A container multimodal transport three-dimensional intersection loading and unloading operation method

Abstract

The application discloses a kind of container multimodal transport three-dimensional intersection loading and unloading operation method, belong to container cargo multimodal transport technical field.The present application solves the problem of tedious operation, slow transfer speed, by establishing railway line, waterway berthing point, truck parking area in wharf yard, if any kind of loading goods container transport vehicle or ship arrives wharf yard, then by loading and unloading hoisting equipment, goods container is loaded and unloaded, and is put into specified transport vehicle or ship, and the goods container is transferred to the terminal station via the specified transport vehicle or ship along the specified route;So that goods container arrives wharf yard, can carry out loading and unloading conversion between railway, highway and waterway transportation simultaneously in wharf yard;By creating three-dimensional real scene model, the radio frequency technology is used to obtain the in-out live of transport equipment, so as to master the operation of wharf yard live, simplify the operation process of loading and unloading operation, improve the speed of container loading and unloading transfer.

Description

Technical Field

[0001] This invention relates to the field of container multimodal transport technology, specifically a method for three-dimensional cross-loading and unloading operations in container multimodal transport. Background Technology

[0002] International multimodal transport, or multimodal transport for short, originated and developed from container transport. It refers to the transport of goods from a point of acceptance in one country to a designated point of delivery in another country by a multimodal transport operator using at least two different modes of transport, in accordance with an international multimodal transport contract. International multimodal transport is applicable to a variety of modes of transport, including waterways, roads, railways, and air transport.

[0003] However, existing multimodal transport methods have limited speeds for road and water transport, require a lot of manpower for loading and unloading, resulting in slow loading and unloading speeds and excessive emissions from freight trucks that can easily pollute the environment. While rail transport has a large loading capacity, its routes are limited, and loading, unloading, and transshipment require the use of quay cranes at the dock to complete cross-loading and unloading operations between water, rail, or road transport for containers. Therefore, the existing multimodal container transport methods for cross-loading and unloading are cumbersome and slow, reducing the feasibility of the existing methods.

[0004] Therefore, to address the shortcomings of existing methods, we propose a three-dimensional cross-loading and unloading method for container multimodal transport. Summary of the Invention

[0005] The purpose of this invention is to provide a method for multimodal container transport with three-dimensional cross-loading and unloading operations. This method involves establishing railway lines, waterway berths, and truck parking areas in the terminal yard. When any type of transport vehicle or ship carrying a container arrives at the terminal yard, loading and unloading equipment loads and unloads the container, placing it onto a designated transport vehicle or ship. The container is then transported via a designated route to its final destination. This layout allows for simultaneous loading and unloading and transfer between rail, road, and waterway transport after the container arrives at the terminal yard. By creating a three-dimensional real-scene model and utilizing radio frequency technology to acquire real-time information on the entry and exit of transport equipment, the operational status of the terminal yard can be monitored. This simplifies the operational process of multimodal container transport with three-dimensional cross-loading and unloading operations, increases the speed of container loading, unloading, and transfer, optimizes the feasibility of existing multimodal container transport with three-dimensional cross-loading and unloading methods, and solves the problems mentioned in the background section.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a method for multimodal container transport with three-dimensional cross-loading and unloading operations, comprising:

[0007] Empty multimodal transport railcars and empty multimodal transport roadcars are parked at the railway line and parking area of ​​the wharf yard respectively, and wait for multimodal transport waterway vessels loaded with cargo containers to dock at the wharf yard.

[0008] After the multimodal transport vessel loaded with cargo containers docks at the designated berthing position in the terminal yard, the loading and unloading lifting equipment is started to unload the cargo containers from the multimodal transport vessel and transfer them to empty multimodal transport rail cars and empty multimodal transport road cars.

[0009] Cargo containers are transported via multimodal rail transport vehicles to their final destination via rail lines, and cargo containers are also transported via multimodal road transport vehicles to their final destination via port exports.

[0010] Furthermore, it also includes:

[0011] The system acquires multimodal transport three-dimensional cross-loading and unloading tasks, analyzes these tasks, and obtains the target time when the multimodal transport waterway vessel loaded with cargo containers docks at the designated berthing position in the terminal yard. Based on the target time and the preset waiting time, the system determines the arrival time of the multimodal transport rail transport vehicle and the multimodal transport road transport vehicle at the railway line and parking area of ​​the terminal yard, respectively.

[0012] Based on the terminal communication addresses of the multimodal transport railway vehicles and multimodal transport road vehicles, the receiving time is synchronously sent to the multimodal transport railway vehicles and multimodal transport road vehicles. Based on the sending results, the arrival status of the multimodal transport railway vehicles and multimodal transport road vehicles is monitored in real time. When the multimodal transport railway vehicles, multimodal transport road vehicles and multimodal transport waterway vessels loaded with cargo containers have all arrived, radio frequency reading signals are sent to the information radio frequency cards of each cargo container on the multimodal transport waterway vessel based on radio frequency scanning equipment.

[0013] Based on the launch results, the basic attributes of each cargo container are read and analyzed to determine the cargo type, attitude characteristics, and weight information of each cargo container.

[0014] Obtain the transport conditions of multimodal rail transport vehicles and multimodal road transport vehicles, perform fitness matching between transport conditions and cargo types, and obtain the task containers of multimodal rail transport vehicles and multimodal road transport vehicles based on the fitness matching results.

[0015] Based on the difference coding symbols, the task containers of multimodal transport rail transport vehicles and multimodal transport road transport vehicles are differentially coded, and a difference location distribution map is generated based on the difference coding results. The difference location distribution map is used as the first loading and unloading adaptation parameter.

[0016] The position and angle distribution characteristics of the gripping points in each cargo container are determined based on the posture characteristics, and the gripping strategy of the loading and unloading lifting equipment on the cargo container is determined based on the position and angle distribution characteristics. The gripping strategy is used as the second loading and unloading adaptation parameter.

[0017] At the same time, the gripping force range of the loading and unloading lifting equipment when grabbing the cargo container is determined based on the weight information, and the gripping force range is used as the third loading and unloading adaptation parameter.

[0018] The scheduling strategy for cargo containers is determined based on the first loading and unloading adaptation parameters, the second loading and unloading adaptation parameters, and the loading and unloading lifting equipment is coordinated and controlled based on the retrieval strategy.

[0019] Based on the results of collaborative control, the loading and unloading status of cargo containers of multimodal transport railway vehicles and multimodal transport road vehicles is monitored in real time. When the real-time monitoring results determine that loading and unloading are completed, loading and unloading reports of cargo containers of multimodal transport railway vehicles and multimodal transport road vehicles are generated respectively, and the loading and unloading reports are fed back to the management terminal for recording and storage.

[0020] Furthermore, it also includes:

[0021] Empty multimodal transport waterway vessels are moored at the designated berthing locations in the terminal yard, and empty multimodal transport road vehicles are parked in the parking area of ​​the terminal yard, while waiting for multimodal transport rail vehicles loaded with cargo containers to be parked at the railway line in the terminal yard.

[0022] After the multimodal transport railcars loaded with cargo containers are parked on the railway line in the terminal yard, the loading and unloading lifting equipment is started to unload the cargo containers from the multimodal transport railcars and transfer them to empty multimodal transport waterway vessels and empty multimodal transport road vehicles.

[0023] Cargo containers are transported via multimodal waterway vessels to their final destination via waterway routes, and cargo containers are also transported via multimodal road transport vehicles to their final destination via port exports.

[0024] Furthermore, it also includes:

[0025] Empty multimodal transport waterway vessels are moored at the designated berthing locations in the wharf yard, while multimodal transport rail vehicles and multimodal transport road vehicles loaded with cargo containers are moored at the railway line and parking area, respectively.

[0026] After the multimodal transport rail cars and multimodal transport road cars loaded with cargo containers are parked on the railway line and in the parking area respectively, the loading and unloading lifting equipment is started to unload the cargo containers from the multimodal transport rail cars and multimodal transport road cars and transfer them to the empty multimodal transport waterway ships.

[0027] Cargo containers are transported to their final destination via waterway using multimodal transport vessels.

[0028] Furthermore, before carrying out multimodal transport three-dimensional cross-loading and unloading operations in the terminal yard, a three-dimensional real-scene model is established based on the number, size, stopping position, vehicle loading status, and relative position of the multimodal transport waterway transport vessels, multimodal transport rail transport vehicles, and multimodal transport road transport vehicles to the terminal yard, and is displayed in real time at the terminal yard control terminal.

[0029] Furthermore, the created 3D reality model is used to determine whether there is a conflict between the multimodal transport mode currently planned for the terminal yard and the loading and unloading operation area; if there is a conflict, the multimodal transport mode is adjusted and the loading and unloading operation area of ​​the terminal yard is re-divided.

[0030] Furthermore, obtain the number, size, location, and loading status of vehicles belonging to multimodal transport waterway vessels, multimodal transport rail vehicles, and multimodal transport road vehicles, specifically:

[0031] By setting up radio frequency (RF) scanning equipment at the entrance of the terminal yard and installing information RF cards on the bodies of multimodal transport vessels, multimodal transport rail vehicles, and multimodal transport road vehicles, the RF scanning equipment identifies the information RF cards on the bodies of these vehicles when they enter the terminal yard, thereby obtaining the vehicle's number, size, location, and loading status.

[0032] Furthermore, during cross-loading operations, if some cargo containers do not need to be shipped out immediately, they can be placed in the storage area by loading and unloading lifting equipment and stored until a specified time, after which they can be transferred according to the specified transfer method.

[0033] Furthermore, the location of the parking area corresponds to the location of the dock exits on both sides of the dock yard. When the multimodal transport vehicles are parked in the parking area of ​​the dock yard, the multimodal transport vehicles are coordinated to be parked in two rows, with the front of each row of multimodal transport vehicles facing the corresponding dock exit.

[0034] Furthermore, it also includes:

[0035] The process involves obtaining the handling distance of cargo containers from multimodal waterway transport vessels to multimodal rail and road transport vehicles using loading and unloading equipment. Based on this distance, the loading and unloading efficiency of the cargo containers is calculated. Furthermore, based on this efficiency, an evaluation value for the effectiveness of multimodal three-dimensional cross-loading is calculated. Specific steps include:

[0036] The loading and unloading efficiency of cargo containers can be calculated using the following formula:

[0037]

[0038] Where η represents the loading and unloading efficiency of cargo containers, and its value ranges from (0, 1); i represents the number of times cargo containers are moved from multimodal transport waterway vessels to multimodal transport rail and road transport vehicles using loading and unloading lifting equipment, and its value ranges from [1, n]; n represents the total number of times cargo containers are moved from multimodal transport waterway vessels to multimodal transport rail and road transport vehicles using loading and unloading lifting equipment; S i This represents the distance the loading and unloading lifting equipment travels from the multimodal transport waterway vessel to the multimodal transport rail car and multimodal transport road car during the i-th handling; T represents the total working time of the loading and unloading lifting equipment; t represents the idle time of the loading and unloading lifting equipment during the working period, and its value is less than T; M represents the total number of cargo containers contained in the multimodal transport waterway vessel.

[0039] The effectiveness evaluation value of multimodal transport three-dimensional cross-loading is calculated according to the following formula:

[0040]

[0041] in, denoted as (0, 1); μ represents the error coefficient, ranging from (0.01, 0.015); α represents the weight value corresponding to the loading and unloading efficiency of cargo containers, ranging from (0, 1); η represents the loading and unloading efficiency of cargo containers, ranging from (0, 1); n represents the total number of times cargo containers are moved from multimodal transport vessels to multimodal transport rail and road vehicles using loading and unloading lifting equipment; m represents the number of erroneous handlings in the total number of times cargo containers are moved from multimodal transport vessels to multimodal transport rail and road vehicles using loading and unloading lifting equipment, and its value is less than n.

[0042] The calculated performance evaluation value is compared with the preset evaluation threshold.

[0043] If the calculated effect evaluation value is greater than or equal to the preset evaluation threshold, the loading and unloading effect of cargo containers through multimodal transport three-dimensional cross loading and unloading is deemed qualified.

[0044] Otherwise, the loading and unloading effect of the cargo container is deemed qualified, and the handling path of the loading and unloading lifting equipment and the parking position of the multimodal transport waterway transport vessel to the multimodal transport railway transport vehicle are adjusted based on the calculation results until the calculated effect evaluation value is greater than or equal to the preset evaluation threshold.

[0045] Compared with the prior art, the beneficial effects of the present invention are:

[0046] 1. This invention establishes railway lines, waterway berthing points, freight car parking areas, and storage areas in a terminal yard. When a transport vehicle or vessel carrying containers arrives at a designated location in the terminal yard via rail, road, or waterway, the loading and unloading equipment above the terminal yard loads and unloads the containers, placing them onto the required transport vehicle or vessel. The loaded transport vehicle or vessel then transports the containers along a designated route to the final destination. Simultaneously, if arriving containers do not require immediate transport, they can be stored in the storage area and loaded, unloaded, and transferred at a later time. This layout allows for simultaneous loading and unloading of containers via rail, road, and waterway transport after they arrive at the terminal yard, without interference between the three modes. This simplifies the operational process of multimodal container transport and improves the speed of container loading, unloading, and transfer, optimizing the feasibility of existing multimodal container transport methods.

[0047] 2. This invention uses an RFID device at the entrance to identify the radio frequency chip of transport equipment, thereby reading the vehicle information, loading status, and location of the transport equipment. A three-dimensional real-scene model is built based on the actual scene of the terminal yard. When the RFID device detects transport equipment entering or leaving the terminal yard, the identification information is transmitted to the control terminal of the terminal yard in a timely manner. The layout of the three-dimensional real-scene model is then adjusted through the control terminal. Thus, the user terminal can monitor the operation of the terminal yard in real time through the control terminal. Simultaneously, based on the entry and exit status of transport equipment fed back by the RFID device, it can determine whether there are conflicts in the currently divided loading and unloading areas of the terminal yard. If conflicts exist, the layout of the loading and unloading operations in the terminal yard is redefined, effectively ensuring the normal operation of multimodal transport and improving the transfer efficiency of three-dimensional cross-loading operations.

[0048] 3. This invention, by analyzing the multimodal transport three-dimensional cross-loading and unloading tasks, accurately and effectively determines the specific berthing time of multimodal waterway transport vessels. This facilitates the accurate locking of the receiving time of multimodal rail transport vehicles and multimodal road transport vehicles based on the berthing time, improving loading and unloading efficiency and avoiding vehicle waiting time. Secondly, by reading and analyzing the basic attributes of cargo containers, it achieves accurate and reliable analysis of the cargo containers to be transported by multimodal rail transport vehicles and multimodal road transport vehicles, ensuring that the corresponding cargo containers are transported through the appropriate transport mode. Finally, by determining the cargo type, posture characteristics, and weight information of the cargo containers, it enables the formulation of scheduling strategies for loading and unloading lifting equipment, facilitating accurate and reliable control of the loading and unloading lifting equipment, achieving efficient and accurate loading and unloading of cargo containers, and ensuring loading and unloading results.

[0049] 4. This invention, by calculating the loading and unloading efficiency of cargo containers and the effect evaluation value of multimodal transport three-dimensional cross-loading, achieves an accurate and effective evaluation of the loading and unloading effect of multimodal transport three-dimensional cross-loading on cargo containers based on the settlement results. Furthermore, when the loading and unloading effect does not meet the expected requirements, the multimodal transport three-dimensional cross-loading scheme can be adjusted in a timely manner, ensuring the high efficiency of cargo container loading and unloading and improving the speed of cargo container loading, unloading and transshipment. Attached Figure Description

[0050] Figure 1 This is a diagram showing the layout of the container multimodal transport three-dimensional cross-loading and unloading operation according to the present invention;

[0051] Figure 2 This is a diagram of the container multimodal transport three-dimensional cross-loading and unloading terminal of the present invention.

[0052] In the diagram: 1. Wharf storage yard; 2. Multimodal transport waterway vessel; 3. Railway line; 4. Multimodal transport railway vehicle; 5. Parking area; 6. Multimodal transport road vehicle; 7. Storage area; 8. Loading and unloading lifting equipment; 9. Wharf exit. Detailed Implementation

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] To address the limitations of existing multimodal transport methods, such as the limited speed of road and water transport, the high manpower required for loading and unloading leading to slow processing and excessive emissions from freight trucks, and the constraints of rail transport (which, while capable of large-scale loading, has limited routes and requires quay cranes for cross-modal or cross-transport operations), the current multimodal container transport methods are cumbersome and slow, reducing their feasibility. Please refer to [link to relevant documentation]. Figures 1-2 This embodiment provides the following technical solution:

[0055] In this embodiment, for example, a wharf yard 1 in a certain area is taken as the target area, and after waterway transportation is used to reach the wharf yard 1 for three-dimensional cross loading and unloading operations, it is converted to rail transportation and road transportation.

[0056] A method for multimodal container transport with three-dimensional cross-loading and unloading operations includes the following steps:

[0057] By establishing a railway transport line 3, a waterway mooring point, a freight truck parking area 5, and a storage area 7 in the wharf yard 1, empty multimodal transport railway vehicles 4 and empty multimodal transport road vehicles 6 are parked at the railway transport line 3 and parking area 5 in the wharf yard 1 respectively, and wait for the multimodal transport waterway vessel 2 loaded with cargo containers to dock in the wharf yard 1.

[0058] After the multimodal transport vessel 2 loaded with cargo containers berths at the designated berthing position in the terminal yard 1, the loading and unloading lifting equipment 8 is activated to unload the cargo containers from the multimodal transport vessel 2 and transfer them to empty multimodal transport rail cars 4 and empty multimodal transport road cars 6. The loading and unloading lifting equipment 8 includes a drive device, X-axis guide rails, Y-axis guide rails, and sliders fitted onto the X-axis and Y-axis guide rails. The sliders are equipped with corner fittings for gripping and locking the cargo containers. A three-dimensional cross-loading and unloading network is formed by multiple X-axis and Y-axis guide rails. The drive device, such as a motor, drives multiple X-axis and Y-axis guide rails to rotate. The corner fittings grip and lock the cargo containers. The sliders and corner fittings move the cargo containers along any one of the X-axis or Y-axis guide rails, thereby transferring the cargo containers.

[0059] The loaded cargo containers are transferred to the terminal station via railway line 3 by multimodal transport rail vehicle 4, and also via port export 9 by multimodal transport road vehicle 6.

[0060] Using the above method, cargo containers are transported to the terminal yard 1 by multimodal transport waterway vessel 2, and then the cargo containers are subjected to three-dimensional cross-loading and unloading operations by loading and unloading lifting equipment 8. Finally, they are transported to the terminal station by multimodal transport railway vehicle 4 and multimodal transport road vehicle 6 via railway and road, thus completing the three-dimensional cross-loading and unloading operation process of cargo containers in this embodiment.

[0061] Following the above embodiments, for example, taking a wharf yard 1 in a certain area as the target area, and using railway transportation to reach the wharf yard 1 for three-dimensional cross loading and unloading operations, it is then converted to waterway transportation and road transportation.

[0062] Specifically, the following steps are included:

[0063] The empty multimodal transport waterway vessel 2 is moored at the designated berthing position in the terminal yard 1, and the empty multimodal transport road vehicle 6 is parked in the parking area 5 of the terminal yard 1, while waiting for the multimodal transport rail vehicle 4 loaded with cargo containers to be parked at the rail transport line 3 of the terminal yard 1.

[0064] After the multimodal transport rail car 4 loaded with cargo containers is parked on the rail line 3 of the terminal yard 1, the loading and unloading lifting equipment 8 is started to unload the cargo containers from the multimodal transport rail car 4 and transfer them to the empty multimodal transport waterway 2 and the empty multimodal transport road car 6.

[0065] The loaded cargo containers are transferred to the final destination via waterway by the multimodal transport vessel 2, and also transferred to the final destination via the terminal export 9 by the multimodal transport road vehicle 6.

[0066] Using the above method, cargo containers are transported to the terminal yard 1 by rail via multimodal transport railcar 4, and then the cargo containers are subjected to three-dimensional cross-loading and unloading operations by loading and unloading lifting equipment 8. Finally, they are transported to the terminal station by multimodal transport waterway transport vessel 2 and multimodal transport road transport vehicle 6 via waterway and road, thus completing the three-dimensional cross-loading and unloading operation process of cargo containers in this embodiment.

[0067] Following the above embodiments, for example: taking a wharf yard 1 in a certain area as the target area, and after arriving at the wharf yard 1 by road transportation and carrying out three-dimensional cross loading and unloading operations, the transportation is converted to waterway and rail transportation.

[0068] Specifically, the following steps are included:

[0069] The empty multimodal transport waterway vessel 2 is moored at the designated berthing position in the terminal yard 1, and the empty multimodal transport rail vehicle 4 is parked at the railway line 3 in the terminal yard 1, while waiting for the multimodal transport road vehicle 6 loaded with cargo containers to be parked in the parking area 5 of the terminal yard 1.

[0070] After the multimodal transport vehicle 6 loaded with cargo containers is parked in the parking area 5 of the terminal yard 1, the loading and unloading lifting equipment 8 is started to unload the cargo containers from the multimodal transport vehicle 6 and transfer them to the empty multimodal transport waterway vessel 2 and the empty multimodal transport rail vehicle 4.

[0071] The loaded cargo containers are transferred to the final destination via waterway transport by multimodal transport vessel 2, and also via railway transport by multimodal transport rail vehicle 4 via railway transport line 3.

[0072] Using the above method, cargo containers are transported to the terminal yard 1 by multimodal transport road transport vehicle 6 via road, and then the cargo containers are subjected to three-dimensional cross-loading and unloading operations by loading and unloading lifting equipment 8. After that, they are transported to the terminal station by multimodal transport waterway transport vessel 2 and multimodal transport rail transport vehicle 4 via waterway and rail, thus completing the three-dimensional cross-loading and unloading operation process of cargo containers in this embodiment.

[0073] Following the above embodiments, for example: taking a wharf yard 1 in a certain area as the target area, and using waterway transportation and road transportation to reach the wharf yard 1 for three-dimensional cross loading and unloading operations, and then switching to rail transportation.

[0074] Specifically, the following steps are included:

[0075] The empty multimodal transport railcar 4 is parked at the railway line 3, while the multimodal transport waterway 2 and multimodal transport road vehicle 6, which are loaded with cargo containers, are parked at the designated berthing positions and parking areas 5 in the wharf yard 1, respectively.

[0076] After the multimodal transport vessel 2 and multimodal transport vehicle 6 loaded with cargo containers are moored at the designated berthing positions and parking areas 5 in the terminal yard 1, the loading and unloading lifting equipment 8 is started to unload the cargo containers from the multimodal transport vessel 2 and multimodal transport vehicle 6 and transfer them to the empty multimodal transport rail vehicle 4.

[0077] The loaded cargo containers are transferred to the terminal station via railway line 3 using multimodal transport vehicle 4.

[0078] Using the above method, cargo containers are transported to the terminal yard 1 by multimodal transport waterway vessel 2 and multimodal transport road vehicle 6 via waterway and road respectively. After the cargo containers are loaded and unloaded by three-dimensional cross-loading and unloading operations by loading and unloading lifting equipment 8, they are transported to the terminal station by multimodal transport railway vehicle 4. This completes the cargo container three-dimensional cross-loading and unloading operation process in this embodiment.

[0079] Following the above embodiments, for example: taking a wharf yard 1 in a certain area as the target area, and using waterway and rail transport to reach the wharf yard 1 for three-dimensional cross loading and unloading operations, and then switching to road transport.

[0080] Specifically, the following steps are included:

[0081] The empty multimodal transport road vehicle 6 is parked in parking area 5, while the multimodal transport waterway vessel 2 and multimodal transport rail vehicle 4 loaded with cargo containers are parked at the designated berthing positions in the wharf yard 1 and the railway line 3, respectively.

[0082] After the multimodal transport vessel 2 and the multimodal transport rail car 4 loaded with cargo containers are moored at the designated berthing positions in the terminal yard 1 and the railway line 3 respectively, the loading and unloading lifting equipment 8 is started to unload the cargo containers from the multimodal transport vessel 2 and the multimodal transport rail car 4 and transfer them to the empty multimodal transport road car 6.

[0083] The loaded cargo containers are transferred to the final destination via the port export 9 using multimodal transport vehicle 6.

[0084] Using the above method, cargo containers are transported to the terminal yard 1 by multimodal transport waterway vessel 2 and multimodal transport rail vehicle 4 via waterway and rail respectively. After the cargo containers are loaded and unloaded by loading and unloading lifting equipment 8, they are transported to the terminal station by multimodal transport road vehicle 6 via road. This completes the cargo container three-dimensional cross loading and unloading operation process in this embodiment.

[0085] Following the above embodiments, for example: taking a wharf yard 1 in a certain area as the target area, and after arriving at the wharf yard 1 by road and rail transportation for three-dimensional cross loading and unloading operations, it is converted to waterway transportation.

[0086] Specifically, the following steps are included:

[0087] The empty multimodal transport waterway vessel 2 is moored at the designated berthing position in the wharf yard 1, while the multimodal transport rail vehicle 4 and multimodal transport road vehicle 6 loaded with cargo containers are moored at the railway line 3 and parking area 5 respectively.

[0088] After the multimodal transport railway car 4 and multimodal transport road car 6 loaded with cargo containers are parked at the railway line 3 and parking area 5 respectively, the loading and unloading lifting equipment 8 is started to unload the cargo containers from the multimodal transport railway car 4 and multimodal transport road car 6 and transfer them to the empty multimodal transport waterway ship 2.

[0089] The multimodal transport vessel 2 transports the loaded cargo containers to the final destination via waterway.

[0090] Using the above method, cargo containers are transported to the terminal yard 1 by multimodal transport railway vehicle 4 and multimodal transport road vehicle 6 via railway and road respectively. After the cargo containers are loaded and unloaded by loading and unloading lifting equipment 8, they are transported to the terminal station by multimodal transport waterway vessel 2. This completes the cargo container three-dimensional cross loading and unloading operation process in this embodiment.

[0091] Following the above embodiment, for example, taking a certain area of ​​the terminal yard 1 as the target area, the location of the parking area 5 set up in the terminal yard 1 corresponds to the location of the terminal exit 9 on both sides of the terminal yard 1; therefore, it is necessary to divide the parking positions of the parking area 5. When the multimodal transport road transport vehicle 6 is parked in the parking area 5 of the terminal yard 1, the multimodal transport road transport vehicle 6 is coordinated to be parked in two rows, and the front of each row of multimodal transport road transport vehicle 6 is facing the corresponding terminal exit 9, so that the multimodal transport road transport vehicle 6 can drive out of the terminal yard 1 through the terminal exit 9 in the shortest time, thereby preventing the multimodal transport road transport vehicle 6 from causing congestion in the parking area 5 and delaying the transit time of cargo containers.

[0092] Secondly, during cross-loading and unloading operations, if some cargo containers do not need to be shipped out immediately, the cargo containers are first placed in the storage area 7 by the loading and unloading lifting equipment 8 for storage, and then transferred according to the designated transfer method after a specified time.

[0093] Following the above embodiments, for example: after 500 cargo containers are transported to the terminal yard 1 by multimodal transport waterway vessel 2, 300 cargo containers need to be immediately transferred out by road transport on the same day, and 200 cargo containers need to be transferred out by rail the next day; the loading and unloading lifting equipment 8 loads and unloads 300 cargo containers and transfers them to multimodal transport road transport vehicles 6, and the 300 cargo containers are transferred to the terminal station by road transport via multiple multimodal transport road transport vehicles 6; then the loading and unloading lifting equipment 8 loads and unloads the remaining 200 cargo containers and transfers them to the storage area 7, and the next day the 200 cargo containers are loaded and unloaded and transferred to multimodal transport rail transport vehicles 4, and the 200 cargo containers are transferred to the terminal station by rail transport via multimodal transport rail transport vehicles 4.

[0094] Before multimodal transport cross-loading operations are carried out in terminal yard 1, a three-dimensional real-scene model is established based on the number, size, stopping position, and loading status of the vehicles belonging to the multimodal transport waterway vessel 2, multimodal transport rail vehicle 4, and multimodal transport road vehicle 6, and their relative positions to terminal yard 1. This model is then displayed in real time at the control terminal of terminal yard 1. Specifically, obtaining the number, size, stopping position, and loading status of the vehicles belonging to the multimodal transport waterway vessel 2, multimodal transport rail vehicle 4, and multimodal transport road vehicle 6 involves setting up radio frequency scanning equipment at the entrance of terminal yard 1 and displaying it in real time at the control terminal of terminal yard 1. Information RFID cards are installed on the bodies of the waterway transport vessel 2, the multimodal transport rail vehicle 4, and the multimodal transport road vehicle 6. When these vehicles enter the terminal yard 1, the RFID scanning equipment identifies the information RFID cards on the vehicles, thereby obtaining the current vehicle number, size, location, and loading status. The created 3D real-scene model is used to determine whether there is a conflict between the planned multimodal transport mode and the loading and unloading operation area of ​​the terminal yard 1. If a conflict exists, the multimodal transport mode is adjusted, and the loading and unloading operation area of ​​the terminal yard 1 is redefined.

[0095] Following the above embodiment, for example: taking a certain area's dock yard 1 as the target area, radio frequency identification (RFID) devices are installed at the waterway entrance, road entrance, and railway entrance of dock yard 1, respectively. Transport equipment currently allowed to enter dock yard 1 for cross-loading and unloading operations is numbered, and the number, vehicle type information, stopping position, and current loading status of each transport equipment are recorded into an RFID chip. The RFID chip for each transport equipment is then installed on the corresponding vehicle body. When any transport equipment enters dock yard 1, the RFID device at the entrance identifies the RFID chip on the vehicle body, thereby reading the vehicle information, loading status, and stopping position of the current transport equipment. A three-dimensional real-scene model is then established based on the actual view of dock yard 1 and its divided loading and unloading operation areas, and the RFID chip at the entrance is used to... When the RFID device detects that transport equipment is entering or leaving terminal yard 1, it transmits the identified information to the control terminal of terminal yard 1 in a timely manner via wireless communication technology. The control terminal then adjusts the layout of the 3D real-scene model in real time. Based on this, the user terminal can monitor the operation of terminal yard 1 in real time through the control terminal. At the same time, based on the entry and exit status of transport equipment fed back by the RFID device, it can determine whether there are any loading and unloading operation conflicts in the currently divided loading and unloading operation areas of terminal yard 1. If there are conflicts, the layout of loading and unloading operations in terminal yard 1 is re-divided through the 3D real-scene model, and adjustment information is issued to the relevant responsible persons of terminal yard 1, so that terminal yard 1 can operate according to the currently adjusted operation layout. This effectively ensures the normal operation of multimodal transport and improves the transfer efficiency of three-dimensional cross-loading operations.

[0096] The working principle of the above is as follows: By establishing a railway line 3, a waterway berthing point, a freight car parking area 5, and a storage area 7 in the terminal yard 1, if any transport vehicle or transport ship carrying cargo containers arrives at the designated location in the terminal yard 1 via railway, highway, or waterway, the loading and unloading lifting equipment 8 above the terminal yard 1 will load and unload the cargo containers and place them into the required transport vehicles or transport ships. The cargo containers will then be transferred to the terminal station via the designated routes by the deployed transport vehicles or transport ships. At the same time, if the arriving cargo containers do not need to be transported out immediately, they can be stacked in the storage area 7 and loaded, unloaded, and transferred after the designated time has elapsed.

[0097] The beneficial effects achieved by the above are as follows: After the cargo containers arrive at the terminal yard 1, loading and unloading can be carried out simultaneously between rail, road and water transport in the terminal yard 1 without interference between the three; this not only simplifies the operation process of container multimodal transport three-dimensional cross loading and unloading operations, but also improves the speed of container loading, unloading and transfer, and optimizes the feasibility of existing container multimodal transport three-dimensional cross loading and unloading operation methods.

[0098] This embodiment provides a method for multimodal container transport with three-dimensional cross-loading and unloading operations, and also includes:

[0099] The multimodal transport three-dimensional cross loading and unloading task is obtained and analyzed to obtain the target time point when the multimodal transport waterway transport vessel 2 loaded with cargo containers docks at the designated berthing position of the terminal yard 1. Based on the target time point and the preset waiting time, the receiving time points of the multimodal transport rail transport vehicle 4 and the multimodal transport road transport vehicle 6 arrive at the railway line 3 and parking area 5 of the terminal yard 1, respectively.

[0100] Based on the terminal communication addresses of the multimodal transport railway vehicle 4 and the multimodal transport road vehicle 6, the receiving time is synchronously sent to the multimodal transport railway vehicle 4 and the multimodal transport road vehicle 6. Based on the sending results, the arrival status of the multimodal transport railway vehicle 4 and the multimodal transport road vehicle 6 is monitored in real time. When the multimodal transport railway vehicle 4, the multimodal transport road vehicle 6 and the multimodal transport waterway vessel 2 loaded with cargo containers have all arrived, radio frequency reading signals are sent to the information radio frequency cards of each cargo container on the multimodal transport waterway vessel 2 based on the radio frequency scanning equipment.

[0101] Based on the launch results, the basic attributes of each cargo container are read and analyzed to determine the cargo type, attitude characteristics, and weight information of each cargo container.

[0102] The transport conditions of multimodal transport rail transport vehicle 4 and multimodal transport road transport vehicle 6 are obtained, and the transport conditions are matched with the cargo type based on fitness. Based on the fitness matching results, the task containers of multimodal transport rail transport vehicle 4 and multimodal transport road transport vehicle 6 are obtained respectively.

[0103] The task containers of multimodal transport rail transport vehicle 4 and multimodal transport road transport vehicle 6 are differentially coded based on the differential coding symbols, and a differential location distribution map is generated based on the differential coding results. The differential location distribution map is used as the first loading and unloading adaptation parameter.

[0104] Based on the posture characteristics, the position and angle distribution characteristics of the gripping points in each cargo container are determined, and the gripping strategy of the eight pairs of cargo containers of the loading and unloading lifting equipment is determined based on the position and angle distribution characteristics. The gripping strategy is used as the second loading and unloading adaptation parameter.

[0105] At the same time, based on the weight information, the gripping force range of the eight pairs of cargo containers grabbed by the loading and unloading lifting equipment is determined, and the gripping force range is used as the third loading and unloading adaptation parameter;

[0106] The scheduling strategy for cargo containers is determined based on the first loading and unloading adaptation parameters, the second loading and unloading adaptation parameters, and the loading and unloading lifting equipment 8 is coordinated and controlled based on the retrieval strategy.

[0107] Based on the results of collaborative control, the loading and unloading status of cargo containers of multimodal transport railway vehicle 4 and multimodal transport road vehicle 6 is monitored in real time. When the real-time monitoring results determine that loading and unloading are completed, loading and unloading reports of cargo containers of multimodal transport railway vehicle 4 and multimodal transport road vehicle 6 are generated respectively, and the loading and unloading reports are fed back to the management terminal for recording and storage.

[0108] In this embodiment, the multimodal transport three-dimensional cross-loading and unloading task is known in advance, and information such as the specific time when the multimodal transport waterway vessel carrying cargo containers is docked at the berth and the number of cargo containers to be loaded and unloaded is used to characterize the task.

[0109] In this embodiment, the target time point refers to the specific time when the multimodal transport waterway vessel loaded with cargo containers docks at the designated berthing position in the terminal yard. This facilitates the notification of the specific time when the multimodal transport rail transport vehicle and the multimodal transport road transport vehicle arrive at the corresponding position in the terminal, with the aim of improving work efficiency and reducing vehicle waiting time.

[0110] In this embodiment, the preset waiting time is known in advance. Specifically, it is a requirement that the multimodal transport railcars and multimodal transport roadcars need to arrive a certain amount of time before the multimodal transport waterway vessels. For example, it could be that they need to arrive at the waiting position at least two minutes in advance.

[0111] In this embodiment, the receiving time point refers to the specific time information that limits the latest arrival time of multimodal transport rail vehicles and multimodal transport road vehicles at the terminal, with the aim of ensuring that loading and unloading operations of cargo containers can begin as soon as multimodal transport waterway vessels dock.

[0112] In this embodiment, the radio frequency scanning device is pre-set and used to read the basic information carried by each cargo container.

[0113] In this embodiment, the information radio frequency card is installed on each cargo container and is used to store information such as the type of goods stored in the cargo container and the weight of the cargo container.

[0114] In this embodiment, the radio frequency reading signal is emitted by the radio frequency scanning device to the information radio frequency card, and is used to read the specific information stored in the information radio frequency card.

[0115] In this embodiment, the basic attributes refer to information such as the types of items contained in the cargo container, the weight of the container, its current location, and its status.

[0116] In this embodiment, the transportation conditions are known in advance and are used to limit the transportation requirements for cargo containers. For example, the transportation method of cargo containers can be limited according to the type of cargo.

[0117] In this embodiment, the mission container refers to a cargo container that is suitable for transport by multimodal rail transport vehicles and multimodal road transport vehicles, respectively, and is part of a multimodal waterway transport vessel.

[0118] In this embodiment, the difference coding symbol is a known symbol used to distinguish cargo containers transported by multimodal rail transport vehicles and multimodal road transport vehicles. The difference coding symbol is used to mark cargo containers of different modes of transport.

[0119] In this embodiment, the differential location distribution map refers to the location distribution of cargo containers of different modes of transport on multimodal transport vessels, thereby facilitating the corresponding grabbing operations of cargo containers through loading and unloading lifting equipment.

[0120] In this embodiment, the first loading and unloading adaptation parameter refers to the location distribution of cargo containers corresponding to different modes of transportation.

[0121] In this embodiment, the posture characteristics refer to the placement angle of the cargo container in the multimodal transport waterway and whether it is stored overlapping or stacked with other cargo containers.

[0122] In this embodiment, the position and angle distribution characteristics refer to the distribution of the grabbing points in each cargo container under the current posture. The purpose is to facilitate the accurate and rapid grabbing of cargo containers by the loading and unloading crane, thereby achieving the purpose of rapid loading and unloading.

[0123] In this embodiment, the grasping strategy refers to the grasping method of the loading and unloading lifting equipment for different cargo containers, i.e., the second loading and unloading adaptation parameter.

[0124] In this embodiment, the gripping force range refers to the amount of gripping force required when the cargo container is gripped by the loading and unloading lifting equipment. The purpose is to ensure that the cargo container can be successfully gripped, which is the third loading and unloading adaptation parameter.

[0125] In this embodiment, the scheduling strategy is determined based on the first loading and unloading adaptation parameters, the second loading and unloading adaptation parameters, and the third loading and unloading adaptation parameters, and is used to control the loading and unloading lifting equipment. The purpose is to smoothly load and unload cargo containers by controlling the loading and unloading lifting equipment.

[0126] In this embodiment, the loading and unloading report refers to a report that records the quantity of cargo containers loaded and unloaded by multimodal transport rail vehicles and multimodal transport road vehicles, as well as the specific numbers of the cargo containers.

[0127] The working principle and intended effects of the above technical solution are as follows: By analyzing the multimodal transport three-dimensional cross-loading and unloading tasks, the specific berthing time of multimodal transport waterway vessels can be accurately and effectively determined. This facilitates the accurate locking of the receiving time of multimodal transport rail and road vehicles based on the berthing time, improving loading and unloading efficiency and avoiding vehicle waiting time. Secondly, by reading and analyzing the basic attributes of cargo containers, the cargo containers to be transported by multimodal transport rail and road vehicles can be accurately and reliably analyzed, ensuring that the corresponding cargo containers are transported through the appropriate transport mode. Finally, by determining the cargo type, posture characteristics, and weight information of the cargo containers, the scheduling strategy for loading and unloading lifting equipment can be formulated, facilitating accurate and reliable control of the loading and unloading lifting equipment, achieving efficient and accurate loading and unloading of cargo containers, and ensuring the loading and unloading effect.

[0128] This embodiment provides a method for multimodal container transport with three-dimensional cross-loading and unloading operations, and also includes:

[0129] The specific steps include: obtaining the handling distance of cargo containers from multimodal transport waterway vessel 2 to multimodal transport rail transport vehicle 4 and multimodal transport road transport vehicle 6 using loading and unloading lifting equipment; calculating the loading and unloading efficiency of cargo containers based on the handling distance; and calculating the effect evaluation value of multimodal three-dimensional cross-loading based on the loading and unloading efficiency.

[0130] The loading and unloading efficiency of cargo containers can be calculated using the following formula:

[0131]

[0132] Where η represents the loading and unloading efficiency of cargo containers, and its value ranges from (0, 1); i represents the number of times cargo containers are moved from multimodal transport waterway vessel 2 to multimodal transport rail vehicle 4 and multimodal transport road vehicle 6 by loading and unloading lifting equipment, and its value ranges from [1, n]; n represents the total number of times cargo containers are moved from multimodal transport waterway vessel 2 to multimodal transport rail vehicle 4 and multimodal transport road vehicle 6 by loading and unloading lifting equipment; S i This represents the distance the loading and unloading lifting equipment travels from the multimodal transport waterway vessel 2 to the multimodal transport rail car 4 and multimodal transport road car 6 during the i-th handling; T represents the total working time of the loading and unloading lifting equipment; t represents the idle time of the loading and unloading lifting equipment during the working period, and its value is less than T; M represents the total number of cargo containers contained in the multimodal transport waterway vessel 2.

[0133] The effectiveness evaluation value of multimodal transport three-dimensional cross-loading is calculated according to the following formula:

[0134]

[0135] in, denoted as (0, 1); μ represents the error coefficient, ranging from (0.01, 0.015); α represents the weight value corresponding to the loading and unloading efficiency of cargo containers, ranging from (0, 1); η represents the loading and unloading efficiency of cargo containers, ranging from (0, 1); n represents the total number of times cargo containers are moved from multimodal transport waterway vessel 2 to multimodal transport rail vehicle 4 and multimodal transport road vehicle 6 using loading and unloading lifting equipment; m represents the number of erroneous handlings in the total number of times cargo containers are moved from multimodal transport waterway vessel 2 to multimodal transport rail vehicle 4 and multimodal transport road vehicle 6 using loading and unloading lifting equipment, and its value is less than n.

[0136] The calculated performance evaluation value is compared with the preset evaluation threshold.

[0137] If the calculated effect evaluation value is greater than or equal to the preset evaluation threshold, the loading and unloading effect of cargo containers through multimodal transport three-dimensional cross loading and unloading is deemed qualified.

[0138] Otherwise, the loading and unloading effect of the cargo container is deemed qualified, and the handling path of the loading and unloading lifting equipment and the docking position of the multimodal transport waterway transport vessel 2 to the multimodal transport rail transport vehicle 4 are adjusted based on the calculation results until the calculated effect evaluation value is greater than or equal to the preset evaluation threshold.

[0139] In this embodiment, the effect evaluation value is used to characterize the effectiveness of loading and unloading cargo containers through the multimodal transport three-dimensional cross-loading method. The larger the value, the better the loading and unloading effect.

[0140] In this embodiment, the preset evaluation threshold is set in advance and is a standard used to measure whether the current effect evaluation value meets the minimum requirements. It can be adjusted.

[0141] The working principle and intended effect of the above technical solution are as follows: by calculating the loading and unloading efficiency of cargo containers and the effect evaluation value of multimodal transport three-dimensional cross-loading, the loading and unloading effect of cargo containers by the multimodal transport three-dimensional cross-loading method can be accurately and effectively evaluated based on the settlement results. When the loading and unloading effect does not meet the expected requirements, the multimodal transport three-dimensional cross-loading scheme can be adjusted in a timely manner, thus ensuring the high efficiency of cargo container loading and unloading and improving the speed of cargo container loading, unloading and transshipment.

[0142] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0143] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for multimodal container transport with three-dimensional cross-loading and unloading operations, characterized in that, include: Empty multimodal transport railcars (4) and empty multimodal transport roadcars (6) are parked at the railway line (3) and parking area (5) of the wharf yard (1) respectively, and wait for the multimodal transport waterway vessel (2) loaded with cargo containers to dock at the wharf yard (1). After the multimodal transport vessel (2) loaded with cargo containers docks at the designated berthing position in the terminal yard (1), the loading and unloading lifting equipment (8) is started to unload the cargo containers from the multimodal transport vessel (2) and transfer them to the empty multimodal transport rail transport vehicle (4) and the empty multimodal transport road transport vehicle (6). The loaded cargo containers are transported to the terminal station via railway line (3) by multimodal transport rail transport vehicle (4), and the loaded cargo containers are also transported to the terminal station via port export (9) by multimodal transport road transport vehicle (6). Also includes: The multimodal transport three-dimensional cross loading and unloading task is obtained and analyzed to obtain the target time point when the multimodal transport waterway transport vessel (2) loaded with cargo containers docks at the designated berthing position of the terminal yard (1). Based on the target time point and the preset waiting time, the receiving time points of the multimodal transport railway transport vehicle (4) and the multimodal transport road transport vehicle (6) arrive at the railway line (3) and parking area (5) of the terminal yard (1) respectively. Based on the terminal communication addresses of the multimodal transport railway vehicle (4) and the multimodal transport road vehicle (6), the receiving time point is synchronously sent to the multimodal transport railway vehicle (4) and the multimodal transport road vehicle (6). Based on the sending results, the arrival status of the multimodal transport railway vehicle (4) and the multimodal transport road vehicle (6) is monitored in real time. When the multimodal transport railway vehicle (4), the multimodal transport road vehicle (6) and the multimodal transport waterway vessel (2) loaded with cargo containers are all in place, the radio frequency scanning equipment sends radio frequency reading signals to the information radio frequency cards of each cargo container on the multimodal transport waterway vessel (2). Based on the launch results, the basic attributes of each cargo container are read and analyzed to determine the cargo type, attitude characteristics, and weight information of each cargo container. The transport conditions of the multimodal transport railway vehicle (4) and the multimodal transport road vehicle (6) are obtained, and the transport conditions are matched with the cargo type. Based on the fitness matching results, the task containers of the multimodal transport railway vehicle (4) and the multimodal transport road vehicle (6) are obtained respectively. Based on the difference coding symbols, the task containers of the multimodal transport railway transport vehicle (4) and the multimodal transport road transport vehicle (6) are differentially coded, and a difference location distribution map is generated based on the difference coding results. The difference location distribution map is used as the first loading and unloading adaptation parameter. Based on the posture characteristics, the position and angle distribution characteristics of the grabbing points in each cargo container are determined, and the grabbing strategy of the loading and unloading lifting equipment (8) on the cargo container is determined based on the position and angle distribution characteristics, and the grabbing strategy is used as the second loading and unloading adaptation parameter. At the same time, the gripping force range of the loading and unloading lifting equipment (8) when grabbing the cargo container is determined based on the weight information, and the gripping force range is used as the third loading and unloading adaptation parameter; The scheduling strategy for cargo containers is determined based on the first loading and unloading adaptation parameters, the second loading and unloading adaptation parameters and the third loading and unloading adaptation parameters, and the loading and unloading lifting equipment (8) is coordinated and controlled based on the retrieval strategy. Based on the results of collaborative control, the loading and unloading status of cargo containers of multimodal transport railway vehicles (4) and multimodal transport road vehicles (6) is monitored in real time. When the real-time monitoring results determine that loading and unloading are completed, loading and unloading reports of cargo containers of multimodal transport railway vehicles (4) and multimodal transport road vehicles (6) are generated respectively, and the loading and unloading reports are fed back to the management terminal for recording and storage.

2. The container multimodal transport three-dimensional cross-loading and unloading operation method according to claim 1, characterized in that: Also includes: The empty multimodal transport waterway vessel (2) is moored at the designated mooring position in the terminal yard (1), and the empty multimodal transport road vehicle (6) is parked in the parking area (5) of the terminal yard (1), and waits for the multimodal transport rail vehicle (4) loaded with cargo containers to be parked at the rail line (3) of the terminal yard (1). After the multimodal transport railcar (4) loaded with cargo containers is parked on the rail line (3) of the dock yard (1), the loading and unloading lifting equipment (8) is started to unload the cargo containers from the multimodal transport railcar (4) and transfer them to the empty multimodal transport waterway (2) and the empty multimodal transport road (6). The loaded cargo containers are transported to the terminal station via waterway by multimodal transport vessels (2) and via port export (9) by multimodal transport road vehicles (6).

3. The container multimodal transport three-dimensional cross-loading and unloading operation method according to claim 2, characterized in that: Also includes: The empty multimodal transport waterway vessel (2) is moored at the designated berthing position in the wharf yard (1), and the multimodal transport rail vehicle (4) and multimodal transport road vehicle (6) loaded with cargo containers are moored at the railway line (3) and parking area (5) respectively. After the multimodal transport railway car (4) and multimodal transport road car (6) loaded with cargo containers are parked on the railway line (3) and parking area (5) respectively, the loading and unloading lifting equipment (8) is started to unload the cargo containers from the multimodal transport railway car (4) and multimodal transport road car (6) and transfer them to the empty multimodal transport waterway ship (2); The loaded cargo containers are transferred to the final destination via waterway by multimodal transport vessels (2).

4. The container multimodal transport three-dimensional cross-loading and unloading operation method according to claim 1, characterized in that: Before carrying out multimodal transport three-dimensional cross loading and unloading operations in the dock yard (1), a three-dimensional real scene model is established based on the number, size, stopping position, vehicle loading status and relative position of the multimodal transport waterway transport vessel (2), multimodal transport railway transport vehicle (4) and multimodal transport road transport vehicle (6) to the dock yard (1), and is displayed in real time at the control terminal of the dock yard (1).

5. A method for three-dimensional cross-loading and unloading of containers in multimodal transport according to claim 4, characterized in that: The three-dimensional real-scene model is used to determine whether there is a conflict between the multimodal transport mode currently planned in the terminal yard (1) and the loading and unloading operation area; if there is a conflict, the multimodal transport mode is adjusted and the loading and unloading operation area of ​​the terminal yard (1) is re-divided.

6. A method for three-dimensional cross-loading and unloading of containers in multimodal transport according to claim 4, characterized in that: Obtain the number, size, location, and loading status of the vehicles belonging to the multimodal transport waterway vessel (2), multimodal transport rail vehicle (4), and multimodal transport road vehicle (6), specifically: By setting up radio frequency scanning equipment at the entrance of the terminal yard (1) and installing information radio frequency cards on the bodies of multimodal transport waterway transport vessels (2), multimodal transport rail transport vehicles (4) and multimodal transport road transport vehicles (6), when the multimodal transport waterway transport vessels (2), multimodal transport rail transport vehicles (4) and multimodal transport road transport vehicles (6) enter the terminal yard (1), the radio frequency scanning equipment is used to identify the information radio frequency cards on the bodies, thereby obtaining the current vehicle number, size, stopping position and vehicle loading status.

7. The method for three-dimensional cross-loading and unloading of containers in multimodal transport according to claim 1, characterized in that: When carrying out cross-loading and unloading operations, if some cargo containers do not need to be shipped out immediately, the cargo containers are first placed in the storage area (7) by the loading and unloading lifting equipment (8) and stored until the specified time, and then transferred according to the specified transfer method.

8. The container multimodal transport three-dimensional cross-loading and unloading operation method according to claim 1, characterized in that: The location of the parking area (5) corresponds to the location of the dock exits (9) on both sides of the dock yard (1). When the multimodal transport vehicles (6) are parked in the parking area (5) of the dock yard (1), the multimodal transport vehicles (6) are coordinated to be parked in two rows, and the front of each row of multimodal transport vehicles (6) is facing the corresponding dock exit (9).

9. A method for three-dimensional cross-loading and unloading of containers in multimodal transport according to claim 1, characterized in that: Also includes: The specific steps include: obtaining the handling distance of the cargo containers from the multimodal transport waterway vessel (2) to the multimodal transport rail vehicle (4) and multimodal transport road vehicle (6) using loading and unloading lifting equipment, calculating the loading and unloading efficiency of the cargo containers based on the handling distance, and calculating the effect evaluation value of multimodal three-dimensional cross-loading based on the loading and unloading efficiency. The loading and unloading efficiency of cargo containers can be calculated using the following formula: in, This represents the loading and unloading efficiency of cargo containers, and its value ranges from (0, 1). This indicates the number of times a cargo container is moved from a multimodal waterway transport vessel (2) to a multimodal rail transport vehicle (4) and a multimodal road transport vehicle (6) via loading and unloading lifting equipment, and the value range is [1, ...]. ]; This indicates the total number of times cargo containers are moved from multimodal waterway transport vessels (2) to multimodal rail transport vehicles (4) and multimodal road transport vehicles (6) using loading and unloading lifting equipment; Indicates the first During the second handling, the loading and unloading lifting equipment moves the cargo container from the multimodal transport waterway transport vessel (2) to the multimodal transport rail transport vehicle (4) and the multimodal transport road transport vehicle (6) by the handling distance; This represents the total working time of the loading, unloading, and lifting equipment. This represents the length of time that the loading and unloading lifting equipment is idle during the working period, and the value is less than T; This indicates the total number of cargo containers included in the multimodal waterway transport vessel (2); The effectiveness evaluation value of multimodal transport three-dimensional cross-loading is calculated according to the following formula: ； in, This represents the effectiveness evaluation value of multimodal transport three-dimensional cross loading and unloading, and the value range is (0, 1). This represents the error coefficient, and its value ranges from (0.01 to 0.015). This represents the weight value corresponding to the loading and unloading efficiency of cargo containers, and its value ranges from (0, 1). This represents the loading and unloading efficiency of cargo containers, and its value ranges from (0, 1). This indicates the total number of times cargo containers are moved from multimodal waterway transport vessels (2) to multimodal rail transport vehicles (4) and multimodal road transport vehicles (6) using loading and unloading lifting equipment; This indicates the number of erroneous handling operations within the total number of times cargo containers are moved from multimodal waterway transport vessels (2) to multimodal rail transport vehicles (4) and multimodal road transport vehicles (6) using loading and unloading lifting equipment, and the value is less than [a certain value]. ; The calculated performance evaluation value is compared with the preset evaluation threshold. If the calculated effect evaluation value is greater than or equal to the preset evaluation threshold, the loading and unloading effect of cargo containers through multimodal transport three-dimensional cross loading and unloading is deemed qualified. Otherwise, the loading and unloading effect of the cargo container is deemed qualified, and the handling path of the loading and unloading lifting equipment and the docking position of the multimodal transport waterway transport vessel (2) to the multimodal transport railway transport vehicle (4) are adjusted based on the calculation results until the calculated effect evaluation value is greater than or equal to the preset evaluation threshold.

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