Method, device and application for simultaneously operating container trucks by two rail-mounted gantry cranes in a working yard

Abstract

The present invention discloses a method for a container truck to operate simultaneously with two rail-mounted gantry cranes in a working yard. The method for a container truck to operate simultaneously with two rail-mounted gantry cranes in the working yard includes the following steps: the scheduling system obtains the container truck tasks and the arrival information of the container truck, and the scheduling cycle starts to execute; the container truck tasks to be operated in the yard that have arrived are judged, and it is judged that the two rail-mounted gantry cranes have the conditions for simultaneous container truck operation; when the scheduling cycle of the scheduling system ends, the above steps are continued to be executed in the next scheduling cycle; the rail-mounted gantry crane control system starts the simultaneous operation of the two rail-mounted gantry cranes according to the received container truck tasks. The present invention also discloses a device and an application for a container truck to operate simultaneously with two rail-mounted gantry cranes in a working yard. The method, device and application for a container truck to operate simultaneously with two rail-mounted gantry cranes in the working yard improve the efficiency of container handling in and out of the yard, reduce the waiting time of the container truck, and improve the working efficiency of the yard.

Description

Technical Field

[0001] The present invention relates to the technical field of the operation of rail-mounted gantry cranes, and more specifically, to a method, device and application for simultaneously operating container trucks by two rail-mounted gantry cranes in an operation yard. Background Art

[0002] The existing automated container terminal yard is specifically as Figure 1 shown Figure 1 In the figure, A represents the maintenance position of the land-side rail-mounted gantry crane, B represents the container truck interaction area, L represents the land-side rail-mounted gantry crane, C represents the container storage area, H represents the sea-side rail-mounted gantry crane, D represents the AGV / IGV interaction area, and E represents the maintenance position of the land-side rail-mounted gantry crane; the automated rail-mounted gantry crane equipment operates on the container horizontal transportation equipment at both ends of the yard. The operating areas of container trucks and driverless container trucks are physically separated. Container trucks specifically refer to traditional manned container trucks, and driverless container trucks refer to self-driving container trucks, which belong to automated horizontal transportation machinery, such as AGV / IGV. AGV / IGV operates in a closed area and mainly performs ship loading and unloading operations. Container trucks operate in the open area where the terminal gate can be accessed and mainly perform operations such as container entry, lifting, moving, and traditional ship loading and unloading. Both ends of the yard are respectively called the sea side and the land side; Land side: That is, the land side of the yard, which refers to one of the two ends of the automated container terminal yard. The rail-mounted gantry crane can perform operations of grasping and releasing containers on the container trucks at this end, and perform container entry and lifting operations at the terminal through the container trucks. Container entry means that the container truck transports the container from outside the terminal through the gate and sends it into the yard, and container lifting means that the container truck picks up the container from the yard and then sends the container out of the terminal through the gate. The container truck can also perform operations such as ship loading and unloading and moving containers between yards at this end, but the operating areas of the container truck and the automated horizontal transportation machinery are physically separated; Sea side: That is, the sea side of the yard, which refers to one of the two ends of the automated container terminal yard. The rail-mounted gantry crane can perform operations of grasping and releasing containers on the automated horizontal transportation machinery at this end, and perform operations such as ship loading, unloading, and moving containers between yards through the automated horizontal transportation machinery, but cannot perform container entry and lifting operations. For the automated container terminal yard, only automated horizontal transportation machinery (AGV, IGV, driverless container trucks, etc.) can operate on the sea side, and container trucks cannot operate on the sea side. The container truck interaction area in the yard ( Figure 1 area B in the figure) refers to an area on the land side of the yard where the rail-mounted gantry crane can perform operations of grasping and releasing containers on the container trucks; the AGV interaction area in the yard refers to an area on the sea side of the yard where the rail-mounted gantry crane can perform operations of grasping and releasing containers on the AGV; the driverless container truck interaction area refers to the area for IGV and driverless container trucks; Container truck task: It means that the container belonging to the task needs to be transported by the container truck; AGV task: It means that the container belonging to the task needs to be transported by the AGV.

[0003] The operation of the yard truck is not precisely controlled by the scheduling system. The tasks of the yard truck after entering the terminal gate are dispatched by the scheduling system or manually. The scheduling system cannot obtain the precise location information of the yard truck in real time, and the estimation accuracy of the time for the yard truck to reach the next destination is at the minute level or lower. Therefore, the scheduling system can only decide whether two rail-mounted gantry cranes operate on the yard truck simultaneously after the yard truck arrives at the yard. If yard trucks that have not arrived at the yard are also involved in simultaneous operation, there is a high probability that the two rail-mounted gantry cranes will wait for the yard truck for a long time, and the yard operation efficiency will instead decrease. In existing automated terminals, due to factors such as the anti-collision and avoidance requirements of the rail-mounted gantry crane, the design complexity of the automated equipment control system, and the design complexity of the automated equipment scheduling system, if the function of two rail-mounted gantry cranes operating on the yard truck simultaneously is not realized in the yard of the automated container terminal on the land side, the sea-side rail-mounted gantry crane cannot participate in the land-side yard truck operation simultaneously with the land-side rail-mounted gantry crane to reduce the waiting time of the yard truck, and cannot make full use of the operation capacity of the sea-side rail-mounted gantry crane when it is idle to improve the operation efficiency of the yard truck, resulting in a waste of the capacity of the rail-mounted gantry crane equipment. Summary of the Invention

[0004] The purpose of the present invention is to provide a method, device and application for two rail-mounted gantry cranes to operate on the yard truck simultaneously, which solves the technical problems in the prior art that the scheduling system cannot obtain the precise location information of the yard truck in real time, the estimation accuracy of the time for the yard truck to reach the next destination is at the minute level or lower, the operation efficiency of the two rail-mounted gantry cranes operating on the yard truck simultaneously is relatively low, the operation capacity of the sea-side rail-mounted gantry crane when it is idle cannot be fully utilized, and there is a waste of the capacity of the rail-mounted gantry crane equipment. The function of two rail-mounted gantry cranes operating on the yard truck simultaneously is realized, enabling the two rail-mounted gantry cranes to participate in the land-side yard truck operation simultaneously, reducing the waiting time of the yard truck, and improving the yard operation efficiency.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] As an aspect of the present invention, a method for two rail-mounted gantry cranes to operate on the yard truck simultaneously in a yard is provided, including the following steps:

[0007] S1. The scheduling system obtains the yard truck task and the yard truck arrival information, and the scheduling cycle starts to execute;

[0008] S2. Judge the yard truck tasks to be operated that have arrived at the yard, and judge that the two rail-mounted gantry cranes meet the conditions for simultaneous yard truck operation;

[0009] S3. The scheduling cycle of the scheduling system ends, and the above steps are continued to be executed in the next scheduling cycle;

[0010] S4. The rail-mounted gantry crane control system starts the two rail-mounted gantry cranes to operate simultaneously according to the received yard truck task.

[0011] As a method for two rail-mounted gantry cranes to operate on the yard truck simultaneously in the above aspect of the present invention, wherein S2 includes the following steps:

[0012] S21. If the gantry crane has arrived and is waiting for the rail-mounted crane to execute, further determine the idle status of the two rail-mounted cranes;

[0013] S22. If there is no task of the gantry crane waiting for operation in the yard that has arrived, it is determined that the two rail-mounted cranes do not have the condition for simultaneous gantry crane operation.

[0014] As a method for simultaneous operation of two rail-mounted cranes for gantry crane in the operation yard in the above aspect of the present invention, where S21 includes the following steps:

[0015] S211. If both rail-mounted cranes are in an idle state, determine whether there are two tasks that are both yard-in or both yard-out tasks among the gantry crane tasks that have arrived;

[0016] S212. If both rail-mounted cranes are not all in an idle state, it is determined that the two rail-mounted cranes do not have the condition for simultaneous gantry crane operation.

[0017] As a method for simultaneous operation of two rail-mounted cranes for gantry crane in the operation yard in the above aspect of the present invention, where S211 includes the following steps:

[0018] S2111. If there are two tasks that are both yard-in or both yard-out tasks among the gantry crane tasks that have arrived, it is determined that the two rail-mounted cranes have the condition for simultaneous gantry crane operation, and start simultaneous operation;

[0019] S2112. If there are no two tasks that are both yard-in or both yard-out tasks among the gantry crane tasks that have arrived, it is determined that the two rail-mounted cranes do not have the condition for simultaneous gantry crane operation.

[0020] As a method for simultaneous operation of two rail-mounted cranes for gantry crane in the operation yard in the above aspect of the present invention, where the scheduling cycle of the scheduling system in S3 is 1 - 3 s.

[0021] As a method for simultaneous operation of two rail-mounted cranes for gantry crane in the operation yard in the above aspect of the present invention, where S4 includes the following steps:

[0022] S41. The scheduling system assigns tasks to the two rail-mounted cranes according to the rail-mounted crane operation box assignment rule, and adds a simultaneous operation mode flag to the tasks;

[0023] S42. The rail-mounted crane control system identifies the simultaneous operation mode according to the received tasks;

[0024] S43. The rail-mounted crane control system starts the simultaneous operation of the two rail-mounted cranes according to the task requirements.

[0025] As a method for simultaneous operation of two rail-mounted cranes for gantry crane in the operation yard in the above aspect of the present invention, the assignment rule in S42 is as follows:

[0026] When two or more container trucks arrive at the interaction area, it is preferred to select the operation mode of one container truck with two containers and have two rail-mounted gantry cranes work simultaneously.

[0027] S412. Allocate the rail-mounted gantry cranes according to the operation positions of the containers to be operated in the yard.

[0028] As a method for container trucks with two rail-mounted gantry cranes working simultaneously in the operation yard in the above aspect of the present invention, where S412 includes the following steps:

[0029] S4121. The seaside rail-mounted gantry crane selects the container to be operated: when the operation bays of the two containers in the yard are different, select the container with the operation bay closer to the sea side; when the operation bays are the same but the columns are different, randomly select one container; when the operation bays and columns are both the same, select the container with the lower layer.

[0030] S4122. The land-side rail-mounted gantry crane selects the container to be operated: the other container after the selection by the seaside rail-mounted gantry crane is assigned to the land-side rail-mounted gantry crane.

[0031] As another aspect of the present invention, there is provided a device for container trucks with two rail-mounted gantry cranes working simultaneously in the operation yard, including:

[0032] A scheduling system, responsible for selecting tasks from the incoming and outgoing container tasks in the yard to be operated and allocating the tasks to the rail-mounted gantry cranes for execution; and / or

[0033] A rail-mounted gantry crane control system, when receiving the incoming and outgoing container or tipping tasks in the yard, controls the rail-mounted gantry crane to execute the specific tasks.

[0034] As a device for container trucks with two rail-mounted gantry cranes working simultaneously in the operation yard in the above aspect of the present invention, it is characterized in that the scheduling system includes yard incoming container tasks, yard outgoing container tasks, and yard tipping tasks; the yard incoming container tasks include container trucks unloading from ships, incoming containers, and moving incoming containers between the yard; the yard outgoing container tasks include container trucks loading onto ships, picking up containers, and moving outgoing containers between the yard.

[0035] As one aspect of the present invention, there is provided an application for container trucks with two rail-mounted gantry cranes working simultaneously in the operation yard, including the following scenarios:

[0036] 1. When each lift of the rail-mounted gantry crane can only grab one container, it supports the working conditions of simultaneous operation;

[0037] 2. When each lift of the rail-mounted gantry crane can grab two containers, it supports the working conditions of simultaneous operation.

[0038] As an application for container trucks with two rail-mounted gantry cranes working simultaneously in the operation yard in the above aspect of the present invention, where 1 includes:

[0039] 11. The container truck delivers two containers into the yard: two rail-mounted gantry cranes each grab one container from the container truck and then place the containers in the yard;

[0040] 12. Two - container collection by a single truck from the yard: Two rail - mounted gantry cranes each grab a container from the yard and then place them on the same truck.

[0041] 13. Each of two trucks delivers a container to the yard: Two rail - mounted gantry cranes each grab a container from a truck and then place the containers in the yard.

[0042] 14. Each of two trucks collects a container from the yard: Two rail - mounted gantry cranes each grab a container from the yard and then place them on different trucks.

[0043] As an application of the two rail - mounted gantry cranes operating simultaneously on trucks in the operation yard of the above - mentioned aspect of the present invention, item 2 includes:

[0044] 21. Two trucks, each delivering one or two containers to the yard: Two rail - mounted gantry cranes each grab one or two containers from a truck and then place the containers in the yard.

[0045] 22. Two trucks, each collecting one or two containers from the yard: Two rail - mounted gantry cranes each grab one or two containers from the yard and then place them on different trucks.

[0046] Adopting the above - mentioned technical solution, the present invention has the following advantages:

[0047] The present invention provides a method, device and application for two rail - mounted gantry cranes operating simultaneously on trucks in the operation yard. When the land - side rail - mounted gantry crane is busy and the sea - side rail - mounted gantry crane is relatively idle, it makes full use of the operation capacity of the sea - side rail - mounted gantry crane, allowing the two rail - mounted gantry cranes to operate on the land - side trucks simultaneously. It solves the technical problems in the prior art that the dispatching system cannot obtain the accurate position information of the trucks in real - time, the estimation accuracy of the time for the trucks to reach the next destination is at the minute level or lower, the operation efficiency of the two rail - mounted gantry cranes operating on the trucks simultaneously is low, the operation capacity of the sea - side rail - mounted gantry crane when it is idle cannot be fully utilized, and there is a waste of the capacity of the rail - mounted gantry crane equipment. The dispatching system runs in a cycle, the rail - mounted gantry crane control system executes the operation instructions, the two rail - mounted gantry cranes operate on the trucks simultaneously, the total operation duration of the two containers will be reduced, the operation efficiency of the yard for container in - and - out is improved, the waiting time of the trucks is reduced, and the operation efficiency of the yard is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] By reading the detailed description of the non - restrictive embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious.

[0049] Figure 1 It is a screenshot of the schematic diagram of the terminal operation yard of an automated container terminal;

[0050] Figure 2 It is the method for two rail - mounted gantry cranes operating simultaneously on trucks in the operation yard of the present invention;

[0051] Figure 3aThe container truck delivers two containers per vehicle and arrives at the container truck interaction area of the yard;

[0052] Figure 3b The onshore gantry crane moves to the maintenance position to vacate the operation space for the offshore gantry crane to operate on the container truck;

[0053] Figure 3c The offshore gantry crane grabs the allocated container, then moves towards the yard operation position and places the container;

[0054] Figure 3d After the offshore gantry crane moves and vacates the operation space, the onshore gantry crane grabs the allocated container, moves towards the yard operation position, and then completes placing the container;

[0055] Figure 4a The container truck picks up two containers per vehicle and arrives at the container truck interaction area of the yard;

[0056] Figure 4b The onshore gantry crane grabs the allocated operation container from the yard, then moves to the container truck interaction area and places the container;

[0057] Figure 4c The side gantry crane synchronously grabs a container from the yard and moves towards the container truck interaction area, stopping at a position close to the container truck interaction area on the onshore side to wait;

[0058] Figure 4d The offshore gantry crane also synchronously grabs a container from the yard, moves towards the container truck interaction area, and stops at a position close to the container truck interaction area on the onshore side to wait;

[0059] Figure 5a Two container trucks each deliver one container and arrive at the container truck interaction area of the yard;

[0060] Figure 5b The onshore gantry crane moves to the maintenance position to vacate the operation space for the offshore gantry crane to operate on the container truck;

[0061] Figure 5c The side gantry crane grabs the allocated container, moves towards the yard operation position, and then places the container;

[0062] Figure 5d After the offshore gantry crane moves and vacates the operation space, the onshore gantry crane grabs the allocated container, moves towards the yard operation position, and then completes placing the container;

[0063] Figure 6a Two vehicles each pick up one container from the yard and arrive at the container truck interaction area of the yard;

[0064] Figure 6b The onshore gantry crane grabs the allocated container from the yard, then moves to the container truck interaction area and places the container;

[0065] Figure 6c The offshore gantry crane also synchronously grabs a container from the yard and then moves towards the container truck interaction area;

[0066] Figure 6d After the land - side rail crane places the container on the truck and moves to the maintenance position, the sea - side rail crane then places the container on another truck. Detailed implementation manners

[0067] The technical solutions of the present invention will be specifically described below in conjunction with the attached drawings of the specification. The detailed features and advantages of the present invention will be described in detail in the specific implementation manners. The content is sufficient for any person skilled in the art to understand the technical content of the present invention and implement it accordingly. And according to the specification, claims and drawings disclosed in this specification, those skilled in the art can easily understand the related purposes and advantages of the present invention.

[0068] A container handling device for two rail cranes operating simultaneously in a yard, comprising:

[0069] A dispatching system, which is responsible for selecting tasks from the incoming and outgoing container tasks in the yard to be operated, and allocating the tasks to the rail crane for execution and / or the rail crane control system to control the rail crane to execute specific instructions such as grasping, placing and moving the container.

[0070] Among them, the dispatching system includes yard incoming - container tasks, yard outgoing - container tasks and yard re - handling tasks.

[0071] Yard incoming - container tasks include:

[0072] 1) Truck unloading from the ship: The truck unloads the ship and delivers the container into the yard.

[0073] 2) Incoming container: The truck delivers the container from outside the terminal into the yard.

[0074] 3) In - yard transfer of incoming container: After the truck picks up the container from other yards inside the terminal, it then delivers the container into the current yard.

[0075] Yard outgoing - container tasks include:

[0076] 1) Truck loading onto the ship: The truck picks up the container from the yard and loads it onto the ship.

[0077] 2) Container pickup: The truck picks up the container from the yard and delivers it outside the terminal.

[0078] 3) Out - yard transfer of outgoing container: After the truck picks up the container from the current yard, it then delivers the container to other yards inside the terminal.

[0079] Yard re - handling task: When a container is to be taken out of the yard, if the task container is pressed by other containers, a derivative task will be generated, which requires moving other containers to other positions in the yard first. Before the dispatching system allocates an outgoing - container task to a rail crane for execution, it first judges whether re - handling is required. If re - handling is required, the re - handling task will be allocated to the rail crane for execution first. If re - handling is required multiple times, the re - handling tasks will be allocated to the rail crane one by one, and then the container will be taken out after completion.

[0080] Application of two gantry cranes working simultaneously on a job yard for container trucks. When the AGV / IGV is not engaged in loading or unloading ships, the seaside gantry crane is idle. At this time, the two gantry cranes can work simultaneously on the land-side container trucks, including the following scenarios:

[0081] 1. When each lift of the gantry crane can only grab one container, the working conditions that support simultaneous operation;

[0082] In 1, it includes:

[0083] 11. The container truck delivers two containers into the yard: Two gantry cranes each grab one container from the container truck and then place the containers in the yard;

[0084] 12. The container truck picks up two containers from the yard: Two gantry cranes each grab one container from the yard and then place them on the same container truck;

[0085] 13. Two container trucks each deliver one container into the yard: Two gantry cranes each grab one container from a container truck and then place the containers in the yard;

[0086] 14. Two container trucks each pick up one container from the yard: Two gantry cranes each grab one container from the yard and then place them on different container trucks.

[0087] 2. When each lift of the gantry crane can grab two containers, the working conditions that support simultaneous operation.

[0088] As an application of two gantry cranes working simultaneously on a job yard for container trucks in the above aspect of the present invention, in 2, it includes:

[0089] 21. Two container trucks, each delivering one or two containers into the yard: Two gantry cranes each grab one or two containers from a container truck and then place the containers in the yard;

[0090] 22. Two container trucks, each picking up one or two containers from the yard: Two gantry cranes each grab one or two containers from the yard and then place them on different container trucks.

[0091] The processing solutions for these two working conditions are almost the same as those of working conditions 13 and 14 when each lift of the gantry crane can only grab one container. The only difference is that it supports grabbing two containers in one lift.

[0092] A method for two gantry cranes working simultaneously on a job yard for container trucks is specifically as Figure 2 shown, including the following steps:

[0093] S1. The scheduling system obtains the container truck tasks and the arrival information of the container trucks. The scheduling cycle starts to execute. The scheduling system executes periodically with a cycle of about 1 - 3 seconds;

[0094] S2. Judge the container truck tasks to be processed that have arrived at the yard, and judge that the two gantry cranes meet the conditions for simultaneous container truck operation;

[0095] S2 includes the following steps:

[0096] S21. If the container truck has arrived and is waiting for the rail-mounted crane to execute, further determine the idle status of the two rail-mounted cranes;

[0097] S21 includes the following steps:

[0098] S211. If both rail-mounted cranes are in the idle state, determine whether there are two tasks of the same type, either both yard-in container tasks or both yard-out container tasks, among the arrived container truck tasks to be processed;

[0099] S211 includes the following specific steps:

[0100] S2111. If there are two tasks of the same type, either both yard-in container tasks or both yard-out container tasks, among the arrived container truck tasks to be processed, determine that the two rail-mounted cranes meet the conditions for simultaneous container truck operation and start simultaneous operation;

[0101] S2112. If there are no two tasks of the same type, either both yard-in container tasks or both yard-out container tasks, among the arrived container truck tasks to be processed, determine that the two rail-mounted cranes do not meet the conditions for simultaneous container truck operation.

[0102] S212. If both rail-mounted cranes are not all in the idle state, determine that the two rail-mounted cranes do not meet the conditions for simultaneous container truck operation.

[0103] S22. If there are no container truck tasks to be processed that have arrived at the yard, determine that the two rail-mounted cranes do not meet the conditions for simultaneous container truck operation.

[0104] S3. When the scheduling cycle of the scheduling system ends, continue to execute the above steps in the next scheduling cycle;

[0105] S4. The rail-mounted crane control system starts the simultaneous operation of the two rail-mounted cranes according to the received container truck tasks.

[0106] Among them, S4 includes the following steps:

[0107] S41. The scheduling system assigns tasks to the two rail-mounted cranes according to the rail-mounted crane operation container allocation rules and adds a simultaneous operation mode flag to the tasks;

[0108] The rail-mounted crane operation container allocation rules in S41 are as follows:

[0109] S411. When two or more container trucks arrive at the interaction area, give priority to selecting the one-container-two-lift operation of the container truck by the two rail-mounted cranes for simultaneous operation;

[0110] S412. Allocate the rail-mounted crane according to the operation position of the container to be processed in the yard. For the yard-in container, the operation position in the yard is the destination position of the container, and for the yard-out container, it is the starting position of the container.

[0111] Among them, S412 includes the following steps:

[0112] S4121. Select the operation container for the seaside gantry crane: If the two containers are in different operation bays in the yard, select the container in the operation bay closer to the seaside; if the operation bays are the same but the columns are different, randomly select one container; if the operation bays and columns are both the same, select the container with a lower layer number.

[0113] S4122. Select the operation container for the land-side gantry crane: The other container after the selection by the seaside gantry crane is assigned to the land-side gantry crane.

[0114] S42. The gantry crane control system identifies the simultaneous operation mode according to the received task.

[0115] S43. The gantry crane control system starts the simultaneous operation of two gantry cranes according to the task requirements.

[0116] In a specific implementation, for different working conditions, when the scheduling system detects the condition of having two gantry cranes for simultaneous operation with a truck, it starts the simultaneous operation mode for simultaneous operation. According to different working conditions, the system processing flow is as follows:

[0117] The specific process of the truck delivering two containers into the yard is as follows Figure 3a 、 Figure 3b 、 Figure 3c and Figure 3d as shown in Figure 3a 、 Figure 3b 、 Figure 3c and Figure 3d where L represents the land-side gantry crane and H represents the seaside gantry crane. The schematic diagrams in the remaining sections are the same and will not be elaborated. When the truck arrives at the interactive area lane and the scheduling system receives the task of a truck delivering two containers into the yard and at the same time determines that both gantry cranes are idle, it starts the simultaneous operation mode;

[0118] 1) The scheduling system assigns tasks to the gantry cranes according to the gantry crane operation container allocation rules and adds a simultaneous operation mode flag to the task.

[0119] 2) The gantry crane control system identifies the simultaneous operation mode according to the two received tasks.

[0120] 3) The gantry crane control system first moves the land-side gantry crane to the maintenance position to provide enough operation space for the seaside gantry crane to grab the containers from the truck, then lets the seaside gantry crane grab the containers from the truck and place them at the destination position in the yard, and finally the land-side gantry crane grabs the other container and enters the yard.

[0121] Figure 3a shows that the truck delivers two containers (Container A and Container B) and arrives at the truck-yard interactive area; Figure 3b shows that the land-side gantry crane moves to the maintenance position to make room for the seaside gantry crane to operate on the truck; Figure 3cThe seaside rail crane grabs the allocated containers, moves them to the yard operation position and places them; Figure 3d After the sea-side rail crane moves and vacates the working space, the land-side rail crane grabs the allocated container A and moves it to the yard working position to complete the container placement.

[0122] The specific process of a truck carrying two containers from the yard is as follows: Figure 4a , Figure 4b , Figure 4c and Figure 4d 1) When the container truck arrives at the interactive lane, the dispatching system receives a task to pick up two containers from a truck and determines whether the two railcars have

[0123] When the cranes are idle, start the simultaneous operation mode;

[0124] 2) The dispatching system assigns tasks to the rail crane according to the rail crane operation box allocation rules and adds a simultaneous operation mode flag to the task;

[0125] 3) The rail crane control system identifies the simultaneous operation mode based on the two tasks received;

[0126] 4) The rail crane control system first lets the land-side rail crane grab a container from the storage yard and place it on the container truck, then evade to the maintenance position. At the same time, let the sea-side rail crane grab another container and stop in advance at a position on the land side close to the container truck interaction area to wait. After the land-side rail crane completes the evasion, it will drive to the container truck to place the container.

[0127] Figure 4a It shows that a truck carrying two containers (Container A and Container B) picks up containers and arrives at the container-truck interaction area in the yard; Figure 4b It shows that the landside rail crane grabs the distribution operation A box from the yard, and then moves to the container truck interaction area to place the box; Figure 4c It shows that the sea-side rail crane synchronously moves from the yard to the truck interaction area to grab the container, and stops at a position close to the truck interaction area on the land side to wait; Figure 4d It shows that the rail crane on the sea side also grabs the container from the yard, moves to the container truck interaction area, and stops at a position close to the container truck interaction area on the land side to wait.

[0128] Two trucks each deliver a box to the yard. The specific process is as follows: Figure 5a , Figure 5b , Figure 5c and Figure 5d shown.

[0129] 1) The dispatching system receives a task from two trucks arriving at the container lane to deliver one container to the yard, and when it determines that both rail cranes are idle, it starts the simultaneous operation mode;

[0130] 2) The dispatching system assigns tasks to the rail crane according to the rail crane operation box allocation rules and adds a simultaneous operation mode flag to the task;

[0131] 3) The rail-mounted crane control system identifies the simultaneous operation mode based on the two received tasks.

[0132] 4) For the rail-mounted crane control system, first move the land-side rail-mounted crane to the maintenance position to provide sufficient working space for the sea-side rail-mounted crane to grab containers from the truck, then let the sea-side rail-mounted crane grab the container from the truck and place it at the destination position in the yard, and finally let the land-side rail-mounted crane grab the container from another truck and move it into the yard.

[0133] Figure 5a It shows that each of the two trucks delivers one container and arrives at the truck interaction area in the yard. Figure 5b It shows that the land-side rail-mounted crane moves to the maintenance position to create working space for the sea-side rail-mounted crane to operate on the truck. Figure 5c It shows that the sea-side rail-mounted crane grabs the allocated container B, moves towards the working position in the yard, and then places the container. Figure 5d It shows that after the sea-side rail-mounted crane moves and creates working space, the land-side rail-mounted crane grabs the allocated container A, moves towards the working position in the yard, and then completes placing the container.

[0134] The specific process of each of the two trucks receiving one container from the yard is as Figure 6a , Figure 6b , Figure 6c and Figure 6d shown.

[0135] 1) When the scheduling system receives the tasks that each of the two trucks arriving at the truck lane receives one container from the yard and determines that both rail-mounted cranes are idle, it starts the simultaneous operation mode.

[0136] 2) The scheduling system assigns tasks to the rail-mounted cranes according to the rail-mounted crane operation container allocation rules and adds a simultaneous operation mode flag to the tasks.

[0137] 3) The rail-mounted crane control system identifies the simultaneous operation mode based on the two received tasks.

[0138] 4) For the rail-mounted crane control system, first let the land-side rail-mounted crane grab the container and place it on a truck, then move it to the maintenance position, and at the same time let the sea-side rail-mounted crane grab another container and park in advance at a position near the truck interaction area on the land side and wait. After the land-side rail-mounted crane finishes moving out of the way, drive to another truck to place the container and complete the operation.

[0139] Figure 6a It shows that each of the two trucks receives one container from the yard and arrives at the truck interaction area in the yard. Figure 6b It shows that the land-side rail-mounted crane grabs the allocated container from the yard, then moves to the truck interaction area and places container A. Figure 6c It shows that the sea-side rail-mounted crane simultaneously grabs container B from the yard and then moves towards the truck interaction area. Figure 6d It shows that after the land-side rail-mounted crane places container A on the truck and moves to the maintenance position, the sea-side rail-mounted crane places container B on another truck.

[0140] Finally, it should be noted that although the present invention has been described with reference to the current specific embodiments, those of ordinary skill in the art should recognize that the above embodiments are only used to illustrate the present invention, rather than to limit the present invention. Without departing from the concept of the present invention, various equivalent changes or substitutions can be made. Therefore, as long as the changes and modifications of the above embodiments are within the scope of the spirit of the present invention, they will fall within the scope of the claims of the present invention.

Claims

1. A method for a container truck in the operation yard to be operated simultaneously by two gantry cranes, characterized in that, It includes the following steps: S1. The scheduling system obtains the container yard truck tasks and the arrival information of the container yard trucks, and the scheduling cycle starts to execute; S2. Judge the container yard truck tasks to be processed that have arrived at the yard, and judge that two rail-mounted gantry cranes have the conditions for simultaneous container yard truck operation; S3. The scheduling cycle of the scheduling system ends, and the above steps are continued in the next scheduling cycle; S4. The rail-mounted gantry crane control system starts the simultaneous operation of two rail-mounted gantry cranes according to the received container yard truck tasks. The S4 includes the following steps: S41. The scheduling system assigns tasks to two rail-mounted gantry cranes according to the rail-mounted gantry crane operation container allocation rules, and adds a simultaneous operation mode flag to the tasks. S42. The rail-mounted gantry crane control system identifies the simultaneous operation mode according to the received tasks. S43. The rail-mounted gantry crane control system starts the simultaneous operation of two rail-mounted gantry cranes according to the task requirements. The rail-mounted gantry crane control system first moves the land-side rail-mounted gantry crane to the maintenance position, so that the sea-side rail-mounted gantry crane has enough working space to grab containers from the container yard truck, then the sea-side rail-mounted gantry crane grabs the containers from the container yard truck and places them at the destination position in the yard, and finally the land-side rail-mounted gantry crane grabs another container and enters the yard. The rail-mounted gantry crane operation container allocation rules in the S41 are as follows: S411. When two or more container yard trucks arrive at the interaction area, it is preferred to select one container yard truck with two containers for simultaneous operation by two rail-mounted gantry cranes; S412. Allocate the rail-mounted gantry cranes according to the operation positions of the containers to be processed in the yard. The S412 includes the following steps: S4121. The sea-side rail-mounted gantry crane selects the operation container: when the operation bays of the two containers in the yard are different, select the container with the operation bay closer to the sea side; when the operation bays are the same but the columns are different, select any one of the containers; when the operation bays and columns are both the same, select the container with the lower layer. S4122. The land-side rail-mounted gantry crane selects the operation container: the other container after the selection by the sea-side rail is assigned to the land-side rail-mounted gantry crane.

2. The method for a container yard truck handling with two rail-mounted gantry cranes operating simultaneously as claimed in claim 1, wherein, The S2 includes the following steps: S21. If the container yard truck has arrived and is waiting for the rail-mounted gantry crane to execute, further judge the idle states of the two rail-mounted gantry cranes; S22. If there are no container yard truck tasks to be processed that have arrived at the yard, judge that the two rail-mounted gantry cranes do not have the conditions for simultaneous container yard truck operation.

3. A method for a container truck in the operation yard where two gantry cranes operate simultaneously as claimed in claim 2, characterized in that, The S21 includes the following steps: S211. If both rail-mounted gantry cranes are in the idle state, judge whether there are two tasks that are both yard-in or yard-out tasks among the container yard truck tasks to be processed that have arrived; S212. If both rail-mounted gantry cranes do not appear in the fully idle state, judge that the two rail-mounted gantry cranes do not have the conditions for simultaneous container yard truck operation.

4. A method for a container yard truck to operate simultaneously with two rail-mounted gantry cranes as described in claim 3, characterized in that, The S211 includes the following steps: S2111. If there are two tasks that are both yard-in or yard-out tasks among the container yard truck tasks to be processed that have arrived, judge that the two rail-mounted gantry cranes have the conditions for simultaneous container yard truck operation and start the simultaneous operation; S2112. If there are no two tasks that are both yard-in or yard-out tasks among the container yard truck tasks to be processed that have arrived, judge that the two rail-mounted gantry cranes do not have the conditions for simultaneous container yard truck operation.

5. A method for a container truck to operate simultaneously with two rail-mounted gantry cranes in a working yard as described in claim 1, characterized in that, The scheduling cycle of the scheduling system in the S3 is 1 - 3 s.

6. A container truck device for simultaneous operation of two gantry cranes in a working yard, characterized in that, It includes: The scheduling system, which is responsible for selecting tasks from the yard-in and yard-out tasks to be processed in the yard and assigning the tasks to the rail-mounted gantry cranes for execution; The rail-mounted gantry crane control system, when receiving yard-in, yard-out or rehandling tasks in the yard, controls the rail-mounted gantry crane to execute specific tasks. The two rail-mounted cranes in the operation yard operate simultaneously, and the container truck device executes the method for the two rail-mounted cranes in the operation yard to operate simultaneously as described in any one of claims 1-5.

7. The truck dispatching device for simultaneous operation of two rail-mounted gantry cranes in a working yard as claimed in claim 6, wherein The scheduling system includes a yard container-in task, a yard container-out task, and a yard container-turning task; the yard container-in task includes container truck unloading from the ship, container-in, and in-yard transfer of the container-in; the yard container-out task includes container truck loading onto the ship, container-lifting, and in-yard transfer of the container-out.

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