Automatic container wharf and operation system thereof

Abstract

Magnetic nails in a bridge crane interaction area and a high-speed driving area are consistent in transverse interval and are linearly arranged in the longitudinal direction, and magnetic nails in a storage yard AGV interaction area are in multiple relation with the magnetic nail intervals in the bridge crane interaction area and the high-speed driving area in the transverse direction and are linearly arranged in the longitudinal direction. Therefore, the magnetic nails in the bridge crane interaction area, the high-speed driving area and the storage yard AGV interaction area can be applied to a unified coordinate system, each magnetic nail is contained in a transverse lane and a longitudinal lane, the AGV can conduct right-angle turning under the magnetic nail layout, and compared with a magnetic nail laying mode of an existing wharf, the magnetic nail laying method has the advantages that the magnetic nail laying efficiency is improved, and the working efficiency is improved. Under the layout of the magnetic nails, the laying number of the magnetic nails is reduced, the AGV can more run according to a linear path and conduct right-angle turning, the length of the operation path can be reduced to the maximum extent, and therefore the overall operation efficiency of a wharf can be remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of container terminals, and in particular, relates to an automated container terminal and an operating system thereof. Background Art

[0002] Under the layout of automated container terminals, Figure 1 As shown in the figure, in the operation areas involving AGVs, such as the bridge crane interaction area, AGV (automated horizontal transport equipment) high-speed operation area, and yard AGV interaction area, magnetic nails need to be laid to guide the travel of the AGV.

[0003] In the existing layout of automated container terminals, the magnetic nails in the bridge crane interaction area, AGV high-speed operation area and yard AGV interaction area are laid according to the needs of their own operating areas. The problem with this laying method is that when the AGV switches between various operating areas, it needs to follow the following Figure 1 The path shown is too long and affects the working efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide an automated container terminal and an operating system thereof, by jointly laying magnetic nails in various operating areas of the terminal, so that the magnetic nails in the bridge crane interaction area, the high-speed driving area, and the yard AGV interaction area are arranged in a straight line in the longitudinal direction, so that the AGV can travel more in a straight line path in each operating area and can make right-angle turns. Combined with the ratio of the number of bridge cranes and AGVs in the operating system, the operating efficiency is significantly improved compared with the existing terminal layout.

[0005] The present invention is implemented by the following technical solutions: An automated container terminal is proposed, comprising a bridge crane interaction area, a high-speed driving area, a yard AGV interaction area and a yard area arranged in sequence from the sea side to the land side; the bridge crane interaction area, the high-speed driving area and the yard AGV interaction area are all equipped with magnetic nails for guiding the driving of automated horizontal equipment; The bridge crane interaction area is composed of a plurality of bridge crane interaction lanes, which are parallel to the wharf quay wall and are configured to be of a first width; magnetic nails are laid transversely in the middle of each bridge crane interaction lane according to a first interval, and the magnetic nails in all bridge crane interaction lanes are arranged in a straight line in the longitudinal direction; The high-speed driving area is composed of multiple high-speed driving lanes, which are parallel to the dock wall and are configured to be the first width; magnetic nails are laid horizontally in the middle of each high-speed driving lane according to the first interval, and the magnetic nails in all high-speed driving lanes are arranged in a straight line in the longitudinal direction, and are arranged in a straight line with the magnetic nails in the bridge crane interaction area in the longitudinal direction.

[0006] The yard AGV interaction area is composed of multiple yard AGV interaction lanes, which are perpendicular to the dock wall and configured with a second width; the second width is a multiple of the first width; magnetic nails are longitudinally laid in the middle of each yard AGV interaction lane at a third interval, and are arranged in a straight line with the magnetic nails in the high-speed driving area of ​​the bridge in the longitudinal direction.

[0007] Compared with the prior art, the advantages and positive effects of the present invention are as follows: in the automated container terminal proposed by the present invention, the magnetic nails in the bridge crane interaction area and the high-speed driving area have the same horizontal intervals and are arranged in a straight line in the vertical direction; the magnetic nails in the yard AGV interaction area are in a multiple relationship with the magnetic nail intervals in the bridge crane interaction area and the high-speed driving area in the horizontal direction and are arranged in a straight line in the vertical direction. This enables the magnetic nails in the bridge crane interaction area, the high-speed driving area and the yard AGV interaction area to be applied to a unified coordinate system, so that each magnetic nail is included in both the horizontal lane and the longitudinal lane, and the AGV can make right-angle turns under this magnetic nail layout. Compared with the magnetic nail laying method of the existing terminal, under the magnetic nail layout of the present invention, not only the number of magnetic nails laid is saved, but also the AGV can travel along a straight path more and make right-angle turns, which can minimize the length of the operating path, thereby significantly improving the overall operating efficiency of the terminal.

[0008] In some embodiments of the present invention, an outer container truck operating lane is configured on one side of the yard area; the outer container truck operating lane includes a container truck interaction lane and a container truck driving lane, wherein the container truck interaction lane is configured to be adjacent to the yard area, and an outer container truck interaction position is configured at every third interval longitudinally.

[0009] Compared with the existing terminal layout in which container trucks interact with rail cranes on the land side of the yard, the present invention adopts a method of configuring external container truck operating lanes on the side of the yard area, so that external container trucks can directly interact with rail cranes on the side of the yard area, which can reduce the travel distance of rail cranes and improve the operating efficiency of rail cranes.

[0010] In some embodiments of the present invention, the yard AGV interaction area is configured as a double-layer structure, and the lower layer is configured as a tunnel for the outer container truck to turn around; the tunnel is composed of a transverse lane and a longitudinal lane; wherein the longitudinal lane has an entrance and exit and is connected to the outer container truck operation lane.

[0011] In order to facilitate the turning of the external container truck, the present invention designs the AGV interaction area of ​​the yard as a double-layer structure. The upper layer implements the interaction between the AGV and the rail crane, and the lower layer is configured as a tunnel for the external container truck to turn around. The tunnel consists of a transverse lane and a longitudinal lane, and the longitudinal lane has an entrance and exit, and is connected with the external container truck operating lane. After the external container truck completes the interaction with the rail crane along the external container truck operating lane, it drives along the external container truck operating lane to the sea side of the yard, turns around in the tunnel on the lower layer of the yard AGV interaction area, and then drives out of the yard area along the external container truck operating lane.

[0012] In some embodiments of the present invention, the bridge crane interactive lanes in the bridge crane interactive area are alternately arranged according to the first driving direction and the second driving direction; the second driving direction is opposite to the first driving direction. This two-way alternating arrangement structure can ensure that there are lanes for driving in the other direction on both sides of each interactive lane, and the AGV can enter any adjacent lane in an oblique manner to drive in or out in the other direction.

[0013] In some embodiments of the present invention, the high-speed driving lanes in the high-speed driving area are alternately configured according to two first driving directions and two second driving directions, and the two lanes in the adjacent yard AGV interaction area are respectively configured as the first driving direction and the second driving direction.

[0014] The structure in which two first driving directions and two second driving directions are alternately arranged ensures that the AGV can turn from the bridge-crane interaction area to the high-speed driving area by oblique movement or right-angle turns, or turn from the high-speed driving area to the bridge-crane interaction area by oblique movement or right-angle turns; the two lanes in the adjacent yard AGV interaction area are respectively configured as the first driving direction and the second driving direction, which enables the container unloading operation between different yard areas based on the unified laying of magnetic nails.

[0015] In some embodiments of the present invention, the bridge crane interaction lane in the bridge crane interaction area includes a driving lane and an interaction lane, which are arranged in a cycle of the driving lane and the interaction lane; and the interaction lane close to the dock quay side is configured as an interaction lane for the yard area outside the length of the working ship to enter the bridge crane interaction area, and the interaction lane close to the high-speed driving area side is configured as an interaction lane for the yard area within the length of the working ship to enter the bridge crane interaction area.

[0016] By classifying the interactive lanes in the bridge crane interactive area according to the length of the operating vessel, the AGV operating path can be diverted and the length of the AGV operating path can be reduced based on the diversion.

[0017] In some embodiments of the present invention, the longitudinal spacing of magnetic nails in the yard AGV interaction lane in the yard AGV interaction area is configured as the first spacing to improve the positioning accuracy of the rail crane.

[0018] In some embodiments of the present invention, the no-instruction AGV is configured in the yard AGV interaction area to wait for work instructions; or, the no-instruction AGV is configured in the interaction lane in the bridge crane interaction area to wait for work instructions.

[0019] Compared with the structure of an AGV buffer zone in the existing terminal layout, the present invention distributes the parking area while the AGV is waiting for operation instructions in the interactive lanes of the yard AGV interaction area or the bridge crane interaction area. Based on the unified magnetic nail laying method of the present invention, the driving paths of the AGV between the bridge crane interaction area, the high-speed driving area and the yard AGV interaction area are more diversified, so that areas with no operation demand or low operation demand can be reused as standby areas for AGVs, saving the floor space of the terminal layout.

[0020] The present invention also proposes an automated container terminal operation system, which is applied to the above-mentioned automated container terminal. Based on the magnetic nail layout structure of the automated container terminal, the AGV can perform operations by driving in a straight line and making right-angle turns, thereby shortening the operation time. Based on this, the operation system, in the current operation scenario, first calculates its operation task generation speed according to the lifting rate of the bridge crane, and then determines the operation speed of each AGV according to the straight travel distance and the number of turns of each AGV that can be assigned to the bridge crane operation. Then, the number of AGVs allocated to the bridge crane is determined according to the operation task generation speed of the bridge crane and the operation speed of the AGV, so that the bridge crane does not wait for the AGV, that is, the bridge crane performs seamless operation, and limits the time for the AGV to wait for the bridge crane to be no less than a predetermined value, that is, the time for the AGV to wait for the bridge crane is as short as possible, thereby further improving the operation efficiency of the container terminal.

[0021] In some embodiments of the present invention, the system is also used to: configure weighted coefficients for straight distance and number of turns respectively; when there is more than one AGV driving route, configure the AGV with the lowest weighted values ​​of straight distance and number of turns to determine the AGV operating speed.

[0022] Other features and advantages of the present invention will become more apparent after reading the detailed description of the embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are part of the present invention and are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention, but do not constitute an improper limitation of the present invention. Obviously, the accompanying drawings described below are only some embodiments. For those skilled in the art, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0024] Figure 1 The layout structure of the existing automated container terminal; Figure 2A schematic diagram of the local structure of the automated container terminal proposed by the present invention; Figure 3 This is a schematic diagram of the tunnel structure provided in the lower layer of the yard interaction area of ​​the automated container terminal proposed by the present invention; Figure 4 This is a schematic diagram of the AGV path under the automated container terminal structure proposed in this invention.

[0025] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but are intended to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0027] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as “upper”, “lower”, “front”, “back”, “left”, “right”, “vertical”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0028] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] like Figure 1 As shown, the automated container terminal proposed by the present invention includes a bridge crane interaction area, a high-speed driving area, a yard AGV interaction area and a yard area arranged in sequence from the sea side to the land side. The bridge crane interaction area, the high-speed driving area and the yard AGV interaction area are all equipped with magnetic nails to guide the driving of automated horizontal equipment.

[0030] The bridge crane interaction area is composed of multiple bridge crane interaction lanes, such as the 8 lanes shown in the figure, which are numbered 14, 13, 12, 11, 10, 9, 8, and 7 from the sea side to the land side; the bridge crane interaction lanes are parallel to the wharf quay wall and are configured with a first width, taking 4 meters as an example; magnetic nails are laid horizontally in the middle of each bridge crane interaction lane according to the first interval, and the magnetic nails in all bridge crane interaction lanes are arranged in a straight line in the longitudinal direction; the first interval is 2 meters as an example.

[0031] The high-speed driving area is composed of multiple high-speed driving lanes, such as the 6 lanes in the figure, which are numbered 6, 5, 4, 3, 2, and 1 from the sea side to the land side; the high-speed driving lanes are parallel to the dock wall and are configured with the first width, taking 4 meters as an example; magnetic nails are laid horizontally in the middle of each high-speed driving lane according to the first interval, and the magnetic nails in all the high-speed driving lanes are arranged in a straight line in the longitudinal direction, and are arranged in a straight line in the longitudinal direction with the magnetic nails in the bridge crane interaction area.

[0032] The yard AGV interactive area is composed of multiple yard AGV interactive lanes, which are perpendicular to the dock wall and are configured as the second width; the second width is a multiple of the first width; magnetic nails are laid longitudinally in the middle of each yard AGV interactive lane according to the third interval, and are arranged in a straight line with the magnetic nails in the bridge high-speed driving area in the longitudinal direction. Taking the 40-meter-wide area of ​​each yard as an example, a 3-meter track crane column area is divided on both sides, and the remaining 34 meters of effective track crane and AGV interactive area can be planned as 4 6-meter-wide yard AGV interactive lanes, and the remaining 10 are reserved for elevated areas or tunnel areas. When planned as a tunnel area, an additional 6-meter-wide yard AGV interactive lane can be planned; the width of the container area is 28 meters, which can stack 10 rows of containers.

[0033] Based on the automated container terminal proposed by the present invention, the magnetic nails in the bridge crane interaction area and the high-speed driving area have the same horizontal intervals and are arranged in a straight line in the vertical direction. The magnetic nails in the yard AGV interaction area are in a multiple relationship with the magnetic nail intervals in the bridge crane interaction area and the high-speed driving area in the horizontal direction and are arranged in a straight line in the vertical direction. This enables the magnetic nails in the bridge crane interaction area, the high-speed driving area and the yard AGV interaction area to be applied to a unified coordinate system, so that each magnetic nail is included in both the horizontal lane and the longitudinal lane, and the AGV can make right-angle turns under this magnetic nail layout. Compared with the magnetic nail laying method of the existing terminal, under the magnetic nail layout of the present invention, not only the number of magnetic nails laid is saved, but also the AGV can travel along a straight path more and make right-angle turns, which can minimize the length of the operating path, thereby significantly improving the overall operating efficiency of the terminal.

[0034] In some embodiments of the present invention, Figure 2As shown, an outer container truck operation lane is configured on one side of the yard area (usually the outer side), which is set inside the rail crane column; the outer container truck operation lane includes a container truck interaction lane and a container truck driving lane, wherein the container truck interaction lane is configured to be adjacent to the yard area, and an outer container truck interaction position is configured every third interval in the longitudinal direction. The outer container truck operation lane is connected to the yard interaction area. For example, the container truck operation lane is configured as a 3-meter wide lane, and an outer container truck interaction position is set every 50 meters in the longitudinal direction for the container truck to interact with the rail crane.

[0035] Compared with the existing terminal layout in which container trucks interact with rail cranes on the land side of the yard, the present invention adopts a method of configuring external container truck operating lanes on the side of the yard area, so that external container trucks can directly interact with rail cranes on the side of the yard area, which can reduce the travel distance of rail cranes and improve the operating efficiency of rail cranes.

[0036] In some embodiments of the present invention, the yard AGV interaction area is configured as a double-layer structure, and the lower layer is configured as a tunnel for the outer container truck to turn around; Figure 3 As shown in the figure, the tunnel consists of transverse lanes and longitudinal lanes; the longitudinal lane has an entrance and exit and is connected to the external container truck operation lane. The transverse lane and the longitudinal lane must ensure the turning radius of the external container truck, and necessary drainage and lighting facilities can be set up.

[0037] In order to facilitate the turning of the external container truck, the present invention designs the AGV interaction area of ​​the yard as a double-layer structure. The upper layer implements the interaction between the AGV and the rail crane, and the lower layer is configured as a tunnel for the external container truck to turn around. The tunnel consists of a transverse lane and a longitudinal lane, and the longitudinal lane has an entrance and exit, and is connected with the external container truck operating lane. After the external container truck completes the interaction with the rail crane along the external container truck operating lane, it drives along the external container truck operating lane to the sea side of the yard, turns around in the tunnel on the lower layer of the yard AGV interaction area, and then drives out of the yard area along the external container truck operating lane.

[0038] In some embodiments of the present invention, the bridge crane interactive lanes in the bridge crane interactive area are arranged alternately according to the first driving direction (such as the left direction in the figure) and the second driving direction (such as the right direction in the figure); the second driving direction is opposite to the first driving direction. This two-way alternating configuration structure can ensure that there are lanes for driving in the other direction on both sides of each interactive lane, and the AGV can enter any adjacent lane in an oblique manner to drive in or out in the other direction.

[0039] In some embodiments of the present invention, the bridge crane interaction lanes in the bridge crane interaction area include driving lanes and interaction lanes, which are arranged in a circular manner according to the driving lanes and the interaction lanes.

[0040] For example, among the 8 lanes shown in the figure, the four lanes numbered 7, 9, 11, and 13 are configured as interaction lanes, and 8, 10, 12, and 14 are configured as driving lanes. After the AGV interacts with the bridge crane at 7, 9, 11, and 13, it enters the 8th, 10th, 12th, and 14th lanes obliquely to leave, or enters the 7th, 9th, 11th, and 13th lanes obliquely from 8, 10, 12, and 14 to interact with the bridge crane.

[0041] In this embodiment, the interactive lanes near the dock wall are configured as interactive lanes for the yard area outside the length of the working ship to enter the bridge crane interactive zone, and the interactive lanes near the high-speed driving area are configured as interactive lanes for the yard area within the length of the working ship to enter the bridge crane interactive zone. As shown in the figure, 7 and 9 are interactive lanes for the yard area within the length of the working ship to enter the bridge crane interactive zone, and 11 and 13 are interactive lanes for the yard area outside the length of the working ship to enter the bridge crane interactive zone. By classifying the interactive lanes in the bridge crane interactive zone based on the length of the working ship, the AGV operating path can be diverted and the AGV operating path length can be reduced based on the diversion.

[0042] In some embodiments of the present invention, the high-speed driving lanes in the high-speed driving area are configured alternately according to two first driving directions (such as the left direction in the figure) and two second driving directions (such as the right direction in the figure), and the two lanes in the adjacent yard AGV interaction area are respectively configured as the first driving direction and the second driving direction. For example, among the 6 high-speed driving lanes in the figure, the lanes numbered 6, 5, 4, and 3, 6 and 5 are left-bound driving lanes, 4 and 3 are right-bound driving lanes, and 2 and 1 are respectively configured as left-bound and right-bound driving lanes.

[0043] The structure in which two first driving directions and two second driving directions are alternately arranged ensures that the AGV can turn from the bridge-crane interaction area to the high-speed driving area by oblique movement or right-angle turns, or turn from the high-speed driving area to the bridge-crane interaction area by oblique movement or right-angle turns; the two lanes in the adjacent yard AGV interaction area are respectively configured as the first driving direction and the second driving direction, which enables the container unloading operation between different yard areas based on the unified laying of magnetic nails.

[0044] In some embodiments of the present invention, the longitudinal spacing of the magnetic nails in the yard AGV interaction lane in the yard AGV interaction area is configured as a first spacing to improve the alignment accuracy of the rail crane. In the above embodiment, the first spacing is 2 meters.

[0045] In some embodiments of the present invention, the AGV without instructions is configured in the yard AGV interaction area to wait for work instructions; or, the AGV without instructions is configured in the interaction lane in the bridge crane interaction area to wait for work instructions.

[0046] Compared with the structure of an AGV buffer zone in the existing terminal layout, the present invention distributes the parking area while the AGV is waiting for operation instructions in the interactive lanes of the yard AGV interaction area or the bridge crane interaction area. Based on the unified magnetic nail laying method of the present invention, the driving paths of the AGV between the bridge crane interaction area, the high-speed driving area and the yard AGV interaction area are more diversified, so that areas with no operation demand or low operation demand can be reused as standby areas for AGVs, saving the floor space of the terminal layout.

[0047] Based on the automated container terminal proposed by the present invention, the present invention further proposes an automated container terminal operation system, which is applied to the automated container terminal. Based on the magnetic nail layout structure of the automated container terminal, the AGV can operate in a straight line and at right angles. Figure 4 The straight path and right-angle turning path shown by the black solid arrow in the figure significantly shorten the operation time compared with the driving path under the same operation task under the existing dock magnetic nail layout (the path and large arc turning method shown by the black dotted arrow in the figure). Based on this, in the current operation scenario, the operation system first calculates its operation task generation speed according to the lifting rate of the bridge crane, and then determines the operation speed of each AGV according to the straight distance and number of turns of each AGV that can be assigned to the bridge crane operation, and then determines the number of AGVs assigned to the bridge crane according to the operation task generation speed of the bridge crane and the AGV operation speed, so that the bridge crane does not wait for the AGV, that is, the bridge crane implements seamless operation, and limits the time for the AGV to wait for the bridge crane to be no less than the predetermined value, that is, the time for the AGV to wait for the bridge crane is as small as possible, thereby further improving the operation efficiency of the container terminal.

[0048] For example, when the bridge crane hoisting rate generates an operation task at 100 seconds to 120 seconds, the operation speed of AGV to complete an operation task is determined to be 400 seconds to 480 seconds based on the execution distance and the number of turns. In this case, 4 AGVs can be allocated to the bridge crane to ensure that the bridge crane does not wait for the AGV and the AGV waits less for the bridge crane.

[0049] In some embodiments of the present invention, the system is also used to: configure weighted coefficients for straight distance and number of turns respectively; when there is more than one AGV driving route, configure the AGV with the lowest weighted values ​​of straight distance and number of turns to determine the AGV operating speed.

[0050] In some embodiments of the present invention, a locking area can be planned for the AGV. The left and right widths of the locking area of ​​the stationary AGV are 0.3 meters wider than the body, and the front and rear locking areas are 2 meters longer than the body. The locking areas do not overlap. The locking area of ​​the running AGV is 0.3 meters wider than the body, and the length is 2 meters in the direction of approach, according to the position of the instruction point, and 2 meters in the direction of departure. The turning and oblique rules are set according to the kinematic model. The AGV that has not occupied the locking area gives way to the AGV that has applied for the locking area, the turning AGV gives way to the straight AGV, the interactive lane AGV gives way to the driving lane AGV, and the AGV in the outbound track crane area gives way to the driving lane AGV, etc. The locking area is allocated by application.

[0051] It should be pointed out that the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. An automated container terminal, comprising a bridge crane interaction area, a high-speed driving area, a yard AGV interaction area and a yard area arranged in sequence from the sea side to the land side; the bridge crane interaction area, the high-speed driving area and the yard AGV interaction area are all equipped with magnetic nails for guiding the travel of automated horizontal equipment; It is characterized in that The bridge crane interaction area is composed of a plurality of bridge crane interaction lanes, which are parallel to the wharf quay wall and are configured to be of a first width; magnetic nails are laid transversely in the middle of each bridge crane interaction lane according to a first interval, and the magnetic nails in all bridge crane interaction lanes are arranged in a straight line in the longitudinal direction; The high-speed driving area is composed of a plurality of high-speed driving lanes, which are parallel to the wharf quay wall and are configured to be the first width; magnetic nails are laid transversely in the middle of each high-speed driving lane according to the first interval, and the magnetic nails in all high-speed driving lanes are arranged in a straight line in the longitudinal direction, and are arranged in a straight line with the magnetic nails in the bridge crane interaction area in the longitudinal direction; The yard AGV interaction area is composed of multiple yard AGV interaction lanes, which are perpendicular to the dock wall and configured with a second width; the second width is a multiple of the first width; magnetic nails are longitudinally laid in the middle of each yard AGV interaction lane at a third interval, and are arranged in a straight line with the magnetic nails in the high-speed driving area of ​​the bridge in the longitudinal direction.

2. The automated container terminal according to claim 1, characterized in that: One side of the yard area is provided with an outer container truck operation lane; The outer container truck operation lane includes a container truck interaction lane and a container truck driving lane, wherein the container truck interaction lane is configured to be adjacent to the yard area, and an outer container truck interaction position is configured at every third interval in the longitudinal direction.

3. The automated container terminal according to claim 2, characterized in that: The yard AGV interaction area is configured as a double-layer structure, and the lower layer is configured as a tunnel for the outer container truck to turn around; The tunnel is composed of a transverse lane and a longitudinal lane; wherein the longitudinal lane is provided with an entrance and an exit and is connected with the outer container truck operation lane.

4. The automated container terminal according to claim 1, characterized in that: The bridge crane interaction lanes in the bridge crane interaction area are alternately arranged according to the first driving direction and the second driving direction; the second driving direction is opposite to the first driving direction.

5. The automated container terminal according to claim 1, characterized in that: The high-speed driving lanes in the high-speed driving area are alternately arranged according to two first driving directions and two second driving directions, and the two lanes adjacent to the yard AGV interaction area are respectively arranged as the first driving direction and the second driving direction.

6. The automated container terminal according to claim 1, characterized in that: The bridge crane interaction lanes in the bridge crane interaction area include driving lanes and interaction lanes, which are arranged in a cycle according to the driving lanes and interaction lanes; and the interaction lanes close to the dock quay side are configured as interaction lanes for the yard area outside the length of the working ship to enter the bridge crane interaction area, and the interaction lanes close to the high-speed driving area side are configured as interaction lanes for the yard area within the length of the working ship to enter the bridge crane interaction area.

7. The automated container terminal according to claim 1, characterized in that: The longitudinal spacing of the magnetic nails in the yard AGV interaction lane in the yard AGV interaction area is configured as the first spacing.

8. The automated container terminal according to claim 1, characterized in that: The AGV without instructions is configured in the yard AGV interaction area to wait for work instructions; or, the AGV without instructions is configured in the interaction lane in the bridge crane interaction area to wait for work instructions.

9. An automated container terminal operation system, applied to the automated container terminal according to any one of claims 1 to 8, characterized in that: include: Determine the speed of generating operation tasks according to the lifting rate of the bridge crane; Determine the AGV operating speed based on the AGV's straight travel distance and number of turns; The number of AGVs allocated to the bridge crane is determined according to the operation task generation speed and the AGV operation speed, so that the bridge crane does not wait for the AGV and the time the AGV waits for the bridge crane is less than a predetermined value.

10. The automated container terminal operation system according to claim 9, characterized in that: The system is also used to: Configure weighting coefficients for straight distance and number of turns respectively; When there is more than one AGV driving route, the AGV with the lowest weighted value of straight distance and number of turns is configured to determine the AGV operating speed.

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