Pallets for container transfer

Abstract

To provide a pallet for container transfer that can suitably automate the transfer of containers to a chassis.SOLUTION: A pallet 100 for container transfer allows a container C to be transferred to a chassis 12 via a main body 51. The pallet 100 for container transfer includes: a target mark 52 detectable by a detection unit for detecting a relative position between a container crane 20 and the main body 51; a traverse direction detection target 53; and a traveling direction detection target 54. In this way, the target mark 52, the transverse direction detection target 53, and the traveling direction detection target 54 can be arranged in an appropriate layout with respect to the main body 51, suppressing any restrictions on arrangement due to a structure on the chassis 12 side.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a pallet for transferring containers. [Background technology]

[0002] Patent Document 1 discloses a crane system for transferring containers to a stopped trailer in which a sensor attached to the leg of a container crane horizontally scans the space above the loading lane with a laser to detect trailers on the loading lane. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2005-239343 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, when a container crane is to automatically transfer a container to a trailer, it is necessary to detect the relative position between the chassis of the stopped trailer and the container crane. On the other hand, when a detection target is directly provided on the chassis, the position of the target may become a problem. For these reasons, there is a demand for an automated transfer of containers to the chassis.

[0005] Therefore, an object of the present invention is to provide a pallet for transferring containers, which enables the automation of the transfer of containers onto a chassis in an optimal manner. [Means for solving the problem]

[0006] The container transfer pallet of the present invention is detachably attached to a chassis for transferring containers transported by a container crane, and comprises a main body on which the bottom of the container is placed, and a detectable part that can be detected by a detection part for detecting the relative position between the container crane and the main body.

[0007] In this container transfer pallet, the main body is detachably attached to a chassis for transferring a container transported by a container crane, and the bottom of the container is placed on the main body. In this case, the main body adopts a configuration simulating the bottom of the container, so that the main body can be detachably attached to the chassis using a mechanism for the chassis to receive the container. The container can be transferred to the chassis via the main body. The container transfer pallet also includes a detectable part that can be detected by a detector for detecting the relative position between the container crane and the main body. In this way, the detectable part is prevented from being subject to layout restrictions due to the structure of the chassis, and can be arranged in an appropriate layout with respect to the main body. As described above, the transfer of containers to the chassis can be suitably automated.

[0008] The detecting unit may be a photographing device, and the detected unit may be a target mark that can be photographed by the photographing device provided on the hoist of the container crane. This allows the target mark to be arranged in an appropriate layout with respect to the main body unit.

[0009] The detection unit may be a first scanner provided on the leg of the container crane, and the detected unit may be a travel direction detection target whose relative position in the travel direction of the container crane can be detected by the first scanner. This allows the travel direction detection target to be arranged in an appropriate layout with respect to the main body unit.

[0010] The detection unit may be a second scanner provided on the hanging unit of the container crane, and the detected unit may be a lateral direction detection target whose relative position in the lateral direction of the container crane can be detected by the second scanner. This allows the lateral direction detection target to be arranged in an appropriate layout with respect to the main body unit.

[0011] The main body may be formed with a guide portion for suppressing horizontal displacement of the container. In this case, it becomes possible to transfer the container to the container transfer pallet in a state in which horizontal displacement of the container is suppressed.

[0012] The main body may be detachable from the chassis via a locking mechanism provided on the chassis. In this case, it becomes possible to attach a container transfer pallet to a load chassis having a locking mechanism.

[0013] The main body may be detachable from the chassis via a guide mechanism that suppresses horizontal displacement of the container provided on the chassis. In this case, a container transfer pallet can be attached to the on-site chassis having the guide mechanism. Effect of the Invention

[0014] According to the present invention, the transfer of containers onto a chassis can be suitably automated. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a perspective view showing a crane system in which a container transfer pallet according to this embodiment is used. [Diagram 2] FIG. 2 is a perspective view showing a container transfer pallet and a trailer. [Diagram 3] FIG. 3 is a diagram showing a road chassis and a premises chassis. [Figure 4] FIG. 4 is a partially enlarged view of a pallet for container transfer. [Diagram 5]FIG. 5 is a diagram showing how a container is transferred onto a chassis without using a container transfer pallet. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, exemplary embodiments will be described with reference to the drawings. In each drawing, the same or corresponding parts are denoted by the same reference numerals, and duplicated explanations will be omitted.

[0017] Fig. 1 is a perspective view showing a crane system 1 in which a container transfer pallet 100 according to this embodiment is adopted. Fig. 2 is a perspective view showing a trailer. The crane system 1 shown in Fig. 1 is a system that automatically transfers a container C by a container crane 20 to a trailer 10 operated by a crew member. The crane system 1 is equipped with the container transfer pallet 100 and the container crane 20 that are attached to the trailer 10.

[0018] The trailer 10 is a vehicle that is driven by a driver and can carry a container C. The trailer 10 includes a trailer head 11 that includes a driver's seat, and a chassis 12 that is connected to the trailer head 11. The trailer head 11 has, for example, an engine as a drive source, and travels by driving force generated by operation of the engine. The chassis 12 is towed by the trailer head 11. The chassis 12 is configured to be capable of carrying a container C, and the container C is transferred (loaded and unloaded) by a container crane 20. A container transfer pallet 100 is detachably attached to the chassis 12. The chassis 12 supports the container C via the container transfer pallet 100. The trailer 10 is equipped with equipment such as a turn signal and a parking brake that are equipped on a normal vehicle.

[0019] As shown in FIG. 2, the container transfer pallet 100 includes a main body 51, a target mark 52 (detection target), a lateral direction detection target 53 (detection target), a running direction detection target 54 (detection target), and guides 56, 57, and 58. The main body 51 is detachably attached to a chassis 12 for transferring a container C transported by a container crane 20, and is a portion on which the bottom of the container C is placed. The detection targets, such as the target mark 52, the lateral direction detection target 53, and the running direction detection target 54, are used to detect the relative position of the container C and the main body 51 in order to automatically place the container C on the main body 51. The guides 56, 57, and 58 are portions that suppress horizontal deviation of the container C transferred onto the container transfer pallet 100. A more detailed description of the container transfer pallet 100 will be given later.

[0020] As shown in Fig. 1, the container C is an ISO standard container or the like. The container C has a long rectangular parallelepiped shape and has a predetermined length in its longitudinal direction, for example, 20 feet or 40 feet. The container C also has a predetermined height in its height direction, for example, 8.5 feet or 9.5 feet. The bottom surface of the container C is provided with an engagement hole (not shown) into which the engagement portion of the chassis 12 is inserted.

[0021] The container crane 20 is a crane device that handles the loading and unloading of containers C in, for example, a container yard of a container terminal where containers C are transferred to and from a docked container ship. A loading and unloading lane, which is a travel path for trailers 10 and the like onto which the containers C are transferred, is laid in the container yard CY. The container crane 20 automatically transfers the container C to, for example, the trailer 10 stopped on the loading and unloading lane. The container crane 20 acquires the container C carried in by the trailer 10 from the trailer 10 and places the container C at a predetermined position in the container yard CY. The container crane 20 also acquires the container C placed in the container yard CY, places the container C on the trailer 10, and has the trailer 10 carry the container C out to the outside.

[0022] The container crane 20 includes a crane body 21 and a control unit 23. The crane body 21 transfers the container C to the trailer 10. The crane body 21 includes a gate-shaped portion 21a and a spreader 21b.

[0023] The gate-shaped portion 21a is made to travel by a traveling device 25 having wheels with tires. The traveling device 25 travels by driving a traveling motor. The gate-shaped portion 21a is formed in a substantially gate shape with two pairs of legs 26, 26 erected on the traveling device 25 and crane girders 27, 27 connecting the upper ends of the legs 26, 26. The gate-shaped portion 21a is further provided with a trolley 28 capable of traversing on the crane girder 27 in a direction perpendicular to the traveling direction. The trolley 28 traverses by driving a traverse motor. The trolley 28 is provided with a drum 29 that rotates forward and backward by a drum drive motor, and suspends the spreader (suspension tool) 21b via a wire 30. The traveling motor, the traverse motor, and the drum drive motor are controlled by the control unit 23.

[0024] The direction in which the container crane 20 travels may be referred to as the "traveling direction D1", the direction in which the trolley 28 travels laterally may be referred to as the "lateral direction D2", and the direction perpendicular to the traveling direction D1 and the lateral direction D2 may be referred to as the "up-down direction D3". Based on the posture of the trailer 10 shown in FIG. 1, one side of the traveling direction D1 may be referred to as the "front side" and the other side as the "rear side". Based on the posture of the trailer 10 shown in FIG. 1, one side of the lateral direction D2 may be referred to as the "right side" and the other side as the "left side". The trailer 10 is parked at a position adjacent to the right leg 26. When the trailer 10 is parked in the opposite direction in the traveling direction D1 to that shown in FIG. 1, the relationships between "front", "rear", "right" and "left" are reversed.

[0025] Here, the legs 26, 26 are provided with a leg three-dimensional scanner 41 (detection unit, first scanner). The leg three-dimensional scanner 41 is a device that detects the relative position between the container crane 20 and the main body 51 of the container transfer pallet 100. The leg three-dimensional scanner 41 detects the relative position between the gate-shaped portion 21a of the container crane 20 and the main body 51 of the container transfer pallet 100 in the traveling direction D1 of the container crane 20. In the example shown in FIG. 1, the leg three-dimensional scanner 41 is provided on the right leg 26 in the lateral direction D2, but may also be provided on the left leg 26. In addition, the leg three-dimensional scanner 41 may be provided in a plurality of units spaced apart from each other in the traveling direction D1, for example, on both sides of the traveling direction D1 with respect to the leg 26. Therefore, the leg three-dimensional scanner 41 can detect the relative position of the container transfer pallet 100 on both the front and rear sides of the trailer 10 parked on the right side in the lateral direction D2. Each leg three-dimensional scanner 41 is provided at a position at least higher than the trailer 10. The leg three-dimensional scanner 41 detects objects within a detection range DE1 (see FIG. 1) by scanning downward with a detection line such as a laser. The detection range DE1 is set to extend at least in the traveling direction D1. Note that a two-dimensional scanner may be used instead of the leg three-dimensional scanner 41.

[0026] The spreader 21b is a device for holding and lifting the container C. The spreader 21b can engage the container C from the upper side, and loads and unloads the container C by engaging and lifting the container C. The spreader 21b is suspended via a sheave 33 around which a wire 30 from the drum 29 is wound, and can be raised and lowered by the forward and reverse rotation of the drum 29. The spreader 21b is controlled by the control unit 23.

[0027] The spreader 21b has substantially the same shape as the shape of the upper surface of the container C in a plan view. The crane body 21 has a sheave 33 around which the wire 30 is wound, on the upper side of the center in the longitudinal direction. The spreader 21b is positioned above the container C when the spreader 21b engages the container C. The spreader 21b includes a guide 32 and a lock pin (not shown).

[0028] When the spreader 21b picks up a target container C to be picked up by the spreader 21b, the guide 32 guides the spreader 21b onto the target container C when the spreader 21b descends. The guide 32 is provided near both ends in the longitudinal direction at one end and the other end of the short side of the spreader 21b in the horizontal direction. That is, the guide 32 is provided on the outside of the short side of the spreader 21b at the four corners of the spreader 21b. The guide 32 has a tapered surface at its tip, and the tapered surface is brought into contact with the edge of the upper surface of the target container C, and the spreader 21b is guided to directly above the target container C by receiving (guided by) a reaction force from the edge.

[0029] The lock pin is a mechanism for locking the container C. The lock pin is provided on the lower surface side of the spreader 21b and protrudes downward from the spreader 21b. The lock pin is provided at a position corresponding to a hanging hole portion (not shown) formed at the four corners of the upper surface of the container C when the spreader 21b locks the container C. The lock pin is, for example, a twist pin, and includes a locking piece (not shown) at its lower end that is rotatable around an axis extending in the vertical direction. The lock pin can engage with the container C by entering through the hanging hole portion of the container C and rotating the locking piece.

[0030] Here, the spreader 21b is provided with a photographing device 42 (detection unit). The photographing device 42 is a device that detects the relative position between the container crane 20 and the main body 51 of the container transfer pallet 100. The photographing device 42 detects the relative position between the spreader 21b of the container crane 20 and the main body 51 of the container transfer pallet 100 in the travel direction D1 and lateral direction D2 of the container crane 20. The photographing device 42 is provided, for example, at the four corners of the spreader 21b. The photographing device 42 can acquire an image within the photographing range DE2 (see FIG. 5) below the spreader 21b by being directed downward. The photographing range DE2 spreads three-dimensionally. Therefore, the photographing device 42 can acquire an image within a predetermined range in the travel direction D1 and lateral direction D2 below the four corners of the spreader 21b.

[0031] The spreader 21b may be provided with a two-dimensional scanner 43 (detection unit, second scanner). The two-dimensional scanner 43 is a device that detects the relative position between the container crane 20 and the main body 51 of the container transfer pallet 100. The two-dimensional scanner 43 detects the relative position between the spreader 21b of the container crane 20 and the main body 51 of the container transfer pallet 100 in the lateral direction D2 of the container crane 20. The two-dimensional scanner 43 is provided at the four corners of the spreader 21b. The two-dimensional scanner 43 detects an object within the detection range DE3 (see FIG. 5) by scanning by oscillating a detection line such as a laser downward. The detection range DE3 is set to spread in the lateral direction D2. The detection range DE3 in FIG. 5 is hatched with a broken line to distinguish it from the shooting range DE2. A three-dimensional scanner may be adopted instead of the two-dimensional scanner 43.

[0032] Next, a detailed configuration of the container transfer pallet 100 will be described with reference to Fig. 2. Here, the configurations of the main body 51, the target mark 52, the lateral direction detection target 53, the travel direction detection target 54, and the guide parts 56, 57, and 58 will be described in detail.

[0033] The main body 51 is configured with a plate-like member that extends from the front end to the rear end of the chassis 12 with a certain width. The main body 51 is attached to the chassis 12 so as to extend horizontally on the chassis 12. The main body 51 is formed to have approximately the same shape and size as the bottom of the container C. An engagement hole into which the engagement portion of the chassis 12 is inserted is provided on the bottom surface of the main body 51. An engagement portion that can be inserted into the engagement hole of the container C is provided on the top surface of the main body 51.

[0034] As shown in FIG. 2, the travel direction detection targets 54 are targets whose relative positions in the travel direction D1 of the container crane 20 can be detected by the leg three-dimensional scanner 41. The travel direction detection targets 54 are provided at the front end and rear end of the main body 51 in the travel direction D1. The travel direction detection target 54 arranged at the front end of the main body 51 is a target for the leg three-dimensional scanner 41 to detect the position of the front end of the main body 51. The travel direction detection target 54 arranged at the rear end of the main body 51 is a target for the leg three-dimensional scanner 41 to detect the position of the rear end of the main body 51. The travel direction detection target 54 is formed, for example, in a rectangular shape having a longitudinal direction in the lateral direction D2. When the container C is placed on the main body 51, the front and rear travel direction detection targets 54 are arranged so as to protrude from the container C to the front and rear sides in the travel direction D1, respectively. The front and rear travel direction detection targets 54 can be detected by the leg three-dimensional scanner 41 without being blocked by the container C. With the spreader 21b placing the container C on the main body 51 without any misalignment, the front and rear travel direction detection targets 54 are respectively placed within the detection ranges DE1 (see FIG. 1) of the front and rear leg three-dimensional scanners 41. The travel direction detection targets 54 are the same color as the lateral direction detection targets 53.

[0035] The target mark 52 is a target detectable by the photographing device 42 (see FIG. 1) provided on the spreader 21b. The target mark 52 indicates visual information that facilitates image analysis in an image photographed by the photographing device 42. The target mark 52 is arranged so as to be included in the field of view of the photographing device 42 when the spreader 21b is approximately located on the main body 51. For example, the target marks 52 are provided on both ends in the lateral direction D2 near the four corners of the main body 51. In a state in which a container C is placed on the main body 51, the left and right target marks 52 are arranged so as to protrude outside the container C in the lateral direction D2. The left and right target marks 52 can be detected by the photographing device 42 without being blocked by the container C. It is preferable that at least one target mark 52 is arranged within the photographing range DE2 (see FIG. 5) of each photographing device 42 in a state in which the spreader 21b places the container C on the main body 51 without any misalignment.

[0036] For example, as shown in FIG. 4(a), the target mark 52 includes a black border 52a and a white target portion 52b arranged within the black border 52a. The size of the target mark 52 is not particularly limited, but for example, the white target portion 52b is preferably set to a square of at least 50 mm. Each of the four black borders 52a is preferably set to 25 mm or more. The width of the black border 52a on the main body portion 51 side may be set to about 75 mm. In this case, even if the spreader 21b is shifted by 50 mm, the target mark 52 can be detected by the imaging device 42. The outer end 52c of the target mark 52 in the lateral direction D2 is arranged at a position that does not protrude outward from the outer end 56a of the guide portion 56 in the lateral direction D2.

[0037] As shown in FIG. 2, the lateral direction detection targets 53 are targets whose relative positions in the lateral direction D2 of the container crane 20 can be detected by the two-dimensional scanner 43. A plurality of the lateral direction detection targets 53 are provided along the traveling direction D1 at both ends of the main body 51 in the lateral direction D2. The lateral direction detection target 53 provided at the right end of the main body 51 is a target for the two-dimensional scanner 43 to detect the position of the right end of the main body 51. The lateral direction detection target 53 provided at the left end of the main body 51 is a target for the two-dimensional scanner 43 to detect the position of the left end of the main body 51. The lateral direction detection targets 53 are provided so as to be spaced apart from each other at a predetermined interval in the traveling direction D1. Each lateral direction detection target 53 is formed, for example, in a rectangular shape having a longitudinal direction in the traveling direction D1. When the container C is placed on the main body 51, the left and right lateral direction detection targets 53 are arranged so as to protrude from the container C in the lateral direction D2. The left and right lateral direction detection targets 53 can be detected by the two-dimensional scanner 43 without being blocked by the container C. When the spreader 21b places the container C on the main body 51 without any deviation, it is preferable that at least one lateral direction detection target 53 is arranged within the detection range DE3 (see FIG. 5) of each two-dimensional scanner 43. After the spreader 21b reaches the approximate target position determined by the detection of the travel direction detection target 54, the detection of the target mark 52 by the imaging device 42 and the detection of the lateral direction detection target 53 by the two-dimensional scanner 43 may be performed simultaneously. However, the detection of the lateral direction detection target 53 is not essential. The lateral direction detection target 53 is for adjusting the position of the spreader 21b using the results of the two-dimensional scanner 43 if the target mark 52 at the approximate target position is outside the field of view of the camera 42. Note that if a scanner for detecting the travel direction position is provided on the spreader 21b, the camera 42 may be unnecessary.

[0038] The lateral direction detection target 53 is set to a color that reflects the detection line from the two-dimensional scanner 43 well. The color of the lateral direction detection target 53 is preferably a light color rather than black in order to ensure reflectance. However, since the color of the lateral direction detection target 53 that is too bright may be affected by external disturbances, a color scheme with a medium reflectance is preferable. As shown in FIG. 4(a), the outer end 53a of the lateral direction detection target 53 in the lateral direction D2 is disposed at a position that does not protrude outward from the outer end 56a of the guide portion 56 in the lateral direction D2.

[0039] A plurality of guide portions 56 are provided along the running direction D1 at both ends of the main body 51 in the lateral direction D2. The guide portions 56 are provided so as to be spaced apart from each other with a predetermined interval in the running direction D1. As shown in FIG. 4(b), a guide surface 56b is formed at the upper portion of the guide portion 56, which is inclined upward as it goes outward in the lateral direction D2. The guide surface 56b is a surface that guides a corner Ca of the bottom of the container C to the inside of the lateral direction D2 when the container C is lowered in a state shifted outward in the lateral direction D2. A side surface 56c on the inside of the lateral direction D2 of the guide portion 56 is a surface that supports the container C placed on the main body 51 from the outside. A space is provided at the lower portion of the guide portion 56 to avoid interference with a guide mechanism 66 provided on the premises chassis 12B described later. This space may be formed by an inclined surface 56d that inclines upward toward the outside in the lateral direction D2. The target mark 52, the lateral direction detection target 53, and the travel direction detection target 54 are preferably provided at the same level as or lower than the lower end of the guide surface 56b to avoid interference with the container C.

[0040] 2, a pair of guide portions 57 are provided at the front end portion of the main body portion 51 in the traveling direction D1 so as to be spaced apart from each other in the traveling direction D1. A pair of guide portions 57 are provided at the rear end portion of the main body portion 51 in the traveling direction D1 so as to be spaced apart from each other in the lateral direction D2. The guide portions 57 have guide surfaces that guide corners of the bottom of the container C inward when the container C is lowered in a state shifted outward (toward the front or rear) in the traveling direction D1. The inner side surface of the guide portion 57 in the traveling direction D1 supports the container C placed on the main body portion 51 from the outside.

[0041] The guide portion 58 is disposed at a substantially central position in the traveling direction D1 of the main body portion 51. When a container C having a length half that of the main body portion 51 is placed on the guide portion 58, the guide portion 58 guides an end portion of the container C in the traveling direction D1. A pair of the guide portions 58 are provided so as to be spaced apart from each other in the lateral direction D2. Each guide portion 58 has a member 58a having a similar configuration to the guide portion 57 at the front end portion, and a member 58b having a similar configuration to the guide portion 57 at the rear end portion. The guide portion 58 has the member 58b on the front side and the member 58a on the rear side. As a result, the guide portion 58 is formed in a mountain shape that protrudes upward at the central position in the traveling direction D1.

[0042] For example, if the main body 51 is configured to be able to load one 40-foot container C, the main body 51 can load one 20-foot container C between the guide part 57 at the rear end and the rear member 58a of the guide part 58. The main body 51 can also load one 20-foot container C between the guide part 57 at the front end and the front member 58b of the guide part 58. The guide part 58 can be retracted downward when loading a 40-foot container C.

[0043] The container transfer pallet 100 can be attached and detached to both the road chassis 12A shown in Fig. 3(a) and the on-site chassis 12B shown in Fig. 3(b). The road chassis 12A is a chassis 12 used for vehicles in which the trailer 10 carries a container C and travels on public roads. The on-site chassis 12B is a chassis 12 used for vehicles dedicated to the trailer 10 carrying a container C and travelling between the container crane 20 on the quay side and the container storage area within the port. The on-site chassis 12B has a guide portion 68 that protrudes in the left and right directions, and is therefore not suitable for travelling on public roads.

[0044] As shown in FIG. 3(a), the load chassis 12A includes a pair of main frames 61 extending in the longitudinal direction, and a plurality of connecting frames 62 extending in the width direction perpendicular to the longitudinal direction so as to connect the pair of main frames 61. The connecting frames 62 are provided at the front and rear ends of the main frames 61, and a plurality of connecting frames 62 are also provided at midway positions in the longitudinal direction. A locking mechanism 63 is provided at the outer end of the width direction of the connecting frame 62 at a position corresponding to an engagement hole on the bottom surface of the container C. The locking mechanism 63 has a twist lock pin 64. As shown in FIG. 4(b), the main body 51 of the container transfer pallet 100 is detachable from the load chassis 12A via the locking mechanism 63 provided on the load chassis 12A. Specifically, a hole 59 is provided in the main body 51. The main body 51 is locked by the locking mechanism 63 by inserting the twist lock pin 64 into the hole 59. The hole 59 may be open at least on the lower side, but may also be open on the upper side by penetrating the hole 59. For example, when the container transfer pallet 100 is placed on the ground, it can be lifted from above in the same way as the container C by using a twist lock pin.

[0045] As shown in FIG. 3(b), the on-site chassis 12B includes a pair of main frames 61 extending in the longitudinal direction and a plurality of guide mechanisms 66 extending in the width direction. The guide mechanism 66 includes a frame portion 67 extending in the width direction so as to connect the main frames 61, and guide portions 68 provided at both ends of the frame portion 67 in the width direction. The guide mechanism 66 is a mechanism for suppressing horizontal deviation of the container C when the container C is placed on the on-site chassis 12B. Usually, the operator of the container crane 20 places the container C on the on-site chassis 12B by aligning the container C with the guide mechanism 66 by remote control. Therefore, the on-site chassis 12B is not provided with a detectable portion such as a target mark. In addition, the position of the guide mechanism 66 is not standardized and may differ depending on the on-site chassis 12B. If a detectable portion is provided on an existing on-site chassis 12B that is not standardized in this way, there is a possibility that it will interfere with the guide mechanism 66, and it becomes impossible to directly attach a guide to the on-site chassis 12B. Furthermore, an arrangement in which the guide mechanism 66 protrudes to the left or right side is not permitted, as in the case of the road chassis 12A. Therefore, a container transfer pallet 100 is also required for the on-site chassis 12B.

[0046] As shown in Fig. 4(c), the main body 51 of the container transfer pallet 100 is attachable to and detachable from the on-site chassis 12B via a guide mechanism 66 provided on the on-site chassis 12B. Specifically, the main body 51 is guided by a guide surface 68a of a guide portion 68 of the guide mechanism 66, and is supported on a frame portion 67 while being supported horizontally by the guide portion 68. The guide portion 58, the target mark 52, the lateral direction detection target 53, and the travel direction detection target 54 are fixed to the main body 51 so as to be positioned above the upper end of the guide surface 68a in order to avoid interference with the guide portion 68 when the main body 51 is fixed to the frame portion 67.

[0047] Next, the control contents when the crane system 1 configured as described above automatically places the container C on the container transfer pallet 100 will be described. Before allowing the container C to enter the truck lane, the control unit 23 checks whether the truck head of the trailer 10 is in a safe position. Specifically, the control unit 23 detects the travel direction detection target 54 by the leg three-dimensional scanner 41 to detect the truck head position and the chassis rear position. The control unit 23 outputs a chassis position guidance signal to the truck driver as necessary.

[0048] After completing the safety check of the truck head position and the rough chassis position guidance, the control unit 23 causes the spreader 21b (container C) to enter the truck lane and automatically winds down the container C to a predetermined height (for example, about 8 m). When the container C reaches the predetermined height, the control unit 23 starts high-resolution relative position detection between the spreader 21b and the chassis 12. Specifically, the control unit 23 detects the relative position between the spreader 21b and the chassis 12 by detecting the lateral direction detection target 53 by the two-dimensional scanner 43 and the target mark 52 by the photographing device 42. The control unit 23 outputs a chassis position guidance signal to the truck driver as necessary. After determining that the container C can be loaded onto the container transfer pallet 100, the control unit 23 automatically lands the container C on the chassis 12.

[0049] Next, the operation and effect of the container transfer pallet 100 according to this embodiment will be described.

[0050] In this container transfer pallet 100, the main body 51 is detachably attached to the load chassis 12A for transferring the container C transported by the container crane 20, and the bottom of the container C is placed on the main body 51. In this case, the lower surface of the main body 51 has a hole 59 at the same position as the bottom of the container C, so that the load chassis 12A can be detached from the load chassis 12A using an engagement portion for receiving the container C. In addition, the upper surface of the main body 51 has an engagement portion at the same position as the load chassis 12A, so that the container C can be fixed. In addition, the container transfer pallet 100 includes a target mark 52, a lateral direction detection target 53, and a running direction detection target 54 that can be detected by a detection unit for detecting the relative position between the container crane 20 and the main body 51. In this way, the target mark 52, the lateral direction detection target 53, and the running direction detection target 54 are prevented from being subject to arrangement restrictions due to the structure of the chassis 12, and can be arranged in an appropriate layout with respect to the main body 51. As a result, the transfer of containers onto the chassis can be automated in an ideal manner.

[0051] For example, as shown in FIG. 5, a case will be described in which a container C is automatically transferred to a chassis 12 without using a container transfer pallet 100. In this case, it is necessary to directly provide the target mark 52 and the lateral direction detection target 53 on the chassis 12. Here, if the chassis 12 is a road chassis 12A (FIG. 3(a)), each target cannot be mounted protruding beyond the container C loaded on the chassis 12 because the chassis 12 runs on a general road. In the case of an on-site chassis 12B (FIG. 3(b)), since guide parts 68 already exist, each target must be positioned so as not to interfere with these guide parts 68. Due to such a positioning constraint, each target must be positioned outside the guide parts 68. In contrast, in the container transfer pallet 100, each target can be positioned at a desired position with respect to the main body part 51, and the guide parts 56, 57 can be positioned in the remaining space.

[0052] The detection unit may be the photographing device 42, and the detected part may be a target mark 52 that can be photographed by the photographing device 42 provided on the hanging part (spreader 21b) of the container crane 20. This allows the target marks 52 to be arranged in an appropriate layout with respect to the main body 51.

[0053] The detection unit may be a leg three-dimensional scanner 41 provided on the leg 26 of the container crane 20, and the detected unit may be a travel direction detection target 54 whose relative position in the travel direction D1 of the container crane 20 can be detected by the leg three-dimensional scanner 41. This allows the travel direction detection target 54 to be arranged in an appropriate layout with respect to the main body 51.

[0054] The detection unit is a two-dimensional scanner 43 provided on a hanging part (spreader 21b) of the container crane 20, and the detected part may be a lateral direction detection target 53 whose relative position in the lateral direction D2 of the container crane 20 can be detected by the two-dimensional scanner 43. This allows the lateral direction detection target 53 to be arranged in an appropriate layout with respect to the main body part 51.

[0055] The main body 51 may be formed with guide portions 56, 57, 58 for suppressing horizontal deviation of the container C. In this case, it becomes possible to transfer the container C to the container transfer pallet 100 while suppressing horizontal deviation of the container C.

[0056] The main body 51 may be detachable from the chassis 12 via a locking mechanism 63 provided on the chassis 12. In this case, the container transfer pallet 100 can be attached to the load chassis 12A having the locking mechanism 63.

[0057] The main body 51 may be detachable from the chassis 12 via a guide mechanism 66 that suppresses horizontal displacement of the container C provided on the chassis 12. In this case, the container transfer pallet 100 can be attached to the on-site chassis 12B having the guide mechanism 66.

[0058] In this way, regardless of whether the chassis 12 of the trailer 10 is a road chassis 12A or an on-site chassis 12B, by using the container transfer pallet 100, it is possible to configure a dedicated on-site chassis that can accommodate the automation of container transfer.

[0059] The present invention is not limited to the above-described embodiments.

[0060] For example, the configuration of the container transfer pallet 100 according to the embodiment described above is merely one example, and the arrangement of each target and guide portion may be changed as appropriate.

[0061] The configurations of the detector and the detected part according to the above-described embodiment are merely examples. The detector only needs to be able to detect the relative position between the spreader 21b and the main body 51, and the detection method and arrangement of the detector and the arrangement and shape of the detected part may be changed as appropriate. [Explanation of symbols]

[0062] 12...chassis, 20...container crane, 41...leg three-dimensional scanner (detection unit, first scanner), 42...imaging device (detection unit), 43...two-dimensional scanner (detection unit, second scanner), 51...main body, 52...target mark (detected part), 53...lateral direction detection target (detected part), 54...traveling direction detection target (detected part), 100...pallet for container transfer, C...container.

Claims

1. A main body portion that is detachably attached to a chassis for transferring a container transported by a container crane and on which a bottom of the container is placed; A pallet for transferring containers, comprising a detectable portion that can be detected by a detection portion for detecting the relative position between the container crane and the main body.

2. The detection unit is a photographing device provided on a suspending part of the container crane, The container transfer pallet according to claim 1 , wherein the detectable portion is a target mark that can be photographed by the photographing device.

3. The detection unit is a first scanner provided on a leg of the container crane, 3. The container transfer pallet according to claim 1 or 2, wherein the detectable portion is a travel direction detection target whose relative position in the travel direction of the container crane can be detected by the first scanner.

4. The detection unit is a second scanner provided on a hanging part of the container crane, The container transfer pallet according to any one of claims 1 to 3, wherein the detectable portion is a lateral direction detection target capable of detecting the relative position in the lateral direction of the container crane by the second scanner.

5. A container transfer pallet as described in any one of claims 1 to 4, wherein the main body portion is formed with a guide portion that suppresses horizontal shifting of the container.

6. The container transfer pallet according to any one of claims 1 to 5, wherein the main body is detachable from the chassis via a locking mechanism provided on the chassis.

7. A container transfer pallet as described in any one of claims 1 to 6, wherein the main body is detachable from the chassis via a guide mechanism provided on the chassis that suppresses horizontal deviation of the container.

Images