An intelligent container wharf three-dimensional yard system and a dispatching method

Abstract

The present application relates to a kind of intelligent container wharf three-dimensional yard system and scheduling method, system is by three-dimensional storage unit, store area access module, sea side exchange module, land side exchange module and scheduling control module constitute.Three-dimensional storage unit is used for the storage of container in yard.Store area access module relies on store automatic pilot vehicle and its track to realize the horizontal transport and loading and unloading operation of container in three-dimensional storage unit.Sea side exchange module and land side exchange module are responsible for the horizontal and vertical handling operation of container in sea side and land side respectively under the assistance of store area access module.Scheduling control module is responsible for the intelligent scheduling and management of yard loading and unloading whole process.The present application avoids the container in yard to be turned over, improves the store capacity of yard, and the application of intelligent algorithm model and machine self-employment greatly improves the intelligent level of yard loading and unloading operation.

Description

TECHNICAL FIELD

[0001] The present application relates to container loading and unloading automation technology and storage scheduling management of container terminal yard area, in particular to an intelligent container terminal three-dimensional yard system and a scheduling method thereof, and belongs to the field of port intelligent construction. BACKGROUND

[0002] The yard is one of the core components of the container terminal. Limited by the structure of the terminal, the size of the site and other limitations, the area of the yard is difficult to change at will, and the size of the storage capacity of the yard directly affects the throughput capacity and container loading and unloading efficiency of the terminal. Therefore, how to improve the utilization rate and operation efficiency of the yard has become a problem to be solved. Since 1993, when the ECT terminal of Rotterdam Port in the Netherlands was built as the first automated container terminal in the world, automated terminals have been widely used in Europe, North America, Asia and Oceania as the highest technology field in the construction of terminals in the world. According to the Ministry of Transport, China has built 10 automated container terminals, and 7 automated container terminals are under construction, ranking first in the world in terms of scale. Reducing costs and increasing efficiency through intelligent means will become the mainstream trend, and the automation of the yard is one of the core contents of the intelligent construction of the terminal.

[0003] ECT-Delta terminal adopts automatic rail mounted gantry (ARMG) cranes which are arranged perpendicular to the terminal to form high-density container stacking yard. One ARMG is arranged in each container area, and the ARMG can handle both sea and land operations. The efficiency is low. HHLA-CTA terminal of Hamburg Port adopts double ARMG cranes which are arranged in a telescopic manner. The tracks are perpendicular to the terminal. Each ARMG can handle sea or land operation. The flexibility and reliability of the operation are high, but the investment is large, and the utilization rate of the yard is relatively low. Euromax terminal of Rotterdam Port adopts double ARMG cranes which are arranged on the same track. The tracks are perpendicular to the terminal. Two ARMGs handle sea and land operations respectively. The efficiency of the busy side can be improved through relay operation. The flexibility and reliability of the operation are reduced compared with the telescopic arrangement, but the utilization rate of the yard is improved. Tobishima TCB terminal of Nagoya Port is arranged parallel to the terminal. Six rows of containers are arranged in the ARTG (automatic rubber tyred gantry crane) across the yard, and one truck operation channel and one AGV (automatic guided vehicle) operation channel are arranged. The yards of the automatic terminals of Qingdao Qianwan Port, Xiamen Yuandai Port and Tianjin Port in China all adopt equal-width double ARMGs to handle sea and land operations respectively. AGVs or unmanned container trucks are used to complete the container transfer on the sea side. However, all the containers in the yards of the container terminals at home and abroad are currently stored in a stacked manner, which has the problem of time-consuming overturning of containers. In addition, the container number has not been intelligently identified in the yard, which increases the risk of container loading and unloading errors.

[0004] Currently, most of the researches focus on the optimization of yard stacking algorithms, and few researches are carried out from the overall system perspective. Kim et al. proposed a container allocation method considering the weight of export containers. Chen Qingwei et al. considered the destination port of the container, the weight grade of the container and the operation difficulty, established a stacking model with the minimum number of overturned containers as the target, and designed a heuristic algorithm for solving. Hsu N Y first proposed the concept of yard pre-overturning, constructed a linear integer programming mathematical model, and abstracted the container positions in the yard and all possible overturning movements as nodes and arcs. Based on the multi-commodity network flow, the number of yard pre-overturning was minimized. Few existing researches are carried out from the aspects of container stacking method, overall loading and unloading system, and loading and unloading accuracy.

[0005] The global automated container terminal market size reached 51.2 billion yuan in 2019, and is expected to reach 59.3 billion yuan by 2026, with a CAGR of 2.1%. Building an intelligent container yard system and transfer method with the goal of systematization, accuracy and efficiency will greatly improve the efficiency and service quality of the terminal, and will have broad application prospects in the future. SUMMARY

[0006] The technical problem to be solved by the present application is:

[0007] For the access and management of containers in the yard area of the terminal, in order to overcome the deficiencies of the prior art such as frequent overturned containers, low utilization rate of the yard, and inability to identify the container number. The present application provides an intelligent container terminal three-dimensional yard system and its scheduling method, which realizes intelligent loading and unloading operation of containers in the yard area. Solving the problems of low automation degree of yard loading and unloading, low utilization rate of yard and low effective operation rate caused by overturned containers in the intelligent construction and operation of container terminal, improving the efficiency and automation degree of the terminal.

[0008] In order to solve the above technical problems, the technical scheme adopted by the present application is:

[0009] An intelligent container terminal three-dimensional yard system, characterized in that it comprises a three-dimensional storage unit, a stacking area access module, a sea side exchange module, a land side exchange module and a scheduling control module.

[0010] The three-dimensional storage unit, the stacking area access module, the scheduling control module and the sea side exchange module cooperate to realize the access operation of the sea side container in the yard, specifically as follows: the scheduling control module performs information transmission and scheduling control of the entire operation process, the stacking area access module and the sea side exchange module cooperate to realize the horizontal and vertical transportation of the container between the sea side and the yard, the three-dimensional storage unit and the stacking area access module cooperate to realize the horizontal transportation and access operation of the container in the yard, and in addition, the three-dimensional storage unit provides a temporary storage site for the container.

[0011] The three-dimensional storage unit, the stacking area access module, the scheduling control module and the land side exchange module cooperate to realize the access operation of the land side container in the yard, specifically as follows: the scheduling control module performs information transmission and scheduling control of the entire operation process, the stacking area access module and the land side exchange module cooperate to realize the horizontal and vertical transportation of the container between the land side and the yard, the three-dimensional storage unit and the stacking area access module cooperate to realize the horizontal transportation and access operation of the container in the yard, and in addition, the three-dimensional storage unit provides a temporary storage site for the container.

[0012] The further technical scheme of the present application is that the three-dimensional storage unit comprises a multi-layer frame and a container storage support; the multi-layer frame is formed by welding or bolting vertical columns and reinforcing ribs in a horizontal and vertical manner, and container storage positions are arranged in layers from bottom to top inside the frame; and the container storage support is welded on the container storage position.

[0013] The further technical scheme of the present application is that the stacking area access module is located in the three-dimensional storage unit and comprises a stacking automated guided vehicle, a stacking automated guided vehicle track and a sliding contact line charging track; the stacking automated guided vehicle track is arranged above the cross beam of the multi-layer frame and is used to support the horizontal travel of the stacking automated guided vehicle; the stacking automated guided vehicle track is composed of a travel track along the length direction of the frame unit and a travel track perpendicular to the travel track along the length direction of the frame unit and located below each container storage position; the sliding contact line charging track is arranged along the travel track along the length direction of each group of frame units on both sides of the travel track, and supports the intermittent charging of the stacking automated guided vehicle; the stacking automated guided vehicle comprises a hydraulic lifting mechanism, an automatic driving module, wheels, a battery, a wireless communication module and a vehicle map; the wheels are omni-directional wheels, and the omni-directional wheels can travel in the forward and backward directions and the left and right directions.

[0014] The further technical scheme of the present application is that the sea side exchange module comprises a sea side container temporary storage rack, an automatic guided vehicle and an automatic vertical lifting device; the sea side container temporary storage rack is composed of support columns and a placement table; the automatic vertical lifting device is composed of a power system, a portal structure and a transportation mechanism; the column of the portal structure is in the shape of an I-beam and can be embedded in the rollers of the transportation mechanism; the power system is located at the top of the portal structure, provides power for the transportation mechanism and completes the lifting operation of the transportation mechanism; the automatic guided vehicle comprises a hydraulic lifting mechanism, an automatic driving module, wheels, a battery, a wireless communication module and a vehicle map; the wheels are omni-directional wheels, and the omni-directional wheels can travel in the forward and backward directions and the left and right directions.

[0015] The further technical scheme of the present application is that the land side exchange module comprises a land side container temporary storage rack, an automatic vertical lifting device, an automatic straddle carrier and a container truck; the land side container temporary storage rack is composed of support columns and a placement table; the automatic vertical lifting device is composed of a power system, a portal structure and a transportation mechanism; the column of the portal structure is in the shape of an I-beam and can be embedded in the rollers of the transportation mechanism; the power system is located at the top of the portal structure, provides power for the transportation mechanism and completes the lifting operation of the transportation mechanism; the width of the automatic straddle carrier is greater than the peripheral width of the land side container temporary storage rack.

[0016] The further technical scheme of the present application is that the scheduling control module comprises a yard scheduling control host, a transportation / lifting equipment control cabinet, a sensor and a camera; the yard scheduling control host is provided with a container loading and unloading task management module, an equipment message interaction module, a container scheduling algorithm module and a path planning module, and is responsible for the overall scheduling and control of the yard loading and unloading task and the optimization of container stacking; the transportation / lifting equipment control cabinet feeds back the state of the on-site lifting / transportation equipment and issues control instructions; the sensor senses the environment and position; and the camera uploads and identifies the container number through shooting.

[0017] A scheduling method of an intelligent container wharf three-dimensional yard system, characterized by the following steps:

[0018] Step 1: The yard scheduling control host receives the ship loading or unloading or container collection or delivery instruction of the wharf or the existence of an unfinished ship loading or unloading or container collection or delivery task, and confirms that the on-site equipment state is qualified for container handling.

[0019] Step 2: If the received instruction / task is a ship unloading or container collection instruction / task, if the container temporary storage rack, the automatic vertical lifting device and the stacking automated guided vehicle are idle, when the sea side automated guided vehicle or the land side container truck arrives at the specified position, the container unloading operation from the vehicle to the container temporary storage rack is completed under the cooperation of the hydraulic lifting mechanism and the automated straddle carrier; the automatic vertical lifting device completes the vertical handling of the container; under the control of the task management module and the scheduling algorithm module of the yard scheduling control host and the cooperation of the camera, the container position allocation optimization is completed; the stacking automated guided vehicle completes the storage operation of the container at the specified container storage position, if the stacking automated guided vehicle will appear a conflict phenomenon on the running track, the vehicle avoidance is performed according to the task priority rule; the wharf automated guided vehicle or the container truck finally runs to the sea side quay crane parking position and the user respectively, and the one-time ship unloading or container collection task is completed.

[0020] Step 3: If the received instruction / task is a ship loading or container delivery instruction / task, if the container temporary storage rack, the automatic vertical lifting device and the stacking automated guided vehicle are idle, under the control of the task management module and the scheduling algorithm module of the yard scheduling control host and the cooperation of the camera, the container taking position confirmation is completed; the stacking automated guided vehicle autonomously completes the container lifting taking operation in the three-dimensional storage unit, if the stacking automated guided vehicle appears a conflict phenomenon on the running track, the vehicle avoidance is performed according to the task priority rule; the automatic vertical lifting device completes the vertical handling of the container; the automatic vertical lifting device places the container on the container temporary storage rack; when the wharf automated guided vehicle or the land side container truck arrives at the specified position, the container loading operation from the vehicle to the container is completed under the cooperation of the hydraulic lifting mechanism and the automated straddle carrier; the wharf automated guided vehicle or the container truck finally runs to the sea side quay crane parking position and the user respectively, and the one-time ship loading or container delivery task is completed.

[0021] Step 4: If there is no empty container temporary storage rack, automated vertical lifting device and storage automated guided vehicle, the ship loading or unloading or box picking up instruction is stored in the ship loading or unloading or box picking up task list to be executed; the yard dispatch control host periodically polls the state of the field device, and repeats the processes of steps 1-2-4 or steps 1-3-4 to perform the container loading and unloading task until all yard loading and unloading tasks in the port are completed.

[0022] The further technical solution of the present application is that the task priority rule is specifically:

[0023] If there are two or more than two container handling tasks in the transportation mechanism of the storage automated guided vehicle track, the storage automated guided vehicle needs to avoid in time, that is, the path planning module of the yard dispatch control host plans a path for the obstacle according to the task priority rule, and sends the planned path point to the obstacle through the device message interaction module, and then the obstacle vehicle is temporarily parked in the track under a certain container storage position, and then normally travels after the conflict section is empty, the obstacle is other storage automated guided vehicles on the same layer that may collide; the travel priority of the storage automated guided vehicle is as follows, and the priority level decreases in turn:

[0024] 1) First come, first served;

[0025] 2) Sea side loading and unloading task is prior to shore side loading and unloading task.

[0026] The further technical solution of the present application is that the box position allocation optimization rule is as follows:

[0027] The containers in the container stereoscopic storage unit are stored according to the following rules, and the priority level decreases in turn:

[0028] 1) The heavier the container, the more it is stored in the low layer area of the container stereoscopic storage unit;

[0029] 2) The storage task is preferentially executed when there is an idle storage automated guided vehicle;

[0030] 3) First come, first served;

[0031] The containers in the container stereoscopic storage unit are extracted according to the following rules, and the priority level decreases in turn:

[0032] 1) First come, first served;

[0033] 2) The storage task is preferentially executed when there is an idle storage automated guided vehicle.

[0034] The further technical solution of the present application is that the dispatch algorithm module is specifically as follows:

[0035] The operation time of all to-be-executed loading and unloading tasks is calculated, and a scheduling scheme with the shortest operation time of all to-be-executed loading and unloading tasks is optimized by using a simulated annealing algorithm as the best selection; the scheduling objective function is designed as follows:

[0036] f(X)=min(t1+t2+t3+t4+wt1+wt2+wt3);

[0037] Wherein t1 represents the hoisting time consumption of the automated vertical hoisting device, t2 represents the stacking time consumption at the container storage site, t3 represents the driving time consumption of the stacking automated guided vehicle, t4 represents the access time consumption of the temporary container storage rack, wt1 represents the waiting time consumption of the automated vertical hoisting device, wt2 represents the waiting time consumption of the stacking automated guided vehicle, wt3 represents the waiting time consumption of the temporary container storage rack, wt4 represents the waiting time consumption of the temporary container storage rack, and X represents the scheduling scheme when the objective function is optimal.

[0038] The beneficial effects of the present application are as follows:

[0039] The intelligent container wharf three-dimensional yard system and the scheduling method thereof can realize automatic and convenient transportation of containers in the whole wharf domain, avoid container stacking storage, effectively solve the problem of overturned containers in the wharf, improve the loading and unloading efficiency, all power devices are driven by electricity, effectively reduce environmental pollution, the container stacking height is not limited by the height constraint of the hoisting equipment, and can be adjusted according to the wharf throughput, reduce the land occupation area of the container yard, and greatly improve the yard stacking capacity, the whole yard system can be intelligently scheduled, automatic loading and unloading of containers and intelligent and efficient management are realized.

[0040] 1. The present application constructs a three-dimensional storage unit with independent container sites, can realize separate layer storage of containers, completely solves the problem of overturned containers in the process of loading and unloading operation in the yard, and can improve the effective loading and unloading rate.

[0041] 2. The stacking automated guided vehicle of the present application can realize the access and planar transportation operation of containers in the three-dimensional storage unit, has strong stability and reliability, does not need to deploy an oversized automated rail-mounted gantry crane, can greatly reduce the construction cost of the wharf, and adopts the stacking automated guided vehicle for planar transportation in the stacking area, so that the stacking height of the three-dimensional storage unit is not limited by the height constraint of the hoisting equipment of the vertical method hoisting, combined with the fast splicing characteristics of the three-dimensional storage unit, the stacking height (number of layers) and length (number of container sites along the length direction of the three-dimensional storage unit) of the three-dimensional storage unit can be quickly built or expanded in the form of frame unit module connection according to user demand and wharf size, reduce the land occupation area of the container yard, greatly improve the yard stacking capacity, and improve the wharf throughput.

[0042] 3、The present application adopts omni-directional wheels, which can realize the front and rear movement and lateral driving of the vehicle without changing the direction of the vehicle body, thereby reducing the floor area occupied by the vehicle and greatly improving the flexibility of the vehicle. In addition, the stacker AGV is equipped with a hydraulic lifting mechanism, which can independently complete the access operation of the container storage position of the vertical storage unit and the transportation mechanism of the automatic vertical lifting device without the aid of any other lifting mechanism. The transportation of containers in the yard is completed by using multiple stacker AGVs for plane transportation and the automatic vertical lifting device for vertical transportation, which greatly improves the transportation efficiency compared with the traditional single-side (sea side or land side) single automatic rail-mounted gantry crane.

[0043] 4、The sea side exchange module and the land side exchange module of the present application both adopt the mode of temporary storage racks cooperating with automatic vertical lifting devices and handling vehicles to realize the container loading and unloading operation between the sea and land sides and the container yard. Compared with the stepped storage rack and multi-trolley lifting equipment design, the floor area is greatly reduced, and the lifting equipment modification cost is reduced.

[0044] 5、All the lifting and transportation equipment of the present application adopts electric power to provide power, which can effectively improve the environmental pollution phenomenon of the port. The entire yard system has not only automatic hardware parts, but also has intelligent scheduling capability for container loading and unloading based on image recognition algorithms, scheduling optimization algorithms, task management models, etc., which can realize automatic container loading and unloading and intelligent and efficient management. BRIEF DESCRIPTION OF DRAWINGS

[0045] The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:

[0046] Figure 1 is a schematic diagram of the structure area division of the intelligent container wharf vertical yard system of the present application, wherein the A area is the sea side exchange module, the B area is the vertical storage unit and the stack area access module, and the C area is the land side exchange module;

[0047] Figure 2 is a structural diagram of the intelligent container wharf vertical yard system of the present application;

[0048] Figure 3 is a structural diagram of the automatic vertical lifting device of the present application, wherein the sea side automatic vertical lifting device and the land side automatic vertical lifting device have the same structure;

[0049] Figure 4It is the transport mechanism structure and partial detail view of the automatic vertical lifting device of the application, wherein the right upper part of the figure is the detail view of the container storage platform, the end of the platform is telescopic structure to realize the placement and separation of the container, the lower part of the right side of the figure is the CYAGV running track diagram, the track can slide back and forth along the width direction of the transport mechanism frame;

[0050] Figure 5 It is the structure diagram of the three-dimensional storage unit and access module of the application;

[0051] Figure 6 It is the CYAGV structure diagram of the application;

[0052] Figure 7 It is the structure diagram of the land side exchange module of the application;

[0053] Figure 8 It is the operation process and scheduling flow of the yard loading and unloading operation of the application;

[0054] 1-seaside 20TEU automatic vertical lifting device; 2-seaside 40TEU automatic vertical lifting device; 3-power system of the automatic vertical lifting device; 4-transport mechanism of the automatic vertical lifting device; 5-seaside container temporary storage rack; 6-port automated guided vehicle; 7-three-dimensional storage unit; 8-stored automated guided vehicle; 9-container; 10-land side 20TEU automatic vertical lifting device; 11-land side 40TEU automatic vertical lifting device; 12-container truck; 13-automated straddle carrier; 14-land side container temporary storage rack; 15-gantry structure of the automatic vertical lifting device; 16-motor of the power system; 17-transmission device of the power system; 18-chain wheel disc of the power system; 19-lifting pulley; 20-chain of the power system; 21-transport mechanism frame; 22-pulley; 23-container storage platform of the transport mechanism frame; 24-CYAGV running track in the transport mechanism; 25-a group of frame units; 26-multilayer frame; 27-charging sliding contact track; 28-CYAGV running track of the access module; 29-container storage position; 30-camera; 31-container storage rack; 32-hydraulic lifting power device; 33-container placement support frame; 34-sensor; 35-charging box; 36-wheel; 37-battery; 38-sliding contact charging mechanism in the charging box; 39-transport / lifting equipment control cabinet. DETAILED DESCRIPTION

[0055] In order to make the objects, technical solutions and advantages of the present application clearer, further detailed description will be made to the present application in combination with the accompanying drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and not used to limit the present application. In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as there is no conflict.

[0056] With reference to Figure 1 , 2 , 6 and 7, an intelligent container wharf stereoscopic yard system includes a stereoscopic storage unit 7, a stacking area access module (located in the B area of Figure 1 , a sea side exchange module (A part of Figure 1 , a land side exchange module (C part of Figure 1 , and a scheduling control module. The operation of the container between the wharf and the yard includes horizontal and vertical transportation of the sea side (or the land side) and the yard support, transportation and access operation of the container in the yard, and temporary storage of the container in the yard. The relationship between the modules is as follows: 1) the stereoscopic storage unit 7, the stacking area access module, the scheduling control module and the sea side exchange module cooperate to realize the access operation of the sea side container in the yard, specifically as follows: the scheduling control module performs information transmission and scheduling control of the entire operation process, the stacking area access module and the sea side exchange module cooperate to realize the horizontal and vertical transportation of the container between the sea side and the yard, the stereoscopic storage unit 7 and the stacking area access module cooperate to realize the horizontal transportation and access operation of the container in the yard, and in addition, the stereoscopic storage unit 7 provides temporary storage space for the container. 2) the stereoscopic storage unit 7, the stacking area access module, the scheduling control module and the land side exchange module cooperate to realize the access operation of the land side container in the yard, specifically as follows: the scheduling control module performs information transmission and scheduling control of the entire operation process, the stacking area access module and the land side exchange module cooperate to realize the horizontal and vertical transportation of the container between the land side and the yard, the stereoscopic storage unit 7 and the stacking area access module cooperate to realize the horizontal transportation and access operation of the container in the yard, and in addition, the stereoscopic storage unit 7 provides temporary storage space for the container.

[0057] The stereoscopic storage unit 7 comprises a multi-layer frame 26 and a container storage site 29 formed by a pair of inverted L-shaped container storage racks and a space above the L-shaped container storage racks, the L-shaped container storage racks are respectively welded at both ends of the vertical column in the length direction of the container storage site, the space height of the container storage site is the container height + 0.5 m, and the container storage site is used for independent storage of each container in the stacking area. The stacking area access module is located in the stereoscopic storage unit 7 and is composed of a stacking automated guided vehicle 8 (CYAGV), a CYAGV travel track 28 of the access module, and a slide wire charging track 27. The sea side exchange module is used for realizing the loading and unloading operation of containers between the ship and the yard, and comprises a sea side container temporary storage rack 5, a terminal automated guided vehicle 6 (AGV), and a sea side automated vertical lifting device. The land side exchange module is used for realizing the loading and unloading operation of containers between the land side (user) and the yard, and comprises a land side container temporary storage rack 14, a land side automated vertical lifting device, an automated straddle carrier 13, and a container truck 12. The scheduling control module comprises a yard scheduling control host, a transportation / lifting equipment control cabinet 39, a sensor 34, and a camera 30. The transportation / lifting equipment control cabinet 39, the sensor 34, and the camera 30 perform equipment and equipment state control, the yard scheduling control host is provided with scheduling rules, scheduling algorithms, and scheduling objective functions, is responsible for comprehensive scheduling and control of yard loading and unloading tasks, container stacking optimization, etc.; the transportation / lifting equipment control cabinet 39 performs state feedback and control instruction issuing of on-site lifting / transportation equipment; the sensor 34 performs environment and position sensing; and the camera 30 is bolted and fixed on four corner vertical columns at the top of the container storage site, can monitor character information of five surfaces of the container except the bottom surface, and then performs information fusion optimization and accurately identifies the box number information.

[0058] The intelligent container terminal stereoscopic yard system can be arranged vertically to the berth or along the length direction of the berth, and is arranged according to user demand or a terminal layout in actual application. The system naming rule is: berth number + stacking area number + group number + position number. The berth number is selected from a 1-2 bit set composed of 0-9 and A-Z; the stacking area number is represented by two Arabic numerals, and increases from the sea side to the land side; the group number is represented by two Arabic numerals, and increases from the sea side to the land side; and the position number is represented by 01 and 02, 01 represents the left container storage frame, and 02 represents the right container storage frame.

[0059] Specifically, the stereoscopic storage unit 7 is made of stainless steel material, the periphery of each vertical frame is formed by welding or bolting of vertical columns and reinforcing ribs arranged alternately horizontally and vertically, and the inside of the frame is divided into layers from bottom to top to provide container storage positions 29. Since it is to be operated in cooperation with the automated vertical lifting device on the sea side, the container storage positions are provided starting from a position 5 meters above the ground. On the bottom plate of each layer of container storage positions, two cross beams are arranged along the width direction of the container storage positions. Each two vertical frames are connected by multiple layers of cross beams to form a frame unit 25. The opposite sides of the two vertical frames of each frame unit are open structures to facilitate the storage and retrieval operations of containers. The middle of each frame unit is provided with a storage and retrieval automated guided vehicle driving track and a charging track. The longitudinal (lengthwise) ends of each frame unit are the sea side exchange area and the side exchange area, and the length of each frame unit is determined according to the size of the terminal yard. Each four frame units form a stereoscopic storage unit (stacking area, the four frame units of each stacking area can be arranged in combination of 20TEU container positions or 40TEU container positions, and the specific arrangement is subject to the requirements of the customer). According to the type and size characteristics of the containers, the stereoscopic storage unit 7 includes ordinary container stereoscopic storage units and high container stereoscopic storage units, and each type of storage unit includes 20TEU container stereoscopic storage units and 40TEU container stereoscopic storage units. Containers of different sizes are independently grouped and stored. The naming rule of the container storage positions 29 in the stereoscopic storage unit 7 is intelligent container terminal stereoscopic yard system number + layer number + position serial number, wherein the layer number is represented by two Arabic numerals, and the numbering increases sequentially from bottom to top in the vertical direction; the position serial number is represented by two Arabic numerals, and the numbering increases sequentially from the sea side to the land side.

[0060] Specifically, the CYAGV 8 is composed of a mechanical frame, a power system, an electromechanical control system, an automatic driving system, wheels (omni-directional wheels), a communication terminal, a sliding contact charging mechanism, and a hydraulic lifting mechanism. The wheels 36 are omni-directional wheels with a diameter of R and a width of W, so the automatic guided vehicle can move forward and backward and left and right. Each layer of container storage position area corresponding to each frame unit is equipped with at least two storage and retrieval automated guided vehicles for horizontal transportation and loading and unloading of containers on each layer of the stereoscopic storage unit. The storage and retrieval automated guided vehicle driving track is welded above the cross beam to support the horizontal driving of the storage and retrieval automated guided vehicle. The storage and retrieval automated guided vehicle driving track is composed of a driving track along the length direction of the frame unit and a driving track perpendicular thereto located below each container storage position.

[0061] Specifically, the AGV 6 vehicle power mode is electric drive, in addition to the conventional chassis, electromechanical control system, etc., it is also equipped with a battery, a wireless communication module, a high-precision sensor, a vehicle-mounted map, an automatic driving module, a hydraulic lifting mechanism, and has the function of unmanned driving.

[0062] Specifically, the sliding contact line charging track 27 is arranged on both sides of the travel track along the length of each frame unit, supporting intermittent charging of the stacked automated guided vehicles.

[0063] Specifically, the size, shape, and performance of the landside container temporary storage rack 14 and the landside automated vertical lifting device of the landside exchange module are the same as those of the seaside container temporary storage rack and the seaside automated vertical lifting device of the seaside exchange module.

[0064] Specifically, the width of the automated straddle carrier is greater than the outer perimeter width of the landside container temporary storage rack. It is equipped with a wireless communication module, high-precision sensors, vehicle-mounted maps, and an autonomous driving module, and has unmanned driving capabilities.

[0065] Specifically, the container trucks mentioned are ordinary container trucks, which are not assets of the container terminal and are used to complete container pickup and drop-off operations according to user entrustment.

[0066] Specifically, the yard scheduling control host includes a container loading and unloading task management module, an equipment message interaction module, a container scheduling algorithm module, and a path planning module. The container loading and unloading task management module mainly realizes task allocation and task status monitoring; the equipment message interaction module mainly sends instructions to lifting equipment, etc., and monitors the equipment status throughout the transportation process; the container scheduling algorithm module mainly optimizes container space allocation; and the path planning module is responsible for calculating and optimizing the travel path points of the DYAGV.

[0067] Reference Figure 3 , 4 The automated vertical lifting device (including 1, 2, 10, and 11) consists of a power system 3, a transport mechanism 4, and a gantry structure 15. The transport mechanism 4 includes a transport mechanism frame 21, pulleys 22, a container storage platform 23 within the frame, and a CYAGV travel track 24 within the transport mechanism. The CYAGV travel track 24 is located on two crossbeams at the bottom of the frame structure, with a distance L between the two crossbeams at the bottom of the frame structure along the length of the transport mechanism. tl Less than the inner spacing L of the supporting columns along the length direction z L t1 <L zThe two tracks can move horizontally along the width direction of the device to realize the driving of the CYAGV or the landing of the container to the container temporary storage rack. The end of the container storage platform is retractable, and after expansion, the distance between the platforms is less than the width of the container; after contraction, the width between the platforms is greater than the width of the container, so as to realize the placement and release of the container. The gantry structure 15 of the automatic vertical lifting device plays a standing support role. The power system 3 of the automatic vertical lifting device includes a motor 16 of the power system, a transmission device 17 of the power system, a chain wheel 18 of the power system, a lifting pulley 19, and a chain 20 of the power system. The power system 3 of the automatic vertical lifting device provides power drive for vertical movement, and the process is as follows: the motor 16 of the power system drives the chain wheel 18 of the power system to rotate through forward and reverse rotation, and then transmits the motion to the chain 20 of the power system. One end of the chain 20 of the power system is connected to the transport mechanism 4 of the automatic vertical lifting device. The chain 20 of the power system realizes the winding and stretching operation under the support of the lifting pulley 19 and the traction of the chain wheel 18 of the power system, and then drives the transport mechanism 4 of the automatic vertical lifting device to realize the vertical lifting operation. The transport mechanism 4 of the automatic vertical lifting device is responsible for the bearing of the container and performs vertical lifting movement, and the functions of each component are as follows: the transport mechanism frame 21 is connected with the chain 20 of the power system on one side to provide an attachment point for vertical lifting, and is used to integrate the remaining components of the transport mechanism 4 of the automatic vertical lifting device on the other side; the pulley 22 is embedded between the transport mechanism frame 21 and the gantry structure 15 of the automatic vertical lifting device to reduce the friction during the vertical movement of the transport mechanism 4 of the automatic vertical lifting device and prevent it from deviating; the container storage platform 23 of the transport mechanism frame is used for temporarily storing containers; the CYAGV running track 24 in the transport mechanism provides a CYAGV 8 running road for the loading and unloading of containers in the transport mechanism 4 of the automatic vertical lifting device. Since the automatic vertical lifting device (including 1, 2, 10, 11) does not have the function of grasping the container, the loading and unloading operation of the container in the three-dimensional storage unit 7 must rely on the cooperation of the CYAGV 8 and the automatic vertical lifting device (including 1, 2, 10, 11), so the CYAGV running track 24 in the transport mechanism and the container placement platform 23 are used for the CYAGV 8 to perform container loading and unloading operation in the transport mechanism 4 of the automatic vertical lifting device. When performing the stacking operation in the yard, the transport mechanism 4 of the automatic vertical lifting device runs to the layer where the CYAGV 8 is located, and the CYAGV running track 24 in the transport mechanism is aligned with the CYAGV running track 28 of the access module. Then the CYAGV 8 runs along the running track to the transport mechanism 4 of the automatic vertical lifting device, and after reaching the specified position, the hydraulic lifting power device 32 of the CYAGV 8 lifts the container 9, and after the lifting operation is completed, the CYAGV 8 drives to the corresponding container storage position of the three-dimensional storage unit to complete the stacking operation.When performing container retrieval operations in the yard, CYAGV 8 moves to directly below the container position corresponding to container 9. Then, the hydraulic lifting power unit 32 of CYAGV 8 raises to lift container 9. After the lifting operation is completed, CYAGV 8 travels to the location of the automated vertical lifting devices (including 1, 2, 10, and 11). When the transport mechanism 4 of the automated vertical lifting device moves to the layer where CYAGV 8 is located and the CYAGV travel track 24 in the transport mechanism is aligned with the CYAGV travel track 28 of the storage module, CYAGV 8 travels along the travel track to the transport mechanism 4 of the automated vertical lifting device. After reaching the designated position, the hydraulic lifting power unit 32 of CYAGV 8 retracts to lower container 9 onto the container storage platform 23 of the transport mechanism 4 of the automated vertical lifting device. After container 9 is placed, CYAGV 8 returns to the three-dimensional storage unit 7. 8. Completely separate from the automated vertical lifting device (including 1, 2, 10, 11), the automated vertical lifting device (including 1, 2, 10, 11) carries the container 9 to complete the vertical transportation operation. The width W of the travel track within the transport mechanism frame 21. 1g Matching the CYAGV 8's 36mm wheel width, W 1g =W+0.2m, the length is consistent with the length of the transport mechanism frame 21.

[0068] Reference Figure 3 , 4 Driven by a power unit, the automated vertical lifting device (including 1, 2, 10, and 11) vertically transports containers using its transport mechanism 4. Since it lacks container gripping capabilities, the loading and unloading of containers on ships or container trucks 12 relies on the coordination of the container temporary storage rack (5 or 14) and the automated vertical lifting device (including 1, 2, 10, and 11). The container temporary storage rack (5 or 14) consists of supporting columns and a placement platform. The width W of the supporting columns of the container temporary storage rack (5 or 14) is... z Width W of the AGV a That is, W z =W a +0.4m; the outer width W of the placement platform p Less than the width W of the container c That is, W p＝ W c -0.2m; inner distance W ip Width W greater than the AGV hydraulic lifting mechanism agvl That is, Wip = W agvl+0.3m. When AGV 6 or automated straddle carrier 13 performs container stacking operation in the yard, if the container temporary storage rack (5 or 14) and the automated vertical lifting device (including 1, 2, 10, 11) exist, and there is an idle CYAGV 8, the stacking lifting operation is performed after AGV 6 or automated straddle carrier 13 reaches the vicinity of the frame unit 25 corresponding to the type of loaded container; otherwise, it waits in the idle place. The stacking lifting operation process is as follows: AGV 6 or automated straddle carrier 13 places container 9 on container temporary storage rack (5 or 14), the transport mechanism 4 of the automated vertical lifting device descends, and at the same time the CYAGV running tracks 24 in the transport mechanism move in the same direction until the width between the two tracks is greater than the peripheral distance of the container temporary storage rack; when the vertical height of the upper end surface of the container storage table 23 of the transport mechanism 4 of the automated vertical lifting device is less than the handling height of the bottom surface of the container temporary storage rack (5 or 14), the transport mechanism 4 of the automated vertical lifting device stops descending; then the telescopic structure at the end of the container storage table of the transport mechanism 4 of the automated vertical lifting device is extended until it can carry the container; then the transport mechanism 4 of the automated vertical lifting device rises until the CYAGV running tracks 24 in the transport mechanism are vertically aligned with the CYAGV running tracks 28 of the access module of the corresponding layer of the multi-layer frame 26 of the frame unit where the container is stacked; then the two tracks of the CYAGV running tracks 24 in the transport mechanism move towards each other until the two tracks are aligned with the CYAGV running tracks 28 of the access module of the corresponding layer of the multi-layer frame 26 of the frame unit in the width direction; then wait for the idle CYAGV 8 in the three-dimensional storage unit 7 to come to carry out the container 9 carrying operation (here, it refers to the idle CYAGV 8 in the three-dimensional storage unit 7 loading the container 9 in the transport mechanism 4 of the automated vertical lifting device); after the container 9 carrying operation in the transport mechanism 4 of the automated vertical lifting device is completed, the lifting device (including 1, 2, 10, 11) is idle, and the next stacking task can be carried out according to the remaining tasks and the idle condition of the equipment. When AGV 6 or automated straddle carrier 13 performs container unstacking (i.e. moving container 9 away from three-dimensional storage unit 7) operation in the yard, if the container temporary storage rack (5 or 14) and the automated vertical lifting device (including 1, 2, 10, 11) exist, and there is an idle CYAGV 8, the stacking lifting operation is performed after AGV 6 or automated straddle carrier 13 reaches the vicinity of the frame unit 25 corresponding to the type of loaded container; otherwise, it waits in the idle place.The unstacking and lifting operation process is as follows: the idle CYAGV 8 corresponding to the layer of the multi-layer frame 26 of the frame unit where the container is unstacked completes the container loading operation at the container storage site 29, and then drives to the location of the automatic vertical lifting device (including 1, 2, 10, 11) until the end of the stereoscopic storage unit 7; the transport mechanism 4 of the automatic vertical lifting device moves vertically until the CYAGV running track 24 in the transport mechanism is aligned in vertical height with the CYAGV running track 28 of the access module corresponding to the layer of the frame unit where the container is stacked; then the two tracks of the CYAGV running track 24 in the transport mechanism move towards each other until the two tracks are aligned in width with the CYAGV running track 28 of the access module corresponding to the layer of the multi-layer frame 26 of the frame unit, and the telescopic structure at the end of the container storage table 23 of the transport mechanism frame 21 is extended until it can carry a container; the CYAGV 8 moves to the transport mechanism 4 of the automatic vertical lifting device through the CYAGV 8 running track in the transport mechanism, places the container 9 on the container storage table 23 of the transport mechanism frame, and then the CYAGV 8 returns to the stereoscopic storage unit 7; then the transport mechanism 4 of the automatic vertical lifting device carries the container vertically downward towards the ground, and the CYAGV 8 running track in the transport mechanism 4 of the automatic vertical lifting device moves in the same direction until the width between the two tracks is greater than the peripheral distance of the temporary container storage rack (5 or 14); when the vertical height of the upper end surface of the container storage table 23 of the transport mechanism frame is less than the disposal height of the bottom surface of the temporary container storage rack (5 or 14), the transport mechanism 4 of the automatic vertical lifting device stops descending, and the container 9 is automatically placed on the temporary container storage rack (5 or 14); then the telescopic structure at the end of the container storage table 23 of the transport mechanism frame is retracted until the distance therebetween is greater than the width of the container 9; then the transport mechanism 4 of the automatic vertical lifting device moves vertically upward until the height of the bottom end of the transport mechanism frame 21 thereof is at least 50 cm greater than the sum of the height of the temporary container storage rack (5 or 14) and the container 9 thereon; then the AGV 6 or the automatic straddle carrier 13 automatically takes away the container from the temporary container storage rack (5 or 14); after the container handling operation on the temporary container storage rack (5 or 14) is completed, the automatic vertical lifting device (including 1, 2, 10, 11) is idle, and the next unstacking task can be carried out according to the remaining tasks and the idle condition of the equipment. The automatic vertical lifting device includes two types suitable for 20TEU containers and 40TEU containers. It is composed of a power system, a gantry structure and a transport mechanism. The column of the gantry structure is an I-shaped column which can be embedded in the rollers of the transport mechanism to ensure the stability of the transport mechanism. The power system is located at the top of the gantry and mainly consists of a motor, a gear mechanism and a chain to provide power for the transport mechanism and complete the lifting operation of the transport mechanism.

[0069] Reference Figure 5, CYAGV 8 passes through the horizontal and vertical driving on the CYAGV driving track 28 of the access module, and independently completes the loading and unloading operation of the container in the three-dimensional storage unit 7 relying on the hydraulic lifting power device 32. When the loading operation is performed, the CYAGV 8 carrying the container runs to a position parallel to the container storage rack 31 along the track in the length direction of the three-dimensional storage unit 7; the CYAGV 8 hydraulic lifting power device 32 is raised to lift the container 9, and the lifting height is greater than the vertical height of the upper end surface of the container storage rack 31; then the CYAGV 8 moves perpendicular to the length direction of the three-dimensional storage unit 7 until the container 9 is completely placed in the container storage rack 31, and then the CYAGV 8 applies for container number confirmation; after the container number is confirmed to be correct, the CYAGV 8 hydraulic lifting power device 32 is lowered until the height of the upper end surface of the container placing support frame 33 of the CYAGV 8 is less than the vertical height of the lower end surface of the container storage rack 31, at which time the container is automatically placed in the container storage rack 31 of the three-dimensional storage unit 7, and the loading operation is completed. The CYAGV 8 is placed in an idle state, and the next task can be executed according to the remaining tasks in the field. If the container number is incorrect, the information is reported to the yard dispatching control host, and adjustment processing is waited. When the unloading operation is performed, and the CYAGV 8 applies for container number confirmation, if the container number does not match, the operation is paused, and adjustment processing is waited; if the container number is confirmed to be correct, the height of the upper end surface of the container placing support frame 33 of the CYAGV 8 is less than the vertical height of the lower end surface of the container storage rack 31, the CYAGV 8 moves perpendicular to the length direction of the three-dimensional storage unit 7 until the container 9 is completely placed in the container storage rack 31; then the CYAGV 8 hydraulic lifting power device 32 is raised until the container in the container storage rack 31 of the three-dimensional storage unit 7 is lifted; then the CYAGV 8 returns to drive to the track along the length direction of the three-dimensional storage unit 7, and then drives to the position of the automatic vertical lifting device (1, 2, 10 or 11). Therefore, the width W lg of the CYAGV driving track 28 of the access module along the length direction of each frame unit 25 matches the width of the CYAGV 8 wheel 36, that is, W lg =W+0.2m, the width W wg of the CYAGV driving track 28 of the access module along the width direction of the container storage position matches the diameter size of the CYAGV 8 wheel 36, that is, W wg =R+0.2m.

[0070] Referring to Figure 5and the access operation of the container 9 in the stereoscopic storage unit 7. The container 9 has a camera 30 on each of the four corner columns at the top of each container storage position 29 of the stereoscopic storage unit 7, which is used for box number identification and confirmation. The operation steps of the box number identification are as follows: 1) when receiving the box number confirmation application instruction, the camera 30 automatically adjusts the angle and focal length, and takes 5 pictures of each surface except the bottom surface of the container; 2) each picture is composed of the background color of the container and some identification characters, and we only need to identify the box number information from the numerous characters. Therefore, the box number information is changed into white and the interference of invalid information is reduced by performing grayscale and binarization processing on each picture. 3) Then the mathematical morphology algorithm is used for rough positioning of the box number, and then combined with the characteristics of the box number of the container to finely position the box number. The container number is 11 digits, that is, composed of 4 English characters + 6 sequence numbers (in Arabic numerals) + 1 check code (in Arabic numerals). 4) The connected domain segmentation method is used for character segmentation. 5) The template matching algorithm is used to match each segmented character with the template library to realize the recognition of each character. The template library is composed of an alphabet library and a number library containing different font forms. 6) Compare whether the box numbers identified from each picture are consistent to improve the accuracy of identification. 7) Compare the box number information with the instruction sent by the loading and unloading application, if consistent, feedback the box number confirmation information, and proceed to the next loading and unloading operation; otherwise, feedback the warning information, and then adjust the operation sequence or perform manual comparison and confirmation.

[0071] In particular,

[0072] With reference to Figure 6 , the middle part of the CYAGV 8 is equipped with a set of batteries 37 on the left and right sides, respectively, for storing electric quantity. The four wheels 36 of the CYAGV 8 can realize forward movement, backward movement, and left and right movement without changing the direction of the vehicle body. The container 9 can be loaded on the container placing support frame 33, and the container placing support frame 33 of the CYAGV 8 can be lifted and lowered under the drive of the hydraulic lifting power device 32, thereby driving the container to lift and land, to realize automatic loading and unloading of the container. The front and rear ends of the CYAGV 8 on both sides are respectively provided with a set of charging boxes 35, and the charging box is provided with a sliding contact charging mechanism 38. When the CYAGV 8 is driving along the track in the length direction of the stereoscopic storage unit or is on the track, the charging box door is lifted (opened), the sliding contact charging mechanism 38 is extended out by relying on the hydraulic power device, and is inserted into the charging sliding contact track 27, so that intermittent charging can be realized, the charging time utilization rate is improved, and the electric quantity of the CYAGV 8 is ensured to be sufficient. When the electric quantity of the CYAGV 8 is sufficient, the sliding contact charging mechanism 38 is retracted into the charging box by relying on the hydraulic power device, and the charging box door is closed.

[0073] Since each group of frame units 25 corresponds to each layer of container storage position area equipped with at least 2 stack automatic guided vehicles 8, the container horizontal transportation and loading and unloading are carried out at each layer of the three-dimensional storage unit 7. The driving track along the length direction of the frame unit 25 can only have one stack automatic guided vehicle driving in the same track, otherwise the conflict collision phenomenon will occur. Therefore, if there are two or more than two container handling tasks at the same time, the stack automatic guided vehicle 8 needs to avoid in time (that is, the vehicle(s) is temporarily parked in the track below the container storage position 29, and then the normal driving is carried out after the conflict section is empty). The task priority (stack automatic guided vehicle driving priority) is as follows, and the priority level decreases in turn:

[0074] 1) First come, first served;

[0075] 2) Sea side loading and unloading task is prior to shore side loading and unloading task.

[0076] Referring to Figure 8 , combined with the function of the scheduling control module, the following design is made in the aspects of stacking rules, box stacking optimization model, etc.:

[0077] The containers 9 in the container three-dimensional storage unit 7 are stacked according to the following rules, and the priority level decreases in turn:

[0078] 4) The heavier container is stored in the lower layer area of the container three-dimensional storage unit 7 as much as possible;

[0079] 5) When there is an idle CYAGV 8, the stacking task is preferentially executed to reduce idle waiting time and improve work efficiency;

[0080] 6) First come, first served.

[0081] The containers 9 in the container three-dimensional storage unit 7 are extracted according to the following rules, and the priority level decreases in turn:

[0082] 1) First come, first served;

[0083] 2) When there is an idle CYAGV 8, the stacking task is preferentially executed to reduce idle waiting time and improve work efficiency;

[0084] Combined with the task priority rules and the rules of box allocation, the to-be-executed loading and unloading tasks (container number chain table to be transferred) are real-number coded, the simulated annealing algorithm is used to optimize the shortest working time of all to-be-executed loading and unloading tasks (container number chain table to be transferred), and then the scheduling scheme of all to-be-executed loading and unloading tasks is decoded, which includes task sorting, configuration of each task of the automatic vertical lifting device, temporary container storage rack, CYAGV, and box allocation number of unshipping or receiving task; the scheduling model is designed as follows:

[0085] A container exchange between the yard and the sea side or between the yard and the land side constitutes a container loading / unloading task within the yard. The set of container loading / unloading task types within the yard is J = {j1, j2, ..., j...} n}, n = 1, 2, ..., n < 5, j n These respectively indicate that containers from the yard are transported in and then transported to the sea side for loading and unloading; containers from the yard are transported to the yard for storage; and containers from the customer are transported to the yard for storage and then transported in for collection and retrieval operations.

[0086] The set of storage areas (three-dimensional storage units) within the storage yard is Y = {Y1……Y}. m}, Y m Each heap area (a set of three-dimensional storage units) is represented by a 4-character string. The first two characters are composed of 0-9 and AZ, which form the berth number. The last two characters are the heap area number, which is composed of two Arabic numerals.

[0087] The set of container storage locations Y within each storage area m ={P1……P n}, P n It consists of 4 characters. The first two Arabic numerals represent the frame unit number from the sea side to the land side, and the first two Arabic numerals represent the container storage location number from the sea side to the land side along the length of the stacking area.

[0088] The container storage location set P for each frame unit n ={B P IS p}, B p The orientation of the p-th row of frame units, 01 represents the container storage frame on the left, 02 represents the layer number of the container storage position, I = 1, 2 ... i, where i is the maximum number of layers in the frame unit, S p This indicates the status of each container storage location, where 0 indicates empty and 1 indicates that it is occupied by a container.

[0089] P of each frame unit n Resource set of the seaside exchange module N, consisting of two two-digit Arabic numerals, represents the designation of the automated vertical lifting device from the sea side to the land side. S p This indicates the status of each automated vertical lifting device, with 0 indicating idle and 1 indicating that it is in operation. N, consisting of two 2-digit Arabic numerals, represents the number of the temporary storage rack for sea-side containers from the sea side to the land side. p This indicates the status of each temporary container storage rack on the sea side, with 0 indicating idle and 1 indicating that it is in operation.

[0090] P of each frame unitn Resource set of land side exchange module N is a two-digit Arabic numeral representing the number of automated vertical lifting devices from the sea side to the land side direction, S p represents the state of each automated vertical lifting device, 0 indicates idle, 1 indicates in operation, N is a two-digit Arabic numeral representing the number of land side container temporary storage racks from the sea side to the land side direction, S p represents the state of each land side container temporary storage rack, 0 indicates idle, 1 indicates in operation;

[0091] DYAGV set of each frame unit i is the maximum number of layers of the frame unit O is a two-digit Arabic numeral, representing the number of DYAGVs, represents the state of each DYAGV, 0 indicates idle, 1 indicates in operation;

[0092] AGV and automated straddle carrier have their own control host, only interact with the yard dispatch control host in terms of simple task progress or state, thereby autonomously completing container access, path planning, automatic driving and other work. The set of AGVs D = {E, S e}, E = 1, 2, …… e, represents the AGV number, S e represents the state of AGV number e, 0 indicates waiting, 1 indicates in operation, the set of automated straddle carriers G = {H, S h}, H = 1, 2, …… h, represents the automated straddle carrier number, S h represents the state of automated straddle carrier number h, 0 indicates waiting, 1 indicates in operation;

[0093] The process set of j1 and j3 type tasks includes DYAGV task allocation and driving, container storage site picking, automated vertical lifting device lifting and transportation, and container temporary storage rack container picking and transportation. During this period, there may be process waiting caused by resource conflicts such as DYAGV, automated vertical lifting device or container temporary storage rack;

[0094] The process set of j2 and j4 type tasks includes automated vertical lifting device lifting and transportation, DYAGV task allocation and driving, container storage site optimized allocation and stacking, and container temporary storage rack container picking and transportation. During this period, there may be process waiting caused by resource conflicts such as DYAGV, automated vertical lifting device or container temporary storage rack;

[0095] Since the container number is composed of 11 characters, including box owner code (3 letters), equipment identification number (3 digits), sequence number (6 digits) and check code (1 digit), it is not convenient for task optimization. Therefore, the container number in the to-be-executed loading and unloading task list is encoded by real number. Then, according to the objective function and the process set of each type of task, the task time consumption is calculated, and the task sequence (in Arabic numeral form), task type number, AGV number, AYAGV number, automated straddle carrier number, automated vertical lifting device number, container storage position number, container temporary storage rack number, start and end time of each stage task, i.e. the scheduling scheme of each task, are recorded. After all the tasks in the to-be-executed loading and unloading task list are calculated, the f(X) and X at this time are recorded, and the f(X) and corresponding X with the shortest time consumption are retained, which are the state receiving and memory optimization of the simulated degeneration algorithm. Then, the state generation, state receiving and memory optimization steps of the simulated annealing algorithm are repeated until f(X) reaches the minimum value and converges, and then the real number coding is decoded into container numbers and arranged in order, which is the best task sequence. At this time, f(X) and X are the shortest operation time and the best scheduling scheme.

[0096] An example of the encoding method of the to-be-executed loading and unloading task is as follows:

[0097] Container number 1 Container number 2 Container number 3 Container number 4 Container number 5 Container number 6 1 2 3 4 5 6

[0098] After several state generation, state receiving and memory optimization steps, the encoding is: 6, 4, 3, 1, 2, 5, and the decoding at this time is:

[0099] Optimized task order 1 2 3 4 5 6 Encoding 6 4 3 1 2 5 Decoded container task order Container number 6 Container number 4 Container number 3 Container number 1 Container number 2 Container number 5

[0100] The scheduling objective function is: f(X) = min(t1+t2+t3+t4+wt1+wt2+wt3+wt4).

[0101] Wherein, t1 represents the lifting time consumption of the automated vertical lifting device, t2 represents the stacking time consumption at the container storage position, t3 represents the driving time consumption of the stacking automated guided vehicle 8, t4 represents the access time consumption of the container temporary storage rack, wt1 represents the waiting time consumption of the automated vertical lifting device, wt2 represents the waiting time consumption of the stacking automated guided vehicle 8, wt3 represents the waiting time consumption of the container temporary storage rack, wt4 represents the waiting time consumption of the container temporary storage rack, and X represents the scheduling scheme when the objective function is optimal.

[0102] Referring to Figure 2 , Figure 7 and Figure 8 , the complete operation and control process of the yard loading and unloading operation is as follows:

[0103] Step 1: The yard scheduling control host receives the ship loading or unloading or container collection or delivery instruction of the wharf or there is an unfinished ship loading or unloading or container collection or delivery task, and confirms that the on-site device state is qualified for container handling;

[0104] Step 2: If the received is the ship unloading or container collection instruction / task, if the container temporary storage rack, the automated vertical lifting device and the stacker crane 8 are idle, when the sea side wharf automated guided vehicle 6 or the land side container truck 12 reaches the specified position, the container unloading operation to the container temporary storage rack is completed under the cooperation of the hydraulic lifting mechanism of the wharf automated guided vehicle and the automated straddle carrier 13; the automated vertical lifting device completes the vertical handling of the container; under the control of the task management module and the scheduling algorithm module of the yard scheduling control host, the cooperation of the camera 30, the container storage position allocation optimization is completed; the stacker crane 8 completes the container storage operation in the specified container storage position 29, if the stacker crane 8 appears conflict phenomenon in the running track, the vehicle avoidance is performed according to the task priority; the wharf automated guided vehicle 6 or the container truck 12 is finally operated to the sea side quay crane parking position and the user respectively, and the one-time ship unloading or container collection task is completed;

[0105] Step 3: If the received is the ship loading or container delivery instruction / task, if the container temporary storage rack, the automated vertical lifting device and the stacker crane 8 are idle, under the control of the task management module and the scheduling algorithm module of the yard scheduling control host, the cooperation of the camera 30, the container taking storage position confirmation is completed; the stacker crane 8 autonomously completes the container lifting taking operation in the three-dimensional storage unit 7, if the stacker crane 8 appears conflict phenomenon in the running track 24, the vehicle avoidance is performed according to the task priority; the automated vertical lifting device completes the vertical handling of the container; the automated vertical lifting device places the container on the container temporary storage rack; when the wharf automated guided vehicle 6 or the land side container truck 12 reaches the specified position, the container loading operation to the vehicle is completed under the cooperation of the hydraulic lifting mechanism of the wharf automated guided vehicle and the automated straddle carrier 13; the wharf automated guided vehicle 6 or the container truck 12 is finally operated to the sea side quay crane parking position and the user respectively, and the one-time ship loading or container delivery task is completed;

[0106] Step 4: If there is no idle container temporary storage rack, automated vertical lifting device and stacker crane, the ship loading or unloading or container collection or delivery instruction is stored in the to-be-executed ship loading or unloading or container collection or delivery task list; the yard scheduling control host periodically polls the on-site device state, and repeats the processes of steps 1-2-4 or steps 1-3-4 to execute the container loading and unloading task until all the yard loading and unloading tasks in the wharf are completed.

[0107] Modern international logistics is about 80% completed by sea, and there are more than 3000 ports of all sizes in the world. At present, there are less than 100 fully automated container ports. It will become the mainstream trend to realize the cost reduction and efficiency increase of the wharf by intelligent means. The market size of wharf intelligent construction is very broad, and the automatic construction of the yard is one of the core contents of the wharf intelligent construction. The global automated container wharf market size reached 51.2 billion yuan in 2019, and is expected to reach 59.3 billion yuan in 2026, with a compound annual growth rate (CAGR) of 2.1%. The application of the system can improve the utilization rate of the yard, solve the problem of overturned containers in the yard, liberate labor, and maximize the benefits and efficiency of the wharf.

[0108] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements shall be covered within the protection scope of the present application.

Claims

1. A scheduling method for an intelligent container terminal three-dimensional yard system, wherein the intelligent container terminal three-dimensional yard system includes a three-dimensional storage unit, a storage area access module, a sea-side exchange module, a land-side exchange module, and a scheduling control module; The three-dimensional storage unit, the stacking area access module, the scheduling control module, and the seaside exchange module work together to realize the storage and retrieval operations of seaside containers in the yard. Specifically, the scheduling control module performs information transmission and scheduling management of the entire operation process; the stacking area access module and the seaside exchange module work together to realize the horizontal and vertical transportation of containers between the seaside and the yard; the three-dimensional storage unit and the stacking area access module work together to realize the horizontal transportation and storage and retrieval operations of containers in the yard; in addition, the three-dimensional storage unit provides temporary storage space for containers. The three-dimensional storage unit, the stacking area access module, the scheduling control module, and the landside exchange module work together to realize the storage and retrieval operations of landside containers within the yard. Specifically, the scheduling control module performs information transmission and scheduling management throughout the entire operation process; the stacking area access module and the landside exchange module work together to realize the horizontal and vertical transportation of containers between the landside and the yard; the three-dimensional storage unit and the stacking area access module work together to realize the horizontal transportation and storage and retrieval operations of containers within the yard; additionally, the three-dimensional storage unit provides temporary storage space for containers. Its characteristic is... The steps are as follows: Step 1: The yard dispatch control host receives the terminal's loading / unloading or container pickup instructions or confirms that there are incomplete loading / unloading or container pickup tasks, and confirms that the on-site equipment is ready for container handling. Step 2: If the received instruction / task is unloading or container collection, and if the container temporary storage rack, automated vertical lifting device and automated guided vehicle (AGV) are idle, when the AGV on the sea side or the container truck (12) on the land side arrives at the designated location, the unloading operation of the container to the container temporary storage rack is completed with the cooperation of the hydraulic lifting mechanism and the automated straddle carrier; the automated vertical lifting device completes the vertical handling of the container; under the control of the task management module and scheduling algorithm module of the yard scheduling control host, and with the cooperation of the camera (30), the container allocation optimization is completed; the AGV (8) completes the storage operation of the container in the designated container storage location. If the AGV (8) is about to have a conflict on the driving track, the vehicle will avoid the conflict according to the task priority rule; the AGV (6) or the container truck (12) finally runs to the sea side quay crane parking space and the user, and one unloading or container collection task is completed. Step 3: If the received instruction / task is for loading or picking up a container, and if the container temporary storage rack, automated vertical lifting device and automated guided vehicle (AGV) are idle, under the control of the task management module and scheduling algorithm module of the yard scheduling control host, and with the cooperation of the camera (30), the container picking position confirmation is completed; the AAV autonomously completes the container lifting and picking operation in the three-dimensional storage unit. If the AAV has a conflict on the driving track, the vehicle will avoid the conflict according to the task priority rule; the automated vertical lifting device completes the vertical handling of the container; the automated vertical lifting device places the container on the container temporary storage rack; when the terminal AAV (6) or the landside container truck (12) arrives at the designated position, the container is loaded onto the vehicle with the cooperation of the hydraulic lifting mechanism and the automated straddle carrier; the terminal AAV (6) or the container truck (12) finally runs to the seaside quay crane parking space and the user, and one loading or picking up task is completed. Step 4: If there are no available temporary container storage racks, automated vertical lifting devices and automated guided vehicles (8), the loading / unloading or container pickup instructions are stored in the list of pending loading / unloading or container pickup tasks; the yard scheduling control host polls the status of the field equipment at regular intervals and repeats the process of steps 1, 2, 4 or steps 1, 3, 4 to execute the container loading / unloading tasks until all yard loading / unloading tasks in the terminal are completed.

2. The scheduling method of the intelligent container terminal three-dimensional yard system according to claim 1, wherein the three-dimensional storage unit includes a multi-layer frame and a container storage bracket; the multi-layer frame is formed by welding or bolting together horizontal and vertical columns and reinforcing ribs, and the interior of the frame is provided with container storage positions layer by layer from bottom to top; the container storage bracket is welded to the container storage position.

3. The scheduling method for the intelligent container terminal automated yard system according to claim 1, characterized in that... The storage area access module is located within the three-dimensional storage unit and includes an automated guided vehicle (AGV) for stacking (8), an AGV travel track (28), and a sliding contact line charging track (27). The AGV travel track (28) is located above the crossbeams of the multi-layer frame and is used to support the horizontal movement of the AGV. The AGV travel track (28) consists of a travel track along the length of the frame unit and a travel track perpendicular to it located below each container storage position. The sliding contact line charging track (27) is arranged on both sides of the travel track along the length of each frame unit to support intermittent charging of the AGV (8). The AGV (8) includes a hydraulic lifting mechanism, an automatic driving module, wheels, a battery, a wireless communication module, and an onboard map. The wheels are omnidirectional wheels, which can move forward, backward, left, and right.

4. The scheduling method for the intelligent container terminal automated yard system according to claim 1, characterized in that... The seaside exchange module includes a seaside container temporary storage rack (5), a terminal automated guided vehicle (6), and an automated vertical lifting device; the seaside container temporary storage rack (5) consists of supporting columns and a placement platform; the automated vertical lifting device consists of a power system, a gantry structure, and a transport mechanism, the columns of the gantry structure are I-shaped and can be embedded with the rollers of the transport mechanism; the power system is located at the top of the gantry and provides power to the transport mechanism to complete the lifting operation of the transport mechanism; the automated guided vehicle (6) includes a hydraulic lifting mechanism, an automatic driving module, wheels, a battery, a wireless communication module, and an on-board map, the wheels are omnidirectional wheels, and the omnidirectional wheels can achieve forward and backward and left and right directions.

5. The scheduling method for the intelligent container terminal automated yard system according to claim 1, characterized in that... The landside exchange module includes a landside container temporary storage rack (14), an automated vertical lifting device, an automated straddle carrier (13), and a container truck (12). The landside container temporary storage rack (14) consists of supporting columns and a placement platform. The automated vertical lifting device consists of a power system, a gantry structure, and a transport mechanism. The columns of the gantry structure are I-shaped and can be embedded with the rollers of the transport mechanism. The power system is located at the top of the gantry and provides power to the transport mechanism to complete the lifting and lowering operation of the transport mechanism. The width of the automated straddle carrier (13) is greater than the outer width of the landside container temporary storage rack.

6. The scheduling method for the intelligent container terminal automated yard system according to claim 1, characterized in that... The scheduling and control module includes a yard scheduling and control host, a transport / lifting equipment control cabinet (39), sensors (34), and a camera (30). The yard scheduling and control host is equipped with a container loading and unloading task management module, an equipment message interaction module, a container scheduling algorithm module, and a path planning module, which are responsible for the overall scheduling and control of yard loading and unloading tasks and the optimization of container stacking. The transport / lifting equipment control cabinet (39) provides status feedback and control commands for on-site lifting / transportation equipment. The sensors (34) perceive the environment and location. The camera (30) captures, uploads, and identifies container numbers.

7. The scheduling method for the intelligent container terminal automated yard system according to claim 1, characterized in that... The specific task priority rules are as follows: If there are two or more container handling tasks on the same track of the automated guided vehicle (AGV) in the transportation facility, the AGV (8) must avoid the obstacle in a timely manner. That is, the path planning module of the yard scheduling control host will plan the path for the obstacle according to the task priority rules, and the equipment message interaction module will send the planned path points to the obstacle. Then the obstacle vehicle will first stop temporarily in the track below a certain container storage position, and then resume normal driving after there are no vehicles in the conflict section. The obstacle is other AGVs on the same level that may collide with the obstacle. The driving priority of the AGV is as follows, with the priority level decreasing in order: 1) First come, first served; 2) Loading and unloading tasks on the sea side take priority over loading and unloading tasks on the shore side.

8. The scheduling method for the intelligent container terminal automated yard system according to claim 1, characterized in that... The rules for optimizing container allocation are as follows: The containers (9) within the containerized automated storage unit (7) are stacked according to the following rules, with priority levels decreasing in that order: 1) Larger containers should be stored in the lower level of the container storage unit (7); 2) When there is an idle automated guided vehicle (8) for stacking, the stacking task will be executed first; 3) First come, first served; Containers within the containerized automated storage unit (7) are extracted according to the following rules, with priority levels decreasing sequentially: 1) First come, first served; 2) When there is an idle automated guided vehicle (8), the stacking task is executed first.

9. The scheduling method for the intelligent container terminal automated yard system according to claim 1, characterized in that... The specific scheduling algorithm module is as follows: The scheduling time for all pending loading and unloading tasks is calculated. The optimal scheduling scheme is determined by using the simulated annealing algorithm to minimize the processing time of all pending loading and unloading tasks. The scheduling objective function is designed as follows: ； Where t1 represents the lifting time of the automated vertical lifting device, t2 represents the stacking time at the container storage location, t3 represents the travel time of the automated guided vehicle (8), t4 represents the storage and retrieval time of the container temporary storage rack, wt1 represents the waiting time of the automated vertical lifting device, wt2 represents the waiting time of the automated guided vehicle (8), wt3 represents the waiting time of the container temporary storage rack, and wt4 represents the waiting time of the container temporary storage rack. This represents the scheduling scheme when the objective function is optimal.

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