H4 based only on the measured distribution information of the target container group B1, container C will interfere with the offset E portion of the adjacent container group B2, and container C may fall onto the transport trolley 20. Therefore, if Figure 6 As shown in (a), when transferring container C from the transport cart 20 to the storage area, the path setting unit 115 sets an optimal path. When transferring container C from the storage area to the transport cart 20, the path setting unit 115 can set a transport path H2 that exceeds the maximum height M of the containers C in the target container group B1, regardless of the actual storage conditions of the target container group B1. In other words, when transferring container C toward the transport cart 20, the path setting unit 115 sets a transport path H2 that is higher than the actual height of the containers C in the target container group B1. This path can prevent the container C from falling onto the transport cart 20. The transport path H2 that exceeds the maximum height M of the containers C in the target container group B1 is sometimes referred to as a safe path.

[0058] However, if the path setting unit 115 sets a path that always exceeds the maximum height M when transporting the container C to the transport vehicle 20 , the time required to transport the container C will be longer than when transporting the container C via the shortest path.

[0059] Therefore, if Figure 7As shown, the path setting unit 115 of this embodiment sets the transport path H3 for the container C toward the transport vehicle 20, taking into account not only the distribution information P1 of the target container group B1 but also the distribution information P2 of the adjacent container group B2. The distribution information P1 of the target container group B1 is sometimes referred to as the target row distribution information. The target row distribution information generated based on measurements by the distribution detector 19 is sometimes referred to as the first target row distribution information, while the target row distribution information generated by a mechanism different from the distribution detector 19 is sometimes referred to as the second target row distribution information. The second target row distribution information is, for example, the TOS distribution information of the target row, but may also be distribution information generated based on measurements by a detector different from the distribution detector 19. Furthermore, the distribution information P2 of the adjacent container group B2 is sometimes referred to as the adjacent row distribution information. The adjacent row distribution information generated based on measurements by the distribution detector 19 is sometimes referred to as the first adjacent row distribution information, while the target row distribution information generated by a mechanism different from the distribution detector 19 is sometimes referred to as the second adjacent row distribution information. The second adjacent row distribution information is, for example, TOS distribution information for the adjacent row, but may also be distribution information created based on measurements using a detector different from the distribution detector 19. For example, the path setting unit 115 superimposes the target distribution information P1 and the adjacent row distribution information P2 to create superimposed distribution information P3, and sets a transport path H3 that passes over superimposed distribution information P3. Transport path H3 is an optimal path set based on the target row distribution information and the adjacent row distribution information.

[0060] As described above, the path setting unit 115 sets the transport path H3 as the optimal path that does not interfere with the container C of the loading and unloading target container group B1 and the container C of the adjacent container group B2. Figure 7 In FIG. 1 , the distribution information P1 of the loading and unloading target container group B1 and the adjacent container groups B2 on both sides of the X direction are superimposed (refer to FIG. 1 ). Figure 2 However, the path setting unit 115 may set the transport path H3 by superimposing the distribution information P1 of the loading and unloading target container group B1 and the distribution information P2 of the adjacent container group B2 on one side in the X direction.

[0061] In this embodiment, the path setting unit 115 sets a transport path consisting of two directions: the Y direction (lateral direction) and the Z direction (vertical direction). In this case, the movement control unit 116 controls the lateral motor and the roller drive motor to operate sequentially, thereby minimizing the likelihood of container C coming into contact with surrounding containers due to oscillation during movement. However, the path setting unit 115 may also set a transport path H3 that causes container C to pass obliquely above the superimposed distribution information P3. In this case, the movement control unit 116 controls the lateral motor and the roller drive motor to operate simultaneously, thereby further improving the transport productivity of container C.

[0062] The movement control unit 116 controls the traverse motor and the roller drive motor to move the spreader 14 along the transport path H3 set by the path setting unit 115. As a specific example, the movement control unit 116 moves the spreader 14 along the transport path H3 to the transport trolley 20 in order to place the container C held by the spreader 14 on the transport trolley 20. Furthermore, the movement control unit 116 moves the spreader 14 along the transport path H3 in order to, for example, retrieve the container C placed on the transport trolley 20.

[0063] Next, an example of a container transport route setting method according to this embodiment will be described. Figure 8 1 is a flowchart showing exemplary steps of the container transport route setting method according to the present embodiment. As an example, the container transport route setting method according to the present embodiment is performed using the automatic RTG system 100.

[0064] First, the RTG crane 10 receives the latest storage information for containers C in the target container group B1 and the adjacent container group B2 from the TOS 8 (step S1). At this time, for example, the storage information for containers C in the target container group B1 and the adjacent container group B2 are transmitted from the TOS 8 to the control device 110 via the management computer 7. The distribution acquisition unit 71 acquires this storage information for containers C as the second target row distribution information P1 and the second adjacent row distribution information P2.

[0065] Then, the distribution checking unit 114 reads the latest measured distribution from the measured distribution storage unit 112 (step S2). Specifically, the measured distribution is the first measured distribution information P1 and the first adjacent row distribution information P2 for the target container group B1, based on the detection results obtained by the distribution detector 19. For example, step S2 can be executed simultaneously with step S1 or before step S1. The timing of executing step S2 can be modified as appropriate.

[0066] Next, the distribution information P1 and P2 are checked (step S3). At this time, the distribution checker 114 checks the first distribution information P1 and P2 obtained from the distribution detection unit 111 with the second distribution information P1 and P2 obtained from the TOS8. For example, if the first distribution information P1 and P2 are consistent with the second distribution information P1 and P2 (yes in step S3), the path setting unit 115 sets the optimal path (step S4). On the other hand, if the second distribution information P1 and P2 are inconsistent with the first distribution information P1 and P2 stored in the measurement distribution storage unit 112 (if at least one of the distribution information P1 and the distribution information P2 is inconsistent) (no in step S3), the path setting unit 115 sets a safe path (step S5).

[0067] In step S4, for example, Figure 7 As shown, the path setting unit 115 creates the superposition distribution information P3. Then, a transport path H3 is set that is higher than the highest height in the superposition distribution information P3 by a predetermined distance and is the shortest from the transport vehicle 20. For example, in step S5, Figure 6 As shown in (b), the path setting unit 115 sets a transport path H2 that exceeds the maximum height M of the container C in the target container group B1 as a safe path. If an abnormality occurs where the second distribution information P1 and P2 stored in the TOS 8 and the first distribution information P1 and P2 detected by the distribution detector 19 do not match, the transport path H2 is set to exceed the maximum height M. This allows for safe transport of the container C during the abnormality. As described above, after the path setting unit 115 sets the transport paths H2 and H3, the movement control unit 116 controls the spreader 14 to move along the transport paths H2 and H3, thereby transporting the container C and completing the series of steps.

[0068] Next, the effects of the automatic RTG system 100 and the container transport path setting method according to this embodiment will be described in detail. Figure 7 As shown, in the automated RTG system 100 and container transport route setting method according to this embodiment, the route setting unit 115 uses the distribution information P1 (first target row distribution information) of the target container group B1 and the distribution information P2 (first adjacent row distribution information) of the adjacent container group B2 to determine the transport route H3. Thus, the route setting unit 115 sets the transport route H3 by referring not only to the distribution information P1 of the target container group B1 but also to the distribution information P2 of the adjacent container group B2. Therefore, by referring not only to the distribution information P2 of the adjacent container group B2 but also to the target container group B1 when setting the route, interference between the container C and the target container group B1 and the adjacent container group B2 can be avoided. As a result, both loading and unloading efficiency and the transport safety of the container C can be achieved.

[0069] The path setting unit 115 may create superimposed distribution information P3 by superimposing the distribution information P1 and the distribution information P2, and set an optimal path for the container C to pass through a position higher than the superimposed distribution information P3 by a predetermined distance as the transport path for the container C.

[0070] Alternatively, the path setting unit 115 may use the measurement distribution information P1 of the target container group B1 and the measurement distribution information P2 of the pair of adjacent container groups B2 stored in the measurement distribution storage unit 112 to set the transport path H3 for the container C. In this case, the path setting unit 115 sets the transport path H3 using the distribution information P1 of the target container group B1 and the distribution information P2 of the pair of adjacent container groups B2 located on either side of the target container group B1. Therefore, since the transport path H3 is set using the distribution information P1 and P2 of the target container group B1 and the pair of adjacent container groups B2, the transport safety of the container C can be further improved.

[0071] The RTG crane 10 may include a distribution detector 19 for measuring the outline of the target container group B1 and the outline of the adjacent container group B2. The control device 110 may include a distribution detector 111 for creating distribution information P1 and distribution information P2 based on the measurement results of the distribution detector 19.

[0072] The control device 110 may include a measured distribution storage unit 112 that stores the distribution information P1 and distribution information P2 generated by the distribution detection unit 111. In this case, since the distribution information P1 of the target container group B1 and the distribution information P2 of the adjacent container group B2 are stored in advance, the transport path H3 of the container C can be set efficiently.

[0073] The control device 110 may include a distribution checking unit 114 that checks each of the distribution information P1 and the distribution information P2 stored in the measured distribution storage unit 112 with each of the distribution information P1 (second target row distribution information) indicating the outline of the target container group B1 and the distribution information P2 (second adjacent row distribution information) indicating the outline of the adjacent container group B2, both acquired by a mechanism separate from the distribution detector 19. In this case, since the pre-stored distribution information P1 and P2 of the target container group B1 and the adjacent container group B2 are checked against the detected distribution information P1 and P2 of the target container group B1 and the adjacent container group B2, the accuracy of the distribution information P1 and P2 can be further improved.

[0074] If the stored distribution information P1 of the target container group B1 is inconsistent with the detected distribution information P1 of the target container group B1 (if the first target row distribution information is inconsistent with the second target row distribution information), and / or if the stored distribution information P2 of the adjacent container group B2 is inconsistent with the detected distribution information P2 of the adjacent container group B2 (if the first adjacent row distribution information is inconsistent with the second adjacent row distribution information), the path setting unit 115 can set a safe path (e.g., transport path H2) that allows container C to pass through a predetermined maximum height as the transport path for container C. In this case, since a higher transport path H2 is set when the detected distribution information P1, P2 is inconsistent with the stored distribution information P1, P2, a safer path can be set when an abnormality occurs in which the distribution information P1, P2 is inconsistent.

[0075] When the stored distribution information P1 of the loading and unloading object container group B1 is consistent with the distribution information P1 of the detected loading and unloading object container group B1 (the first object row distribution information is consistent with the second object row distribution information) and the stored distribution information P2 of the adjacent container group B2 is consistent with the distribution information P2 of the detected adjacent container group B2 (the first adjacent row distribution information is consistent with the second adjacent row distribution information), the path setting unit 115 can set the optimal path as the transportation path of the container C.

[0076] The distribution acquisition unit 71 can be installed on the management computer 7 that manages multiple RTG cranes 10. In this case, since the distribution acquisition unit 71 is installed on the management computer 7 that manages multiple RTG cranes 10, the distribution information P1 and P2 for multiple groups of target containers B1 and adjacent groups of containers B2 can be centrally managed using the distribution acquisition unit 71. The control device 110 can be installed on the RTG crane 10. In this case, the distribution information P1 and P2 can be detected by the RTG crane 10.

[0077] The above describes embodiments of the automated RTG system and container transport route setting method according to the present invention. However, the present invention is not limited to the aforementioned embodiments and is subject to modification without departing from the spirit of the various technical claims. Specifically, the structure and function of the various components of the automated RTG system according to the present invention, as well as the content and sequence of the various steps in the container transport route setting method, may be appropriately modified without departing from the aforementioned spirit.

[0078] For example, in the above embodiment, the control device 110 of the RTG crane 10 is described as including the measured distribution storage unit 112. However, at least one of the measured distribution storage unit 112 and the distribution acquisition unit 71 may be omitted. Furthermore, the TOS 8 may include a distribution storage unit in place of the measured distribution storage unit 112 and the distribution acquisition unit 71, so that the distribution information P1 and P2 can be stored and managed by the TOS 8.

[0079] In the above embodiment, an example is described in which the distribution detection unit 111 detects the distribution information P2 of the adjacent container groups B2 located on both sides in the X direction, and the path setting unit 115 sets the transport path H3 with reference to the distribution information P2 of the pair of adjacent container groups B2. However, the distribution information P2 of the adjacent container groups B2 located on both sides in the X direction may not be referenced. In other words, the distribution detection unit 111 may detect the distribution information P2 of the adjacent container group B2 located on a single side, and the path setting unit 115 may set the transport path H3 with reference to the distribution information P2 of the adjacent container group B2 located on the single side.

[0080] In the above embodiment, the following example is described: the distribution checking unit 114 checks the distribution information P1 and P2, and if the distribution information P1 and P2 detected by the distribution detection unit 111 matches the distribution information P1 and P2 stored in the measured distribution storage unit 112, the path setting unit 115 sets the transport path H3. However, the distribution checking unit 114 can also be omitted. For example, the distribution detection unit 111 can detect the distribution information P1 of the target container group B1 and the distribution information P2 of the adjacent container group B2, and the path setting unit 115 can calculate the superimposed distribution information P3 based on the detected distribution information P1 and P2 and set the transport path H3. In this case, since the optimal transport path H3 can be set by taking into account the storage information of the containers C in the target container group B1 and the adjacent container group B2, it is possible to maintain the safety of the transport of the containers C and set a highly productive transport path H3.

[0081] Explanation of symbols

[0082] 1-Container terminal, 2-Container storage yard, 3-Gantry crane, 5-Remote operation room, 6-Operation console, 7-Management computer, 8-TOS, 10-RTG crane, 11-Supporting leg, 12-Crane main beam, 13-Crane trolley, 14-Spreader, 15-Traveling device, 16-Winding drive unit, 18-Suspension component, 20-Transport trolley, 71-Distribution acquisition unit, 100-Automatic RTG system, 110-Control device, 111-Distribution detection unit , 112-measurement distribution storage unit (distribution storage unit), 113-TOS distribution acquisition unit, 114-distribution verification unit, 115-path setting unit, 116-movement control unit, B-row (container group), B1-loading and unloading object container group, B2-adjacent container group, C-container, H1-transportation path, H2-transportation path (safe path), H3-transportation path (optimal path), L-cell, P1, P2-distribution information, P3-superimposed distribution information, R-column.

Claims

1. An automatic RTG system, characterized in that: have: RTG cranes, which handle containers arranged in groups of multiple containers in a container yard; and A control device, controlling the RTG crane, The control device includes a path setting unit that sets a transport path for the container using first target row distribution information indicating an outline of a loading and unloading target container group and first adjacent row distribution information indicating an outline of an adjacent container group adjacent to the loading and unloading target container group. The path setting unit creates superimposed distribution information by superimposing the first target row distribution information and the first adjacent row distribution information, and sets an optimal path for the container to pass through a position higher than the superimposed distribution information by a predetermined distance as a transport path for the container.

2. The automatic RTG system according to claim 1, characterized in that: The path setting unit sets a transport path for the container using the first target row distribution information and a pair of first adjacent row distribution information located on both sides of the loading and unloading target container group.

3. The automatic RTG system according to claim 1 or 2, characterized in that: The RTG crane further includes a distribution detector that measures the outline of the container group to be loaded or unloaded and the outline of the adjacent container group. The control device further includes a distribution detection unit configured to create the first target row distribution information and the first adjacent row distribution information based on a measurement result of the distribution detector.

4. The automatic RTG system according to claim 3, characterized in that: The control device further includes a distribution storage unit that stores the first target row distribution information and the first adjacent row distribution information created by the distribution detection unit.

5. The automatic RTG system according to claim 4, characterized in that: The control device also has a distribution verification unit, which verifies each of the first object row distribution information and the first adjacent row distribution information stored in the distribution storage unit and each of the second object row distribution information representing the outline of the loading and unloading object container group and the second adjacent row distribution information representing the outline of the adjacent container group obtained by a mechanism different from the distribution detector.

6. The automatic RTG system according to claim 5, characterized in that: When the first target row distribution information is inconsistent with the second target row distribution information and / or when the first adjacent row distribution information is inconsistent with the second adjacent row distribution information, The path setting unit sets a safe path for the container to pass through a predetermined maximum height as a transport path for the container.

7. The automatic RTG system according to claim 5 or 6, characterized in that: The path setting unit sets an optimal path as the transport path for the container when the first target row distribution information and the second target row distribution information are consistent and the first adjacent row distribution information and the second adjacent row distribution information are consistent.

8. The automatic RTG system according to claim 1, characterized in that: The control device is arranged on the RTG crane.

9. A control device for an RTG crane, which controls the RTG crane for transporting containers from a plurality of container groups arranged in a container yard, wherein the control device for the RTG crane is characterized by: A path setting unit is provided for setting a transport path for the container using first target row distribution information indicating an outline of a loading and unloading target container group and first adjacent row distribution information indicating an outline of an adjacent container group adjacent to the loading and unloading target container group. The path setting unit creates superimposed distribution information by superimposing the first target row distribution information and the first adjacent row distribution information, and sets an optimal path for the container to pass through a position higher than the superimposed distribution information by a predetermined distance as a transport path for the container.

10. A method for setting a container transport path for an RTG crane in a plurality of container groups arranged in a container yard, the method comprising the following steps: The container transport path is set using first target row distribution information indicating the outline of a target container group and first adjacent row distribution information indicating the outline of an adjacent container group adjacent to the target container group. Superimposed distribution information is created by superimposing the first target row distribution information and the first adjacent row distribution information, and an optimal path for causing the container to pass through a position higher than the superimposed distribution information by a predetermined distance is set as a transport path for the container.

Images